JP2007094743A - Autonomous mobile robot and system therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an autonomous mobile robot and system therefore allowing a user to easily teach the position information arbitrarily selected by the user, and allowing the robot to autonomously move to a specified destination by specifying a destination based on the taught position information. <P>SOLUTION: The autonomous mobile robot comprises an information input part 20 for receiving user input of position information and moving end information, and a position information storage part 21 for associating and storing in a table the position information inputted from the information input part 20 with a position presumed by a position presumption part 14. When the destination information is inputted to the information input part 20, a moving path planning part 15 matches the inputted destination information with the table stored in the information storage part 21 and refers to map data as information on obstacles in a robot moving space for a moving path from the position presumed by the position presumption part 14, and then the robot moves autonomously. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an autonomous mobile robot that moves to a position designated by a user by judging the surrounding situation, and an autonomous mobile robot system that aims to decentralize data processing in the autonomous mobile robot.

There is a mobile robot that moves by moving a wheel, a caterpillar, and a motor by a moving mechanism. Among them are animal-type robots that walk by moving movement mechanisms provided at each joint such as shoulders and legs, and independent walking that operate movement mechanisms provided at each joint such as shoulders and legs. There are humanoid robots such as biped robots.
As a method for remotely operating such a mobile robot, there is a method using a mobile phone (for example, Patent Document 1). For example, a line connection is made from a mobile phone on the user side to a mobile phone built in the mobile robot, and various operation information and various data are transmitted and received between the mobile phone on the user side and the mobile phone on the mobile robot side. Therefore, the user can grasp the situation around the mobile robot by receiving image data from the camera mounted on the mobile robot with a mobile phone, and can perform an appropriate remote operation on the mobile robot.

In addition, as one type of such mobile robot, the environment situation around the mobile robot is detected, mapping and position estimation are performed, and a travel route to the designated destination is planned. An autonomous mobile robot that moves according to the above has been developed (for example, Patent Documents 2 and 3).
In particular, Patent Document 2 discloses a first storage unit that stores first position data indicating the position of an object itself in an object that can communicate with a robot that can move autonomously, and a signal that requests the first position data. And an interface that transmits position data to the robot in response to the request signal, while map data in a range where objects and the robot can exist in the robot and second position data indicating the position of the robot itself are provided. A second storage unit for storing; an interface for requesting transmission of the position of the object; a comparator for comparing the first and second position data; and a moving mechanism for moving the robot based on the comparison result and the map data And a system comprising: In this robot, the position data of the object corresponding to the movement destination of the robot is obtained from the object, compared with the position of the robot itself, and based on the map data stored in the second storage unit, the movement mechanism To move.

JP 2001-195113 A JP 2004-280404 A JP 2005-117621 A

  However, in the remote operation of the mobile robot disclosed in Patent Literature 1, the user needs to give control information to the robot step by step, for example, control information such as “move forward”. It is necessary to determine the direction in which the robot is placed by determining the direction of shooting with the camera based on the above. Therefore, the operability is bad for the user, and the user must perform remote operation one by one until the robot reaches the destination.

  On the other hand, in the robot disclosed in Patent Document 2, it is not necessary for the user to perform remote operation to the destination of the robot one by one, but it is possible to communicate with the robot and means for storing position data for each movement destination of the robot. It is necessary to provide each object with means. Further, the position data needs to be matched with the map data stored in the storage unit of the robot. When a robot destination is previously selected as in a specific factory or reception information center, a storage unit storing the position data and image information of the destination in each destination, a robot, It is also possible to arrange a device having an interface for transmitting and receiving. However, when a robot is considered as an element of a security system, for example, when it is used indoors, particularly in each home or in a specific area, it is necessary for the user to arbitrarily decide the destination and change it appropriately. .

  Thus, in view of the above problems, the present invention can easily teach position information arbitrarily selected by the user, and is designated by designating a destination based on the taught position information. An object is to provide an autonomous mobile robot and its system that autonomously move to a destination.

In order to achieve the above object, a first configuration of the present invention includes a storage unit that stores obstacle position information in a moving space as map data, an image data processing unit that processes image data from a photographing unit, The moving mechanism control unit that controls the moving mechanism and generates traveling information based on sensor information output from the sensor in the moving mechanism, the traveling information generated by the moving mechanism control unit, the processing result in the image data processing unit, A position estimation unit that estimates the position from the position, a movement path planning unit that obtains a movement route from the position estimated by the position estimation unit and the map data stored in the storage unit, and the movement mechanism control unit includes the movement route An autonomous mobile robot that moves by controlling the movement mechanism based on the movement route obtained by the planning unit, an information input unit that receives input of position information and destination information from the user, and an information input unit A position information storage unit that stores the position information input from the unit and the position estimated by the position estimation unit in association with each other, and when the destination information is input to the information input unit, the movement route planning unit The position data corresponding to the input destination information is obtained from the storage unit, the map data stored in the storage unit is referred to, and the movement route is obtained from the position estimated by the position estimation unit. .
According to this configuration, when the user moves the autonomous mobile robot to a predetermined teaching position and inputs position information to the information input unit at that position, the position estimated by the position estimation unit and the input position information Are stored in association with each other. Then, when the user inputs the destination information of the autonomous mobile robot as the position information, the autonomous mobile robot specifies the position corresponding to the input destination information, and the movement path planning unit determines the position estimation unit. The movement route from the position estimated in step S1 to the specified position is obtained, the movement mechanism is controlled according to the obtained movement route, and the autonomous mobile robot moves to the designated movement destination.

  In the above configuration, if a map data creation / updating unit that creates and updates map data stored in the storage unit is provided, the number and positions of obstacles in the movement area of the autonomous mobile robot may change, Even in the moving area, map data is created or updated by itself, so that it is not necessary to register or change map data one by one.

  In the above-described configuration, a connection unit for connecting to an external network, a music data distribution request via the connection unit, music data distributed in response to the distribution request are received, and the received music data If a music performance control unit that performs performance output is provided, the autonomous mobile robot can be configured as a kind of walking audio device.

  In the above configuration, the arrival determination unit that determines whether the destination position corresponding to the destination information input from the information input unit matches the position estimated by the position estimation unit, and the arrival determination unit positively An output unit that outputs arrival information to the outside when the determination is made, and when the autonomous mobile robot reaches the destination specified by the user, a message indicating that the robot has arrived to the outside is output. Can do. At this time, the message is output from an output speaker provided in the autonomous mobile robot, is sent to the user's mobile phone to issue the message, or an e-mail storing the message is sent to the user's mail address. Send.

  In the above configuration, preferably, the information input unit includes a voice recognition unit that determines destination information and position information input by voice, position information determined by the voice recognition unit, and a position estimated by the position estimation unit. And an input information processing unit that instructs the position information storage unit to store the information in association with each other. According to this configuration, the destination information and the position information can be input by voice, which is user friendly.

  In the above configuration, preferably, the information input unit outputs and displays the communication connection unit for connecting to the external computer, the map data stored in the storage unit to the external computer, and the map data is displayed on the external computer. An input information processing unit that receives input of the position specified by the position and the position information attached to the position, and the input information processing unit includes the position specified by the input on the displayed map data and the position information When receiving the position information attached to the position, the position information storage unit is instructed to store the input position and the position information in association with each other. Further, the map data creation / update unit stores the image data processed by the image data processing unit and the map data in the storage unit, and the input information processing unit is stored in the storage unit with respect to the external computer. The displayed map data and image data are output and displayed. According to this configuration, since the information input unit is connected to the external computer and the map data stored in the storage unit is output and displayed on the external computer, the map data displayed on the input / output display unit of the external computer is displayed. Position information can be input while specifying. In particular, by referring to the image data, it is possible to easily specify the position to be input.

The second configuration of the present invention is capable of communication connection with an autonomous mobile robot, estimates the position of the autonomous mobile robot, plans a travel path of the autonomous mobile robot, and provides travel path information to the autonomous mobile robot. An autonomous mobile robot system comprising: a server device that transmits a mobile device; and an autonomous mobile robot that moves by controlling a moving mechanism based on movement path information received from the server device, the imaging unit and the imaging unit An image data transfer unit that transfers the image data generated in step 1 to the server device, and a sensor information transmission unit that transmits sensor information from the sensor in the moving mechanism. A first storage unit for storing object position information as map data, an image data processing unit for processing image data transferred from the image data transfer unit, and sensor information The position estimation unit that estimates the position from the sensor information transmitted from the transmission unit and the processing result in the image data processing unit, the position estimated by the position estimation unit, and the map data stored in the first storage unit The movement route planning unit for obtaining the position information, the information input unit for receiving the position information and the destination information from the user, the position information input from the information input unit and the position estimated by the position estimation unit are stored in association with each other. A position information storage unit, and when the destination information is input from the information input unit, the movement path planning unit obtains position data for the input destination information from the position information storage unit, and the first storage unit The travel route is planned from the position estimated by the position estimation unit and is transmitted as travel route information to the autonomous mobile robot.
With the above configuration, data processing in an autonomous mobile robot system, especially image data processing, map generation update processing, and movement route planning processing, can be performed on the server device, thereby reducing the amount of data processing in the autonomous mobile robot. Contributes to miniaturization of autonomous mobile robots.

