JP6707733B2 - Mobile platform system - Google Patents

Description

The present invention relates to a technique of providing various services while moving a service device indoors.

Various technologies related to self-propelled vacuum cleaners for automatically cleaning indoor floor surfaces have been proposed (see, for example, Patent Documents 1 to 4). This type of self-propelled cleaner has a sensor that detects an obstacle around the self-propelled cleaner and an omni wheel that enables straight movement and rotation. This type of self-propelled vacuum cleaner is adapted to travel on the floor surface in accordance with a designated traveling pattern while sucking dust and dirt on the traveling path of the self-propelled cleaner.

Japanese Patent No. 2847929 JP, 2003-290103, A JP, 2007-143645, A JP, 2014-71691, A

By the way, the function of detecting obstacles on the floor of a self-propelled vacuum cleaner and the function of deciding its own running path by avoiding the detected obstacles are applied as means of moving service equipment related to services other than floor cleaning. By doing so, attempts have been made to make the user's lifestyle more comfortable. However, such attempts have not yet been realized due to circumstances such as cost constraints and design constraints.

The present invention has been devised under such a background, and provides a comfortable lifestyle for users by a system in which a service device that provides a service to a user is mounted on a general-purpose mobile body and automatically travels in a room. The purpose is to do.

A mobile platform system according to an aspect of the present invention includes a charging station placed on a floor, a service device that provides a service to a user by driving a predetermined device according to a program, and the floor on which the service device is mounted. A general-purpose moving body that moves on the floor while avoiding obstacles on the surface, the general-purpose moving body having a battery module that supplies electric power to the general-purpose moving body and the service device on the general-purpose moving body. The service device detects the direction of a person and outputs a detection signal indicating the detected direction, and the presence/absence and position of the user are specified based on the detection signal of the motion sensor, and the general-purpose device is used. And a control unit for moving the moving body to follow the user's position and performing control according to the environment of the moving destination so that the type of the service device mounted on the general-purpose moving body can be exchanged. Is configured.

According to the present invention, the service device and the general-purpose moving body that conveys the service device move on the floor surface and continue to provide the service. Then, the general-purpose moving body is configured to return to the home position from the position of the movement destination every time the charge amount of the battery module in the general-purpose moving body falls below the threshold value. Therefore, the situation where the electric power in the battery module is exhausted during the provision of the service and the provision of the service has to be interrupted for a long time until the battery module is completely charged does not occur.

In addition, the present invention includes a holder that holds a plurality of battery modules, and a charging device that applies a voltage to at least a part of the battery modules in the holder to charge the battery modules. Then, when the charge amount of the battery module in the general-purpose mobile body falls below the threshold value, the general-purpose mobile body returns to the home position from the movement destination position, docks with the charging station, and holds the battery module in the general-purpose mobile body in the holding unit. The battery module is replaced with a charged battery module, and after the battery module is replaced, it returns to the destination position. Therefore, according to the present invention, the battery module in the holding unit of the charging station is charged by the charging device while the service device and the general-purpose moving body on which the service device is mounted are operated by the power of the battery module in the general-purpose moving body. .. Therefore, according to the present invention, the service interruption time is shortened when the battery module in the general-purpose mobile unit is consumed, as compared with the mode in which the charging device is connected to the battery module itself in the general-purpose mobile unit to charge electric power.

Further, in the present invention, in the charging station, when the sensor detects that the general-purpose moving body has reached the home position, the holding hole in which the battery module is not housed among the plurality of holding holes of the holding portion is the general-purpose moving body. Control for rotating the holding portion so that it is right above the loading/unloading port of the battery holder, the grip bar is lowered, and the grip bar passes through the holding hole directly above the battery holder to the battery module in the battery holder. When reaching, the second control of gripping the battery module in the battery holder by the grip bar, raising the grip bar, and when the battery module gripped by the grip bar is housed in the holding hole just above, the battery module by the grip bar Of the plurality of holding holes of the holding portion, the holding hole in which the battery module charged by the charging device is accommodated is right above the loading/unloading port of the battery holder of the general-purpose moving body. The fourth control of rotating the holding portion and lowering the gripping rod, and when the gripping rod reaches the battery module in the holding hole directly below, the gripping rod grips the battery module and pushes it downward, and the battery module When housed in the holder, the fifth control for releasing the grip of the battery module by the grip bar is executed. Therefore, according to the present invention, it is possible to reduce the consumption of the consumed battery module in the general-purpose moving body, the loading of the charged battery module into the general-purpose moving body by the charging device in the holding portion, and the connection of the consumed battery module to the charging device. It can be realized by the operation of the process. Therefore, according to the present invention, charging and replacement of the battery module can be made more efficient.

It is a block diagram of the mobile platform system which is embodiment of this invention. It is a figure which shows schematic structure of the service apparatus of the same system. It is a figure which shows schematic structure of the general purpose mobile body of the system. It is a figure which shows schematic structure of the charging/communication station of the same system. It is a perspective view of the battery holding part of the charging/communication station of the system. It is a figure which shows the process content of the battery exchange control process of the same system. It is a figure which shows the process content of the battery exchange control process of the same system. It is a figure which shows the process content of the battery exchange control process of the same system. It is a figure which shows the process content of the battery exchange control process of the same system. It is a figure which shows the process content of the battery exchange control process of the same system. It is a figure which shows operation|movement of the same system. It is a figure which shows the traveling pattern data memorize|stored in the general purpose mobile of the mobile platform system which is a modification of this invention. It is a figure which shows the traveling history data memorize|stored in the general purpose mobile of the mobile platform system which is a modification of this invention.

(First embodiment)

Hereinafter, a first embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is an overall configuration diagram of a mobile platform system 1 which is a first embodiment of the present invention. This mobile platform system 1 includes a charging/communication station 5 placed on the floor, a service device 2, and a general-purpose mobile 3 that carries the service device 2 and moves on the floor. The mobile platform system 1 includes a service device 2 equipped with a lighting device 24 (illumination light), and provides a lighting follow-up service that follows a user in a room and illuminates the surroundings of the user with a light.

FIG. 2 is a diagram showing a schematic configuration of the service device 2. When the service device 2 is mounted on the general-purpose mobile unit 3, the service device 2 operates by the electric power supplied from the battery module BT (see FIG. 3) in the general-purpose mobile unit 3. The housing 21 of the service device 2 has a shape in which a large-diameter cylinder and a small-diameter cylinder that is vertically longer than this cylinder are vertically connected. A power terminal 25 and a signal terminal 26 are provided on the lower surface of the housing 21 of the service device 2. A lighting device 24 is provided on the upper surface of the housing 21 of the service device 2.

A human sensor 27, a wireless communication unit 28, and a control unit 29 are provided in the housing 21 of the service device 2. The human sensor 27 detects the direction in which a person is present, and outputs a detection signal indicating the detected direction. The wireless communication unit 28 establishes a connection according to IEEE802.1 with a wireless LAN router 57 (see FIG. 4) in the charging/communication station 5, and communicates with a device on the Internet via the wireless LAN router 57. Send and receive data.

The control unit 29 is a device that functions as a control center of the service device 2. The control unit 29 has a CPU 291, a RAM 292, and a ROM 293. The CPU 291 executes the program in the ROM 293 while using the RAM 292 as a work area. By the function of this program, the CPU 291 performs two processes, that is, a lighting device drive process and a follow-up process. The lighting device driving process is a process of controlling on/off of the lighting device 24 and brightness of illumination light according to setting data transmitted from the user's smartphone (not shown) via the charging/communication station 5. The following process specifies the presence or absence and the position of the user in the living room based on the output signal of the motion sensor 27 while the lighting device 24 is on, and supplies the control signal to the general-purpose mobile unit 3 to give a travel instruction. This is a process of moving the general-purpose mobile unit 3 on which the service device 2 is placed, following the position of the user.

FIG. 3 is a schematic configuration diagram of the general-purpose mobile unit 3. The machine body 31 of the general-purpose moving body 3 has a disc shape having a larger radius and a lower height than the housing 21 of the service device 2. There are four omni wheels 32F, 32B, 32L, 32R projecting downward at respective positions equidistant from the center of the lower surface of the machine body 31 in the direction of a cross. Here, in FIG. 3, the omni wheel 32R is on the other side of the omni wheel 32L. The omni wheel 32F and the omni wheel 32B face each other in parallel with the center of the lower surface of the machine body 31 interposed therebetween. The omni wheel 32L and the omni wheel 32R face each other in parallel with the center of the lower surface of the machine body 31 interposed therebetween.

A motor 33F is provided inside the omni wheel 32F in the machine body 31. A motor 33B is provided inside the omni wheel 32B in the machine body 31. A motor 33L is provided inside the omni wheel 32L in the machine body 31. A motor 33R is provided inside the omni wheel 32R in the machine body 31. The motors 33F, 33B, 33L, 33R rotate the omni wheels 32F, 32B, 32L, 32R according to the drive signals supplied to them.

A battery holder 341 that houses the battery module BT is provided on the omni wheel 32B side in the machine body 31. The inlet/outlet port 342 of the battery holder 341 is opened at a position slightly closer to the center than the position directly above the omni wheel 32B on the upper surface of the machine body 31.

A device mount 34 is provided in the center of the top surface of the machine body 31. The device mount 34 has a dish shape having a diameter slightly larger than the lower surface of the housing 21 of the service device 2. The equipment mounting base 34 is provided with a power terminal 35 and a signal terminal 36. When the service device 2 is mounted on the device mounting base 34, the power terminal 25 of the service device 2 and the power terminal 35 of the general-purpose mobile unit 3, and the signal terminal 26 of the service device 2 and the signal terminal 36 of the general-purpose mobile unit 3, respectively. It is electrically connected. When the power terminal 25 of the service device 2 and the power terminal 35 of the general-purpose moving body 3 are connected, the power of the battery module BT in the battery holder 341 is supplied to the service device 2 via the power terminals 35 and 25. When the power terminal 26 of the service device 2 and the power terminal 36 of the general-purpose mobile unit 3 are connected, the output signal of the control unit 29 of the service device 2 is supplied to the general-purpose mobile unit 3 via the signal terminals 26 and 36. It

An obstacle sensor 37, a timer 38, and a control unit 39 are provided inside the machine body 31. The obstacle sensor 37 detects the presence or absence of an obstacle around the general-purpose moving body 33 and outputs a detection signal. The obstacle sensor 37 may be an outside line sensor, an image sensor, or a switch sensor. Further, the obstacle sensor 37 may be one that can detect a step on the floor.

The control unit 39 is a device that serves as a control center of the general-purpose moving body 3. The control unit 39 includes a CPU 391, a RAM 392, a ROM 393, and an EEPROM (Electrically Erasable Programmable Read Only Memory) 394. The CPU 391 executes the programs in the ROM 393 while using the RAM 392 as a work area. By the function of this program, the CPU 391 performs two processes, that is, a service device carrying process and a charge management process. The service device transportation process is a process of causing the general-purpose moving body 3 to travel according to a command from the service device 2 mounted on the device mounting base 34. The charge management process monitors the electric power of the battery module BT in the battery holder 341, and when the electric power of the battery module BT is below the threshold value, the traveling according to the traveling instruction of the service device 2 is interrupted and the position of the movement destination is set. To the position of the charging/communication station 5 and docked with the charging/communication station 5, the battery module BT in the battery holder 341 is replaced with the charged battery module BT in the charging/communication station 5, and the battery module BT It is a process of returning to the destination position after the replacement and restarting the traveling according to the traveling instruction of the service device 2.

FIG. 4 is a schematic configuration diagram of the charging/communication station 5 of FIG. The housing 51 of the charging/communication station 5 has a shape in which a recessed portion 511 is cut out at a portion between a lower surface on a peripheral surface of a cylinder and an intermediate position from the lower surface to the upper surface.

The housing 51 is provided with a power cable 52, a switch sensor 53, a battery holder 54, a lifting arm 55, an actuator 56, a wireless LAN router 57, and a controller 59. The power cable 52 is pulled out from the lower edge portion of the housing 51. When the outlet plug at the end of the power cable 52 is inserted into the household outlet, the household AC voltage (single-phase 100V) is supplied to each part inside the housing 51.

The switch sensor 53 is exposed below the surface of the housing 51 facing the recess 511 from the side. The switch sensor 53 detects that the general-purpose moving body 3 that has entered the concave portion 511 is pressed, and outputs a detection signal.

The battery holding portion 54 is pivotally mounted on the switch sensor 53 in the housing 51 so as to be rotatable along a plane parallel to the floor surface. As shown in FIG. 5, the battery holding portion 54 has a lotus root shape. The battery holding portion 54 has a central hole 544 and four battery holding holes 541-k (k=1 to 4). The center hole 544 penetrates between the centers of the upper surface and the lower surface of the battery holding portion 54. Each of the battery holding holes 541-k (k=1 to 4) penetrates between upper and lower surfaces of the battery holding portion 54 at positions equidistant from the central hole 544 in the cross direction. Each of the battery holding holes 541-k (k=1 to 4) has a size capable of accommodating one battery module BT.

In FIG. 4, the support rod 542 passing through the center hole 544 of the battery holding portion 54 is fixed slightly inside the surface of the housing 51 facing the recess 511. The battery holding unit 54 rotates with the support rod 542 as a rotation axis. One battery holding hole 541-k of the battery holding portion 54 is exposed to the recess 511 through an opening (not shown) on the surface of the housing 51 facing the recess 511. When the battery holding portion 54 rotates, the battery holding hole 541-1→battery holding hole 541-2→battery holding hole 541-3→battery holding hole 541-4→battery holding hole 541-1 is formed in the recess 511. The exposed objects are switched in order. AC/DC conversion in the three battery chargers 545L, 545B, 545R (not shown) in the housing 51 of the battery module BT of the three battery holding holes 541-k in the housing 51 except the one exposed in the recess 511. The applied DC voltage is applied, and the battery module BT in the three battery holding holes 541-k in the housing 51 is charged.

The elevating arm 55 is above the recess 511 in the housing 51. The elevating arm 55 has a grip bar 551 that advances into the recess 511 through an opening (not shown) on the surface of the housing 51 that faces the recess 511, and a housing portion 552 that houses the grip bar 551. The actuator 56 is located in the housing 51 near the elevating arm 55 and the support rod 542. The actuator 56 drives the lifting arm 55 and the support rod 542 under the control of the control unit 59.

The wireless LAN router 57 establishes a connection according to IEEE802.1 with the wireless communication unit 28 within its own wireless communication area, and mediates transmission and reception of data between the wireless communication unit 28 and a device on the Internet.

The control unit 59 is a device that functions as a control center of the charging/communication station 5. The control unit 59 has a CPU 591, a RAM 592, and a ROM 593. The CPU 591 executes the programs in the ROM 593 while using the RAM 592 as a work area. By the function of this program, the CPU 591 performs a battery replacement control process.

The battery exchange control process monitors whether or not the general-purpose moving body 3 and the charging/communication station 5 are docked by the output signal of the switch sensor 53, and when the general-purpose moving body 3 is docked with the charging/communication station 5, the actuator 56 is operated. Through the control, the battery module BT in the battery holder 341 of the general-purpose moving body 3 is replaced with the charged battery module BT in the battery holder 54.

More specifically, in the battery replacement control process, as shown in FIG. 6, the CPU 591 determines that the battery holder 341 in the recess 511 of the general-purpose moving body 3 is directly below the grip bar 551 of the elevating arm 55 at the docking position ( Hereinafter, this position is referred to as a home position), the switch sensor 53 is pushed by the general-purpose moving body 3, and when the detection signal C indicating that is output from the switch sensor 53, the rotation of the battery holding portion 54 is instructed. The first control signal S1 for turning on is supplied to the actuator 56. When the control signal S1 is supplied, the actuator 56 rotates the battery holding portion 54 so that the empty battery holding hole 541-k in which the battery module BT is not housed is directly below the grip bar 551.

Next, the CPU 591 supplies the actuator 56 with the second control signal S2 instructing the lowering of the grip bar 551 of the elevating arm 55, as shown in FIG. When the control signal S2 is supplied, the actuator 56 lowers the grip rod 551 of the elevating arm 55, and the grip rod 551 is located directly below the battery holding hole 541-k (battery holding hole 541-3 in the example of FIG. 7). When it reaches the battery module BT at the back of the loading/unloading port 342 of the battery holder 341 of the general-purpose moving body 3, the gripping rod 551 grips the battery module BT in the battery holder 341.

