JP4856510B2 - Mobile robot - Google Patents

Description

  The present invention relates to a mobile robot that moves while performing wireless communication with a management computer.

In recent years, a technique has been proposed in which a task execution command signal is issued wirelessly to a movable robot to execute a task. In such a mobile robot, if the mobile robot moves to a place where radio waves do not reach, wireless remote control cannot be performed, and it is necessary to return the mobile robot to a place where radio waves can reach by human hands. was there.
With respect to such problems, Patent Document 1 describes that when a robot moves to a place where radio waves do not reach, autonomously reach a point where wireless connection is possible according to a radio wave intensity map created based on the radio wave intensity acquired during the movement. Mobile robots have been proposed that move in a moving manner.
Patent Document 2 proposes a mobile robot that relays communication with a base station by another mobile robot in response to a mobile robot that has moved to a weak radio wave area when a plurality of mobile robots are operating. Has been.
JP 2004-260769 A (paragraphs 0008 to 0012, FIGS. 4 to 6) Japanese Patent Laying-Open No. 2005-025516 (paragraph 0016, FIG. 9)

However, since the mobile robot described in Patent Document 1 selects a movement path based on the radio wave intensity map, when communication is disconnected due to other factors such as noise other than the radio wave intensity, the mobile robot returns to the communicable area. It was also possible to fail.
In addition, the mobile robot described in Patent Document 2 cannot relay communication with the base station when only one mobile robot is in operation, and the mobile robot that has moved to an area where radio waves do not reach can communicate again. There were cases where it was not possible to return to the possible area.

  The present invention has been made to solve such a problem, and an object of the present invention is to provide a mobile robot that creates a map that can accurately determine the state of a wireless environment communicating with a wireless base station.

Therefore, the mobile robot according to claim 1 performs wireless communication with the management computer via any one of a plurality of wireless base stations connected to the management computer, and has a predetermined moving area. A mobile robot that autonomously moves using the map data of the moving area, a leg for autonomous movement, wireless communication means for performing wireless communication with the wireless base station, and the wireless communication means, In wireless communication with the wireless base station, wireless environment detection for repeatedly detecting a plurality of types of wireless environment data indicating the goodness of the wireless environment including the wireless strength of the received signal received by the wireless communication means at a predetermined timing means and, for each of the predetermined timing, comprehensive radio environment data calculating means for calculating a total radio environment data showing the result of a predetermined weight to said plurality of radio environment data A self-position recognizing means for recognizing its own position in the moving area, a storage means for storing map data of the moving area, and the calculated comprehensive wireless environment data when the wireless environment data is detected. In association with the position recognized by the self-position recognition means, by writing to the map data stored in the storage means, a comprehensive radio environment map creating means for creating a comprehensive radio environment map for each radio base station ; The calculated comprehensive wireless environment data is compared with the integrated wireless environment data recorded in the map data in association with the position when the wireless environment data is detected, and there is a difference of a predetermined value or more between the two. When the state continues for a predetermined number of times or more, the comprehensive wireless environment data recorded in the map data is converted into the most recently calculated comprehensive wireless environment data. Based on the plurality of comprehensive radio environment maps created for each of the plurality of radio base stations by the total radio environment map update unit and the total radio environment map update unit by updating the total radio environment map, the radio base station having the best overall radio environment data, the map data stored in the storage means, and the optimum radio base station map creating means for creating an optimum radio base station map by writing in correspondence with the position, the The calculated comprehensive wireless environment data is compared with the integrated wireless environment data recorded in the map data in association with the position when the wireless environment data is detected, and there is a difference of a predetermined value or more between the two. When the state continues for a predetermined number of times or more, the image pickup means takes a picture at the position where the wireless environment detection means detects the wireless environment data. Surrounding image acquisition means for storing a plurality of surrounding images captured by changing the shadow direction in the storage means in association with the position where the wireless environment data is detected, and the wireless communication means The plurality of images around the self are transmitted to the management computer via the wireless base station.