  In the above configuration, the server device includes a map data creation / updating unit that creates and updates map data stored in the first storage unit, so that the number and positions of obstacles in the movement area of the autonomous mobile robot change. Even if it is a new movement area, map data is created or updated by itself, so there is no need to register or change map data one by one.

  In the above configuration, the autonomous mobile robot preferably includes a music performance control unit that receives music data distributed from the outside and outputs a performance of the received music data. According to this configuration, the autonomous mobile robot can be configured as a kind of walking audio device.

  In the above configuration, the server device preferably includes an arrival determination unit that determines whether or not the destination position corresponding to the destination information input from the information input unit matches the position estimated by the position estimation unit. And an output unit for outputting arrival information to the outside when a positive determination is made by the arrival determination unit. According to this configuration, when the autonomous mobile robot reaches the destination designated by the user, the autonomous mobile robot outputs a message to the outside that it has arrived.

  In the above configuration, preferably, the information input unit includes a voice recognition unit that determines destination information and position information input by voice, position information determined by the voice recognition unit, and a position estimated by the position estimation unit. And an input information processing unit that instructs the position information storage unit to store the information in association with each other. According to this configuration, the destination information and the position information can be input by voice, which is user friendly.

  In the above configuration, the server device preferably includes a communication unit for connecting to an external computer, and the information input unit outputs and displays the map data stored in the first storage unit with respect to the external computer, and An input information processing unit is provided for receiving input of a position specified for input on map data output and displayed on an external computer and position information attached to the position, and the input information processing unit is specified for input on map data. When the input of the position and the position information attached to the position is received, the position information storage unit is instructed to store the input position and the position information in association with each other. The server device further includes a second storage unit that stores the position estimated by the position estimation unit and the image data processed by the image data processing unit in combination, and the input information processing unit is connected to the external computer. The map data stored in the first storage unit and the image data stored in the second storage unit are output and displayed. According to this configuration, since the information input unit is connected to the internal computer and the map data stored in the storage unit is output and displayed, the specified input is performed on the map data displayed on the input / output display unit of the external computer. Position information can be input. In particular, by referring to the image data, it is possible to easily specify the position to be input.

  According to the present invention, a user can freely assign a name to each location in the movement area of an autonomous mobile robot according to the user's preference, and designate the movement destination of the robot using the assigned name as position information. can do. In particular, even when the movement area of the autonomous mobile robot is in each home, the position information can be arbitrarily taught to the autonomous mobile robot in accordance with the indoor layout and size.

The best mode for carrying out the present invention will be described below with reference to the drawings.
FIG. 1 is a block diagram of an autonomous mobile robot 10 that is the best mode for carrying out the present invention. As shown in FIG. 1, an autonomous mobile robot 10 according to an embodiment of the present invention includes, for example, a moving mechanism 11 that moves by moving a wheel with a motor, a moving mechanism control unit 12 that controls the moving mechanism 11, A storage unit 13 that stores obstacle position information in the movement space of the autonomous mobile robot 10 as map data, a position estimation unit 14 that estimates the position of the autonomous mobile robot 10, and a robot stored in the storage unit 13 A travel route planning unit 15 that plans a travel route from the current position based on map data indicating obstacle information in the travel space and various behavior patterns and outputs the travel route information to the travel mechanism control unit 12; Prepare.
As a result, the autonomous mobile robot 10 obtains the movement route from the current position estimated by the position estimation unit 14 with reference to the action pattern and the map data in the movement route planning unit 15, and sends the movement route to the movement mechanism control unit 12. The information is output as information, and the movement mechanism control unit 12 controls the movement mechanism 11 to move along the movement path based on the movement path information.
Here, in the storage unit 13, when the autonomous mobile robot 10 detects a human figure, a tracking behavior pattern that follows the detected person, or an obstacle detection unit 16 detects an obstacle as described later. Control information for controlling the movement mechanism 11 along various behavior patterns, such as an action pattern for making a movement plan to avoid an obstacle, is stored.

  In addition, the autonomous mobile robot 10 shown in FIG. 1 receives an output signal from various sensors such as a collision sensor and an infrared sensor, and detects an obstacle from the obstacle detection unit 16. Upon receiving information on the presence and direction of the obstacle, the map data generation / update unit 17 generates and updates the position information of the final obstacle with reference to the position estimated by the position estimation unit 14; Is provided. The collision sensor detects contact between the robot and surrounding objects. The infrared sensor detects an object at a predetermined distance in the traveling direction of the robot and other directions. When receiving the output signal from such an obstacle sensor, the obstacle detection unit 16 determines the presence or absence of an obstacle in the vicinity of the robot and the direction of the obstacle from the robot, and the result is sent to the map data generation / update unit 17. Is output. When the map data generation / update unit 17 receives input of information on the presence and direction of the obstacle from the obstacle detection unit 16, the map data generation / update unit 17 refers to the position estimated by the position estimation unit 14 to determine the final obstacle position. Create information as map data.

  FIG. 2 is a diagram showing an example of map data. Arbitrary regions of the movement space of the autonomous mobile robot 10 are divided into, for example, a lattice shape, and each area is represented by, for example, two-dimensional coordinates (X, Y). In the figure, “1” indicates that there is an obstacle, “0” indicates that there is no obstacle, and “−1” indicates that the presence or absence of the obstacle is unknown. In addition to the data structure of the map data shown in FIG. 2, image data generated by the photographing unit 18 and sensor information by various obstacle sensors are added as additional information regarding the presence or absence of obstacles at each position in the moving area of the robot. The data structure may be such that the obstacle existence probability estimated based on each lattice point is indicated.

  The autonomous mobile robot 10 shown in FIG. 1 includes an imaging unit 18 including a camera and its camera driver, and an image data processing unit 19 that processes image data output from the imaging unit 18. The camera in the photographing unit 18 controls the photographing direction, photographing timing, and the like by a camera driver, and generates image data by photographing. Then, the image data processing unit 19 causes the storage unit 13 to store the image data together with the position estimated by the position estimation unit 14 according to the processing result. Further, according to the processing result, the image data processing unit 19 outputs the processing result to the map data generation / updating unit 17 when an obstacle is detected as will be described later. Upon receiving this output, the map data generation / update unit 17 calculates the position of the obstacle based on the position estimated by the position estimation unit 14 and the processing result, and updates the map data stored in the storage unit 13. To do.

  As described above, the autonomous mobile robot 10 creates the obstacle position information in the robot movement space as map data by itself, and the obstacle position information already stored in the storage unit 13 does not match the current state. Update the data. Thereby, even if the robot movement space changes at all, the autonomous mobile robot 10 can move autonomously corresponding to the change.

  In the autonomous mobile robot 10 of the present invention, position information such as a name given to an arbitrary position in the robot movement space by the user and destination information as instruction information of the destination of the autonomous mobile robot 10 are stored. An information input unit 20 that receives an input, and a position information storage unit 21 that stores the position information input by the information input unit 20 and the position estimated by the position estimation unit 14 in association with each other.

  FIG. 3 is a diagram schematically illustrating a table in which the position information storage unit 21 stores the position information and the estimated position in association with each other. The table stored in the position information storage unit 21 is arbitrarily assigned by the user to the position estimated by the position estimation unit 14, that is, the corresponding position coordinates (x, y) in the robot movement space and the position coordinates. The position information such as the name is made to correspond one-to-one. For example, as shown in FIG. 3, the position information (“Genkan”, “Kitchin”, “Ousetsuma” in the figure) input from the information input unit is assigned a memory number, respectively. 1 table T1 and a second table T2 in which corresponding position coordinates (x, y) in the robot movement space are stored for each memory number assigned to the first table T1. The correspondence relationship may be stored in one table. Here, the coordinates (X, Y) indicating the position of the obstacle in the map data and the position coordinates (x, y) estimated by the position estimation unit 14 are described with the same segment size, but the segment is not necessarily segmented. The sizes need not be at the same level, and the segment size of the position coordinates (x, y) estimated by the position estimation unit 14 may be finer.