Next, as shown in FIG. 8, the CPU 591 supplies the actuator 56 with the third control signal S3 for instructing the raising of the grip bar 551. When the control signal S3 is supplied, the actuator 56 raises the grip bar 551 of the elevating arm 55, and the battery module BT gripped by the grip bar 551 is located directly above the battery holding hole 541-k (in the example of FIG. 7, When stored in the battery holding hole 541-3), the grip of the battery module BT by the grip bar 551 is released, and the grip bar 551 is retracted into the housing 51.

Next, the CPU 591 supplies a fourth control signal S4 for instructing the rotation of the battery holding unit 54 to the actuator 56, as shown in FIG. When the control signal S4 is supplied to the actuator 56, one of the battery holding holes 541-k accommodating the battery module BT charged by the charging devices 545L, 545B, 545R is directly below the elevating arm 55. Then, the battery holder 54 is rotated.

Next, the CPU 591 supplies the actuator 56 with the fifth control signal S5 instructing the lowering of the grip bar 551, as shown in FIG. When the control signal S5 is supplied, the actuator 56 lowers the grip bar 551 of the elevating arm 55, and the grip bar 551 is directly below the battery holding hole 541-k (battery holding hole 541-4 in the example of FIG. 10). When the battery module BT is reached, the gripping rod 551 grips the battery module BT and pushes it downward. When the battery module BT is housed in the battery holder 341 of the general-purpose moving body 3, the gripping rod 551 moves the battery module BT The grip is released and the grip bar 551 is retracted into the housing 51.

Next, the operation of the mobile platform system 1 of the first embodiment will be described. FIG. 11 is a sketch of a room in which the lighting follow-up service by the mobile platform system 1 is provided. On the floor of this room, a counter 501, a sofa 502, and a TV board 503, which are obstacles to the movement of the general-purpose moving body 3, are installed. A charging/communication station 5 is placed in the corner of the floor of the room.

When the user in the room wears the service device 2 on the general-purpose mobile unit 3 and performs an operation for instructing to turn on the lighting from a smartphone (not shown), the service device 2 on the general-purpose mobile unit 3 causes the lighting device 24 to operate. Is turned on and the general-purpose moving body 3 is moved following the user. Further, when the power of the battery module BT in the battery holder 341 falls below the threshold value, the general-purpose mobile unit 3 moves away from the destination position X at that time to the home position and docks with the charging/communication station 5. Then, at the home position, the battery module BT in the battery holder 341 is replaced with a charged battery module BT, and the original position X is returned.

The above is the details of the first embodiment. According to this embodiment, the following effects can be obtained.
First, in the first embodiment, the mobile platform system 1 includes a service device 2, a general-purpose mobile 3, and a charging/communication station 5. In the first embodiment, various types of service devices 2 are mounted on the general-purpose mobile unit 3 and operated, thereby providing a more comfortable lifestyle to the user.

Secondly, in the first embodiment, the service device 2 and the general-purpose moving body 3 that conveys the service device 2 move on the floor surface and continue to provide the service as long as the person to be followed is in the living room. Is becoming Then, the general-purpose moving body 3 is configured to return from the position of the movement destination to the home position each time the charge amount of the battery module BT in the general-purpose moving body 3 falls below the threshold value. Therefore, the situation where the electric power in the battery module BT is exhausted during the provision of the service and the provision of the service has to be interrupted for a long time until the battery module BT is completely charged does not occur.

Thirdly, in the first embodiment, a voltage is applied to the battery holding unit 54 that holds a plurality of battery modules BT, and at least some of the battery modules BT in the battery holding unit 54 to charge the battery modules BT. Charging device 545L, 545B, 545R for charging. Then, when the charge amount of the battery module BT in the general-purpose mobile unit 3 falls below the threshold value, the general-purpose mobile unit 3 returns to the home position from the movement destination position, docks with the charging/communication station 5, and the general-purpose mobile unit 3 moves. The battery module BT in the body 3 is replaced with a charged battery module BT in the battery holding portion 54, and after replacement of the battery module BT, the battery module BT is returned to the destination position. Therefore, according to the present embodiment, while the service device 2 and the general-purpose moving body 3 mounting the service device 2 are operated by the power of the battery module BT in the battery module BT, the battery holding unit 54 of the charging/communication station 5 is The battery module BT of is charged by the charging devices 545L, 545B, 545R. Therefore, according to the present embodiment, the service is interrupted when the battery module BT in the general-purpose mobile unit 3 is exhausted, as compared to the mode in which the battery module BT itself in the general-purpose mobile unit 3 is connected to the charging device to charge electric power. The time gets shorter.

Fourthly, in the first embodiment, the charging/communication station 5 detects a plurality of battery holding holes 541- of the battery holding unit 54 when the switch sensor 53 detects that the general-purpose moving body 3 has reached the home position. A first control for rotating the battery holding portion 54 so that the battery holding hole 541-k in which the battery module BT is not housed is directly above the loading/unloading opening 342 of the battery holder 341, and the grip bar of the elevating arm 55. When the grip bar 551 is lowered to reach the battery module BT in the battery holder 341 through the battery holding hole 541-k just above the battery holder 341, the grip bar 551 moves the battery module BT in the battery holder 341 to the lower position. Second control of gripping, when the gripping rod 551 is raised and the battery module BT gripped by the gripping rod 551 is housed in the battery holding hole 541-k immediately above, the gripping of the battery module BT by the gripping rod 551 is released. Of the plurality of battery holding holes 541-k of the battery holding unit 54, the battery holding hole 541-k in which the battery module BT charged by the charging devices 545L, 545B, 545R is housed is the battery holder 341. Control for rotating the battery holding portion 54 so as to be right above the loading/unloading port 342, and lowering the gripping rod 551 so that the gripping rod 551 reaches the battery module BT in the battery holding hole 541-k directly below. Then, the grip module 551 grips the battery module BT and pushes it downward. When the battery module BT is housed in the battery holder 341, the fifth control for releasing the grip of the battery module BT by the grip bar 551 is executed. Therefore, according to the present embodiment, the exhausted battery module BT in the general purpose moving body 3 is extracted, and the charged battery module BT by the charging device 545L, 545B, 545R in the charging/communication station 5 is transferred to the general purpose moving body 3. Loading and connection of the consumed battery module BT to the charging devices 545L, 545B, 545R can be realized by a small number of strokes of operation. Therefore, according to this embodiment, charging and replacement of the battery module BT can be made more efficient.

According to the first embodiment described above, the following inventions are provided.

(A1) A charging station placed on the floor,
A service device that provides a service to a user by driving a predetermined device according to a program,
A general-purpose moving body that moves the floor while avoiding obstacles on the floor by mounting the service device, and a battery module that supplies power to the general-purpose moving body and the service device on the general-purpose moving body. And a general-purpose mobile object having
The general-purpose mobile body has a home position at a position where the general-purpose mobile body and the charging station are docked and can receive power supply from the charging station, and each time the charge amount of the battery module in the general-purpose mobile body falls below a threshold value. A mobile platform system, wherein the mobile platform system returns to the home position from a destination position.

(A2) The charging station includes a holding unit that holds a plurality of battery modules, and a charging device that applies a voltage to at least a part of the battery modules in the holding unit to charge the battery modules.
When the charge amount of the battery in the general-purpose mobile body falls below a threshold value, the general-purpose mobile body returns to the home position from the movement destination position, docks with the charging station, and holds the battery module in the general-purpose mobile body. The mobile platform system according to (a1), wherein the mobile platform system is replaced with a charged battery module in the unit and returns to the destination position after the battery module is replaced.

(A3) The moving body according to (a2), which comprises a plurality of types of the service equipment, and is configured to be able to exchange the types of the service equipment to be mounted on the general-purpose moving body. Platform system.

(A4) The service device includes a sensor that detects a situation around the service device, and a communication unit that transmits a detection signal of the sensor,
By determining the operation content of the service equipment by analyzing the detection signal received from the service equipment according to a specified algorithm, and transmitting to the service equipment a control signal instructing the operation with the determined operation content. An artificial intelligence device for remotely controlling the operation of the service device is provided,
The mobile platform system according to (a2), wherein the artificial intelligence device has a plurality of types of modes and changes an algorithm used for determining the operation content of the service device according to the designated mode.

(A5) The service device includes a sensor that detects a situation around the service device and a communication unit that transmits a detection signal of the sensor,
Each determines the operation content of the service equipment by analyzing the detection signal received from the service equipment according to a different algorithm, and transmits a control signal instructing the operation with the determined operation content to the service equipment. With a plurality of types of artificial intelligence devices for remotely controlling the operation of the service equipment,
The movement according to (a2) is characterized in that the personality of the service device changes depending on which artificial intelligence device among the plurality of types of artificial intelligence devices remotely controls the service device. Body platform system.

(A6) The general-purpose moving body includes a battery holder capable of accommodating a single battery module, the battery holder having an open/close opening.
The holding portion has a lotus-like shape in which a plurality of holding holes each capable of accommodating one battery module are provided between respective positions equidistant from the centers of the two facing surfaces of the holding portion. The battery module is replaced by rotating the holder so that the holding hole is aligned with the position of the battery holder in the general-purpose moving body at the home position (a2). ) Mobile platform system described in.

(A7) The general-purpose moving body is a battery holder capable of accommodating a single battery module, and includes a battery holder having an opening/closing opening opened upward,
The holder has a lotus root shape, and a plurality of holders each having a size capable of accommodating one battery module are provided between positions on the upper surface and the lower surface of the holder equidistant from the center. There are holes,
The charging station has a sensor that detects that the general-purpose mobile unit has entered the home position,
The charging station is
When the sensor detects that the general-purpose moving body has reached the home position, a holding hole, in which a battery module is not housed, of the plurality of holding holes of the holding portion is provided in the general-purpose moving body at the home position. A first control for rotating the holding portion so as to be right above the loading/unloading opening of the battery holder;
When the gripping bar is lowered and reaches the battery module in the battery holder through the holding hole just above the battery holder in the general-purpose moving body at the home position, the gripping bar causes the inside of the battery holder to move. Second control for gripping the battery module of
A third control for releasing the grip of the battery module by the grip bar when the grip bar is raised and the battery module gripped by the grip bar is housed in the holding hole right above;
Among the plurality of holding holes of the holding unit, the holding hole in which the battery module that has been charged by the charging device is accommodated is directly above the loading/unloading opening of the battery holder in the general-purpose moving body at the home position. A fourth control for rotating the holding portion,
When the grip bar is lowered and the grip bar reaches the battery module in the holding hole just below, the grip bar grips the battery module and pushes the battery module downward, and the battery module is in the home position of the general-purpose moving body. The mobile platform system according to (a2), characterized in that, when the battery platform is housed in the battery holder, a fifth control for releasing the grip of the battery module by the grip bar is executed.

(A8) The general-purpose mobile unit includes a memory that stores, as travel history data, each pair of a series of travel instructions received by the general-purpose mobile unit from the service device and the actual travel time of the general-purpose mobile unit according to the travel instruction. Be equipped with
When the charge amount of the battery in the general-purpose mobile unit is below the threshold, the general-purpose mobile unit is located at the destination position when the charge amount is below the threshold after the general-purpose mobile unit leaves the home position. The mobile platform system according to (a7), wherein the mobile platform system returns to the home position by executing a series of travel history data stored in the memory in reverse order of storage order.

Although the first embodiment of the present invention has been described above, the following modifications may be added to this embodiment.
(A9) In the first embodiment, the battery holding unit 54 of the charging/communication station 5 can hold a maximum of four battery modules BT. However, the number of battery modules BT held in the battery holding unit 54 may be two to three, or may be five or more.

(A10) In the first embodiment, the battery holding portion 54 is pivotally mounted so as to be rotatable in a plane parallel to the floor surface. However, the battery holding portion 54 may be pivotally mounted so as to rotate in a plane orthogonal to the floor surface.

(A11) In the first embodiment, the control signal for the running instruction of the service device 2 is supplied to the general-purpose moving body 3 via the signal terminals 26 and 36. However, a wireless communication unit such as a bluetooth (registered trademark) unit is mounted on each of the service device 2 and the general-purpose mobile unit 3, and a control signal between the service device 2 and the general-purpose mobile unit 3 is transmitted by wireless communication of this wireless communication unit. You may send and receive.

(A12) In the first embodiment, the service device 2 to be mounted on the general-purpose moving body 3 is equipped with an illumination device 24 (illumination light), and the illumination that illuminates the surroundings of the user by following the indoor user. Provided a follow-up service. However, the service device 2 may be another type of device such as a display, a speaker, and a signal transmitter, and other services may be provided using the functions of these devices and the function of the general-purpose mobile unit 3. ..

For example, the following services may be provided by the service device 2 equipped with various devices and the general-purpose mobile unit 3.

(A12-1) Home appliance remote operation support service In this service, the service device 2 is an operation signal for transmitting an operation signal to the home appliance under the control of the control unit 29 and the wireless communication unit 28 and the control unit 29. It has a transmitting device (remote control). In this service, when a user sends operation instruction data that instructs the activation of a home electric home appliance (for example, an air conditioner) from his or her smartphone while on the go, the operation instruction data is charged via a server on the Internet. /Sent to the communication station 5 and transmitted from the charging/communication station 5 to the service device 2. When the service equipment 2 receives the operation instruction data, the service equipment 2 moves the general-purpose mobile unit 3 equipped with the service equipment 2 to a position facing the home electric appliance specified by the operation instruction data, and activates the home electric equipment from the operation signal transmitting device. The operation signal for instructing is sent to start the home electric appliance.

Therefore, a charging station having a server function, an operation signal transmitting device for providing a predetermined service to a user by driving according to a predetermined program, an operation signal transmitting device for transmitting an operation signal to a home electric appliance, and a wireless communication unit. And a service device having a control unit for controlling transmission of an operation signal by the operation signal transmitting device, and a general-purpose moving body that mounts the service device and moves on the floor while avoiding obstacles on the floor. When the wireless communication unit receives operation instruction data from the charging station, the control unit transmits an operation signal generated based on the operation instruction data from the operation signal transmitting device to the home electric appliance. A mobile platform system is provided.

(A12-2) Sound support service In this service, the service device 2 performs the bluetooth (registered trademark) wireless communication according to the bluetooth (registered trademark) between the control unit 29, the wireless communication unit 28, and the audio device. A trademark communication unit, a sound emitting device (speaker) that emits a sound signal received from an audio device, and a motion sensor that detects the presence or absence of a person in a living room and the position thereof. In this service, when a user transmits speaker drive instruction data for instructing sound emission and volume from a speaker from his smartphone, the speaker drive instruction data is transmitted from the charging/communication station 5 to the service device 2. It When the service device 2 receives the speaker drive instruction data, the service device 2 specifies the position of the user based on the output signal of the motion sensor, and calculates the optimum sound emission position for optimizing the acoustic feeling at the position, The general-purpose moving body 3 on which the service device 2 is mounted is moved to the optimum sound emitting position. After that, the service device 2 supplies the sound signal received from the audio device to the sound emitting device (speaker) to start sound emission of the sound by the sound emitting device.

Therefore, a charging station having a server function, a wireless communication unit that provides a predetermined service to a user by driving in accordance with a predetermined program, and performs wireless communication with an audio device, and the audio device A sound emitting device that emits a received sound signal, a motion sensor that detects the presence or absence of a person and the position thereof, and a user's position is specified based on the output signal of the motion sensor, and an acoustic sense at that position is detected. A service device having a control unit for calculating an optimum sound emission position for optimizing the position and giving a command to the transfer mobile unit, and moving the floor while avoiding obstacles on the floor by mounting the service device. A mobile platform system comprising: a general-purpose mobile.

(A12-3) Shooting support service In this service, the service device 2 collects the voice of the user and the control unit 29 and the wireless communication unit 28, the shooting device that performs shooting under the control of the control unit 29. It is assumed to have a sound pickup device (microphone) and a motion sensor for detecting the presence or absence of a person in the house and its position. In this service, when the user makes a predetermined sound (for example, a sound of tapping a hand twice) that serves as a signal for photographing, the service device 2 causes the output signal of the sound collecting device (microphone) and the motion sensor 27. The position of the user who generated the sound is specified based on the output signal of 1., the general-purpose moving body 3 on which the service device 2 is mounted is moved to the position of the user, and the photographing device photographs the user.