According to this configuration, the mobile robot transmits the wireless communication means on the mobile robot side from the wireless base station as wireless environment data that is an index indicating the goodness of the communication environment with the wireless base station. In addition to detecting the wireless strength of the received signal, for example, the communication speed, the number of communication errors, the number of data retransmissions, and the like other than the wireless strength are detected. Then, the mobile robot calculates the total radio environment data by performing a predetermined weighting on the plurality of radio environment data detected by the radio environment detection unit by the total radio environment data calculation unit, for example, by weighted averaging. . Then, the mobile robot uses the self-position recognition means when the wireless environment data that is the basis of calculation is detected by the integrated wireless environment map creation means by the integrated wireless environment data creation means. A comprehensive wireless environment map is created by writing to the map data stored in the storage means in association with the recognized self position, that is, the position where the wireless environment data is detected.
As a result, the mobile robot determines the state of the wireless environment in the moving area by using the comprehensive wireless environment map including the comprehensive wireless environment data in which the wireless strength is combined with an index representing the goodness of the wireless environment other than the wireless strength. Will be able to.
Further, according to this configuration, the mobile robot repeatedly detects the wireless environment data at a predetermined timing by the wireless environment detection unit even during execution of a task such as article transportation, and converts the detected wireless environment data into the detected wireless environment data. Based on this, the total radio environment data calculation means calculates the total radio environment data. That is, the mobile robot constantly acquires comprehensive wireless environment data. Then, the integrated wireless environment map update unit associates the comprehensive wireless environment data repeatedly acquired with the position where the wireless environment data used as the basis for calculating the integrated wireless environment data is detected and stored in the storage unit. The total radio environment data recorded as the total radio environment map is compared with the map data. That is, the present comprehensive wireless environment data is compared with the past comprehensive wireless environment data recorded in the map data, and the current data is more than a predetermined value (for example, more than the data recorded in the map data). 10% or more) When different states continue for a predetermined number of times (for example, 3 times or more), it is considered that a change in the wireless environment has occurred, for example, a partition has been newly installed, The comprehensive wireless environment data (for example, the data acquired for the second time in the case of three consecutive times) is overwritten on the map data as the comprehensive wireless environment data at that position, and the comprehensive wireless environment map is updated. .
Accordingly, the mobile robot can perform maintenance of the comprehensive wireless environment map by executing a normal task.
In addition, according to this configuration, when a plurality of radio base stations are installed in the movement area, the mobile robot uses the comprehensive radio environment map creation unit to perform comprehensive radio for each of the plurality of radio base stations. Create an environment map. Next, based on the plurality of integrated radio environment maps created by the integrated radio environment map creating means by the optimum radio base station map creating means, for example, comparing the total radio environment data for each detection position of each radio environment data, By determining the wireless base station with the best overall wireless environment as the optimal wireless base station at the position, and writing the determined optimal wireless base station in association with the position in the map data stored in the storage means Create an optimal radio base station map.
Accordingly, the mobile robot can determine the radio base station that provides the best radio environment at each position in the moving area using the optimum radio base station map.
Further, according to such a configuration, the mobile robot acquires the surrounding image at the position where the wireless environment detection unit detects the wireless environment data by using the surrounding image acquisition unit, for example, an imaging unit such as a camera. The acquired image data is stored in the storage means in association with the acquired position.
Here, the surrounding image is an image of 360 ° in all directions with respect to the horizontal direction. For example, when a camera that can shoot at a field angle of 90 ° in the horizontal direction is used, the shooting direction of the camera is 90 ° at a time. By photographing while rotating, it can be acquired as four pieces of image data.
Thus, for example, when the wireless environment data has changed significantly compared to the data recorded in the comprehensive wireless environment map, the operator can save the surroundings of the mobile robot at that point stored in the storage means. For example, it can be used as useful information when examining the cause and countermeasure of the change with reference to the image data.

  The mobile robot according to claim 2 is the mobile robot according to claim 1, wherein the plurality of types of wireless environment data includes data related to the wireless strength, and further includes a communication speed, a communication error count, and a data retransmission count. It was comprised so that the data regarding at least one could be included.

According to such a configuration, the mobile robot has at least one of a communication speed, a communication error number, and a data retransmission number that directly indicates the communication state from the wireless strength as an index representing the goodness of the wireless environment other than the wireless strength. Create a comprehensive wireless environment map consisting of comprehensive wireless environment data that takes into account
Accordingly, the mobile robot can more accurately determine the state of the wireless environment in the moving area.

  The mobile robot according to claim 3 is the mobile robot according to claim 1 or 2, based on the map data stored in the storage means and the position recognized by the self-position recognition means. It is configured to move autonomously to a predetermined position and detect the wireless environment data by the wireless environment detecting means at the moving point.

According to such a configuration, the mobile robot autonomously moves to an arbitrary designated position in the movement area based on the map data stored in the storage means and the position recognized by the self-position recognition means. Then, the wireless environment detection means detects the wireless environment data at the moving point, and creates a comprehensive wireless environment map composed of the comprehensive wireless environment data calculated based on the detected wireless environment data.
As a result, the mobile robot can automatically create a comprehensive wireless environment map simply by specifying the wireless environment data detection position.

According to a fourth aspect of the present invention, there is provided the mobile robot according to the first or second aspect, further comprising movement detection means for detecting a movement direction and a movement speed of the person, the movement detection means being A six-axis force sensor that is provided on the arm of the mobile robot and detects a three-way component of reaction force and a three-way component of moment acting on the arm, and the reaction force detected by the six-axis force sensor And the three-direction component of the moment are estimated to have acted on the arm portion by pulling the arm portion, and based on the three-direction component of the reaction force and the three-direction component of the moment Te, and a arm controller for detecting the speed of movement and the moving direction of the person, the mobile robot, in the speed of movement and the moving direction detected by the arm controller, together with the person While it is moving, on the path that moves with the person, and configured to detect radio environment data by the radio environment detection unit.
The mobile robot according to claim 5 is the mobile robot according to claim 1 or 2, further comprising movement detection means for detecting a movement direction and a movement speed of the person, wherein the movement detection is performed. The means includes a stereo camera and an image processing unit that extracts a moving body by performing stereo processing on an image captured by the stereo camera, and the image processing unit estimates the extracted moving body as the person. In addition, the moving direction and the moving speed of the person are detected based on the stereo-processed image, and the mobile robot detects the person using the moving direction and the moving speed detected by the image processing unit. And wireless environment data is detected by the wireless environment detection means on a route that moves together with the person.