  The information input unit 20 includes a voice recognition unit 20a that determines destination information and position information input by voice, and the position information determined by the voice recognition unit 20a and the current information estimated by the position information estimation unit 14. The input information processing unit 20b may be configured to instruct the position information storage unit 21 to store the position of the autonomous mobile robot 10 in association with each other as described above. In addition, the information input unit 20 is connected to a remote controller, a touch panel, or the like, and has an interface function for receiving an operation instruction from the user. For the user to input position information or move the robot to the robot, It may be possible to input a movement instruction such as moving forward or turning left directly to the robot.

  Further, the information input unit 20 displays the map data stored in the storage unit 13 on the screen for the communication connection unit 20c that connects to the outside and an external computer such as a mobile phone or a personal computer, and the input / output display unit of the external computer And an input information processing unit 20b for receiving a position coordinate designation input and a position information input for the position coordinate using a pointing device such as a mouse on the map data displayed on the screen. May be. When the image data generated by the photographing unit 18 and the position estimated by the position estimation unit 14 at the time of generation are stored as a set in the storage unit 13, the position designated by the pointing device on the screen display By outputting and displaying the image data as reference information on an external computer as a reference information, the user can correctly input position information such as a name for each position of the map data, that is, coordinates.

  Further, as shown in FIG. 1, the information input unit 20 includes a voice input unit 20a, an input information processing unit 20b, and a communication connection unit 20c, thereby inputting a large number of sets of position information and coordinates thereof. For example, when inputting a combination of several pieces of position information and coordinates as appropriate, the input method can be appropriately selected according to the user's preference.

  Furthermore, the information input unit 20 receives information on the destination of the autonomous mobile robot 10 from the user by voice, inputs destination information by communication connection with a mobile phone, or sends / receives mail to / from an external computer. When the destination information is input after being connected, the destination information is input to the movement path planning unit 15 to instruct to plan the movement path. Receiving this instruction, the movement route planning unit 15 plans a movement route using the destination information, the current position estimated by the position estimation unit 14 and the map data stored in the storage unit 13, and controls the movement mechanism. The travel route information is output to the unit 12. Receiving this output, the movement mechanism control unit 12 controls the movement mechanism to autonomously move to the movement destination based on the inputted movement route information.

  By the way, the autonomous mobile robot 10 includes the travel route information from the travel route planning unit 15, travel information such as travel distance and travel direction generated based on the sensor information in the moving mechanism 11, and the position estimation unit 14. When the arrival determination unit 22 that determines whether or not the destination has been reached from the estimated position and the destination information input to the information input unit 20 by the arrival determination unit 22 match, And an output unit 23 for outputting information indicating that it has been reached. Therefore, when the autonomous mobile robot 10 moves to the destination, the output unit 23 outputs, for example, a message “arrived” as a voice, or sends the message to the user's portable information terminal device as a voice. Output or send the message by email. Further, as will be described later, the movement mechanism control unit 12 may control the movement mechanism 11 according to an action pattern stored in advance in the storage unit 13 to perform a predetermined operation. If the output unit 23 does not reach even after a predetermined time has elapsed, the output unit 23 can output, for example, a message “not reachable” along various forms.

Next, in the autonomous mobile robot shown in FIG. 1, the position estimation unit 14 and the map are explained while explaining the scenes of database of image data, creation and update of map data, teaching of position information and instruction of movement to the destination. The functions of the data generation / update unit 17, the image data processing unit 19, and the information input unit 20 will be described in detail.
Even if no map data is stored in the storage unit 13 of the autonomous mobile robot 10, a random action is selected from the action patterns stored in the storage unit 13 or the movement route planning unit 15 to autonomously move. Thus, the autonomous mobile robot 10 creates map data by itself.

FIG. 4 is a flow diagram for creating a so-called image data database in which the autonomous mobile robot 10 estimates the current position from the image data generated by the photographing unit 18 and stores the image data together with the estimated position in the storage unit 13. is there.
First, the imaging unit 18 mounted on the autonomous mobile robot 10 is imaged with the camera directed in a predetermined direction to generate image data (STEP 1-1). The image data generated by the photographing unit 18 is output to the image data processing unit 19.
Next, when the image data processing unit 19 receives the input of the image data from the imaging unit 18, the image data processing unit 19 determines the feature point, that is, the contour or surface pattern in the object in the imaging direction of the autonomous mobile robot 10 from the image data. For example, the top of the furniture is detected (STEP 1-2).
Then, it is determined whether or not there are a predetermined number of feature points, for example, 5 or more in the image data (STEP 1-3). Since the current position cannot be estimated from the image data unless there are a predetermined number of feature points in the image data, the movement route is planned based on the action pattern stored in the storage unit 10 or the movement route planning unit 15, and moved. The movement mechanism controller 12 moves at random by controlling the movement mechanism 11 according to the route plan (STEP 1-4). And it transfers to STEP1-1 again.

On the other hand, if the input image data has a predetermined number of feature points, it can be used as a judgment material for estimating the position from the image data. In this case, the image data processing unit 19 compares the landmark stored in the storage unit 13 with the feature point of the current image data (STEP 1-5). Here, the landmark is a combination of an estimated position in the map data and feature point information obtained from image data captured at the estimated position. In addition, when the feature point about each image data is not stored with the image data in the memory | storage part 13, the data process which detects a feature point from image data is performed each time.
The image data processing unit 19 determines whether the feature points of the currently generated image data are already stored in the storage unit 13 as a result of the comparison in STEP 1-5 (STEP 1-6). If there is no match in this determination, a new landmark data box is created in the storage unit 13 (STEP 1-7), and each landmark data is stored based on the travel distance generated by the moving mechanism control unit 12. Store in the unit 13 (STEP 1-8). And it returns to said STEP1-1. On the other hand, if there is a match in the determination in STEP 1-6, the image data processing unit 19 determines that the position where the autonomous mobile robot 10 is present has come in the past, and uses the image data as a source. The current position is updated based on the current estimated position (hereinafter referred to as “visual value”) of the autonomous mobile robot calculated in step S3 and the travel distance generated by the moving mechanism control unit 12 (STEP 1-9). ) Based on the information on the visual value, the travel distance, and the current position, the landmark data corresponding to the current position stored in the storage unit 13 is updated (STEP 1-10). Here, for the visual value, for example, the distance from the camera to the subject can be obtained by trigonometry using a plurality of image data. Thereafter, the process returns to STEP 1-1.
By repeating the above loop, the landmark can be registered and updated in the storage unit 10.

Next, the case where the autonomous mobile robot 10 creates map data by itself will be described.
FIG. 5 is a flowchart when the autonomous mobile robot 10 creates map data.
First, the movement route planning unit 15 plans a movement route according to the action pattern stored in the storage unit 13 or the movement route planning unit 15, and the movement mechanism control unit 12 controls the movement mechanism 11 according to the movement route information, thereby randomly. (STEP 2-1).
Next, the landmark is searched (STEP 2-2), and the travel position (Odmetery) generated by the movement mechanism control unit 12 is referred to (STEP 2-3). The travel position is data obtained by the movement mechanism control unit 12, for example, by measuring the number of rotations of the wheels in the movement mechanism 11 by itself and determining the movement distance and direction based on the measurement result. Then, the current position is estimated based on the landmark search result and the travel position (STEP 2-4).
The above processing of STEP2-1 to STEP2-4 is repeated until an obstacle is detected from the obstacle detector 16 (STEP2-5).

When the obstacle detection unit 16 detects an obstacle, the map data generation / updating unit 17 receives the detection result and estimates the position of the obstacle from the detection direction and the current position of the autonomous mobile robot (STEP 2-6). ). The presence of the obstacle is recorded at the coordinates in the map data corresponding to the estimated obstacle position (STEP 2-7). Then, it returns to STEP2-1 again.
Through this series of processing, the map data generation / update unit 17 can create the position information of the obstacle in the robot movement area as map data.