Therefore, the charging station, which is driven according to a predetermined program, provides a predetermined photographing service to the user, and includes a photographing device for photographing, a sound collecting device for collecting the voice of the user, and A human sensor for detecting the presence or absence and its position, and specifying the position of the user who generated the sound based on the output signal of the sound pickup device and the output signal of the human sensor and notifying the general-purpose mobile body of the position information. In addition, the service device having a control unit for controlling the shooting by the shooting device, and the service device is placed to a position specified by the position information to move the floor surface while avoiding obstacles on the floor surface. A mobile platform system is provided, comprising: a general-purpose mobile body, wherein the control unit performs image capturing by the image capturing device when the controller moves to a position specified by the position information.

(A12-4) Voice reading service In this service, the service device 2 includes the control unit 29, the wireless communication unit 28, and a sound emitting device (speaker) that emits sound. In this service, the content of the content that includes the text to be read by the user from his or her smartphone (for example, e-mail messages, current day schedules in schedule management applications, news sites, weather forecast sites, route guidance sites, etc.). When the data is transmitted, the content data is transmitted from the charging/communication station 5 to the service device 2. Upon receiving the content data, the service device 2 performs text/voice conversion processing on the text data in the content data, supplies the sound signal obtained by this conversion processing to the sound emitting device, and drives the sound emitting device. The text-to-speech sound is emitted from the sound emitting device.

Therefore, a charging station having a server function, a voice reading service for a user by driving according to a predetermined program, a wireless communication unit communicating with the charging station, and a sound emitting device emitting a sound. And a general-purpose mobile body for moving the floor surface while avoiding obstacles on the floor by mounting the service equipment and a service device having a control unit having a text/voice conversion processing function. When the unit receives content data from the charging station, the control unit performs text/voice conversion processing on the text data in the content data and supplies the sound signal obtained by this conversion processing to the sound emitting device. There is provided a mobile platform system characterized by controlling the sound emitting device to drive the sound emitting device to emit text reading voice.

(A12-5) Security/Intercom Support Service In this service, the service device 2 complies with Bluetooth (registered trademark) between the control unit 29 and the wireless communication unit 28 and the camera-equipped intercom system at the entrance of the residence. A Bluetooth communication unit for performing wireless communication, a display device for displaying an image captured by a camera in an intercom system with a camera, and a motion sensor for detecting the presence or absence of a person in a house and the position thereof. To do. In this service, when a visitor at a residence presses an intercom at the front door, visit notification data is transmitted from the intercom system to the service device 2. When the service device 2 receives the visit notification data, the service device 2 specifies the position of the user based on the output signal of the motion sensor, and moves the general-purpose mobile unit 3 to which the service device 2 is attached to the position of the user. Then, the service device 2 receives the captured image data of the camera from the intercom system, supplies the received captured image data to the display device, and causes the display device to display the image of the visitor.

Therefore, it is intended to provide a security/interphone system compatible service to a user by driving in accordance with a predetermined program, a wireless communication unit for performing wireless communication with the intercom system, a display device, and the presence/absence of a person. The wireless communication is provided with a service device having a human sensor for detecting the position, a control unit, and a general-purpose moving body that mounts the service device and moves on the floor while avoiding obstacles on the floor. When the unit receives the visit notification data from the intercom system, the control unit specifies the position of the user based on the output signal of the motion sensor and notifies the general-purpose mobile unit of the position information, and the general-purpose mobile unit. Moves to the position specified by the position information, the wireless communication unit receives the captured image data of the camera from the intercom system, and the control unit supplies the captured image data to a display device to supply the display device with the captured image data. There is provided a mobile platform system characterized by controlling to display an image of a visitor.

(A12-6) Charging support service In this service, the service device 2 includes a control unit 29, a wireless communication unit 28, a holder with a charging terminal for holding a smartphone, and a sound collecting device (microphone) for collecting a user's voice. ), and a human sensor for detecting the presence or absence of a person in the house and the position thereof. In this service, when the user generates a predetermined sound (for example, the sound of tapping the hand twice), the service device 2 is based on the output signal of the sound pickup device (microphone) and the output signal of the motion sensor. The position of the user is specified, and the general-purpose moving body 3 on which the service device 2 is mounted is moved to the position of the user. When the user attaches the smartphone to the holder with the charging terminal, the voltage supplied from the general-purpose moving body 3 is applied to the smartphone via the charging terminal of the holder with the charging terminal to charge the smartphone.

Therefore, the charging assistance service is provided to the user by driving according to a predetermined program, and the holder with the charging terminal, the sound collecting device for collecting the voice of the user, the presence or absence of a person and the position thereof are detected. And a general-purpose moving body that moves the floor surface while avoiding obstacles on the floor by mounting the service device, and the control unit, When the position of the user is specified based on the output signal of the sound device and the output signal of the motion sensor to notify the general-purpose mobile unit of the position information, and the general-purpose mobile unit moves to the position specified by the position information, The user is urged to attach the smartphone to the holder with the charging terminal, and the voltage supplied from the general-purpose mobile body is applied to the smartphone via the charging terminal of the holder with the charging terminal to charge the smartphone. A mobile platform system is provided.

(A12-7) Holding and Transport Service In this service, the service device 2 includes a control unit 29 and a wireless communication unit 28, an omnidirectional microphone that collects a user's voice, and a dish unit on which an object is placed. It shall have a presence sensor for detecting the presence or absence of a person in the house and its position. In this service, when the user places an object on a plate, the service device 2 identifies the position of the user based on the output signal of the motion sensor, and the general-purpose mobile unit 3 on which the service device 2 is mounted. Is moved following the position of the user.

Therefore, the holding and carrying service is provided to the user by driving according to a predetermined program, and the omnidirectional microphone that picks up the voice of the user, the placing portion on which the object is placed, and the presence/absence of a person And a human presence sensor for detecting its position, a service device having a control unit, and a general-purpose moving body that moves the floor surface while mounting the service device and avoiding obstacles on the floor surface. When the object is placed on the placing unit, the unit specifies the position of the user based on the output signal of the human sensor and notifies the general-purpose mobile unit of the position information, and the general-purpose mobile unit uses the use unit. Provided is a mobile platform system, which is characterized in that the mobile platform system moves following a person's position.

(A13) In the first embodiment, the travel instruction sent from the service device 2 to the general-purpose mobile unit 3 is stored in the EEPROM 394 of the general-purpose mobile unit 3 as a travel history, and the charge amount of the battery module BT falls below the threshold value to indicate the destination. The route may be determined when leaving the position X and returning to the home position based on the traveling history in the EEPROM 394. FIG. 12 is a diagram showing an example of the traveling pattern data 26 stored in the EERPOM 394 in this modified example. In addition, FIG. 13 is a diagram showing an example of the travel history data 27 stored in the EERPOM 394 in this modified example.

In FIG. 12, the traveling pattern data 26 is data indicating the traveling pattern of the general-purpose moving body 3. The traveling pattern includes, for example, forward movement, backward movement, right straight movement, left straight movement, right turn, and left turn. A unique command name is assigned to each traveling pattern.

In FIG. 13, the travel history data 27 includes a series of travel instructions received by the general-purpose mobile unit 3 from the service device 2 and the actual travel time of the general-purpose mobile unit 3 according to the travel instruction (the timer 38 follows the travel instruction). This is data including each pair of time measured from the start time to the end time of running. The travel instruction is composed of, for example, a command name of a travel pattern given as a travel instruction from the general-purpose mobile unit 3 and its parameter. The parameters include, for example, the traveling distance and the stop condition. The stop condition is, for example, a condition of stopping when the obstacle sensor 14 detects a wall. By making it possible to specify a driving instruction that is associated with such a stop condition, it is possible to give an instruction to go straight until a wall is reached, instead of just going straight.

The determination of the travel route using the travel pattern data 26 and the travel history data 27 will be described with reference to the floor plan of the room in FIG. 11 as an example, when the general-purpose moving body 3 equipped with the service device 2 is at the home position. When the user transmits the setting data instructing the lighting device 24 to be turned on from the smartphone to the service device 2, the service device 2 determines the position X of the moving destination in the room based on the output signal of the motion sensor 27, The travel instructions necessary to reach that position are sequentially output to the general-purpose mobile unit 3. The general-purpose mobile unit 3 is provided with a series of travel instructions supplied from the service device 2 (for example, go straight until an obstacle is detected → rotate 90 degrees left → straight until an obstacle is detected → rotate 90 degrees left → The omni-wheels 32F, 32B, 32L, 32R are moved according to the traveling instruction while the traveling history data 27 is stored in the EERPOM 394 as traveling history data 27, and the general-purpose moving body 3 reaches the position X.

Then, when the charge amount of the battery module BT in the battery holder 341 becomes lower than the threshold value while the service device 2 is providing the service at the position X, the CPU 391 of the general-purpose mobile unit 3 reaches the position X from the home position. In the meantime, a series of traveling instructions stored as traveling history data 27 in the EEPROM 391 are executed in the reverse order of the storage order, and the general-purpose moving body 3 reaches the home position.

Then, after the replacement of the battery module BT in the battery holder 341 at the home position is completed, the CPU 391 of the general-purpose mobile unit 3 executes a series of travel instructions stored as the travel history data 27 in the EEPROM 391 in the storage order, and the general-purpose mobile unit 3 To reach position X.

According to this modification, the general-purpose mobile unit 3 can be moved to the home position without mounting the device for detecting the position of the communication/charging station 5 on the general-purpose mobile unit 3.

(A14) In the first embodiment, the operation of the service device 2 may be remotely controlled by AI (Artificial Intelligence). This modification is realized by the following configuration, for example. The service device 2 includes a human sensor 27 as a sensor that detects a situation around the service device 2, and an optical sensor that detects the brightness of indoor illumination. Further, the service device 2 is connected to the artificial intelligence device via a network. The artificial intelligence device receives the detection signal of the human detection sensor 27 and the detection signal of the optical sensor from the wireless communication unit 28 of the service device 2, and analyzes the received detection signal according to the designated AI algorithm. The operation of the service device 2 is remotely controlled by determining the operation content and transmitting a control signal instructing the operation with the determined operation content to the service device 2. In this modification, the artificial intelligence device has two modes, an atmosphere priority mode and a function priority mode, and the algorithm used to determine the operation content of the service device 2 is changed according to the designated mode. Good.

More specifically, the artificial intelligence device has two modes, a function priority mode and an atmosphere priority mode. When the function priority mode is designated, the artificial intelligence device receives the detection signal of the optical sensor of the service device 2, and when the indoor brightness indicated by this detection signal is below the threshold value, changes the indoor brightness. The intensity of light of the lighting device 24 required to be equal to or higher than the threshold value is calculated, and a control signal for instructing light emission at this intensity is transmitted to the service device 2. Further, the artificial intelligence device is required to create a predetermined atmosphere in the room regardless of whether the detection signal of the optical sensor of the service device 2 is below the threshold value when the atmosphere priority mode is designated. A control signal for instructing light emission with light intensity is transmitted to the service device 2.

In addition, a plurality of types of artificial intelligence devices including a first artificial intelligence device that controls the service device 2 in the function priority and a second artificial intelligence device that controls the service device 2 in the atmosphere priority are provided on the network. The service device 2 may be controlled remotely while switching between different types of artificial intelligence devices. In this modified example, the first artificial intelligence device determines the operation content of the service device 2 by analyzing the detection signal of the optical sensor of the service device 2 according to the function-priority algorithm, and operates according to the determined operation content. The control signal to instruct is transmitted to the service equipment 2. In addition, the second artificial intelligence device determines the operation content of the service device 2 by analyzing the detection signal of the optical sensor of the service equipment 2 according to the atmosphere priority algorithm, and controls the operation with the determined operation content. The signal is transmitted to the service device 2. With such a configuration, the character of the service device 2 changes depending on which of a plurality of types of artificial intelligence devices is the operating entity of the service device 2. Therefore, it is possible to provide a service that matches the human sense.

(Second Embodiment) Plant cultivation service

The mobile platform system according to the second embodiment of the present invention uses a service device having a plant cultivation (hereinafter, planting) function. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

The service device includes a control unit 29, a wireless communication unit 28, an illuminance sensor that detects illuminance, and a placement unit that places a plant. The service equipment further includes a display device, an irradiation unit for irradiating a plant with light, a culture solution supply unit for supplying a culture solution suitable for planting, a soil moisture sensor for detecting the water content of soil, and a plant. It may have at least one of a water supply unit for supplying water and an environment measurement sensor for measuring room temperature, humidity, and the like.

On the other hand, the general-purpose moving body 3 includes a depth camera and a monocular camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for spatial recognition and person recognition, and the monocular camera is a camera that mainly shoots for face recognition of a person. The control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394, as described above with reference to FIG. In the control unit 39, the CPU 391 reads the program in the ROM 39 and executes the program to achieve the operation described below. The configuration of the charging/communication station 5 is as described above with reference to FIG. 4, and has a server function.

According to such a second embodiment, the following inventions are provided.

(B1) A planting service is provided to a user by driving in accordance with a predetermined program, and a charging/communication station, a wireless communication unit that performs wireless communication between the charging/communication station, and a plant are provided. A mounting unit to be mounted, an illuminance sensor that detects sunlight, a service device having a control unit, a general-purpose moving body that moves the floor while avoiding obstacles on the floor by mounting the service device, The control unit determines the sunshine based on the output signal of the illuminance sensor, specifies the position to move based on the result of the determination, notifies the general-purpose mobile body of the position information, the general-purpose There is provided a mobile platform system in which the mobile 3 moves to a position specified by the position information. Alternatively, the output signal of the illuminance sensor may be directly transmitted from the service device to the general-purpose mobile unit to specify the position to be moved on the general-purpose mobile unit side. According to this mobile platform system, it is possible to appropriately move to the position of the optimum sunshine, so that it is possible to promote the growth of plants.

(B2) When the control unit identifies the type of the plant placed on the placement unit and identifies the position to be moved, the control unit identifies the plant at a predetermined position for each type of the plant (b1). ). The mobile platform system described in 1) is provided. The type of the plant can be specified by reading the IC tag installed in the plant pot with a reader or switching a mechanical switch separately provided, but is not limited to this. According to this mobile platform system, it is possible to appropriately move to an optimum sunshine position according to the type of plant, and thus the growth of plants is further promoted.

(B3) The service device further includes a culture solution supply unit that supplies a culture solution to the plant, and the control unit controls the timing and the supply amount of the culture solution from the culture solution supply unit (b1). ). The mobile platform system described in 1) is provided. According to this mobile platform system, the culture solution can be automatically supplied at a timing suitable for plant growth, so that plant growth is further promoted.

(B4) The service device further includes a display device and a soil moisture sensor for detecting the moisture content of the soil in which the plant is planted, and the control unit is based on an output signal from the soil moisture sensor. The mobile platform system according to (b1) is provided in which the timing of supplying water to the plant is determined, and when the timing is reached, a display prompting water supply is displayed on the display device. According to this mobile platform system, water is automatically supplied, so that plant growth is further promoted.

(B5) The service device further includes an environment measurement sensor that measures at least one of room temperature and humidity, and the control unit optimizes at least one of room temperature and humidity when specifying the position to be moved. The mobile platform system according to (b1), which specifies the position to be For example, while repeating measurement and movement, if the measured value and the position information are stored in association with each other, the optimum position can be specified by comparing the measured value with a predetermined optimum value. , But not limited to this. According to this mobile platform system, the growth of the plant is further promoted because it is appropriately moved to the place of the environmental condition optimal for the growth of the plant.

(B6) The service device further includes an irradiation unit that irradiates the plant with light, and the control unit, based on predetermined schedule information, irradiation time, irradiation timing, and irradiation of light from the irradiation unit. A mobile platform system according to (b1) is provided for controlling at least one of the quantities. Here, the irradiation unit is configured by, for example, an LED light or the like, but is not limited to this. According to this mobile platform system, light is automatically emitted based on a predetermined schedule, so that plant growth is further promoted.

(B7) The service device further includes a hydration unit for replenishing the plants with hydration, and the controller controls the timing of hydration by the hydration unit and the amount of moisture to be supplied to the hydration unit. There is provided the mobile platform system according to (b1), which displays a warning on the display device when the water is consumed. According to this mobile platform system, the timing of hydration is displayed on the display device so that watering is never forgotten.