According to such a configuration, the mobile robot detects the moving direction and the moving speed of the person nearby in order to guide the mobile robot to the position where the wireless environment data is detected by the movement detecting means, and moves together with the person. To do. As the movement detecting means, for example, in the case of a human type mobile robot, a six-axis force sensor provided on the arm can be used. When a person tries to guide by pulling the hand of the mobile robot, the mobile robot analyzes the reaction force component of each direction of the sensor, detects the direction of pulling the hand and its size, and based on the detected value, It is possible to detect the moving direction and the moving speed of the person. Then, the mobile robot detects the wireless environment data by the wireless environment detection means at the position where the guiding person stops moving or the position when the predetermined time period is reached. A comprehensive radio environment map composed of comprehensive radio environment data calculated based on the data is created.
Thus, in order to create a comprehensive wireless environment map, the person (operator) who operates the mobile robot does not need to input points for detecting the wireless environment data one by one, and the operator moves the mobile robot within the moving area. A comprehensive wireless environment map can be created simply by guiding and moving appropriately.

The mobile robot according to claim 6 , in the mobile robot according to any one of claims 1 to 5, could not detect the wireless environment data related to one wireless base station by the wireless environment detection means. In such a case, the wireless communication means notifies the management computer that there is an abnormality in the one radio base station via another radio base station different from the one radio base station. The notification means is further provided.

According to such a configuration, when a plurality of radio base stations are installed in the movement area, the mobile robot is selected by the radio base station abnormality notification unit as being connected (or selected as a connection target) by the radio environment detection unit. ) If the detection of the wireless environment data with the wireless base station cannot be detected normally, it is determined that the wireless base station is abnormal and connected to another wireless base station. Notify the management computer that there is
As a result, it is possible to promptly notify the management computer of the abnormality of the radio base station.

The mobile robot according to claim 7 is the mobile robot according to any one of claims 1 to 6 , wherein the comprehensive wireless environment map created by the comprehensive wireless environment map creating means is used as the wireless communication means. To transmit to the management computer.

According to this configuration, the mobile robot transmits the created comprehensive wireless environment map to the management computer by wireless communication means.
As a result, the management computer stores the received comprehensive wireless environment map in, for example, a storage device, so that the mobile robot loses the comprehensive wireless environment map stored in the storage means due to, for example, restart. In this case, the comprehensive wireless environment map stored in the management computer can be downloaded to the storage means and used without recreating the comprehensive wireless environment map of the moving area.

  According to the present invention, the mobile robot can accurately determine the state of the wireless environment communicating with the wireless base station, and can prevent communication disconnection that cannot be anticipated from the wireless strength.

  The best mode for carrying out the present invention will be described in detail with reference to the drawings. In the description, the same elements are denoted by the same reference numerals, and redundant description is omitted.

<Configuration of mobile robot control system>
(System configuration)
First, a mobile robot control system A according to an embodiment of the present invention will be described. FIG. 1 is a system configuration diagram showing a mobile robot control system according to an embodiment of the present invention.
As shown in FIG. 1, the mobile robot control system A includes one or more (in this embodiment, one) mobile robots R (hereinafter abbreviated as “robots” as appropriate) arranged in a movement area for executing a task. And one or more wireless master devices (wireless base stations) 1 (in this embodiment, 1A and 1B) connected to the robot R by wireless communication, and the wireless master device 1 connected via the network 4 And the storage unit 5 and the terminal 7 connected to the management computer 3 via the network 4.

  The robot (mobile robot) R is arranged in a movement area (movement range) for executing a task, performs autonomous movement in this movement area, and, for example, based on a task execution command signal, for example, article transportation or a visitor It performs tasks such as driving directions. In addition, in this movement area | region, the wireless main | base station 1 is installed in an appropriate place so that the whole movement area | region can be covered.

The wireless master device (wireless base station) 1 (1A, 1B) is a communication means for the management computer 3 to communicate with the robot R by wireless communication. For example, IEEE802.11b, IEEE802.11g, or IEEE802.11a It is possible to use a wireless LAN base station of a standard that complies with the above standards. Also, a wireless communication device of another standard such as Bluetooth (registered trademark) can be used.
When a plurality of wireless master devices 1 are installed in the movement area, the robot R appropriately switches the connection to the wireless master device 1 in a good wireless environment and communicates with the management computer 3. It has become.

The management computer 3 generates a task execution command signal including the contents of the task and outputs it to the robot R in order to cause the robot R to execute the task based on task data input from the terminal 7 described later. This task data is data relating to a task to be executed by the robot R, and includes, for example, information related to a request source and a delivery destination of articles to be transported, information related to visit destinations and visitors of route guides, and the like.
In addition, the management computer 3 manages input / output to the storage unit 5, transmits map data and a comprehensive wireless environment map stored in the storage unit 5 to the robot R, and also transmits a comprehensive wireless environment transmitted from the robot R. The map and image data are linked to the map data and stored in the storage unit 5.
As the management computer 3, for example, a general-purpose PC (Personal Computer) can be used.