In this way, the position information of the obstacle can be created as map data using the image data, but the obstacle detection by the obstacle sensor may be used as follows.
FIG. 6 is a flowchart for creating and updating map data by obstacle detection by the obstacle sensor and image data processing.
Similarly to the above, the autonomous mobile robot 10 is moved randomly by the moving mechanism 11 (STEP 3-1).
When an obstacle is detected by the obstacle sensor (STEP 3-2), the map data generation / updating unit 17 estimates the position of the obstacle from the direction in which the obstacle is detected and the current position of the robot, and stores in the storage unit 13. The map data is updated (STEP3-3). Thereafter, the autonomous mobile robot 10 changes its traveling direction by rotating at random or the like to avoid an obstacle (STEP 3-4) and returns to STEP 3-1.
Further, image data is generated by the photographing unit 18 (STEP 3-5), and it is determined whether or not there is a data that matches the image data generated this time in the storage unit 13 (STEP 3-6). If there is a match, the imaging position associated with the image data stored in the storage unit 13, that is, the coordinates and orientation of the imaging unit 18 are read out, and the current position of the autonomous mobile robot 10 is estimated. At this time, the current position of the autonomous mobile robot 10 may be estimated with reference to the travel distance data from the moving mechanism control unit 12 (STEP 3-8) and the primary estimated value. If there is no match, the image data captured this time and the primary estimated value of the position are combined and stored in the storage unit 10 (STEP 3-7).

Next, a method in which a teacher who is a user arbitrarily assigns a name to each coordinate of the map data and stores it in the position information storage unit 21 will be described.
FIG. 7 is a flowchart for storing a name as position information in the position information storage unit 21.
First, the user starts the teaching operation by moving the autonomous mobile robot 10 to a position where it is desired to teach (STEP 4-1). At this time, the autonomous mobile robot 10 may be moved by the user from the information input unit 20 via the remote control or the touch panel, or by moving the user by tracking himself / herself. May be.
Next, the user inputs position information for the current position from the information input unit 20 (STEP 4-2). The information input unit 20 checks whether or not there is input position information in the position information storage unit 21 (STEP 4-3). When the information input unit 20 confirms that there is no same position information in the position information storage unit 21, the information input unit 20 acquires the current position of the robot from the position estimation unit 14 (STEP 4-4), and combines the estimated position and the position information. For example, it is registered in a table (STEP 4-5).
As described above, the teacher can arbitrarily give a name to each coordinate of the map data and store it in the position information storage unit 21.

In this way, by using the position information or map data stored in the table or the storage unit 13, the user gives the destination information to the autonomous mobile robot 10, so that the autonomous mobile robot 10 moves to the destination. Explain what to do.
FIG. 8 is a diagram showing the first half of the flow in which the autonomous mobile robot moves to the destination when a movement instruction is given to the autonomous mobile robot 10, and FIG. 9 is a diagram showing the second half of the flow.
The user completes the movement instruction by giving the destination information to the autonomous mobile robot 10 from the information input unit 20 (STEP 5-1).
When the information input unit 20 receives the destination information (STEP5-2), the information input unit 20 searches the position information storage unit 21 for the presence or absence of the destination information input in STEP5-2 (STEP5-3). If there is no destination information input in the position information storage unit 21, the process ends. If there is destination information input in the position information storage unit 21, the coordinates of the map data corresponding to the destination information are stored. A value is acquired (STEP 5-4). Then, the acquired coordinate value is transmitted to the movement route planning unit 15 as a target position (STEP 5-5). When the destination information input from the user is converted and specified as the coordinate value of the target position in this way (STEP 6-1), the current position of the autonomous mobile robot is acquired from the position estimation unit 14 (STEP 6-). 2). Then, the movement route planning unit 15 plans a movement route from the current position estimated by the position estimation unit 14 and the target value. At that time, with reference to the map data stored in the storage unit 13, the movement route is planned so as not to touch the obstacle (STEP 6-3). Then, when the movement route planned by the movement route planning unit 15 is output to the movement mechanism control unit 12 as movement route information, the movement mechanism control unit 12 controls the movement mechanism and autonomously moves along the movement route (STEP6- 4).

  Then, it is determined whether or not the destination has been reached as appropriate (STEP 6-5), and the movement and determination are repeated until the destination is reached. At that time, when an unidentified obstacle is detected (STEP 6-6), the position information of the obstacle is estimated from the direction in which the obstacle is detected and the current location of the autonomous mobile robot 10, and reflected in the map data (STEP 6-7). ). Then, an obstacle is avoided by changing the course direction by instructing the moving mechanism control unit 12 to rotate at random (STEP 6-8), and the process returns to STEP 6-2.

  Since the autonomous mobile robot 10 is configured as described above, when the autonomous mobile robot 10 is taken to a predetermined teaching position and position information is input to the information input unit 20 at the teaching position, position estimation is performed. The position estimated by the unit 14 and the input position information are stored in the position information storage unit 21 as a pair. As described above, the position information setting unit 21 is instructed to teach the autonomous mobile robot 10 with the user's favorite name as position information corresponding to an arbitrary position in the robot movement space at a plurality of positions. The position information for each coordinate in the robot movement space is stored. Therefore, when the user arbitrarily inputs the destination information from the stored position information to the information input unit 20, the autonomous mobile robot 10 identifies the position corresponding to the input destination information and moves. The route planning unit 15 obtains a movement route from the position estimated by the position estimation unit 14 to the specified position, the movement mechanism 11 is controlled according to the obtained movement route, and the autonomous mobile robot 10 is designated. Move to the destination.

  Therefore, the user can move the autonomous mobile robot 10 by one operation of giving destination information to the autonomous mobile robot 10. At this time, the user does not need to specify the destination based on the map data, and is user-friendly. Furthermore, it can be used as the next destination information by selecting and teaching in advance a favorite name at the destination position of the autonomous mobile robot 10 according to the user's preference.

Here, the modification about the data structure about the positional information storage part 21 is demonstrated. As described with reference to FIG. 3, by storing the position information input from the information input unit 20 and the position estimated by the position estimation unit 14 in a table, the two are related and stored, The following form may be used.
FIG. 10 is a diagram schematically illustrating a modification example of the data structure in the position information storage unit 21. As shown in FIG. 10, the data structure of the position information storage unit 21 includes a data part including position information and the position estimated by the position estimation unit 14, and a reference unit for referring to the data part such as a pointer. Is a list structure. With this structure, the position information and the position estimated by the position estimation unit 14 may be stored in association with each other and easily searched. Such a list structure makes it easy to retrieve data stored in the data part in order from the first element or the last element. Further, the list structure is not limited to the bidirectional list, and may be a one-way list structure that searches from the first element or the last element.

  FIG. 11 is a diagram schematically illustrating a modified example of the data structure in the position information storage unit 21. As another data structure of the position information storage unit 21, a two-dimensional map is applied as a movement space of the autonomous mobile robot 10 as shown in FIG. In this example, the information “Genkan” is stored in correspondence with the position (x = 4, y = 2) to which “Genkan” is attached. A position without position information is empty.

Next, a modification is shown.
FIG. 12 is a configuration diagram of an autonomous mobile robot system 30 that includes an autonomous mobile robot 40 and a server device 50 that can communicate with the autonomous mobile robot 40. The autonomous mobile robot system 30 shown in FIG. 12 is different in that a part of processing functions such as data processing of the autonomous mobile robot 10 shown in FIG.
The autonomous mobile robot 40 includes a transmission / reception unit 41 that transmits / receives data and information to / from the server device 50, an imaging unit 42, an image data transfer unit 43 that transfers image data generated by the imaging unit 42 to the server device 50, An obstacle detection unit 44 that detects an obstacle based on an output signal from the obstacle sensor, a movement mechanism control unit 46 that controls the movement mechanism 45 from movement path information transmitted from the server device 50, and various types in the movement mechanism 45 A sensor information transmission unit 47 that transmits information from the sensor to the server device 50;

The server device 50 includes a transmission / reception unit 51 that transmits / receives data and information to / from the autonomous mobile robot 50, a data processing unit 52 that performs data processing of image data transferred from the image data transfer unit 43, and a robot movement space. A map data creation / update unit 53 that creates and updates the obstacle position information in the map as map data, a first storage unit 54 that stores the map data created by the map data creation / update unit 53, and a sensor information transmission unit 47 The position estimation unit 55 that estimates the position from the sensor information and the processing result of the image data transmitted from the position information, the position information estimated by the position estimation unit 55 and the map data stored in the first storage unit 54 A travel route planning unit 56 for obtaining a route, and the autonomous mobile robot 40 using the travel route obtained from the travel route planning unit 56 as travel route information. The transmission route information transmission unit 57 for transmission, the information input unit 58 for receiving the position information and the destination information from the user, the position information input from the information input unit 58 and the position estimated by the position estimation unit 55 Are stored in association with each other.
In addition to the obstacle detection information receiving unit 60 that receives the obstacle detection information from the obstacle detection unit 44 of the autonomous mobile robot 40, the server device 50 receives the image data processed by the image data processing unit 52 as position information. The image data can be output and displayed together with the map data on an external computer via the information input unit 58.