(B8) The mobile platform system according to any one of (b1) to (b7), in which the service device has an aesthetic appearance that can be exhibited independently of the general-purpose mobile body. .. According to this mobile platform system, it is possible to decorate the service device itself as a room object.

As described above, according to the second embodiment, it is possible to provide a planting service that reduces the user's labor for plant cultivation.

(Third Embodiment) Lighting Service

The mobile platform system according to the third embodiment of the present invention uses service equipment having a lighting function. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

The service device includes a control unit 29, a wireless communication unit 28 that communicates with the charging/communication station 5, an illuminance sensor that detects illuminance, an illumination unit, a light control unit that adjusts the amount of light emitted by the illumination unit, and an illumination unit. And a sound collecting unit (microphone). The drive unit drives the illumination unit in the horizontal direction and the vertical direction. Driving in the horizontal direction means changing the irradiation direction, and driving in the vertical direction means changing the irradiation height. The illumination unit may include a multicolor filter, and the colors of the illumination light may be variable by switching the filters. The control unit 29 includes a CPU 291, a RAM 292, and a ROM 293, and when the CPU 291 reads out and executes the program of the ROM 293, the operation described below is achieved.

On the other hand, the general-purpose moving body 3 includes a camera unit such as a depth camera and a monocular camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for spatial recognition and person recognition, and the monocular camera is a camera that mainly shoots for face recognition and human hand recognition. The control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394, as described above with reference to FIG. The structure of the charging/communication station 5 is as described above with reference to FIG. 4, and has a server function. The charging/communication station 5 transmits the vital data and sleep state data transmitted from the user's smartphone or wearable terminal to the service device.

According to such a third embodiment, the following inventions are provided.

(C1) A lighting service is provided to a user by driving according to a predetermined program, and lighting is performed with a charging/communication station and a wireless communication unit that performs wireless communication between the charging/communication station. A service device including an illumination unit, a light control unit that adjusts the amount of light emitted by the illumination unit, a drive unit that changes the irradiation angle of the illumination unit, an illuminance sensor that detects illuminance, and a first control unit; A general-purpose moving body having a camera unit and a second control unit for moving the floor surface while avoiding obstacles on the floor by mounting a service device, the second control unit including the camera unit. The user's hand position is recognized based on the image data sent from, and the first control unit drives the drive unit based on the output signal of the illuminance sensor at the recognized hand position to drive the illumination. There is provided a mobile platform system characterized by changing an irradiation angle by a unit. The light emission amount of the illumination may be adjusted based on the illuminance at the user's hand position. According to this mobile platform system, the user's hand position can be accurately grasped and optimal illumination can be performed.

(C2) A lighting service is provided to a user by driving according to a predetermined program, and lighting is performed with a charging/communication station and a wireless communication unit that performs wireless communication between the charging/communication station. A service device including a lighting unit, a light control unit that adjusts the amount of light emitted by the lighting unit, a drive unit that changes the irradiation angle of the lighting unit, and a control unit, and a floor surface on which the service device is placed. A general-purpose moving body that moves on the floor while avoiding an object, and the controller determines the user's state when the wireless communication unit receives the user's vital data from the charging/station, A mobile platform system is provided, which drives the driving unit to change an irradiation angle of the lighting unit. Here, the vital data is blood pressure, pulse, body temperature, etc., and is sent to the charging/communication station in real time from the user's smartphone or wearable terminal. The control unit may control the light control unit based on the vital data of the user to adjust the light emission amount of the illumination. Alternatively, the color of the illumination light may be changed by switching the filter provided in the illumination unit. According to this mobile platform system, suitable lighting can be performed according to the state of the user.

(C3) A lighting service is provided to a user by driving according to a predetermined program, and lighting is performed with a charging/communication station, a wireless communication unit that performs wireless communication with the charging/communication station. A service device including an illumination unit, a light control unit that adjusts the amount of light emitted by the illumination unit, a drive unit that changes the irradiation angle of the illumination unit, a sound collection unit that collects the voice of the user, and a control unit. And a general-purpose moving body that moves the floor while avoiding obstacles on the floor by mounting the service device, and the control unit based on a sound signal collected by the sound collecting unit, A mobile platform system is provided, which determines a state of a user and drives the driving unit to change an irradiation angle of the illumination unit. The control unit may control the light control unit based on the audio signal to adjust the light emission amount of the illumination. Alternatively, the color of the illumination light may be changed by switching the filter provided in the illumination unit. According to this mobile platform system, suitable lighting can be performed according to the state of the user judged from the pronunciation of the user.

(C4) A lighting service is provided to a user by driving according to a predetermined program, and lighting is performed with a charging/communication station and a wireless communication unit that performs wireless communication between the charging/communication station. A service device including an illumination unit, a light control unit that adjusts the amount of light emitted by the illumination unit, a drive unit that changes the irradiation angle of the illumination unit, and a first control unit, and a floor surface on which the service device is placed. A general-purpose moving body that moves on the floor while avoiding an obstacle, and includes a general-purpose moving body having a camera unit and a second control unit, wherein the second control unit is based on image data sent from the camera unit. The moving body is characterized in that the first control unit drives the driving unit to adjust the irradiation angle, and the illumination unit illuminates in the recognized direction of the user. A platform system is provided. The light emission amount of the illumination may be adjusted based on the distance to the user. Alternatively, the user may recognize the standing position/sitting position and drive the drive unit according to the state to adjust the illumination angle or height. According to this mobile platform system, it is possible to suitably illuminate the direction of the user. In addition, it becomes possible to perform optimal illumination by adjusting the angle and height of the illumination according to the standing/sitting state of the user.

(C5) A lighting service is provided to a user by driving according to a predetermined program, and lighting is performed with a charging/communication station and a wireless communication unit that performs wireless communication between the charging/communication station. A service device including a lighting unit, a light control unit that adjusts the amount of light emitted by the lighting unit, a drive unit that changes the irradiation angle of the lighting unit, and a control unit, and a floor surface on which the service device is placed. A general-purpose moving body that moves on the floor while avoiding an object, and the controller determines the sleep state of the user when the wireless communication unit receives the sleep state data of the user from the charging/station. However, a mobile platform system is provided, which switches the state of illumination by the illumination unit. Here, the sleep state data is a biorhythm of a sleep cycle or the like, and is sent in real time from the user's smartphone or wearable terminal to the charging/communication station. It should be noted that, based on the sleep state of the user, the control unit switches the lighting on/off, controls the dimming unit to adjust the light emission amount of the lighting, and switches the filter provided in the lighting unit. And change the color of the illumination light. According to this mobile platform system, suitable lighting can be performed according to the sleep state of the user. For example, when the user falls asleep, the amount of light can be reduced to promote optimal sleep.

(C6) A lighting service is provided to a user by driving according to a predetermined program, and lighting is performed with a charging/communication station and a wireless communication unit that performs wireless communication with the charging/communication station. A service device including a lighting unit, a light control unit that adjusts the amount of light emitted by the lighting unit, a drive unit that changes the irradiation angle of the lighting unit, and a control unit, and an obstacle on the floor on which the service device is placed. And a general-purpose moving body that moves on the floor while avoiding the above, and the general-purpose moving body moves according to a predetermined guide route. The control unit may change the amount of light emitted by the illumination unit by the light control unit or change the irradiation angle by the drive unit while the general-purpose moving body is moving. According to this mobile platform system, it is possible to provide optimum guidance according to the guide route.

(C7) A lighting service is provided to a user by driving according to a predetermined program, and lighting is performed with a charging/communication station and a wireless communication unit that performs wireless communication with the charging/communication station. A service device including an illumination unit, a light control unit that adjusts the amount of light emitted by the illumination unit, a drive unit that changes the irradiation angle of the illumination unit, a sound collection unit that collects the voice of the user, and a control unit. And a general-purpose moving body that moves the floor while avoiding obstacles on the floor by mounting the service device, and the control unit illuminates by the illumination unit when receiving an audio signal from the sound collection unit. There is provided a mobile platform system for controlling a state, wherein the general-purpose mobile body moves. For example, when called by the user, it is possible to take actions such as approaching while blinking the light. According to this mobile platform system, since the mobile platform system operates in response to a call from the user, communication beyond the boundaries between humans and robots is realized.

As described above, according to the third embodiment, optimal lighting according to the state of the user is realized.

(Fourth Embodiment) Air cleaning service

The mobile platform system according to the fourth embodiment of the present invention uses service equipment having an air cleaning function. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

The service device includes a control unit 29, a wireless communication unit 28 that communicates with the charging/communication station 5, an environmental condition measurement sensor that measures an environmental condition, and an air cleaning unit that has a main function related to air cleaning. It has a disinfection unit for dispersing hypochlorous acid, a display device, and a speaker. The air cleaning unit includes an air intake port and an air exhaust port on the housing side, but the arrangement is such that the air intake port is provided on the upper surface and the air exhaust port is provided on the lower surface or the side surface. The air cleaning unit may have functions of dehumidification, aroma care, deodorization, and disinfection as well as cleaning. The environmental condition is the temperature and humidity of the room. The control unit 29 includes a CPU 291, a RAM 292, and a ROM 293, and when the CPU 291 reads out and executes the program of the ROM 293, the operation described below is achieved. It is also possible to install a unit including an environmental condition measuring sensor and a wireless communication unit as a separate unit in each room.

On the other hand, the general-purpose moving body 3 includes a camera unit such as a depth camera and a monocular camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for spatial recognition and person recognition, and the monocular camera is a camera that mainly shoots for face recognition and human hand recognition. As described above with reference to FIG. 3, the control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394, and the CPU 391 reads and executes the program of the ROM 39, thereby performing the operation described below. The structure of the charging/communication station 5 is as described above with reference to FIG. 4, and has a server function. The charging/communication station 5 transmits the environmental condition data of the room from a unit provided in the room to the service equipment.

According to such a fourth embodiment, the following inventions are provided.

(D1) An air purifying service is provided to a user by driving in accordance with a predetermined program, the charging/communication station, a wireless communication unit that performs wireless communication between the charging/communication station, and the air cleaning. A service device having an air purifying unit for performing an environmental condition measurement sensor for measuring an environmental condition, and a control unit, and a general-purpose moving body for mounting the service device and moving the floor surface while avoiding obstacles on the floor surface. And the general-purpose mobile body moves along a predetermined route, and the control unit measures the environmental state by the environmental state measurement sensor in the process of the movement. A system is provided. According to this mobile platform system, it becomes possible to automatically measure the environmental condition of each part of the room.

(D2) The mobile platform system according to (d1), wherein the control unit controls the air cleaning unit to perform air cleaning based on the environmental condition. For example, when a general-purpose moving body performs a stepwise movement such that it moves for a predetermined distance and then stops for a predetermined time, if the environmental condition measured at the stop position is good, it moves directly to the next movement, and the environmental condition is bad. In this case, the air cleaning unit can be operated for a predetermined time to carry out the air cleaning, so that the air cleaning can be efficiently performed according to the environment. In addition to air cleaning, dehumidification/humidification, aroma care, deodorization, and disinfection may be performed.

(D3) An air purifying service is provided to the user by driving according to a predetermined program, which is installed in each room and has a measuring unit having an environmental condition measuring sensor and a communication unit, and a charging/communication station. A service device having a wireless communication unit that wirelessly communicates with the measurement unit, an air cleaning unit that cleans air, and a control unit; and the service device is placed on the service device while avoiding obstacles on the floor. A general-purpose moving body that moves on a floor surface, and the control unit, when the wireless communication unit receives environmental condition data from the measurement unit, determines the environmental condition of each room based on the environmental condition data, When a room that requires air cleaning is specified, a signal that specifies the room is transmitted to the general-purpose mobile unit, and when the general-purpose mobile unit moves to the room, the control unit executes air cleaning by the air cleaning unit. There is provided a mobile platform system characterized by the above-mentioned control. According to this mobile platform system, it is possible to identify a room requiring air cleaning based on the environmental condition of each room, and automatically move to the room requiring air cleaning for air cleaning. In addition to air cleaning, dehumidification/humidification, aroma care, deodorization, and disinfection may be performed.

(D4) The air cleaning unit includes an air intake port and an air exhaust port in a housing, the intake port is disposed on an upper surface of the housing, and the exhaust port is a lower surface or a side surface of the housing. The mobile platform system according to any one of (d1) to (d3) is provided. According to this, the air of the high part of the room can be sucked.

(D5) The mobile platform system according to any one of (d1) to (d4), in which the service device further includes a disinfection unit for dispersing hypochlorous acid. Therefore, in addition to cleaning the air in the room, disinfection with hypochlorous acid can be performed. For example, if the general-purpose moving body is periodically made to circulate along a predetermined route, it is possible to effectively disinfect.

As described above, according to the fourth embodiment, effective air cleaning can be performed based on the environmental condition of the room.

(Fifth Embodiment) Work support service by robot arm

The mobile platform system according to the fifth embodiment of the present invention uses service equipment having a robot arm function. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

The service device includes a control unit 29, a wireless communication unit 28 that communicates with the charging/communication station 5, an arm unit, a grip unit disposed at the tip of the arm unit, a vibration sensor that detects vibration, and an arm. And a control unit that controls the driving of the gripping unit. The number of arm units may be one or more, but the control unit integrally controls even in the case of a plurality of arms. The control unit 29 includes a CPU 291, a RAM 292, and a ROM 293, and when the CPU 291 reads and executes the program of the ROM 293, the operation as described later is achieved. A piezoelectric vibration acceleration sensor or the like can be used as the vibration sensor.

On the other hand, the general-purpose moving body 3 includes a camera unit such as a depth camera and a monocular camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for spatial recognition and person recognition, and the monocular camera is a camera that mainly shoots human face recognition and gripping target recognition. The control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394, as described above with reference to FIG. The structure of the charging/communication station 5 is as described above with reference to FIG. 4, and has a server function.

According to such a fifth embodiment, the following inventions are provided.

(E1) To provide a work support service by a robot arm to a user by driving according to a predetermined program, the charging/communication station, a wireless communication unit, an arm portion, and a tip end of the arm portion. A holding device, a vibration sensor that detects vibration, and a control unit that controls the drive of the arm unit and the holding unit; and the floor while avoiding obstacles on the floor by mounting the service device. A general-purpose moving body that moves a surface, and when the control unit determines that vibration has occurred based on an output signal from the vibration sensor, the control unit moves the arm unit in a direction opposite to the vibration. The present invention provides a mobile platform system, which is controlled by a method described above to cancel the influence of vibration on the grip portion. According to this mobile platform system, it is possible to cancel the influence of vibration that occurs when the general-purpose mobile is moving, for example, by holding the cup containing water with the grip, so that water is not spilled. It is possible to transport to.

(E2) The general-purpose moving body moves to a predetermined position at a predetermined time, and the control unit performs a predetermined operation on the arm unit and the grip unit at the position. A mobile platform system according to (e1) is provided. According to this mobile platform system, it is possible to automatically perform daily routine work such as moving to a window in the morning to grasp and open the curtain, and to grasp and close the curtain at night.

(E3) A robot arm is provided with a work support service by driving according to a predetermined program, and the charging/communication station, the wireless communication unit, the arm portion, and the tip end of the arm portion are provided. And a service device having a first control unit for controlling driving of the arm unit and the grip unit, and a device for moving the floor surface while mounting the service device and avoiding obstacles on the floor surface. A general-purpose moving body having a camera unit and a second control unit, and when the second control unit recognizes an object on the floor based on the image data from the camera unit, moves to the position of the object. A mobile platform system is provided, wherein the first control unit drives the arm unit and the grip unit to collect the article at the position. According to this mobile platform system, it is possible to recognize an object that should not exist on the floor surface as a lost object and automatically collect it. It should be noted that the determination as to whether or not it originally exists can be performed by referring to the space map generated in advance, but is not limited to this.

(E4) The service device includes a plurality of the arm parts and the grip parts, and the control part drives the arm parts so as to press the grip parts against a floor surface, thereby enabling the general-purpose moving body to operate. There is provided the mobile platform system according to any one of (e1) to (e3), wherein the mobile platform system is lifted from the floor. According to this, for example, when the floor surface has irregularities that cannot be overcome by normal traveling, the general-purpose moving body can be temporarily lifted from the floor surface so that the vehicle can be overcome.