The storage unit 5 is a storage device for storing map data related to a moving area where the robot R moves to execute a task, a comprehensive wireless environment map linked to the map data, image data, and the like. The map data is registered in advance in the storage unit 5 corresponding to the movement area, for example, as a floor map for each floor of the building. Input / output (write / read) to / from the storage unit 5 is managed by the management computer 3.
As the storage unit 5, for example, a hard disk device, an optical disk device, a semiconductor memory device, or the like can be used.

  The terminal 7 is an input device for inputting task data to the management computer 3, and a notebook computer, PHS, or the like can be used. The terminal 7 is also a display device for converting and displaying the comprehensive wireless environment map transmitted from the robot R into a format that can be easily viewed, and displaying image data.

  Note that the management computer 3, the storage unit 5, the terminal 7, and the wireless master device 1 are not connected via the network 4 but may be configured such that all or part of them are integrated.

Next, with reference to FIG. 2, a description will be given of how the robot R according to the present embodiment detects an obstacle while moving, and detects a mark for confirming a position installed at an appropriate position in the moving area. To do.
2A and 2B are perspective views showing a state in which the robot according to the present embodiment is moving. FIG. 2A shows a state where the robot is moving in a normal movement region, and FIG. 2B shows a state where the mark installation region is moved. FIG.

As shown in FIG. 2, the robot R emits laser slit light or infrared rays when it moves autonomously in a moving area such as an office or a corridor in order to execute a certain task (for example, delivering a document). The road surface state or the mark M is searched for.
That is, the robot R knows where the robot R is moving in the moving area, and when in the normal moving area, the robot R uses laser slit light (hereinafter abbreviated as “slit light” as appropriate) on the road surface. Irradiate to detect road steps, swells, obstacles, etc. If you are in the mark installation area, irradiate the road with infrared rays to detect the mark M, and check and correct your position. It has become.

  Here, the mark M is a member made of a reflective material that recursively reflects infrared rays, for example, and is installed at a predetermined location (for example, in front of a door) in the moving region. For example, the mark M is preferably made transparent or minimized so as not to impair the scenery in the moving area. In the present embodiment, as shown in FIG. 2, one mark M is formed by three reflective materials, and two marks M are set as one set on the road surface. Each mark M has position data, and the position data is stored in the storage unit 5 and a storage unit 190 described later in the robot R in a form included in the map data.

  In addition, although the mark M observed with the robot R according to the present embodiment is used as a set of two marks as one mark M, it is not limited to this and can be changed as appropriate. For example, it may be installed on the road surface in a continuous line shape or in a dotted line shape.

(Appearance of robot)
Next, the appearance of the robot R according to the embodiment of the present invention will be described. In the following description, the robot R has the X axis in the front-rear direction, the Y axis in the left-right direction, and the Z axis in the up-down direction (see FIG. 3).
The robot R according to the embodiment of the present invention is an autonomous mobile biped mobile robot. The robot R executes a task based on an execution command signal transmitted from the management computer 3.

  FIG. 3 is a side view schematically showing the appearance of the robot shown in FIGS. 1 and 2. As shown in FIG. 3, the robot R stands up and moves (walks, runs, etc.) with two legs R1 (only one is shown) like a human being, and has a trunk R2, two arms R3. (Only one is shown) and a head R4 and move autonomously. Further, the robot R is provided on the back (rear portion of the torso R2) in a form of carrying a control device mounting portion R5 for controlling the operations of the leg R1, the torso R2, the arm R3, and the head R4.

(Robot drive structure)
Next, the drive structure of the robot R will be described. FIG. 4 is a perspective view schematically showing the drive structure of the robot of FIG. In addition, the joint part in FIG. 4 is shown by the electric motor which drives the said joint part.

(Leg R1)
As shown in FIG. 4, the left and right leg portions R <b> 1 include six joint portions 11 </ b> R (L) to 16 </ b> R (L). The twelve left and right joints are hip joint portions 11R and 11L (R on the right side and L on the left side) for leg rotation (around the Z axis) of the crotch portion (the connecting portion between the leg portion R1 and the trunk portion R2). , R, and L. The same applies hereinafter.), Hip joints 12R and 12L around the pitch axis (Y axis) of the crotch, and hip joints 13R and 13L around the roll axis (X axis) of the crotch Knee joints 14R, 14L around the knee pitch axis (Y axis), ankle joints 15R, 15L around the ankle pitch axis (Y axis), and ankle joints around the ankle roll axis (X axis) It consists of parts 16R and 16L. And foot 17R, 17L is attached under leg R1.

  That is, the leg portion R1 includes hip joint portions 11R (L), 12R (L), 13R (L), a knee joint portion 14R (L), and ankle joint portions 15R (L), 16R (L). The hip joint portions 11R (L) to 13R (L) and the knee joint portion 14R (L) are thigh links 51R and 51L, and the knee joint portion 14R (L) and the ankle joint portions 15R (L) and 16R (L). The lower leg links 52R and 52L are connected.

(Body R2)
As shown in FIG. 4, the torso R2 is a base portion of the robot R, and is connected to the leg R1, the arm R3, and the head R4. That is, the trunk portion R2 (upper body link 53) is connected to the leg portion R1 via the hip joint portions 11R (L) to 13R (L). Moreover, trunk | drum R2 is connected with arm part R3 via shoulder joint part 31R (L) -33R (L) mentioned later. Moreover, the trunk | drum R2 is connected with head R4 via the neck joint parts 41 and 42 mentioned later.
The trunk portion R2 includes a joint portion 21 for upper body rotation (around the Z axis).