  Also in this configuration, when destination information is input from the information input unit 58 provided in the server device 50, the coordinates of the destination stored in the position information storage unit 59 in association with the destination information are acquired, and the map While referring to the data, a movement route from the position coordinates estimated by the position estimation unit 55 to the coordinates of the movement destination is planned and transmitted to the autonomous mobile robot 40 as movement route information. Therefore, similarly to the autonomous mobile robot 10 shown in FIG. 1, the movement mechanism control unit 46 controls the movement mechanism 45 based on the movement path information and moves autonomously along the movement path.

  As can be seen from this configuration, a part of the data processing of the autonomous mobile robot 10 shown in FIG. 1, in particular, the autonomous mobile robot 40 does not perform data processing related to image data and travel route planning by the autonomous mobile robot 40. By using the server device 50 that can be communicably connected to the server 40, the processing capability of the autonomous mobile robot can be reduced, and downsizing and power consumption can be suppressed. Further, similarly to the autonomous mobile robot 10 shown in FIG. 1, the server device 50 can include an arrival determination unit 62 and an output unit 63 that outputs arrival information. As in the case of the autonomous mobile robot 10 shown in FIG. 1, the information input unit 58 can also be configured by a voice recognition unit 58a, an input information processing unit 58b, and a communication connection unit 58c.

FIG. 13 is a block diagram of an autonomous mobile robot different from FIG. An autonomous mobile robot 60 shown in FIG. 13 is different from FIG. 1 in that an additional function for inputting information is provided to the information input unit 20 of the autonomous mobile robot shown in FIG. Components that are the same as or equivalent to those in FIG.
As shown in FIG. 13, in addition to the voice recognition unit 20a and the communication connection unit 20c, the information input unit 70 receives a command input from the user with a gesture and a shooting unit 71 including a camera and its driver, And a gesture determination unit 72 that determines image data generated by photographing by the unit 71 and determines a user's gesture. Here, the gesture determination unit 72 stores reference data for determining various gestures performed by the user, converts the image data generated by the shooting unit 71 through camera shooting, and converts the data of the autonomous mobile robot. The presence / absence of a person in the field of view is determined and compared with reference data to determine the instruction content by the gesture from the user. Thereby, various instructions of the autonomous mobile robot 60 can be transmitted by voice by the voice recognition unit 20a, transmission / reception of instruction data from an external computer such as a personal computer or a portable information terminal device connected to the communication connection unit 20c, Even a desired gesture by the user can be received.

  Here, the position information is taught to the autonomous mobile robot, as described above, the autonomous mobile robot is taken to the location or moved there, and the position information is input through voice or through an external computer. However, it is not limited to this. For example, when the position information is a number, a barcode sticker in which the number is coded and printed is pasted to the corresponding location, and the barcode sticker is being moved by the photographing unit 18 or 71 of the autonomous mobile robot By reading, the autonomous mobile robot determines that the location is the taught position, decodes the barcode and converts it into position information, and stores the position coordinates and position information in the position information storage unit 21. It can also be realized by storing them in association. Instead of the bar code seal, a device having a wireless communication function such as an RFID tag may be used.

  As described above, the autonomous mobile robot and its system according to the present invention create and update map data by self-determining obstacles in the moving area, and the user can select any arbitrary area in the moving area. By defining a place and giving a name according to the user's preference and teaching it, the position information storage unit stores the position coordinate in the movement area and the name attached in association with each other. Therefore, the user designates the destination of the autonomous mobile robot with the name taught in the past, so that the autonomous mobile robot estimates the current position and then plans the movement route for the designated destination. It moves autonomously according to the movement route. At this time, even if the autonomous mobile robot moves while playing music, or when the autonomous mobile robot reaches the designated destination, it can determine that it has arrived at the destination and start playing music. . Therefore, a usage form when the autonomous mobile robot is used as a kind of moving audio device will be described.

FIG. 14 is a diagram illustrating a configuration example 1 of the music distribution system 100 in which the autonomous mobile robot 110 is incorporated.
As shown in FIG. 13, the music distribution system 100 includes an autonomous mobile robot 110 including a music performance control unit 120 that performs music performance, a home server device 130, a setting terminal device 140, and one or more music. The data distribution server device 150 is constructed so that it can be connected via a network.
For example, as shown in FIG. 14, the network is a wireless LAN (Local Area Network) for mutually connecting an autonomous mobile robot 110, a home server device 130, a setting terminal device 140, and an external connection unit 165 such as a router. 160, and an external network 170 such as the Internet that connects the external connection unit 165 and various music data distribution server devices 150.

  In addition to the components described above, the autonomous mobile robot 110 is connected to the home server device 130 and the setting terminal device 140 via the wireless LAN 160 and is connected to each other via the wireless LAN 160 and the external connection unit 165. In addition to the connection unit 111 for connecting to the music data distribution server device 150, the voice recognition unit 112a and the gesture determination unit 112b that receive an input instruction by a voice or a gesture from the user and determines the meaning thereof, the arrival determination unit 22 or A music data distribution request is made to the input unit 112 that receives input of music performance control information from the moving mechanism control unit 12 and the home server device 130 or the music data distribution server device 150, and the music distributed in response to the request A music performance control unit 120 that acquires data and outputs the data from a speaker.

Here, the music performance control unit 120 includes a music performance control interface unit 121 serving as an interface with the input unit 112, a performance control unit 122 that performs various controls such as an acquisition request of music data and music playback, and music to be played back. A playlist information management unit 123 that manages data-related information as playlist information, and a playlist that acquires playlist information from the playlist information management unit 123 and issues a music data acquisition request instruction to the music data transmission request unit 125 A list execution unit 124, a music data transmission request unit 125 that requests transmission of music data, and a music data reception unit 126 that receives music data distributed in response to the transmission request under the control of the performance control unit 122. The received music data is received from the music data receiving unit 126 and the performance control unit 1 It is configured to include a music playback unit 127 to be output from the speaker 127a, the under 2 control.
The input unit 112 includes a voice recognition unit 112a that determines a voice input from the user, a gesture determination unit 112b that takes a gesture indicated by the user as image data and determines the meaning of the gesture, a movement mechanism control unit 12 and an arrival determination unit 22 includes a music performance control information input unit 112c that receives control information related to music performance, for example, an execution command for the playlist execution unit 124 or a command to repeat music performance.

On the other hand, the setting terminal device 140 includes a playlist editing unit 141, accesses the playlist information management unit 123 of the autonomous mobile robot 110 via the wireless LAN 160, and registers and edits playlist information. It can be performed.
The home server device 130 has a recording medium such as a CD or DVD in which music data is stored, or has an internal storage area such as a hard disk device, in which various music data is stored in a readable manner. When a music data transmission request is received from the storage unit 131 and the autonomous mobile robot 110, the corresponding music data is acquired from the music data storage unit 130, and streaming distribution is performed to the autonomous mobile robot 110 that has made the transmission request. And a music data transmission unit 132 to be performed.
When receiving a music data transmission request from the music data storage unit 151 in which the music data is readable and the autonomous mobile robot 110, the music data distribution server device 150 receives the music data from the music data storage unit 151. And a music data transmission unit 152 that performs streaming distribution to the autonomous mobile robot 110 that has acquired and requested the transmission.

In the music distribution system 100 configured as described above, when the input unit 112 receives, for example, an input of a music playback instruction from the user by the autonomous mobile robot 110, first, the input instruction is sent to the music performance control interface unit 121. The performance control unit 122 is notified via this. Based on the playlist information stored in the playlist information management unit 123, the performance control unit 122 sends the music data transmission request unit 125 to the home server device 130 and the music, based on the playlist information stored in the playlist information management unit 123. An instruction is given to make a distribution request for the corresponding music data from any of the data distribution server devices 150. In response to this instruction, the music data transmission request unit 125 requests distribution of the corresponding music data from either the home server device 130 or the music data distribution server device 150 in accordance with the instruction.
Then, the music data distributed from the home server device 130 or the music data distribution server device 150 is received by the music data receiving unit 126, and the received music data is output from the speaker 127a by the music reproducing unit 127.
Therefore, the autonomous mobile robot 110 can move autonomously while playing music, or can start playing music upon determining that it has moved to the destination.