As described above, according to the fifth embodiment, the robot arm can support a part of the work that the user routinely performs.

(Sixth Embodiment) Communication interface service

The mobile platform system according to the sixth embodiment of the present invention uses service equipment having a communication function. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

The service equipment includes a control unit 29, a wireless communication unit 28 that communicates with the charging/communication station 5, a display device, a support unit that supports the display device, a drive unit that adjusts the height of the support unit, and a voice. It has a sound emitting unit for outputting the sound, a sound collecting unit for collecting the sound, and a control unit 29. The control unit 29 includes a CPU 291, a RAM 292, and a ROM 293. When the CPU 291 reads out and executes the programs of the ROM 293, the control unit 29 has an operation related to various interface services as described later.

On the other hand, the general-purpose moving body 3 includes a camera unit such as a depth camera and a monocular camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for spatial recognition and person recognition, and the monocular camera is a camera that mainly shoots human face recognition and gripping target recognition. The control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394, as described above with reference to FIG. The structure of the charging/communication station 5 is as described above with reference to FIG. 4, and has a server function.

According to such a sixth embodiment, the following inventions are provided.

(F1) A service related to communication is provided to a user by driving in accordance with a predetermined program, and includes a charging/communication station, a wireless communication unit, a display device, and a support unit that supports the display device. A service unit having a drive unit that adjusts the height of the support unit and a first control unit; and a unit that moves the floor surface while mounting the service device and avoiding obstacles on the floor surface, A general-purpose moving body having a camera unit and a second control unit, wherein the second control unit recognizes the user based on the image data from the camera unit and moves to the position of the user. The mobile platform, wherein the first control unit controls the drive unit to control the height of the support unit that supports the display device based on the recognition result. A system is provided. According to this mobile platform system, it is possible to automatically move to the position of the user and adjust the height of the display device to a height visible to the user, which makes the viewing of the user convenient. Can be improved.

(F2) The service device further includes a sound collecting unit that collects the user's voice, and the first control unit recognizes the voice by the voice recognition function when receiving the voice signal from the sound collecting unit, A mobile platform system according to (f1), characterized in that a corresponding operation is identified by referring to a table defining the operation and the operation is executed. According to this mobile platform system, it is possible to perform an operation such as switching the display by the display device based on the voice instruction of the user.

(F3) The service device further includes a sound emitting unit that outputs sound, and when the wireless communication unit receives content data from the charging/communication station, the first control unit outputs sound based on the content data. (F2) is provided so that the mobile platform system is controlled by the sound emitting unit. According to this mobile platform system, for example, it is possible to read aloud a book or provide various guidance at a hotel or a library.

(F4) The service device further includes a sound collecting unit that collects the user's voice, and the first control unit recognizes the voice by the voice recognition function when receiving the voice signal from the sound collecting unit, A mobile platform system according to (f1) is provided, wherein a predetermined search is executed by a search function and the result of the search is displayed on the display device. According to this mobile platform system, it becomes possible to perform a search by voice.

As described above, according to the sixth embodiment, it is possible to provide the user with support as various communication interfaces.

(Seventh Embodiment) Coffee generation support service

The mobile platform system according to the seventh embodiment of the present invention uses service equipment having a coffee maker function. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

The service device includes a control unit 29, a wireless communication unit 28 that communicates with the charging/communication station 5, a coffee generation unit that generates coffee, a sound collection unit that collects voice, and a control unit 29. The control unit 29 includes a CPU 291, a RAM 292, and a ROM 293. When the CPU 291 reads out and executes the program of the ROM 293, an operation relating to a coffee production support service described later is achieved. Here, the coffee generating unit holds a plurality of types of cartridges that store coffee powder in a selectable manner, receives a control signal from the control unit 29, selects a cartridge, and automatically generates coffee. It has a function. However, it is not limited to this.

On the other hand, the general-purpose moving body 3 includes a camera unit such as a depth camera and a monocular camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for spatial recognition and person recognition, and the monocular camera is a camera that mainly shoots human face recognition and gripping target recognition. The control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394, as described above with reference to FIG. The structure of the charging/communication station 5 is as described above with reference to FIG. 4, and has a server function.

According to such a seventh embodiment, the following inventions are provided.

(G1) A service for providing a coffee production support service to a user by driving according to a predetermined program, the service having a charging/communication station, a wireless communication unit, a coffee production unit, and a first control unit. And a general-purpose moving body that carries the service equipment and moves on the floor while avoiding obstacles on the floor and has a second controller. The first controller includes the coffee. When the generation unit controls the coffee to be generated, and the completion of the coffee generation is detected by the signal from the coffee generation unit, the general-purpose mobile unit is instructed to move, and the second control unit is based on the command. There is provided a mobile platform system characterized by controlling to move to a predetermined location. According to this mobile platform system, when coffee is generated, the coffee can be delivered to a place designated in advance by the user, which is highly convenient.

(G2) The mobile platform system according to (g1) is characterized in that, when coffee is produced, the general-purpose mobile travels along a predetermined route. According to this mobile platform system, for example, the user travels around the room while sprinkling the scent of coffee, so that the user's desire can be appealed. For example, it is possible to promote purchasing by patrol at a family restaurant or the like.

(G3) A coffee production support service is provided to the user by driving according to a predetermined program, and the charging/communication station, the wireless communication unit, the coffee production unit, and the voice of the user are collected. A service device including a sound collecting unit and a first control unit, and a general-purpose device that mounts the service device and moves on the floor surface while avoiding obstacles on the floor surface and that includes a camera unit and a second control unit A moving body, and the first control unit collects the voice of the user, determines whether the instruction is for coffee production by a voice recognition function, and when the instruction is for coffee production, , The second control unit recognizes the user based on the image data from the camera unit, and transmits the data specifying the user to the service device, and the first control unit is based on a predetermined condition for the user. When the completion of coffee production is detected by a signal from the coffee production unit, the second general-purpose mobile unit is instructed to move, and the second control unit sets the instruction. Based on the above, a mobile platform system is provided, which is controlled to move to the recognized position of the user. Here, the "condition" is the type, temperature, etc. of the cartridge, which is held in a table format and can be referred to. According to this mobile platform system, it is possible to generate coffee that suits the taste of the user and carry it to the user in response to the call from the user.

As described above, according to the seventh embodiment, it is possible to provide a coffee production support service that automatically produces coffee and carries it to the user.

(Eighth Embodiment) Sound Service

The mobile platform system according to the eighth embodiment of the present invention uses service equipment having a speaker function. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

The service device includes a control unit 29, a wireless communication unit 28 that communicates with the charging/communication station 5, a speaker system, a sound collecting unit that reproduces sound being reproduced, and a control unit 29. The control unit 29 includes a CPU 291, a RAM 292, and a ROM 293, and the CPU 291 reads out and executes the program of the ROM 293, so that an operation relating to an acoustic service as described later is achieved.

A speaker system is a speaker unit attached to an enclosure as a housing. As the speaker unit, various ones such as a 1-way speaker and a multi-way speaker can be adopted. Further, speaker units are roughly classified into full range (all bands), subwoofers (heavy bass), woofers (bass), etc., according to their assigned frequencies, but in the present embodiment, speakers equipped with speaker units of each frequency are installed. By mounting and using the system as a different service device on a plurality of general-purpose mobile units, it is possible to optimize the acoustic characteristics in multiple channels by simultaneously using a plurality of mobile units. On the other hand, as a speaker system, a parametric speaker system can also be adopted. The parametric speaker realizes sound reproduction having superdirectivity by using so-called ultrasonic waves.

On the other hand, the general-purpose moving body 3 includes a camera unit such as a depth camera and a monocular camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for spatial recognition and person recognition, and the monocular camera is a camera that mainly shoots human face recognition and gripping target recognition. The control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394, as described above with reference to FIG. The structure of the charging/communication station 5 is as described above with reference to FIG. 4, and has a server function. The charging/communication station 5 also plays a role of transferring the music data sent from the audio device by wireless communication to the service device.

According to such an eighth embodiment, the following inventions are provided.

(H1) A sound service is provided to a user by driving in accordance with a predetermined program, which includes a charging/communication station, a wireless communication unit, a speaker system, a sound collecting unit, and a first control unit. The wireless communication unit includes: a service device that the user has, and a general-purpose moving body that carries the service device and moves on the floor while avoiding obstacles on the floor and that has a second controller. When receiving the music data from the charging/communication station, the first control unit outputs the sound based on the music data from the speaker system, and when the sound collecting unit collects the sound, the first control unit The sound quality is evaluated by the sound quality evaluation function based on the output signal from the sound collecting unit, and when the evaluation result does not satisfy the predetermined condition, the general-purpose mobile unit is instructed to move, The second control unit controls to move based on the instruction, and stops the movement by the general-purpose moving body when the evaluation of the sound quality by the first control unit satisfies a predetermined condition. A mobile platform system is provided. According to this mobile platform system, the service device can be located at a position where the sound quality is optimum.

(H2) A plurality of mobile platform systems equipped with service equipment having a speaker system using a plurality of speaker units having different frequencies are linked to each other, and each of them is moved to an optimum sound quality position to achieve high quality as a whole. An audio system is provided that performs multi-channel playback. At this time, the charging/communication station respectively receives the evaluation result data relating to the sound quality from each service device, and calculates the destination of each service device so that the sound quality is optimally arranged as a whole. The calculation result may be transmitted to each service device. According to this audio system, multi-channel reproduction can be performed with high quality by linking a plurality of mobile platform systems.

(H3) A sound service is provided to a user by driving according to a predetermined program, and a service device including a charging/communication station, a wireless communication unit, a parametric speaker system, and a first control unit. A general-purpose moving body that carries the service device and moves on the floor while avoiding obstacles on the floor and that has a camera unit and a second control unit. When the wireless communication unit receives the music data from the charging/communication station, the first control unit recognizes the user based on the image data from the camera unit, moves toward the user, and moves toward the user. There is provided a mobile platform system characterized in that a voice output based on the music data is performed from the parametric speaker system. According to this mobile platform system, superdirective voice output can be performed to the recognized user.

(H4) When the charging/station detects an incoming call to the user's smartphone by wireless communication, the charging/station notifies the service device, and the first control unit causes the voice from the speaker system or the parametric speaker system. There is provided the mobile platform system according to any one of (h1) to (h3), which is characterized in that the output volume is reduced. According to this mobile platform system, user convenience is improved.

As described above, according to the eighth embodiment, it is possible to provide a high quality acoustic service.

(Ninth Embodiment) Health Care Service

The mobile platform system according to the ninth embodiment of the present invention uses a service device that realizes a healthcare service. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

The service device includes a control unit 29, a wireless communication unit 28 that communicates with the vital measuring device and the charging/communication station 5, a display device, a sound emitting unit that outputs sound, and sound collection that collects the user's sound. And a control unit 29. The control unit 29 includes a CPU 291, a RAM 292, and a ROM 293, and the CPU 291 reads out and executes the program of the ROM 293, so that an operation relating to a healthcare service as described later is achieved. The vital measuring device is a device that has a wireless communication function and that measures the heart rate, respiration rate, and blood pressure in a non-contact manner using a microwave radar or the like, and is a generic term for wearable terminals that have such a function. Is.

On the other hand, the general-purpose moving body 3 includes a camera unit such as a depth camera, a monocular camera, and an infrared camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for spatial recognition and person recognition, and the monocular camera is a camera that mainly shoots human face recognition and gripping target recognition. The infrared camera is used for vital measurement. As described above with reference to FIG. 3, the control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394, and the CPU 391 reads and executes the program of the ROM 39, thereby performing the operation described below. The structure of the charging/communication station 5 is as described above with reference to FIG. 4, and has a server function. The charging/communication station 5 also plays a role of transferring the music data sent from the vital measuring device by wireless communication to the service device. Further, the charging/communication station 5 also has a role of receiving measurement data from a toilet bowl having a measurement function and a communication function and sleep state data from a smartphone or a wearable terminal, and transferring the data to a service device.

According to such a ninth embodiment, the following inventions are provided.

(I1) A health care service is provided to a user by driving according to a predetermined program, the service equipment including a charging/communication station, a wireless communication unit, a display device, and a control unit, A general-purpose moving body that moves on the floor while avoiding obstacles on the floor by mounting a service device, and when the wireless communication unit receives vital measurement data from the charging/communication station, the control unit There is provided a mobile platform system characterized by performing display based on vital measurement data on the display device and storing the vital measurement data. Here, the vital measurement data is body temperature, blood pressure, heart rate, respiration rate, etc., and is transmitted from the wearable terminal, smartphone, or vital measuring device to the charging/communication station by wireless communication, and the charging/communication station 5 provides services. Is transferred to the device. This allows the user to check his/her vital measurement data. When the vital measurement data is the body temperature, the control unit of the service device can measure the vital temperature data based on the image data obtained by the camera unit. The service device continuously measures and stores the vital measurement data, which enables medical care of the user.

(I2) A health care service is provided to a user by driving according to a predetermined program, the service equipment including a charging/communication station, a wireless communication unit, a display device, and a control unit, And a general-purpose moving body that moves on the floor while avoiding obstacles on the floor by mounting service equipment, and when the wireless communication unit receives weight data from the charging/communication station, the control unit A mobile platform system is provided which displays on the display device based on weight data and stores the weight data. The weight data is sent to a charging/communication station from a weight scale having a wireless function, and transferred from the charging/communication station to a service device. At the time of display, the transition of weight may be shown graphically. Further, it goes without saying that the body weight data includes body fat percentage, BMI, etc. in addition to the body weight. According to this mobile platform system, it is possible to confirm the weight. The service device continuously measures and stores the weight data to enable medical care of the user.

(I3) A health care service is provided to a user by driving in accordance with a predetermined program, the service equipment including a charging/communication station, a wireless communication unit, a display device, and a control unit; And a general-purpose moving body that moves on the floor while avoiding obstacles on the floor by mounting a service device, and when the wireless communication unit receives excrement measurement data from the charging/communication station, the control is performed. A unit provides a display based on measurement data on the display device, and stores the measurement data, and a mobile platform system is provided. The excrement measurement data is transmitted from the toiletry device having the wireless function and the measuring function to the charging/communication station 5 and transferred from the charging/communication station 5 to the service device. According to this mobile platform system, it is possible to confirm the health condition by daily defecation. The service device continuously measures and stores the measurement data to enable medical care of the user.

(I4) A health care service is provided to a user by driving the service apparatus according to a predetermined program, the service apparatus including a charging/communication station, a wireless communication unit, a display device, and a controller. And a general-purpose moving body that moves on the floor while avoiding obstacles on the floor by mounting service equipment, and when the wireless communication unit receives sleep state data from the charging/communication station, the control unit Provided is a mobile platform system, which displays the sleep state data on the display device and stores the sleep state data. The sleep state data is sent from the wearable terminal or smartphone to the charging/communication station 5, and is transferred from the charging/communication station to the service device. Note that it is also possible to recognize the user from the image captured by the camera unit, grasp the operation and state from the change in the position of the user over time, and determine the sleep state. The service device continuously measures and stores the sleep state data, which enables medical care of the user.

(I5) A health care service is provided to a user by driving in accordance with a predetermined program, and a charging/communication station, a wireless communication unit, a display device, and sound collection for collecting user's voice. Unit, a service unit having a first control unit, and a general-purpose moving body having a camera unit and a second control unit for moving the floor surface while mounting the service device and avoiding obstacles on the floor surface. And the second control unit recognizes the user based on the image data from the camera unit and moves to a predetermined position from the user, and the first control unit measures visual acuity on the display device. Is displayed, the voice from the user is collected by the sound collecting unit, the voice is recognized by the voice recognition function, and the correctness of the visual acuity measurement is determined based on the recognition result. When the general-purpose moving body is instructed to move by a predetermined distance and the general-purpose moving body moves by a predetermined distance, the sound collection, voice recognition, and correctness determination are repeated again, and visual acuity is measured based on all correctness determinations. Then, a mobile platform system is provided, which displays the result of the measurement on the display device. According to this mobile platform system, it is possible to measure visual acuity.