(Arm R3)
As shown in FIG. 4, the left and right arm portions R3 include seven joint portions 31R (L) to 37R (L). The 14 joints on the left and right are shoulder joints 31R and 31L around the pitch axis (Y axis) of the shoulder (the connecting part between the arm R3 and the torso R2), and around the roll axis (X axis) of the shoulder. Shoulder joints 32R, 32L, shoulder joints 33R, 33L for arm rotation (around Z axis), elbow joints 34R, 34L around the pitch axis (Y axis) of the elbow, wrist rotation (around Z axis) Arm joint portions 35R and 35L, wrist joint portions 36R and 36L around the wrist pitch axis (Y axis), and wrist joint portions 37R and 37L around the wrist roll axis (X axis). And grip part (hand) 71R, 71L is attached to the front-end | tip of arm part R3.

  That is, the arm portion R3 includes the shoulder joint portions 31R (L), 32R (L), 33R (L), the elbow joint portion 34R (L), the arm joint portion 35R (L), and the wrist joint portions 36R (L), 37R. (L). The shoulder joint portions 31R (L) to 33R (L) and the elbow joint portion 34R (L) are upper arm links 54R (L), the elbow joint portion 34R (L) and the wrist joint portions 36R (L), 37R (L). Are connected by a forearm link 55R (L).

(Head R4)
As shown in FIG. 4, the head R4 includes a neck joint 41 around the Y axis of the neck (the connecting portion between the head R4 and the trunk R2), and a neck joint 42 around the Z axis of the neck. I have. The neck joint 41 is for setting the tilt angle of the head R4, and the neck joint 42 is for setting the pan angle of the head R4.

  With such a configuration, the left and right leg portions R1 are given a total of 12 degrees of freedom, and the 12 joint portions 11R (L) to 16R (L) are driven at an appropriate angle during movement, so that the leg portions A desired movement can be given to R1, and the robot R can arbitrarily move in the three-dimensional space. The left and right arm portions R3 are given a total of 14 degrees of freedom, and the robot R performs a desired work by driving the 14 joint portions 31R (L) to 37R (L) at appropriate angles. Can do.

  A known 6-axis force sensor 61R (L) is provided between the ankle joint portions 15R (L), 16R (L) and the foot portion 17R (L). The six-axis force sensor 61R (L) detects the three-direction components Fx, Fy, Fz of the floor reaction force acting on the robot R from the floor surface and the three-direction components Mx, My, Mz of the moment.

  A known six-axis force sensor (movement detecting means) 62R (L) is provided between the wrist joint portions 36R (L), 37R (L) and the grip portion 71R (L). The six-axis force sensor 62R (L) detects the three-direction components Fx, Fy, Fz of the reaction force acting on the gripping portion 71R (L) of the robot R and the three-direction components Mx, My, Mz of the moment. .

In addition, an inclination sensor 63 is provided in the trunk portion R2. The inclination sensor 63 detects the inclination of the trunk portion R2 with respect to the gravity axis (Z axis) and the angular velocity thereof.
The electric motors at the joints relatively displace the above-described thigh link 51R (L), crus link 52R (L) and the like via a speed reducer (not shown) that decelerates and increases the output. The angles of these joint portions are detected by a joint angle detection means (for example, a rotary encoder).

  The control device mounting unit R5 houses an autonomous movement control unit 150, a wireless communication unit 160, a main control unit 140, a battery (not shown), and the like which will be described later. The detection data of each sensor 61-63 etc. is sent to each control part in control apparatus mounting part R5. Each electric motor is driven by a drive instruction signal from each control unit.

  Details of this bipedal movement control are disclosed in, for example, Japanese Patent No. 3672102. In the present embodiment, the robot R is a humanoid bipedal mobile robot. However, the present invention is a mobile robot provided with other moving means such as a quadruped moving walk, a wheeled movement, and a movement by an endless track. It may be, and is not limited to a human form.

(Robot configuration)
FIG. 5 is a block diagram showing the configuration of the robot according to the present embodiment.
As shown in FIG. 5, in addition to the above-described leg R1, torso R2, arm R3, and head R4, the robot R includes cameras C and C, a speaker S, a microphone MC, an image processing unit 110, and audio processing. Unit 120, main control unit 140, autonomous movement control unit 150, wireless communication unit 160, and surrounding state detection unit 170.
Furthermore, the robot R has a gyro sensor SR1 for recognizing a direction and a GPS (Global Positioning System) receiver SR2 for recognizing coordinates as self-position recognition means for recognizing the self-position.

[camera]
The cameras (imaging means) C and C are capable of capturing video as digital data, and for example, a color CCD (Charge Coupled Device) camera is used. The cameras C and C are arranged side by side in parallel on the left and right, and the captured image is output to the image processing unit 110. The cameras C and C, the speaker S, and the microphone MC are all disposed inside the head R4.