FIG. 15 is a block diagram showing a configuration example 2 of the music distribution system. The music distribution system 200 shown in FIG. 15 differs from the music distribution system 100 shown in FIG. 14 in that the autonomous mobile robot 210 is not provided with a playlist information management unit, a playlist execution unit, and a music data transmission request unit. This is a point provided in the internal server device 220.
As shown in FIG. 15, the music distribution system 200 allows an autonomous mobile robot 210, a home server device 220, and a music data distribution server device 150 to be connected to an external connection unit 165 such as a wireless LAN 160 or a router via a network. It is configured. For example, as shown in FIG. 15, the network is a wireless LAN 160 that connects the autonomous mobile robot 210 and the home server device 220, and an external device such as the Internet that connects the home server device 220 and the music data distribution server device 150. The network 170 is constructed. Although the home server device 220 is shown as being connected to the external network 170 by a communication connection means such as a router in the figure, it may be connected to the wireless LAN 160 by an external connection unit 165.

The home server device 220 can be constructed by storing a program for performing playlist execution processing and playlist registration editing processing in various computers. The illustrated block diagram shows a functional block configuration constructed by including this program.
The home server device 220 receives a performance control command receiving unit 221 that receives a performance control command from the autonomous mobile robot 210, and that the performance control command receiving unit 221 receives the performance control command from the autonomous mobile robot 210. In addition, the playlist execution unit 222 that controls the acquisition of music data, the music data transmission request unit 223 that makes a music data distribution request to the external music data distribution server device 150, and the music data transmission request unit 223 A music data receiving unit 224 that receives music data stream-distributed from the music data distribution server device 150 in response to a distribution request, a music data storage unit 225 that stores music data, and music data that is read from the music data storage unit 225 And music data received by the music data receiving unit 224 are autonomously moved. It includes a music data transfer unit 226 for transferring the bot 210. In addition, for the playlist execution unit 222, a playlist editing unit 227 that receives input of playlist registration and editing from the user, and a playlist that stores information registered and edited by the playlist editing unit 227 as a playlist. A list information management unit 228.

Here, the music data storage unit 225 reads various music data groups so that the music data is read from an internal storage area such as a CD, DVD, or hard disk device in which the music data groups are recorded in advance and is output to the music data transfer unit. The recording medium includes a recording medium such as a CD, a DVD, and a hard disk device, and a reading unit that reads music data from various recording media such as a DVD, a CD, and a hard disk device recorded on the recording medium.
The playlist execution unit 222 receives the reception signal when the performance control command reception unit 221 receives the performance control command, and obtains music data and issues a distribution instruction to the autonomous mobile robot. For example, acquisition of music data based on a description of a playlist, ie, a series of music lists, edited in advance by the playlist editing unit 227 and stored in the playlist information management unit 228 for automatic continuous execution I do. The music data may be acquired by specifying the music data distribution server device 150 and acquiring the music data or from the music data storage unit 225 of the home server device 220. In the case of acquisition from the music data distribution server device 150, the music data transmission request unit 223 is triggered by an acquisition instruction from the playlist execution unit 222 to distribute external music data via the external connection unit 165 such as a router. The server apparatus 150 is accessed and a stream distribution of the corresponding music data is requested. The playlist information management unit 228 stores, as playlist information, information on music data that the playlist execution unit 222 obtains and instructs, for example, music data name that instructs distribution, information on playback control, and the like. The music data receiving unit 224 receives the music data stream-distributed from the music data distribution server device 150 and outputs it to the music data transfer unit 226. Also, the music data transfer unit 226 sequentially receives the music data received by the music data receiving unit 224 and the music data acquired from the music data storage unit 225 in response to an instruction from the playlist execution unit 222, and passes through the wireless LAN 160. Are sequentially transmitted to the autonomous mobile robot 210.

On the other hand, the autonomous mobile robot 210 includes a music performance control unit that performs music performance in addition to the connection unit 211 for transmitting / receiving various control commands and receiving music data with the home server device 220 via the wireless LAN 160. 213.
The music performance control unit 213 receives information about music performance from the user by voice or gesture, or music serving as an interface for receiving input of music performance control information from the arrival determination unit 22 or the movement mechanism control unit 12 A performance control interface unit 214, a performance control unit 215 that transmits a performance control command to the home server device 220 via the connection unit 211, and controls the reproduction of the received music data, and the home server device 220. The music data receiving unit 216 that receives the music data distributed from the audio data reproducing unit that reproduces the music data received by the music data receiving unit 216 under the control of the performance control unit 215 and outputs the data to the speaker 218 217.

  In the music distribution system 200 configured as described above, for example, a message “Perform!” Is input from the user by voice, the autonomous mobile robot 210 recognizes the user's specific gesture, or the arrival determination unit 22. When it is determined that the destination has arrived, the music playback control interface unit 221 determines their input and recognition via the music performance control information input unit 212c as an output unit, and the performance control unit 215. To the home server device 220 via the wireless LAN 160. Then, a music performance command is sent from the performance control unit 213 to the home server device 220.

The performance control command receiving unit 221 that has received the music performance command from the autonomous mobile robot 210 acquires the playlist information stored in the playlist information management unit 227 from the playlist execution unit 222 and acquires the playlist information. An instruction is given to acquire music data according to the playlist information and transfer it to the autonomous mobile robot 210.
Upon receiving this instruction, the playlist execution unit 222 first acquires the playlist information stored from the playlist information management unit 227, and then from the music data storage unit 225 based on the acquired playlist information. The music data is read out or the music data distribution server device 150 is designated to request distribution of the corresponding music data.
In response to this, the music data distribution server device 150 receives the distribution request, extracts the corresponding music data from the music data storage unit 151, and performs streaming distribution to the home server device 220. The music data storage unit 225 extracts the corresponding music data and performs streaming distribution to the music data transfer unit 225. The music data receiving unit 224 receives the music data distributed from the music data distribution server device 150 and outputs it to the music data transfer unit 226. The music data transfer unit 226 controls the music data input from the music data reception unit 224 and the music data from the music data storage unit 225 via the wireless LAN 160 under the control of the playlist execution unit 222. Delivered to the robot 210.

Thus, in the autonomous mobile robot 210, the music data receiving unit 216 receives the music data distributed from the home server device 220 via the connection unit 211, and the music reproducing unit 217 receives the received music data. Output to. The music reproduction unit 217 reproduces and outputs the input music data from the speaker under the control of the performance control unit 215.
With the above configuration, the data processing and accumulation amount of the autonomous mobile robot 210 can be greatly reduced by providing the playlist execution unit 222 and the like in the home server device.
The system shown in FIGS. 14 and 15 is configured to incorporate the autonomous mobile robot shown in FIGS. 1 and 13, but the same is true when the autonomous mobile robot system shown in FIG. 12 is installed. In this case, it is necessary to provide at least a performance control unit, a music data receiving unit, and a music reproducing unit on the robot side.

Next, the music distribution system shown in FIG. 14 will be described as an example, and the usage pattern will be described. The same applies to other systems.
FIG. 16 is a diagram showing an example of a sequence in the case where a name is taught to each location in the movement area to the autonomous mobile robot, that is, a location is set, among usage patterns of the music distribution system 100. As a premise, it is assumed that the power supply of the autonomous mobile robot 110 is ON and in a standby state. When it is wirelessly connected to a predetermined rechargeable battery box, it is constantly charged, and the autonomous mobile robot 110 is set to be turned on immediately.

First, the user informs the autonomous mobile robot 110 of the initial setting (STEP 7-1). This can be realized by pressing an initial setting button provided in the information input units 20 and 70 of the autonomous mobile robot 110 or an initial setting button displayed on the menu.
Now, the movement path planning unit 15 of the autonomous mobile robot stores a tracking file for tracking a predetermined object as a behavior pattern file. At the initial setting stage, the autonomous mobile robot 110 is used by this tracking file. The user is tracked (STEP 7-2).

  The user teaches the autonomous mobile robot 110 the name at an arbitrary position within the movement area (STEP 7-3). There are the following forms as teaching forms. In the first form, for example, “kitchen”, “entrance” and the autonomous mobile robot 110 are input through voice. In the second mode, first, a mobile information communication device such as a mobile phone or a PDA is connected to the autonomous mobile robot 110 from the outside, and a user selects and inputs a name registered in advance in the mobile information communication device. Or the user inputs a name arbitrarily using a character input, a numeric keypad, or the like, and then transmits the information of the input name to the autonomous mobile robot 110 for teaching. The third form is a form in which the user selects a name registered in advance in the information input units 20 and 70 of the autonomous mobile robot 110 and teaches it by input designation. In the fourth embodiment, position coordinates are estimated when the buttons displayed on the information input units 20 and 70 of the autonomous mobile robot 110 are pressed, and the estimated position coordinates are sequentially stored in the buffer. After that, a personal computer as an external computer is connected to the autonomous mobile robot 110 and each position coordinate stored in the buffer is visually displayed and output, and the user specifies the position coordinate one by one and inputs its name. It is a form.