(I6) A health care service is provided to a user by driving according to a predetermined program, and a service device including a charging/communication station, a wireless communication unit, a display device, and a first controller. A general-purpose moving body having a camera unit and a second control unit for moving the floor surface while avoiding obstacles on the floor by mounting the service device, wherein the second control unit is the camera. The image of the ingested food of the user is transmitted by the unit, the image data is transmitted to the first control unit, the first control unit recognizes the ingested food from the image data, and stores data relating to the ingested food. A mobile platform system is provided. For the recognition of the ingested food, for example, a deep learning technique using a library can be used, but the recognition is not limited to this. According to this mobile platform system, it is possible to manage the health of the user. It is also possible to calculate calories after recognizing the ingested food. The service device continuously measures and stores data relating to the ingested food, thereby enabling medical care of the user.

(I7) A health care service is provided to a user by driving according to a predetermined program, and a service device including a charging/communication station, a wireless communication unit, a display device, and a first controller. And a general-purpose moving body that carries the service equipment and moves on the floor while avoiding obstacles on the floor, and the control unit displays a medication instruction on the display device according to a predetermined schedule. A mobile platform system is provided.

(I8) A health care service is provided to a user by driving in accordance with a predetermined program, which includes a charging/communication station, a wireless communication unit, a display device, a sound emitting unit that outputs a sound, and A general purpose moving body having a camera unit and a second control unit for moving the floor surface while avoiding obstacles on the floor by mounting the service device on the service equipment; When the wireless communication unit receives a music file, the first control unit outputs a sound from the sound emitting unit and performs a predetermined display on the display device, and the second control unit displays the music file. There is provided a mobile platform system characterized by reading a drive pattern associated with a contained music ID and moving based on the drive pattern. According to this mobile platform system, while playing music such as aerobics, while entertaining the user with the changing display, it also exercises together, so the activation, promotion, and eventually the exercise of the user It becomes possible to promote health.

As described above, according to the ninth embodiment, it is possible to automatically perform a vital check, a weight check, a check of ingested foods, etc. Therefore, it is possible to support the user's health care in various ways. It will be possible.

(10th Embodiment) Indoor temperature adjustment support service

The mobile platform system according to the tenth embodiment of the present invention uses service equipment having a ceramic heater function. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

The service equipment includes a control unit 29, a wireless communication unit 28 that communicates with the charging/communication station 5, an environmental condition measuring sensor that measures an environmental condition, a ceramic heater unit, a display device, and a speaker. The control unit 29 includes a CPU 291, a RAM 292, and a ROM 293, and when the CPU 291 reads and executes the program of the ROM 293, the operation described below is achieved.

On the other hand, the general-purpose moving body 3 includes a camera unit such as a depth camera and a monocular camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for spatial recognition and person recognition, and the monocular camera is a camera that mainly shoots for face recognition and human hand recognition. As described above with reference to FIG. 3, the control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394. By the CPU 391 reading and executing the program of the ROM 39, the operation related to the indoor temperature adjustment support service described below is performed. .. The structure of the charging/communication station 5 is as described above with reference to FIG. 4, and has a server function.

According to such a tenth embodiment, the following inventions are provided.

(J1) A room temperature adjustment support service is provided to a user by driving in accordance with a predetermined program, and a charging/communication station and a wireless communication unit that performs wireless communication between the charging/communication station. A ceramic heater unit, an environmental condition measuring sensor for measuring an environmental condition, a service device having a control unit, a general-purpose moving body that moves the floor while avoiding obstacles on the floor by mounting the service device, The general-purpose mobile body moves along a predetermined route, the control unit measures the environmental state by the environmental state measurement sensor in the process of the movement, and the room temperature is equal to or lower than a predetermined value. In this case, there is provided a mobile platform system characterized in that the movement is stopped and the temperature is maintained by the ceramic heater until the temperature becomes a predetermined value or more. According to this mobile platform system, the indoor temperature can be adjusted to an appropriate temperature.

(J2) The mobile platform system according to (j1), wherein the predetermined value is a value preset by a user. With this mobile platform system, it is possible to adjust the temperature to the user's preference.

(J3) A room temperature adjustment support service is provided to a user by driving in accordance with a predetermined program, and a charging/communication station and a wireless communication unit that performs wireless communication with the charging/communication station. A service device having a ceramic heater unit, an environmental condition measuring sensor for measuring an environmental condition, and a first control unit, and a device for moving the floor surface while mounting the service device and avoiding obstacles on the floor surface. And a general-purpose moving body having a second control unit, the second control unit recognizes the user based on the image data from the camera unit, and determines the general-purpose moving body from the position of the user. The movement is controlled so as to follow the movement of the user so as to maintain the interval, and in the process of this movement, the first control unit controls so as to perform heat retention by the ceramic heater. A body platform system is provided. According to this mobile platform system, the ceramic heater unit can perform heat retention while maintaining an appropriate distance from the user, so that a comfortable environment can be provided to the user.

As described above, according to the tenth embodiment, it becomes possible to favorably support the adjustment of the room temperature by the ceramic heater.

(Eleventh Embodiment) Projector projection service

The mobile platform system according to the eleventh embodiment of the present invention uses service equipment having a projector function. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

The service device includes a control unit 29, a wireless communication unit 28 that communicates with the charging/communication station 5, a projector unit that projects an image, and a display device. The control unit 29 includes a CPU 291, a RAM 292, and a ROM 293, and when the CPU 291 reads and executes the program of the ROM 293, the operation described below is achieved. The projector unit has a function of adjusting the projection angle.

On the other hand, the general-purpose moving body 3 includes a camera unit such as a depth camera and a monocular camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for space recognition and person recognition, and also shoots for recognition of flat surfaces and flat portions. The monocular camera is a camera that mainly shoots for face recognition of a person. As described above with reference to FIG. 3, the control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394. By the CPU 391 reading and executing the program of the ROM 39, the operation related to the projector projection service as described below is performed. .. The structure of the charging/communication station 5 is as described above with reference to FIG. 4, and has a server function.

According to such an eleventh embodiment, the following inventions are provided.

(K1) A projector that provides a projector projection service to a user by driving in accordance with a predetermined program, and a service device including a charging/communication station, a wireless communication unit, a projector unit, and a first controller. A general-purpose moving body having a camera unit and a second control unit for moving the floor surface while avoiding obstacles on the floor by mounting the service device, wherein the second control unit is Recognizing the user based on the image data from the camera unit and controlling to move to the visible range of the user, and the first control unit projects the projector unit based on the recognition result. A mobile platform system is provided that is characterized by adjusting the angle and controlling to project the image. According to this mobile platform system, it is possible to automatically move to the visible range of the user and project an image at a projection angle that is easy for the user to see.

(K2) A projector projecting service is provided to a user by driving in accordance with a predetermined program, and a service device including a charging/communication station, a wireless communication unit, a projector unit, and a first controller. A general-purpose moving body having a camera unit and a second control unit for moving the floor surface while avoiding obstacles on the floor by mounting the service device, wherein the second control unit is Recognizing a wall surface or a flat surface based on image data from the camera unit, and controlling to move to a position most suitable for projection on the flat surface or the flat surface, and the first control unit determines the result of the recognition. Based on the above, there is provided a mobile platform system characterized in that the projection angle of the projector unit is adjusted and controlled so as to project an image. According to this mobile platform system, it is possible to recognize a wall surface or a flat surface that is optimum for projecting an image, and automatically move to a position that is optimum for projection on the wall surface or the flat surface to project an image. ..

(K3) A projector projecting service is provided to a user by driving in accordance with a predetermined program, the service device including a charging/communication station, a wireless communication unit, a projector unit, and a first controller. A general-purpose moving body having a camera unit and a second control unit for moving the floor surface while avoiding obstacles on the floor by mounting the service device, wherein the second control unit is Recognizing the ceiling surface based on the image data from the camera unit and controlling to move to a position optimal for projection on the ceiling surface, and the first control unit controls the projector based on the recognition result. There is provided a mobile platform system characterized by adjusting a projection angle of a unit to be vertical and controlling the projection of an image. According to this mobile platform system, it is possible to project an image on the ceiling surface.

(K4) A projector that provides a projector projection service to a user by driving in accordance with a predetermined program, the service device including a charging/communication station, a wireless communication unit, a projector unit, and a first controller. A general-purpose moving body having a camera unit and a second control unit for moving the floor surface while avoiding obstacles on the floor by mounting the service device, wherein the second control unit is Recognizing the ceiling surface based on the image data from the camera unit, and controlling to move so as to project an image on the ceiling surface within a predetermined projection range, and the first control unit controls the image by the projector unit. There is provided a mobile platform system characterized by controlling to perform projection of a. According to this mobile platform system, it is possible to project an image within the projection range set by the user. When focus adjustment is required during image projection, the second control unit can be controlled to move to an optimum position for focus adjustment based on a command signal from the first control unit. According to this mobile platform system, an image can be displayed in the projection range of the user's liking, and when focus adjustment is necessary, the focus adjustment can be performed by moving the general-purpose mobile object back and forth with respect to the projection surface. Becomes

As described above, according to the eleventh embodiment, it is possible to provide the projector projection service for projecting an image on a location that is visibly suitable for the user.

(12th Embodiment) Care service

The mobile platform system according to the second embodiment of the present invention uses service equipment that provides care services. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

The service device includes a control unit 29, a wireless communication unit 28 that communicates with the charging/communication station 5, a display device, an environment measurement sensor, a sound emitting unit that outputs a sound, and a light emitting unit. The control unit 29 includes a CPU 291, a RAM 292, and a ROM 293, and the CPU 291 reads out and executes the program of the ROM 293, so that the operation relating to a nursing care service described later is performed.

On the other hand, the general-purpose moving body 3 includes a camera unit such as a depth camera and a monocular camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for spatial recognition and person recognition. The monocular camera is a camera that mainly shoots for face recognition of a person. As described above with reference to FIG. 3, the control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394. By the CPU 391 reading and executing the program of the ROM 39, the operation related to the nursing care service described later is performed. It has become. The structure of the charging/communication station 5 is as described above with reference to FIG. 4, and has a server function. When the charging/communication station 5 receives the status data from the home electric appliance arranged indoors, the charging/communication station 5 transmits the status data to the service device.

According to such a twelfth embodiment, the following inventions are provided.

(L1) A caring service is provided to a user by driving in accordance with a predetermined program, and a service device including a charging/communication station, a wireless communication unit, a display device, and a first controller. A general purpose moving body having a camera unit and a second control unit for moving the floor surface while avoiding obstacles on the floor by mounting the service equipment, and the second control unit, The resident is recognized based on the image data from the camera unit, and data for identifying the resident is sent to the first control unit, and the first control unit indicates that the resident is at home. To the charging/communication station from a wireless communication unit, and the charging/communication station transmits data indicating that the resident is at home to the information terminal of the registrant. Will be provided. When transmitting the data indicating that the resident is at home to the registrant's information terminal, the image data may be transmitted together. According to this mobile platform system, it is possible to remotely confirm the resident's home.

(L2) The charging/communication station communicates with a home appliance placed indoors, and when it receives status data from the home appliance, the charging/communication station determines whether the home appliance is on or off, and the information terminal of the user registered in advance is used. The mobile platform system according to (l1), which transmits data related to on/off of home appliances. According to this mobile platform system, it is possible to confirm the health of the resident by turning on/off the home appliances in the room.

(L3) The second control unit recognizes the occupant based on the image data from the camera unit, moves so as to follow the occupant, sends data relating to the movement route to the first control unit, and The first control unit transmits data related to the travel route of the resident from the wireless communication device to the charging/communication station, and the charging/communication station is the information terminal of the user who has registered the data related to the travel route. The mobile platform system according to (11) is provided. According to this mobile platform system, it is possible to confirm the health of the occupant from the travel route.

(L4) A caring service is provided to a user by driving in accordance with a predetermined program, and a charging/communication station, a wireless communication unit that performs wireless communication between the charging/communication station, and an environmental condition are set. An environmental condition measuring sensor for measurement, a service device having a control unit, and a general-purpose moving body that moves the floor surface while avoiding obstacles on the floor by mounting the service device, and the control unit is the The temperature is detected by the environmental condition measuring sensor, and when the temperature is out of the predetermined range, the control data of the air conditioner is transmitted to the charging/communication station via the wireless communication unit, and the charging/communication station is transmitted. Provides a mobile platform system characterized by transmitting the control data to an air conditioner. According to this mobile platform system, the indoor temperature can be adjusted to an appropriate temperature.

(15) A caring service is provided to a user by driving in accordance with a predetermined program, and a voice is output from a charging/communication station, a wireless communication unit that performs wireless communication between the charging/communication station and the voice. And a general-purpose moving body that moves the floor surface while avoiding obstacles on the floor by mounting the service device, and the control unit is predetermined. There is provided a mobile platform system, wherein the sound emitting unit outputs a voice concerning a question or a quiz question at different timings. According to this mobile platform system, it becomes possible to prevent blurring by giving a cognitive stimulus to an aged person or the like. The voice data related to the question or quiz question output from the reward unit may be sent from the charging/communication station to the wireless communication unit at a predetermined timing.

(L6) A caring service is provided to a user by driving in accordance with a predetermined program, and a charging/communication station, a wireless communication unit that performs wireless communication between the charging/communication station, and a voice output. A sound emitting unit, a light emitting unit, and a control unit; and a general-purpose moving body that mounts the service device and moves on the floor while avoiding obstacles on the floor. Provides a voice from the sound emitting unit at a predetermined timing and causes the light emitting unit to emit light in a predetermined light emitting pattern. According to this mobile platform system, it is possible to give the user a pet-like healing.

(L7) A caring service is provided to a user by driving in accordance with a predetermined program, the service device including a charging/communication station, a wireless communication unit, a display device, and a first control unit. A general purpose moving body having a camera unit and a second control unit for moving the floor surface while avoiding obstacles on the floor by mounting the service equipment, and the second control unit, When the resident is recognized based on the image data from the camera unit and the movement of the resident cannot be recognized for a predetermined time, data indicating an abnormal time is sent to the first control unit, 1 The control unit transmits the data indicating the abnormal time from the wireless communication unit to the charging/communication station, and the charging/communication station transmits the data indicating the abnormal time to a predetermined security company. There is provided a mobile platform system characterized by transmitting the information to the information terminal of According to this mobile platform system, it becomes possible to report an abnormality to the security company.

As described above, according to the twelfth embodiment, it is possible to provide a nursing care service in an environment where an elderly person lives alone.

(13th Embodiment) Pet care service

The mobile platform system according to the thirteenth embodiment of the present invention uses a service device that provides a pet care service. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

The service device includes a control unit 29, a wireless communication unit 28 that communicates with the charging/communication station 5, an environment measurement sensor, and a feeder that discharges a predetermined amount of food. The control unit 29 includes a CPU 291, a RAM 292, and a ROM 293. When the CPU 291 reads out and executes the program of the ROM 293, the control unit 29 has an operation related to a pet care service as described later.

On the other hand, the general-purpose moving body 3 includes a camera unit such as a depth camera and a monocular camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for spatial recognition and pet recognition. The monocular camera is a camera that mainly shoots in order to recognize a pet. As described above with reference to FIG. 3, the control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394. By the CPU 391 reading and executing the program of the ROM 39, the operation related to the pet care service described below is performed. It is like this. The structure of the charging/communication station 5 is as described above with reference to FIG. 4, and has a server function.

According to such a thirteenth embodiment, the following inventions are provided.

(M1) A pet care service is provided to a user by being driven according to a predetermined program, the service device having a charging/communication station, a wireless communication unit, and a first control unit, and the service device. And a general-purpose moving body having a camera unit and a second control unit for moving the floor surface while avoiding obstacles on the floor surface, the second control unit including the camera unit. The image data obtained by the image capturing is sent to the first control, the first control unit transmits the image data from the wireless communication unit to the charging/communication station, and the charging/communication station A mobile platform system is provided, which transmits the image data to an information terminal of a registrant. The image data may be a moving image or a still image. According to this mobile platform system, it is possible to remotely confirm the state of the pet.

(M2) A pet care service is provided to a user by driving according to a predetermined program, the charging/communication station, a wireless communication unit that performs wireless communication between the charging/communication station, and an environmental condition. An environmental condition measuring sensor for measuring the, a service device having a control unit, and a general-purpose moving body that moves the floor while avoiding obstacles on the floor by mounting the service device, and the control unit The temperature is detected by the environmental condition measuring sensor, and when the temperature is out of a predetermined range, the control data of the air conditioner is transmitted to the charging/communication station via the wireless communication unit to perform the charging/communication. A mobile platform system is provided, wherein the station sends the control data to the air conditioner. According to this mobile platform system, the indoor temperature can be adjusted to an appropriate temperature.