[Image processing unit]
The image processing unit 110 is a part for recognizing surrounding obstacles and persons in order to process images taken by the cameras C and C and grasp the situation around the robot R from the taken images. The image processing unit 110 includes a stereo processing unit 111a, a moving body extraction unit 111b, and a face recognition unit 111c.
The stereo processing unit 111a performs pattern matching on the basis of one of the two images taken by the left and right cameras C and C, calculates the parallax of each corresponding pixel in the left and right images, and generates a parallax image. The generated parallax image and the original image are output to the moving object extraction unit 111b. This parallax represents the distance from the robot R to the photographed object.

The moving body extraction unit 111b extracts a moving body in the captured image based on the data output from the stereo processing unit 111a. The reason why the moving object (moving body) is extracted is to recognize the person by estimating that the moving object is a person.
In order to extract a moving object, the moving object extraction unit 111b stores images of several past frames (frames), and compares the latest frame (image) with a past frame (image). Then, pattern matching is performed, the movement amount of each pixel is calculated, and a movement amount image is generated. Then, from the parallax image and the movement amount image, when there is a pixel with a large movement amount within a predetermined distance range from the cameras C and C, it is estimated that there is a person, and as a parallax image of only the predetermined distance range The moving body is extracted, and an image of the moving body is output to the face recognition unit 111c.

The face recognition unit 111c extracts a skin color portion from the extracted moving body, and recognizes the face position from the size, shape, and the like. Similarly, the position of the hand is also recognized from the skin color area, size, shape, and the like.
The recognized face position is output to the main control unit 140 and also to the wireless communication unit 160 as information when the robot R moves and to communicate with the person. It is transmitted to the management computer 3 via the machine 1.

[Audio processor]
The voice processing unit 120 includes a voice synthesis unit 121a and a voice recognition unit 121b.
The voice synthesizer 121a is a part that generates voice data from the character information and outputs the voice to the speaker S based on the utterance action command determined and output by the main controller 140. For the generation of the voice data, the correspondence between the character information stored in advance and the voice data is used.
The voice recognition unit 121b receives voice data from the microphone MC, generates character information from the voice data based on the correspondence between the voice data stored in advance and the character information, and outputs the character information to the main control unit 140. is there.

[Autonomous Movement Control Unit]
The autonomous movement control unit 150 includes a head control unit 151d, an arm control unit 151c, a torso control unit 151b, and a leg control unit 151a.
The head control unit 151d drives the head R4 according to the instruction of the main control unit 140, the arm control unit 151c drives the arm R3 according to the instruction of the main control unit 140, and the torso control unit 151b The torso R2 is driven in accordance with an instruction from the controller 140, and the leg controller 151a drives the leg R1 in accordance with an instruction from the main controller 140.
The data detected by the gyro sensor SR1 and the GPS receiver SR2 is output to the main control unit 140 and is used to determine the behavior of the robot R, and from the main control unit 140 via the wireless communication unit 160. To the management computer 3.

[Wireless communication part]
The wireless communication unit (wireless communication means) 160 is a communication device that transmits / receives data to / from the management computer 3, and includes a wireless interface unit 161, a protocol control unit 162, a wireless environment detection unit 163, and a communication antenna 160a. I have.

A detailed configuration of the wireless communication unit 160 will be described with reference to FIG. Here, FIG. 6 is a block diagram illustrating a configuration of the wireless communication unit.
As shown in FIG. 6, the wireless communication unit 160 includes a wireless interface unit 161, a protocol control unit 162, a wireless environment detection unit 163, and a communication antenna 160a. An intensity detector 163a, a communication speed detector 163b, an error count detector 163c, and a retransmission count detector 163d are provided.

The radio interface unit 161 performs physical conversion between radio waves and data transmitted / received from the management computer 3 via the radio master unit 1 (see FIG. 5) by the communication antenna 160a. At the time of reception, the wireless interface unit 161 converts the radio wave received by the communication antenna 160 a into data and outputs the data to the protocol control unit 162. Also, the received radio wave is output to the radio intensity detection unit 163a of the radio environment detection unit 163.
Further, at the time of transmission, the wireless interface unit 161 receives data from the protocol control unit 162, converts it into a radio wave, and transmits it to the wireless master device 1 (see FIG. 5) via the communication antenna 160a.

The protocol control unit 162 performs data framing and negotiation for performing data communication between the management computer 3 and the main control unit 140 of the robot R, for example, based on LAN regulations such as IEEE802.3. At the time of reception, the protocol control unit 162 selects data addressed to the address assigned to the robot R from the transmission data from the management computer 3 converted by the wireless interface unit 161, for example, TCP / IP (Transmission Control Protocol). Data is extracted from a frame such as a TCP / IP packet and output to the main control unit 140 based on a predetermined communication protocol method such as a (Internet Protocol) protocol.
At the time of transmission, the protocol control unit 162 generates a frame such as a TCP / IP packet from the data input from the main control unit 140 based on the predetermined communication protocol described above, and outputs the frame to the wireless interface unit 161.
In addition, the communication speed at the time of transmission / reception, the number of errors at the time of reception, and the number of retransmissions at the time of transmission in the protocol control unit 162 are the communication speed detection unit 163b, the error number detection unit 163c, and the retransmission number detection unit 163d, respectively. Measured by.