  When the user finishes estimating the position coordinates and assigning a name to the estimated position coordinates for each position in the movement area of the autonomous mobile robot 110, An end of initial setting is input (STEP 7-4). Then, the autonomous mobile robot 110 receives the input of the end of the initial setting and enters the normal mode (STEP 7-5). In the normal mode, for example, the autonomous mobile robot 110 waits for an input instruction from the user while tracking the user.

  FIG. 17 is a diagram illustrating an example of a sequence in a case where the user uses the autonomous mobile robot 110 from the outside of the usage pattern of the music distribution system 100. The sequence shown in the figure shows a case where the user accesses the autonomous mobile robot 110 from the outside and makes the autonomous mobile robot 110 confirm the locking. As a premise, the autonomous mobile robot 110 is in a standby state and accepts an access from a portable information terminal device such as a mobile phone.

First, the user accesses the autonomous mobile robot 110 from the portable information terminal device, inputs “entrance” as the position information of the movement destination, inputs “locking confirmation instruction” as input accompanying information, and the portable information terminal device. The communication connection from the robot to the autonomous mobile robot is terminated (STEP 8-1). As a result, the user takes an instruction from the information communication terminal device as an external computer to the autonomous mobile robot 110, that is, moves to the front door, for example, a door knob for confirming locking at the destination, and generates an image by shooting. A series of instructions to transmit data to the information communication terminal device is performed.
Then, the autonomous mobile robot 110 determines the content instructed in STPE 8-1 and takes a designated action. That is, first, the position information storage unit 21 is referred to acquire the position coordinates of the front door, the current position is estimated, a movement path with respect to the position coordinates of the front door is planned from the estimated position, and the movement is performed based on the planned movement path. (STEP8-2). When the arrival determination unit 22 determines that it has moved to the front door, the door knob is photographed, and the image data generated thereby is attached to an email and transmitted to the user's information communication terminal device (STEP 8-3). As a result, the image data is attached to the mail and transmitted to the information communication terminal device of the user, so that it can be confirmed that it is locked (STEP 8-4). At this time, the autonomous mobile robot 110 enters a standby state (STEP 8-5).
As described above, the autonomous mobile robot 110 can be accessed from an information communication terminal such as a mobile phone and receives the information of the destination transmitted from the information communication terminal, and determines that it has moved to the destination. Then, the autonomous mobile robot 110 is used as a kind of security tool by photographing the environment of the destination and transmitting the image data generated by photographing to the information communication terminal. You can also.

FIG. 18 is a diagram illustrating an example of a flow in the case of performing various settings for causing the autonomous mobile robot 110 to perform music performance among usage patterns of the music distribution system 100.
The user creates an MP3 file from a recording medium such as a CD using, for example, jukebox software such as iTunes or WMP in the home server device 130 (STEP 9-1).
The user selects music to be played by the autonomous mobile robot 110 from the playlist editing unit 140 of the setting terminal device 140 and stores it in the playlist information management unit 123 as playlist information (STEP 9-2).
Next, the user accesses the autonomous mobile robot from the playlist editing unit 140 of the setting terminal device 140 and displays a setting screen for playing music (STEP 9-3). The user selects the juice box software to be used from the setting screen displayed on the playlist editing unit 140 from the pull-down menu (STEP 9-4), and is reproduced on the setting screen displayed on the playlist editing unit 140. Specify music. When a plurality of designations are made, designation is input in accordance with the reproduction order (STEP 9-5).
Next, the playback mode, that is, whether to repeat all songs or play once, is selected from the setting screen and input (STEP 9-6). Then, the information set in STEPs 9-2 to 6 is registered as playlist information in the playlist information management unit 123 of the autonomous mobile robot (STEP 9-7).

  By following the above procedure, the playlist information can be registered and set in the playlist information management unit 123. When the playlist information management unit 228 is set in the home server device 220 shown in FIG. 15, it is not necessary to access the autonomous mobile robot from the setting terminal device, and the same procedure is followed. You can set playlist information.

FIG. 19 is a diagram illustrating an example of a sequence in a case where the autonomous mobile robot 110 performs music performance among usage patterns of the music distribution system 100. Here, it is assumed that playlist information is set according to the flow shown in FIG.
First, the user inputs a voice message such as “music start” to the autonomous mobile robot 110 (STEP 10-1). Then, the autonomous mobile robot 110 decodes the voice message, instructs the voice performance control unit 122 via the voice performance interface unit 121 to start music playback, and, as described above, the music according to the playlist information. Data is acquired and music performance is started (STEP 10-2).
After the music performance is started, the user performs a “skip” gesture on the autonomous mobile robot 110 (STEP 10-3). Then, the autonomous mobile robot 110 generates image data of the user's “skip” gesture, performs image data processing to determine the gesture, and moves to the next music reproduction correspondingly (STEP 10-4). ).
During music performance by the autonomous mobile robot 110, the user performs a “shuffle” gesture on the autonomous mobile robot 110 (STEP 10-5). Then, the autonomous mobile robot 110 generates image data of the user's “shuffle” gesture, performs image data processing to determine the gesture, and correspondingly selects music randomly from the playlist. (STEP 10-6).

During music performance by the autonomous mobile robot 110, the user performs a gesture corresponding to “repeat” on the autonomous mobile robot 110 (STEP 10-7). Then, the autonomous mobile robot 110 generates image data of a gesture corresponding to the user's “repeat”, performs image data processing to determine the gesture, and accordingly, inputs an instruction to repeat the performance from the user. It is determined that there has been, and the currently played music is continuously reproduced (STEP 10-8).
While the music is continuously played by the autonomous mobile robot 110, the user performs a gesture corresponding to “Repeat Cancel” to the autonomous mobile robot (STEP 10-9). Then, the autonomous mobile robot 110 generates image data of a gesture corresponding to the user's “repeat”, performs image data processing, determines the gesture, and determines that the user has input an instruction to cancel the repeat. Then, the continuous reproduction mode is canceled and the music performance is continued (STEP 10-10).
During music performance by the autonomous mobile robot 110, the user performs a gesture corresponding to “stop” on the autonomous mobile robot 110 (STEP 10-11). Then, the autonomous mobile robot 110 generates image data of a gesture corresponding to the user's “stop”, performs image data processing to make a gesture determination, and receives an instruction input from the user to stop music playback. Judgment and stop playing music. (STEP 10-12).

As described above, when the user performs a gesture corresponding to each instruction, the autonomous mobile robot 110 uses the gesture determination unit 121b in the input unit 121 to determine the meaning of the gesture and supports the input gesture. Controls music playback. Therefore, the autonomous mobile robot 110 can be configured as a walking audio device.
In the above description, examples of predetermined gestures such as “Skip”, “Shuffle”, “Repeat”, “Repeat Cancel”, and “Stop” have been shown. If a channel is registered in the playlist information management unit 123 so that a plurality of playlists can be specified for each channel, the channel is changed and songs in different playlists are sequentially played back. Information relating to various music playback controls, such as instructions, can also be input with gestures. In this case, data for determining each gesture is accumulated in the autonomous mobile robot 110, and the image data generated by photographing from the photographing unit is compared with the accumulated data. It is necessary to determine the input instruction content from the image data.
Moreover, in addition to the input of music playback control information by gesture, the user may be configured to input the music playback control information by voice. Furthermore, the mobile information terminal device such as various remote controllers or mobile phones may be used. The user displays a music playback control menu, and when the user selects and inputs from the displayed music playback control menu, the mobile information communication terminal device transmits control data related to the selection input to the autonomous mobile robot using infrared rays. Thus, control information for music performance for the autonomous mobile robot may be input.

  In the above description, the case where there is one autonomous mobile robot in the autonomous mobile robot system or the music distribution system has been described. For example, an ID number is assigned to each of the multiple autonomous mobile robots. By using the assigned ID number, it is possible to perform an instruction relating to data processing and music data distribution and distribution of music data in cooperation with various server devices.