(M3) A pet care service is provided to a user by driving according to a predetermined program, and a charging/communication station, a wireless communication unit that performs wireless communication between the charging/communication station, and a feeder. And a service device having a control unit, and a general-purpose moving body that moves the floor surface while mounting the service device on the floor surface while avoiding obstacles on the floor surface, and the control unit has the predetermined schedule. A mobile platform system is provided which is controlled to discharge a predetermined amount of food from a feeder. This mobile platform system enables regular feeding. At the time of this feeding, the pet may be photographed by the camera unit, and the control unit may transmit the image data relating to the state of eating the feed to the charging/communication station via the wireless communication unit. The image data is transmitted from the charging/communication station to the terminal of the registered owner. Therefore, the owner can remotely confirm whether or not the pet is firmly eating the food.

As described above, according to the thirteenth embodiment, it is possible to regularly and automatically perform the processes from environment adjustment to feeding of a pet who is away.

(14th Embodiment) Security service

The mobile platform system according to the fourteenth embodiment of the present invention uses a service device that provides a security service. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

The service device includes a control unit 29, a wireless communication unit 28 that communicates with the charging/communication station 5, a human presence sensor using infrared rays, a sound emitting unit that outputs voice, and a light emitting unit that emits light. The control unit 29 includes a CPU 291, a RAM 292, and a ROM 293, and the CPU 291 reads and executes a program in the ROM 293 to perform an operation related to a security service as described later.

On the other hand, the general-purpose moving body 3 includes a camera unit such as a depth camera and a monocular camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for spatial recognition and person recognition. The monocular camera is a camera that mainly shoots for face recognition of a person. As described above with reference to FIG. 3, the control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394. By the CPU 391 reading and executing the program of the ROM 39, the operation related to the security service as described below is performed. It has become. The structure of the charging/communication station 5 is as described above with reference to FIG. 4, and has a server function. The charging/communication station 5 wirelessly communicates with the front door lock device, and when the lock is opened or closed, the open/close state data is received from the front door lock device and transmitted to the service device.

According to such a fourteenth embodiment, the following inventions are provided.

(N1) A security service is provided to a user by driving in accordance with a predetermined program, which includes a charging/communication station, a wireless communication unit, a display device, a sound emitting unit for outputting a sound, and a light emitting unit. And a first control unit, and a general purpose movement having the camera unit and a second control unit for moving the floor while avoiding obstacles on the floor by mounting the service device. A body, the second control unit captures an image with the camera unit, sends image data obtained by the capture to the first control, and the first control unit transmits the image data to the wireless communication unit. A mobile platform system is provided, characterized by transmitting the image data to the charging/communication station, and the charging/communication station transmitting the image data to an information terminal of a registrant. The image data may be a moving image or a still image. According to this mobile platform system, it is possible to remotely confirm the state of the absence house from a still image or a moving image as appropriate.

(N2) The second control unit performs person recognition based on the image data from the camera unit, and the first control unit outputs warning data when the recognized person is not a previously registered person. The mobile platform system according to (h1) is provided, wherein the mobile platform system transmits to a charging/communication station, and the charging/communication station transmits the image data to an information terminal of a registrant. According to this mobile platform system, the presence of a suspicious person in absence can be notified to an information terminal such as a registered resident or a security company.

(N3) When the charging/communication station receives the opening/closing state data from the entrance lock, the charging/communication station transmits the opening/closing state data to the service device, and in the service device, the wireless communication unit receives the opening/closing state data. Then, the mobile platform system according to (n1), in which the first control unit displays on the display unit that the open/closed state of the entrance lock has changed.

(N4) The mobile platform system according to (n2), wherein the first control unit outputs a threatening voice from the sound emitting unit when the recognized person is not a previously registered person. It According to this mobile platform system, it is possible to intimidate an intruder. In addition to the sound output by the sound emitting unit, the light emitting unit may emit light. If it is assumed that the user is away from home, a human sensor is further provided, and when the human sensor detects a person, the first control unit may output a voice from the sound emitting unit. Good.

As described above, according to the fourteenth embodiment, it is possible to provide a security service for homes, offices, etc. that are out of the office.

(15th Embodiment) Cleaning service

The mobile platform system according to the fifteenth embodiment of the present invention uses a service device that realizes a cleaning service. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

The service device includes a control unit 29, a wireless communication unit 28 that communicates with the charging/communication station 5, a dirt sensor for detecting dirt on the floor surface, and a cleaning unit. The control unit 29 includes a CPU 291, a RAM 292, and a ROM 293. When the CPU 291 reads out and executes the program of the ROM 293, the control unit 29 has an operation related to a cleaning service, which will be described later.

On the other hand, the general-purpose moving body 3 includes a camera unit such as a depth camera and a monocular camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for spatial recognition and person recognition. A monocular camera is a camera that mainly shoots for the purpose of recognizing human faces. As described above with reference to FIG. 3, the control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394. By the CPU 391 reading and executing the program of the ROM 39, the operation relating to the cleaning service as described below is performed. It has become. The structure of the charging/communication station 5 is as described above with reference to FIG. 4, and has a server function. When a cleaning device for window cleaning including a wireless communication unit and a cleaning unit is used, the wireless communication unit of the service device communicates with the wireless communication unit of the cleaning device to remotely control the cleaning device. can do. The cleaning device may be, for example, one that can move vertically and horizontally along a rail provided on the window frame.

According to such a fifteenth embodiment, the following inventions are provided.

(O1) A cleaning service is provided to a user by driving the cleaning/communication station, a wireless communication unit, a dirt sensor for detecting dirt on the floor, and a cleaning unit. A service unit having a control unit; and a general-purpose moving body that carries the service device and moves on the floor surface while avoiding obstacles on the floor surface. The degree of dirt on the floor surface is determined based on the output signal from the dirt sensor in the process of moving by, and cleaning by the cleaning unit is continuously performed until the degree of dirt falls below a predetermined reference value. A mobile platform system is provided. According to this mobile platform system, it becomes possible to perform cleaning by the cleaning unit until the floor surface becomes clean. The start timing of the cleaning unit may be executed based on a predetermined schedule.

(O2) A cleaning service is provided to a user by driving in accordance with a predetermined program, which includes a charging/communication station, a wireless communication unit, a vertically-drivable cleaning unit for window cleaning, A service device having a control unit; and a general-purpose moving body that mounts the service device and moves on the floor while avoiding obstacles on the floor, and has a camera unit and a second control unit. When the predetermined timing is reached, the second control unit recognizes the window edge from the image data from the camera unit, and controls to move to the window edge, and the first control unit controls the cleaning unit. A mobile platform system is provided that features window cleaning with a unit. According to this mobile platform system, it is possible to perform window cleaning according to a predetermined schedule.

(O3) A cleaning service is provided to a user by driving according to a predetermined program, the cleaner having a first wireless communication unit and a cleaning unit, a charging/communication station, and a second wireless communication unit. A general purpose moving body having a service unit having a first control unit and the service device to move the floor surface while avoiding obstacles on the floor surface, and having a camera unit and a second control unit And, when the predetermined timing comes, the second control unit recognizes the window edge from the image data from the camera unit, and controls to move to the window edge, and the first control unit, After performing the window cleaning by the cleaning device, the second control unit controls to move to a position separated by a predetermined distance from the edge of the window after the window cleaning is performed, and the camera unit captures an image of the window, A mobile platform system is provided, wherein data is transmitted to the first control, and the first control unit evaluates a window wiping result based on the image data. According to this mobile platform system, it is possible to perform window cleaning according to a predetermined schedule. The execution of the window cleaning means, for example, moving the cleaning device up and down and left and right along a rail provided on the window frame to wipe the window with the non-woven fabric or the like provided on the cleaning device.

As described above, according to the fifteenth embodiment, it is possible to automatically clean the floor surface or the window according to a predetermined schedule.

(16th Embodiment) Kitchen work support service

The mobile platform system according to the sixteenth embodiment of the present invention uses a service device that realizes a kitchen work support service. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

The service device includes a control unit 29, a wireless communication unit 28 that communicates with the charging/communication station 5, a display device, a sound emitting unit that outputs sound, and a sound collecting unit that collects sound. .. The control unit 29 includes a CPU 291, a RAM 292, and a ROM 293, and the CPU 291 reads and executes a program in the ROM 293, thereby performing an operation related to a kitchen work support service described later.

On the other hand, the general-purpose moving body 3 includes a camera unit such as a depth camera and a monocular camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for spatial recognition and person recognition. The monocular camera is a camera that mainly shoots for the purpose of human face recognition and food ingredient recognition. The control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394 as described above with reference to FIG. It is like this. The structure of the charging/communication station 5 is as described above with reference to FIG. 4, and has a server function.

According to such a 16th embodiment, the following inventions are provided.

(P1) A kitchen appliance support service is provided to a user by driving in accordance with a predetermined program, the service appliance including a charging/communication station, a wireless communication unit, a display device, and a first controller. And a general-purpose moving body that carries the service device and moves on the floor while avoiding obstacles on the floor and has a camera unit and a second control unit. An image of stored food is captured by a camera unit, image data is transmitted to the first control unit, the first control unit recognizes the stored food from the image data, and stores data related to the stored food. A mobile platform system is provided. For the recognition of the stored food, for example, a deep learning technique using a library can be used, but the recognition is not limited to this. With this mobile platform system, it is possible to manage stored food. Note that a camera unit having a communication function may be installed in, for example, a refrigerator or a food store, and the image data from the camera unit may be received by the charging/communication station and transferred to the service device.

(P2) A service device for providing a kitchen work support service to a user by driving according to a predetermined program, the service device including a charging/communication station, a wireless communication unit, a display device, and a first control unit. And a general-purpose moving body that carries the service device and moves on the floor while avoiding obstacles on the floor and has a camera unit and a second control unit. The camera unit captures a two-dimensional bar code of the stored food, transmits the image data to the first control unit, the first control unit recognizes the two-dimensional code from the image data by the coat recognition function, code information (EN) Provided is a mobile platform system characterized by extracting and storing data relating to the expiration date of stored food. According to this mobile platform system, it is possible to update and manage the expiration date of stored food. When the stored expiration date is exceeded, a warning is displayed on the display device, and an instruction for ordering the missed food is sent to the charging/communication station via the wireless communication unit, and the charging/communication is performed. You may place an order from the station.

(P3) In the service device, the first control unit selects a recipe based on the stored data relating to the food by recipe selection storage, and displays information of the recipe on the display device. The mobile platform system according to (p1). According to this mobile platform system, it is possible to automatically select a recipe that can be cooked based on the stored ingredients and propose it to the user.

As described above, according to the sixteenth embodiment, it is possible to provide a wide range of kitchen work support services such as inventory management of foodstuffs, expiration date management, and recipe suggestion.

(17th Embodiment) Learning support service

The mobile platform system according to the second embodiment of the present invention uses a service device that realizes a learning support service. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

The service device includes a control unit 29, a wireless communication unit 28 that communicates with the charging/communication station 5, a display device, a sound emitting unit that outputs sound, and a sound collecting unit that collects sound. .. The control unit 29 includes a CPU 291, a RAM 292, and a ROM 293. When the CPU 291 reads out and executes the program of the ROM 293, the control unit 29 has an operation related to a learning support service described later. The control unit 29 has a voice recognition function by executing the program.

On the other hand, the general-purpose moving body 3 includes a camera unit such as a depth camera and a monocular camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for spatial recognition and person recognition. The monocular camera is a camera that mainly shoots for face recognition of a person. The control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394 as described above with reference to FIG. It has become. The structure of the charging/communication station 5 is as described above with reference to FIG. 4, and has a server function. The charging/communication station communicates with information terminals of remote cram school teachers and English conversation teachers, and collects content related to weather and news on the Web.

According to such a seventeenth embodiment, the following inventions are provided.

(Q1) A learning support service is provided to a user by driving according to a predetermined program, the charging/communication station, a wireless communication unit, a display device, a sound emitting unit, and a first control unit. And a general-purpose moving body having a camera unit and a second control unit for moving the floor surface while avoiding obstacles on the floor by mounting the service device on the floor surface. The control unit recognizes the user from the image data from the camera unit, controls the user to move following the user's movement, and the first control unit receives the learning data from the wireless communication unit. There is provided a mobile platform system, characterized in that display based on the learning data is controlled to be performed by the display device. A sound based on the learning data may be output from the sound emitting unit. The learning data is transmitted from the charging/communication station to the service device. In the process of moving the general-purpose mobile body, it may be possible to interactively interact with a cram school teacher, an English conversation teacher, a hobby teacher, etc. who are connected to the charging/communication station by wireless communication.

(Q2) The mobile platform system according to (q1) is provided in which the learning data refers to data selected for each user, such as a learning schedule, educational content, and hobby content. The learning data is transmitted from the charging/communication station to the service device. According to this mobile platform system, it is possible to support a wide range of applications such as a cram school function, language learning, and hobby learning.

(Q3) The service device further includes a sound collection unit that collects a user's voice, and the first control unit recognizes a voice by a voice recognition function when receiving a voice signal from the sound collection unit, A mobile platform system according to (q1), characterized in that a predetermined search is executed by a search function and the result of the search is displayed on the display device. According to this mobile platform system, it becomes possible to perform a search by voice.

As described above, according to the seventeenth embodiment, it is possible to receive a wide range of learning services such as cram school learning, language learning, hobby learning, etc. while being remote.

(Eighteenth embodiment) Answering service

The mobile platform system according to the eighteenth embodiment of the present invention uses a service device that realizes an answering service. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

The service equipment includes a control unit 29, a wireless communication unit 28 that communicates with the charging/communication station 5, a display device, an environment measurement sensor, a sound emitting unit that outputs voice, and infrared rays for checking the on/off state of home appliances. It has a sensor and an infrared switch for issuing an on/off command to a home appliance. The control unit 29 includes a CPU 291, a RAM 292, and a ROM 293, and the CPU 291 reads and executes a program of the ROM 293, thereby performing an operation related to an answering service as described later.

On the other hand, the general-purpose moving body 3 includes a camera unit such as a depth camera and a monocular camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for spatial recognition and person recognition. The monocular camera is a camera that mainly shoots for face recognition of a person. As described above with reference to FIG. 3, the control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394. By the CPU 391 reading and executing the program in the ROM 39, the operation related to the answering service will be described later. It has become. The structure of the charging/communication station 5 is as described above with reference to FIG. 4, and has a server function. When the charging/communication station 5 receives the status data from the home electric appliance arranged indoors, the charging/communication station 5 transmits the status data to the service device. In addition, communication is performed with an intercom device having a communication function, a facility delivery box, and the like.

According to such an eighteenth embodiment, the following invention is provided.

(R1) An answering service is provided to a user by driving in accordance with a predetermined program, and a charging/communication station, a wireless communication unit, an infrared sensor for detecting an on/off state of a home appliance, and a home appliance are provided. An infrared switch for performing an on/off command, a service device having a control unit, and a general-purpose moving body that moves the floor surface while mounting the service device and avoiding an obstacle on the floor surface, the control unit, A mobile platform system is provided, which operates the infrared switch to switch on/off a home appliance when receiving an instruction to turn on/off the home appliance from the charging/communication station. Further, according to an instruction from the charging/communication station, the control unit may detect the state of the home electric appliance by the infrared sensor and transmit the detection result to the charging/communication station. According to this mobile platform system, it is possible to control the ON/OFF of home appliances from the outside, and it is possible to check the state of home appliances in the room that you are concerned about after going out, such as forgetting to turn off the air conditioner. Becomes

(R2) Further comprising an environment measurement sensor, the home appliance is an air purifier, and the control unit determines the degree of air pollution based on the output signal of the environment measurement sensor, and does not satisfy a predetermined standard. In this case, the mobile platform system according to (r1) is provided, in which the infrared switch is operated to turn on the air cleaner. According to this mobile platform system, it is possible to automatically perform air cleaning in an absence house in accordance with the degree of air pollution.