  The wireless environment detection unit (wireless environment detection means) 163 detects the wireless intensity (radio wave intensity) and noise floor of the radio wave converted by the wireless interface unit 161 by the wireless intensity detection unit 163a, and uses the communication speed detection unit 163b. The communication speed with the wireless master device 1 (see FIG. 5) is detected. Further, the error count detector 163c detects the number of errors in the protocol controller 162 at the time of reception, and the retransmission count detector 163d detects the number of data retransmissions in the protocol controller 162 at the time of transmission. Radio environment data including the detected (measured) radio strength, noise floor, communication speed, number of errors, and number of retransmissions is output to the main control unit 140.

[Main control section]
The main control unit 140 controls the robot R such as the image processing unit 110, the audio processing unit 120, the autonomous movement control unit 150, the wireless communication unit 160, the peripheral state detection unit 170, the storage unit 190, the gyro sensor SR1, and the GPS receiver SR2. It is a control means which controls each part which comprises, and is comprised by the computer apparatus which consists of CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc.
In the present embodiment, the main control unit 140 includes a total radio environment data calculation unit 141, a total radio environment map creation unit 142, an optimum radio master map creation unit 143, a total radio environment map update unit 144, a radio parent A machine abnormality notification unit 145 and a surrounding image acquisition unit 146;

  Based on the wireless environment data detected by the wireless environment detection unit 163, the comprehensive wireless environment data calculation unit (total wireless environment data calculation unit) 141 calculates comprehensive wireless environment data to be described later. The calculated total radio environment data is output to the total radio environment map creation unit 142.

  The comprehensive radio environment map creation unit (total radio environment map creation unit) 142 detects the radio environment data that is the basis of calculation from the total radio environment data calculated by the total radio environment data calculation unit 141. The comprehensive wireless environment map is created by writing and recording in the map data stored in the storage unit 190 in association with the position of.

  The data constituting the comprehensive wireless environment map includes, for example, the identifier of the robot R, the identifier of the wireless master device 1, the coordinates of the measurement position, the measurement time, and the comprehensive wireless environment data. Furthermore, it may be configured to include the wireless environment data that is the basis for calculating the comprehensive wireless environment data, and the wireless environment data measured in the past may be stored as a measurement history.

Further, the comprehensive wireless environment map may be configured by directly writing in the map data (database), or another database (for example, the comprehensive wireless environment map database) linked to the map data is constructed and recorded. May be.
Alternatively, for example, an identifier indicating map attributes such as a floor map, a comprehensive wireless environment map, and an optimum wireless master map is added to data constituting the comprehensive wireless environment map, and a map of desired attributes is required from the database It may be possible to extract according to the above.

  The optimum radio base station map creation unit (optimum radio base station map creation unit) 143 is created by the comprehensive radio environment map creation unit 142 for the moving area where the plurality of radio base units 1 (see FIG. 5) are installed. Based on the comprehensive radio environment map for each radio cell station 1, an optimum radio cell map (optimum radio base station map) to be described later is created and recorded in the storage unit 190.

  The data constituting the optimum wireless master device map is composed of, for example, an identifier of the robot R, position coordinates, update time, and an identifier of the optimum wireless master device.

  Further, the optimum wireless master unit map may be configured by directly writing in the map data (database), as in the case of the comprehensive wireless environment map, or another database linked to the map data (for example, the optimum wireless master unit map). Database) may be constructed and recorded. Further, as another database, for example, a database in which the optimum wireless master device map and the comprehensive wireless environment map are integrated may be constructed.

The comprehensive radio environment map update unit (total radio environment map update unit) 144 is created by the comprehensive radio environment map creation unit 142 and recorded in the comprehensive radio environment map stored in the storage unit 190, and the robot R compares the total radio environment data newly acquired during task execution, updates the total radio environment data recorded in the map data as necessary, and performs maintenance of the total radio environment map.
Further, when the comprehensive wireless environment map update unit 144 performs maintenance of the comprehensive wireless environment map related to the area where the plurality of wireless master devices 1 are installed, the integrated wireless environment map update unit 144 subsequently performs maintenance of the related optimum wireless master device map.

The wireless base station abnormality notification unit (radio base station abnormality notification unit) 145 determines whether the wireless environment data is normally detected (measured) by the wireless environment detection unit 163, and when the wireless environment data is not normally detected, The wireless communication unit 160 is used to notify the management computer 3 that there is an abnormality in the wireless master device 1.
In addition, when the comprehensive radio environment map update unit 144 detects that the state of the radio environment of the radio base unit 1 has deteriorated, the radio base unit abnormality notification unit 145 uses the radio communication unit 160 to manage it. The computer 3 is notified that the communication environment of the wireless master device 1 has deteriorated, and wireless environment data, image data, etc. acquired at the point where the deterioration is detected are transmitted.

  The surrounding image acquisition unit (ambient image acquisition unit) 146 acquires a surrounding image using the camera C at the position where the wireless environment data is detected, and stores the acquired image in the storage unit 190 in association with the position. To do. When acquiring the surrounding image, the surrounding image acquisition unit 146 changes the shooting direction by the camera C by driving the leg R1 via the leg control unit 151a and changing the direction of the robot R, and the surrounding 360 ° Get images.