It is a block block diagram of the autonomous mobile robot which is the best form for implementing this invention. It is a figure which shows an example of the map data memorize | stored in the memory | storage part in FIG. It is a figure which shows typically the table which the position information storage part in FIG. 1 memorize | stores. It is a flowchart which estimates the present position from the image data which the autonomous mobile robot produced | generated in the imaging | photography part, and memorize | stores it in a memory | storage part. It is a flowchart in case an autonomous mobile robot produces map data. It is a flowchart which creates and updates map data by the obstacle detection by an obstacle sensor, and the process of image data. It is a flowchart which memorize | stores the name as position information in a position information storage part. It is a figure which shows the first half of the flow when an autonomous mobile robot moves to a movement destination when a movement instruction is given to the autonomous mobile robot. It is a figure which shows the second half of the flow shown in FIG. It is a figure which shows typically the modification of the data structure in a positional information storage part. It is a figure which shows typically the modification of the data structure in a positional information storage part. 1 is a configuration diagram of an autonomous mobile robot system including an autonomous mobile robot and a server device that can communicate with the autonomous mobile robot. FIG. It is a block block diagram of the autonomous mobile robot different from FIG. It is a figure which shows the structural example 1 of the music delivery system incorporating the autonomous mobile robot. It is a block block diagram which shows the structural example 2 of a music delivery system. It is a figure which shows an example of a sequence in the case of teaching a name to each location in a movement area to an autonomous mobile robot among the usage forms of a music delivery system. It is a figure which shows an example of a sequence in case a user utilizes the autonomous mobile robot from the place of going out among the usage forms of a music delivery system. It is a figure which shows an example of the flow in the case of performing the various settings for making an autonomous mobile robot perform music performance among usage patterns of a music delivery system. It is a figure which shows an example of the sequence in the case of making an autonomous mobile robot perform music performance among the usage forms of a music delivery system.

Explanation of symbols

10, 40, 60, 110, 210 Autonomous mobile robot 11, 45 Movement mechanism 12, 46 Movement mechanism control unit 13, 54, 61 Storage unit 14, 55 Position estimation unit 15, 56 Movement path planning unit 16, 44 Obstacle Detection unit 17, 53 Map data generation update unit 18, 42, 71 Imaging unit 19, 52 Image data processing unit 20, 58, 70 Information input unit 20a, 58a, 112a, 212a Voice recognition unit 20b, 58b Input information processing unit 20c 58c Communication connection unit 21, 59 Position information storage unit 22, 62 Arrival determination unit 23, 63 Output unit 30 Autonomous mobile robot system 41, 51 Transmission / reception unit 43 Image data transfer unit 47 Sensor information transmission unit 50 Server device 60 Obstacle Detection information reception unit 63 Output unit 72, 112b, 212b Gesture determination unit 112, 2 2 Input unit 112c, 212c Music performance control information input unit 111, 211 Connection unit 120, 213 Music performance control unit 121, 214 Music performance control interface unit 122, 215 Performance control unit 123, 228 Playlist information management unit 124, 222 play List execution unit 125, 223 Music data transmission request unit 126, 216, 224 Music data reception unit 127, 217 Music reproduction unit 127a, 218 Speaker 130, 220 Domestic server device 131, 151 Music data storage unit 132, 152 Music data transmission Unit 140 Setting terminal device 141, 227 Playlist editing unit 150 Music data distribution server device 160 Wireless LAN
165 External connection unit 221 Performance control command reception unit 226 Music data transfer unit

Claims (14)

A storage unit that stores obstacle position information in the moving space as map data, an image data processing unit that processes image data from the imaging unit, and a sensor that controls the moving mechanism and is output from a sensor in the moving mechanism A moving mechanism control unit that generates travel information based on the information; a position estimation unit that estimates a position from the travel information generated by the movement mechanism control unit and a processing result in the image data processing unit; and the position estimation unit A movement route planning unit that obtains a movement route from the position estimated in step 1 and the map data stored in the storage unit, and the movement mechanism control unit is based on the movement route obtained by the movement route planning unit. An autonomous mobile robot that moves by controlling the moving mechanism,
An information input unit that receives input of position information and destination information from the user, and a position information storage unit that stores the position information input from the information input unit and the position estimated by the position estimation unit in association with each other. Prepared,
When destination information is input to the information input unit, the route planning unit obtains position data corresponding to the input destination information from the storage unit and stores it in the storage unit. An autonomous mobile robot characterized by referring to map data and obtaining a movement route from the position estimated by the position estimation unit.   The autonomous mobile robot according to claim 1, further comprising a map data creating / updating unit that creates and updates map data stored in the storage unit.   A connection unit for connecting to an external network, a distribution request for music data via the connection unit, a reception of the music data distributed in response to the distribution request, and a performance output of the received music data The autonomous mobile robot according to claim 1, further comprising a music performance control unit that performs the operation.   An arrival determination unit that determines whether or not the destination position corresponding to the destination information input from the information input unit matches the position estimated by the position estimation unit, and an affirmative determination by the arrival determination unit The autonomous mobile robot according to claim 1, further comprising an output unit that outputs arrival information to the outside when the operation is performed.   The information input unit stores a voice recognition unit that determines destination information and position information input by voice, a position information determined by the voice recognition unit, and a position estimated by the position estimation unit in association with each other. The autonomous mobile robot according to claim 1, further comprising: an input information processing unit that instructs the position information storage unit to do so. The information input unit outputs and displays a communication connection unit for connecting to an external computer, map data stored in the storage unit to the external computer, and input on the map data in the external computer An input information processing unit that receives input of a designated position and position information attached to the position;
When the input information processing unit receives an input designated position on the output and displayed map data and position information attached to the position, the input information processing unit stores the input position and the position information in association with each other. The autonomous mobile robot according to claim 1, wherein the position information storage unit is instructed. A map data creating / updating unit that creates and updates the map data stored in the storage unit; and the map data creating / updating unit combines the image data processed by the image data processing unit and the map data. , Stored in the storage unit,
The autonomous mobile robot according to claim 6, wherein the input information processing unit outputs and displays map data and image data stored in the storage unit to the external computer. A server device that is communicably connected to an autonomous mobile robot, estimates a position of the autonomous mobile robot, plans a travel path of the autonomous mobile robot, and transmits travel path information to the autonomous mobile robot; An autonomous mobile robot system including the autonomous mobile robot that moves by controlling a mobile mechanism based on the travel route information received from the server device,
The autonomous mobile robot includes an imaging unit, an image data transfer unit that transfers image data generated by the imaging unit to the server device, and a sensor information transmission unit that transmits sensor information from a sensor in the moving mechanism. And comprising
The server device includes a first storage unit that stores obstacle position information in a moving space of the robot as map data, an image data processing unit that processes image data transferred from the image data transfer unit, and the sensor information A position estimation unit for estimating a position from the sensor information transmitted from the transmission unit and a processing result in the image data processing unit, a position estimated by the position estimation unit, and map data stored in the first storage unit; A travel route planning unit for obtaining a travel route, an information input unit for receiving position information and destination information from the user, position information input from the information input unit, and a position estimated by the position estimation unit, A positional information storage unit that stores the information in association with each other,
When destination information is input from the information input unit, the route planning unit obtains position data for the input destination information from the position information storage unit and stores it in the first storage unit. An autonomous mobile robot system characterized by referring to map data and planning a travel route from the position estimated by the position estimation unit and transmitting the travel route information to the autonomous mobile robot.   The autonomous mobile robot system according to claim 8, wherein the server device includes a map data creation / update unit that creates and updates map data stored in the first storage unit.   The autonomous mobile robot according to claim 8, further comprising a music performance control unit that receives music data distributed from the outside and outputs a performance of the received music data. system.   The server device includes: an arrival determination unit that determines whether a destination position corresponding to the destination information input from the information input unit matches a position estimated by the position estimation unit; The autonomous mobile robot system according to claim 8, further comprising: an output unit that outputs arrival information to the outside when a positive determination is made by the unit.   The information input unit stores a voice recognition unit that determines destination information and position information input by voice, a position information determined by the voice recognition unit, and a position estimated by the position estimation unit in association with each other. The autonomous mobile robot system according to claim 8, further comprising: an input information processing unit that instructs the position information storage unit to do so. The server device includes a communication connection unit for connecting to an external computer,
The information input unit outputs and displays the map data stored in the first storage unit with respect to the external computer, and the input designated position on the map data output and displayed on the external computer An input information processing unit that receives input of position information attached to the position;
When the input information processing unit receives an input designated position on the map data and position information attached to the position, the position information is stored so that the input position and the position information are associated with each other. The autonomous mobile robot system according to claim 8, wherein the storage unit is instructed. The server device includes a second storage unit that stores the position estimated by the position estimation unit and the image data processed by the image data processing unit in combination.
The input information processing unit outputs and displays map data stored in the first storage unit and image data stored in the second storage unit to the external computer. 14. The autonomous mobile robot system according to 13.

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