(R3) An answering service is provided to a user by driving in accordance with a predetermined program, and a service device having a charging/communication station, a wireless communication unit, and a control unit, and the service device are mounted on the service device. A general-purpose moving body that moves on the floor while avoiding obstacles on the floor; and the control unit, when the wireless communication unit receives visitor detection data from the intercom device from the charging/communication station, There is provided a mobile platform system characterized by establishing a communication connection between an information terminal of a user registered via the charging/communication station and the interphone device. According to this mobile platform system, it is possible to establish a communication connection between an information terminal of a registered user and the external intercom device when a visitor visits while he/she is away, and allow both parties to have a dialogue. Become.

(R4) The mobile platform system according to (r3), which is capable of controlling the opening and closing of the private home delivery box from the information terminal of the registered user is provided. According to this mobile platform system, it is possible to control opening and closing of a private delivery box from a remote information terminal after having a dialogue with a delivery company.

As described above, according to the eighteenth embodiment, it is possible to provide various kinds of answering machine services such as dealing with customers who are away and receiving home deliveries.

(19th Embodiment) Maintenance service

The mobile platform system according to the second embodiment of the present invention uses a service device that realizes a maintenance service. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

The service equipment includes a control unit 29, a wireless communication unit 28 that communicates with the charging/communication station 5 and a host server group used in a cloud service, a display device, and a sound emitting unit that emits sound. Have. The control unit 29 includes a CPU 291, a RAM 292, and a ROM 293. When the CPU 291 reads out and executes the program of the ROM 293, the operation related to the maintenance service as described later is achieved.

On the other hand, the general-purpose moving body 3 includes a camera unit such as a depth camera and a monocular camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for spatial recognition and person recognition. A monocular camera is a camera that mainly shoots for the purpose of recognizing human faces. The control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394 as described above with reference to FIG. It has become. The general-purpose moving body 3 includes a power supply unit and a drive unit such as a motor that is driven by electric power supplied from the power supply unit. The control unit 39 functions as a state determination unit that determines the states of the drive unit and the power supply unit by executing the program.

The structure of the charging/communication station 5 is as described above with reference to FIG. 4, and has a server function. The charging/communication station 5 communicates with an information terminal of an external maintenance center that performs equipment maintenance, inspection, parts replacement, and the like, a host server device group used in a cloud service, and the like. Therefore, this mobile platform system copies various data including learning data held in the host server device used in the cloud service even when the mobile platform system itself needs to be replaced. This makes it possible to reproduce the same mobile platform system used up to that point. In order to realize this, the mobile platform system may periodically upload various data such as learning data to a host server device group used in the cloud service.

According to such a nineteenth embodiment, the following invention is provided.

(S1) A maintenance service is provided to a user by driving in accordance with a predetermined program, which includes a charging/communication station, a wireless communication unit, a display device, a sound emitting unit for outputting a sound, and a first A service device having a control unit and moving the floor surface while mounting the service device to avoid obstacles on the floor surface, and having a camera unit, a second control unit, a driving unit, and a power supply unit And a body, the second control unit determines the state of the drive unit and the power supply unit by a state determination function, and when there is an abnormality in the state, transmits data indicating an abnormality to the first control unit. A mobile platform system is provided, wherein the first control unit displays an abnormality on the display device. It is also possible to output a voice from the sound emitting unit to the effect that there is an abnormality. According to this mobile platform system, it is possible to determine a defect in a drive unit such as a motor or a wheel, or a defect in a power supply unit, and if there is an abnormality, it can be indicated by a display or voice. When the abnormality is detected, data backup or the like may be urged to the user by display or voice.

(S2) The mobile platform system according to (s1), in which the first control unit transfers the data to the charging/communication station via the wireless communication unit when receiving the data indicating the abnormality. .. When the charging/communication station receives data indicating an abnormality, the charging/communication station can place an order for parts replacement or inspection with respect to the information terminal of the maintenance center registered in advance. According to this mobile platform system, when an abnormality is detected, it is possible to automatically request a pre-registered maintenance center that performs maintenance/inspection.

(S3) When the charging/communication station receives the data for improving the abnormality from the information terminal of the maintenance center or the host server group used in the cloud service, the charging/communication station transfers the data to the service device, and the service device transfers the data to the service device. A mobile platform system according to (s2) that performs data download and restart is provided. According to this mobile platform system, it becomes possible to automatically reload or restart the updated data.

(S4) When the abnormality has a predetermined content, the second control unit transmits data indicating the abnormality to the first control unit and transfers the data to the charging/communication station. A mobile platform system according to (s1) is provided, wherein the operation is shut down after completion. According to this mobile platform system, it is possible to automatically shut down and contact the center in the event of an abnormality.

As described above, according to the nineteenth embodiment, it is possible to automatically perform maintenance, inspection, and handling of abnormal conditions.

(20th Embodiment) Communication service between devices

The mobile platform system according to the twentieth embodiment of the present invention uses a service device capable of mutual learning among a plurality of service devices. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

In this embodiment, a plurality of mobile platform systems cooperate with each other to exchange data and perform mutual learning. In each mobile platform system, service devices related to various services are mounted on a general-purpose mobile unit to enable communication. The basic configurations and functions of the service device and the general-purpose mobile unit will be described below.

The service device includes at least a control unit 29 and a wireless communication unit 28 that communicates with the charging/communication station 5. The control unit 29 includes a CPU 291, a RAM 292, and a ROM 293, and when the CPU 291 reads out and executes a program in the ROM 293, the operations relating to various services are performed. That is, the control unit 29 also has a function of a storage unit.

On the other hand, the general-purpose moving body 3 includes a camera unit such as a depth camera and a monocular camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for spatial recognition and person recognition. A monocular camera is a camera that mainly shoots for the purpose of recognizing human faces. The control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394, as described above with reference to FIG. ..

In addition, the mobile platform system can communicate with a mobile device for executing a specific service. For example, if the service is related to cleaning, a vacuum cleaner equipped with a wireless communication unit operates as a slave. The handset will perform operations based on control data from the mobile platform system.

According to such a twentieth embodiment, the following inventions are provided.

(T1) A system including a plurality of mobile platform systems, each mobile platform system including a service device that executes a predetermined service and a general-purpose mobile device that carries the service device and moves on the floor. The service device includes a wireless communication unit, a first control unit that executes predetermined control according to a functional module of artificial intelligence, and a storage unit, and the general-purpose mobile unit includes a camera unit and a second control unit. One mobile platform system communicates with another mobile platform system via a wireless communication unit of the service device, and the one mobile platform system is the artificial controller of the first controller. A system is provided, which is characterized by transmitting data related to an operation according to an intelligent function module to another mobile platform system and sharing the data. According to this system, it becomes possible to perform mutual communication between devices, share an execution result of an operation based on a functional module of artificial intelligence, that is, a learning result, and perform mutual learning.

(T2) A system including a mobile device having a communication function and a mobile platform system, wherein the mobile device executes a predetermined service, and the mobile platform system includes a wireless communication unit, 1. A general-purpose service device having a control unit, and a service unit mounted on the service unit for moving the floor surface while avoiding obstacles on the floor surface. A mobile unit, and the first control unit controls execution of the predetermined service in the slave unit by transmitting control data to the slave unit via the wireless communication unit. A system is provided. According to this system, a slave unit for executing various services can be remotely operated and can be linked with the slave unit. For example, if the service is cleaning, a vacuum cleaner having a wireless communication function will work with the mobile platform system.

(T3) The mobile platform system is communicable with a charging/communication station, and updates data and programs based on the data received from the charging/communication station via the wireless communication unit (t1). Alternatively, the system according to (t1) is provided. According to this system, data and program updates can be executed at night or during absence, which is efficient.

As described above, according to the twentieth embodiment, various services can be simultaneously executed in parallel by interlocking a plurality of mobile platform systems and interlocking with slaves.

(21st Embodiment) Combined service

The mobile platform system according to the twenty-first embodiment of the present invention enables mounting of a plurality of service devices on a general-purpose mobile. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

Each service device includes at least a control unit 29, a wireless communication unit 28 that communicates with the charging/communication station 5, and a connection unit that is connected to another service device. The control unit 29 includes a CPU 291, a RAM 292, and a ROM 293, and the CPU 291 reads out and executes the programs of the ROM 293, thereby performing various service-related operations.

On the other hand, the general-purpose moving body 3 includes a camera unit such as a depth camera and a monocular camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for spatial recognition and person recognition. A monocular camera is a camera that mainly shoots for the purpose of recognizing human faces. The control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394, as described above with reference to FIG. ..

In the charging/communication station, a plurality of service devices for executing various services are contained in a selectable manner. The charging/communication station communicates with, for example, the information terminal of the user, selects one or more service devices based on the control data from the information terminal, and attaches them to the pit-in general-purpose mobile body. When mounting two or more service devices on a general-purpose mobile unit, it is possible to first mount one service device on the general-purpose mobile unit and then mount another service device on the service unit in a double-box form. .. It is of course possible to mount two or more service devices side by side. When a plurality of service devices are vertically stacked and mounted in a double box type, power may be supplied from the general-purpose mobile unit and data may be transmitted and received to the upper service device via the lower service device.

According to the twenty-first embodiment described above, the following inventions are provided.

(U1) A predetermined service is provided to a user by being driven according to a predetermined program, the service device including a charging/communication station, a wireless communication unit, and a first control unit, and the service device. And a general-purpose moving body having a camera unit and a second control unit for moving the floor surface while avoiding obstacles on the floor surface. The general-purpose moving body relates to a plurality of different services. Provided is a mobile platform system, which is characterized in that service equipment can be mounted. According to this mobile platform system, a plurality of service devices relating to different services can be attached to a general-purpose mobile, so that it is possible to simultaneously provide a plurality of different services.

(U2) The charging/communication station includes a storage unit that stores a plurality of service devices, and a moving unit that moves the service devices stored in the storage units to be mounted on the general-purpose mobile body, and two or more. When mounting the service device of 1) on the general-purpose mobile body, first, the service device of 1 is moved from the accommodating unit by the moving unit to be mounted on the general-purpose mobile unit, and then another service device is stacked on the service device in a double-box form. There is provided a mobile platform system characterized by mounting service equipment. According to this mobile platform system, it is possible to accommodate a plurality of service devices in the charging/communication station, and it is possible to automatically attach the service devices to the general-purpose mobile device in any combination.

Therefore, according to the twenty-first embodiment, a plurality of service devices can simultaneously provide a plurality of services.

(Twenty-second embodiment) Motion request for person

A mobile platform system according to a twenty-second embodiment of the present invention requests a user for support for functional maintenance when there is a functional limit in executing a predetermined operation. Is. Below, about the same composition as a 1st embodiment, the same numerals are used and it explains focusing on different parts.

The service device includes a control unit 29, a wireless communication unit 28 that communicates with the charging/communication station 5, a display device, and a sound emitting unit that outputs sound. The control unit 29 includes a CPU 291, a RAM 292, and a ROM 293. The CPU 291 reads out and executes a program in the ROM 293 to make a support request for functional preservation as described later.

On the other hand, the general-purpose moving body 3 includes a camera unit such as a depth camera and a monocular camera in addition to the control unit 39, the timer 38, and the obstacle sensor 37 described above with reference to FIG. The depth camera is a camera that mainly shoots for spatial recognition and person recognition. A monocular camera is a camera that mainly shoots for the purpose of recognizing human faces. As described above with reference to FIG. 3, the control unit 39 has the CPU 391, the RAM 392, the ROM 393, and the EEPROM 394, and the CPU 391 reads and executes the program of the ROM 39 to issue a support request for function maintenance as described later. It is supposed to do. The structure of the charging/communication station 5 is as described above with reference to FIG. 4, and has a server function.

According to such a twenty-second embodiment, the following inventions are provided.

(V1) Requesting support for function maintenance from a user by driving in accordance with a predetermined program, which includes a charging/communication station, a wireless communication unit, a display device, and a sound emitting unit that outputs sound. And a service unit having a control unit, and a general-purpose moving body that carries the service device and moves on the floor while avoiding obstacles on the floor, and the control unit executes a predetermined operation. At this time, when it is determined that the function provided by the system cannot be performed, it is requested to request the user for support for function maintenance by the display by the display device or the sound output by the sound emitting unit. A featured mobile platform system is provided. According to this mobile platform system, for example, when there is an obstacle that cannot be crossed on the floor surface, when it is not possible to perform its own function, the user is requested to support for function maintenance, It becomes possible to solve the problem.

(Other)

In addition to the above, it is also possible to use, as a service device, a device that realizes the following services.

-Trash can A mobile platform system will be provided that allows users to move to a nearby area in response to a call by installing service equipment related to the trash in a general-purpose mobile object.

-FAX/Printer A mobile platform system is provided that delivers a received fax to a user or a printed matter to a user by mounting a service device related to a fax/printer on a general-purpose mobile object. It

-Alarm clock A mobile platform system that realizes an alarm function is provided by mounting a service device that outputs an alarm from a sound emitting unit at a preset time on a general-purpose mobile unit. When there are a plurality of users, the set time may be managed for each user.

・Environmental measurement/pollution measurement/natural energy charging machine Provide a mobile platform system with improved environmental adaptability by installing service equipment that has functions of general-purpose mobile environment measurement/pollution measurement/natural energy charging machine. To be done.

・Public relations/advertisement/technical announcement monitor A mobile platform system that can support various public relations, advertisements, and announcements by installing service equipment equipped with a display for publicity/advertisement/technical announcement monitor in a general-purpose mobile It

-Home 3D printer A mobile platform system that can support the creation of prototypes is provided by mounting a service device equipped with the functions of a home 3D printer on a general-purpose mobile unit.

・Aquarium A mobile platform system that manages and executes water temperature control, automatic feeding, and even water exchange in the aquarium is provided by installing service equipment with aquarium function on a general-purpose mobile.

-Digital photo frame A mobile platform system is provided that allows a general-purpose mobile device to be equipped with a service device equipped with the function of the digital photo frame to perform a slide show or the like tailored to the recognized user.

-Face beauty device A mobile platform system that can automatically set facial treatment mode according to the recognized user by installing a service device equipped with a facial treatment device function on a general-purpose mobile device is provided.

-IH heater A mobile platform system for supporting cooking is provided by mounting a service device having an IH heater function on a general-purpose mobile body.

-Drying rod By installing a service device equipped with a drying rod on a general-purpose moving body, a moving body platform system for efficiently drying laundry by moving according to the time of daylight is provided.

DESCRIPTION OF SYMBOLS 1... Mobile platform system, 2... Service equipment, 3 General-purpose mobile, 5... Communication/charging station, 24... Lighting device, 21... Housing, 27... Human sensor, 28... Wireless communication unit, 29, 39 , 59... Control unit, 291, 391, 591... CPU, 292, 392, 592... RAM, 293, 393. 593... ROM, 394... EEPROM, 51... Housing, 511... Recess, 52... Power cable, 53... Switch Sensor, 54... Battery holding part, 55... Elevating arm, 56... Actuator, 57... Wireless LAN router, 544... Central hole, 541... Battery holding hole, 542... Rotating shaft, 551... Gripping rod, 552... Housing part.

Claims (3)

A charging station placed on the floor ,
A service device that provides a service to a user by driving a predetermined device according to a program ,
A general-purpose moving body that moves the floor while avoiding obstacles on the floor by mounting the service device, and a battery module that supplies power to the general-purpose moving body and the service device on the general-purpose moving body. A general-purpose mobile object having
Equipped with,
The service device is
A sensor that detects the direction of a person and outputs a detection signal indicating the detected direction,
A control unit that specifies the presence or absence and the position of the user based on the detection signal of the human sensor, moves the general-purpose moving body to follow the position of the user, and performs control according to the environment of the moving destination, Equipped with
It is configured so that the type of the service device mounted on the general-purpose mobile body can be exchanged.
A mobile platform system characterized by the following . The service device is
A lighting unit for lighting,
A light control unit for adjusting the amount of light emitted by the illumination unit,
A drive unit that changes the irradiation angle of the illumination unit,
The control according to the environment of the moving destination is control related to the lighting service,
The light control unit adjusts the light emission amount, and the drive unit autonomously controls to change the irradiation angle.
The mobile platform system according to claim 1. The service device is
A wireless communication unit,
An air purifying unit that purifies the air,
And a control unit,
The control according to the environment of the destination is a control related to the air cleaning service,
In the control unit, the wireless communication unit autonomously controls the air cleaning unit based on environmental data from an external measurement sensor.
The mobile platform system according to claim 1.