Here, the general wireless environment data will be described with reference to FIG. FIG. 7 is a diagram for explaining the overall wireless environment data.
As shown in FIG. 7, in this embodiment, in order to comprehensively evaluate the radio environment, the wireless strength, the noise floor, the number of errors (number of communication errors), the number of retransmissions (the number of data retransmissions) ) And the communication speed are used as the wireless environment data that is an index, and each wireless environment data is weighted to calculate total wireless environment data.
First, as the data that best represents the wireless environment, the wireless strength is weighted by 80%. In the present embodiment, the wireless intensity data is not used as it is, but the ratio with the noise floor is used. That is, the radio intensity received by the robot R from the radio base station 1 (see FIG. 5) and the noise floor are quantified to 1 to 100% according to each intensity. However, 100% shows the strongest strength. When (radio intensity / noise floor)> 1, (radio intensity / noise floor) × 0.8 is set as a contribution to the overall radio environment data. For example, the case where the wireless strength is 100% and the noise floor is 1% is when the wireless environment is the best, which is 100/1 × 0.8 = 80 (%).
When (radio intensity / noise floor) <1, the noise level is greater than the radio intensity (signal level) and the radio environment is extremely bad, and the contribution to the total radio environment data is “0” ( %).

  The number of errors is 5%, the maximum number of errors per second is 1028, and (1− (number of errors / 1028)) × 5 (%) is the contribution to the overall wireless environment data. That is, the closer the number of errors is to 0, the closer the contribution is to 5% (the wireless environment is better), and the closer the number of errors is to 1028, the closer the contribution is to 0% (the wireless environment is bad).

  Similar to the number of errors, the maximum number of retransmissions per second is 1028, and (1− (number of retransmissions / 1028)) × 5 (%) is the contribution to the total radio environment data. That is, the closer the number of retransmissions is to 0, the closer the contribution is to 5% (the wireless environment is better), and the closer the number of retransmissions is to 1028, the closer the contribution is to 0% (the wireless environment is bad).

The communication speed is 10% weighted, and the contribution to the total wireless environment data is calculated using a conversion table determined in advance according to the communication speed selected by the wireless LAN adapter to be used.
In the item “communication speed” in FIG. 7, the numerical range is {1, 2, 5.5, 11} [Mbps] and the numerical range is {6, 9, 12, 18, 24, 36. , 48, 54} [Mbps] conversion table. The former is a conversion table when a wireless LAN adapter conforming to IEEE802.11b is used, and the latter is a conversion table when using a wireless LAN adapter conforming to IEEE802.11g or IEEE802.11a. is there.
The higher the communication speed can be established, the better the wireless environment is, and a higher conversion value is assigned.
When using communication means of other standards and methods, a conversion formula corresponding to the communication speed may be determined as appropriate.

By adding the four radio environment data converted as described above, the total radio environment data standardized from 100% to 0% is calculated.
As described above, the wireless environment can be more appropriately evaluated by using the comprehensive wireless environment data calculated by weighting the wireless environment data including the data related to the wireless environment other than the wireless strength.

  When assessing the state of the wireless environment only with the wireless strength, it is difficult to accurately determine whether communication can be established, especially in a low-strength region, and it is determined that the region can be reliably communicated. Therefore, it is necessary to set a wireless strength level having a sufficient margin as a threshold value. For this reason, in order to be able to determine the entire area within the moving area as a communicable area, the radio wave output of the wireless master device 1 (see FIG. 5) is increased, or the lower part of FIG. As shown in the figure, it is necessary to install a larger number of wireless master devices 1 in the movement area.

Therefore, as in the present embodiment, by considering other wireless environment data, the state of the wireless environment can be evaluated with higher accuracy. As described above, the wireless base unit 1 (see FIG. 5) There is no need to increase the output of radio waves or increase the number of installed units.
In particular, since the number of errors and the number of retransmissions can be evaluated when the communication is established and the state of the wireless environment at that time can be evaluated, it is possible to accurately determine the state where communication cannot be established.

[Ambient condition detector]
Returning to FIG.
As shown in FIG. 5, the peripheral state detection unit (self-position recognition unit) 170 images a laser device 171 that is a slit light irradiation unit, an infrared LED (Light Emitting Diode) 172 that is an infrared irradiation unit, and a search area. Two infrared cameras 173 and 173 and a sensor control unit 180 for controlling them.
The peripheral state detection unit 170 irradiates slit light or infrared rays from the laser device 171 or the infrared LED 172 toward the search area, images the search area with the infrared camera 173, and controls these by the sensor control unit 180. This is a part for detecting the peripheral state of the robot R. That is, the surrounding state detection unit 170 corresponds to a conventional road surface detection device and position confirmation device, and space saving is achieved by using the infrared camera 173 in common.
The peripheral state detection unit 170 is connected to the main control unit 140 and can acquire self-position data recognized by the gyro sensor SR1 and the GPS receiver SR2.

FIG. 8 is a perspective view showing the body of the robot according to the present embodiment.
As shown in FIG. 8, in the present embodiment, the two infrared cameras 173 are arranged side by side at the front waist level in the trunk portion R2. Further, the laser device 171 is disposed between the two infrared cameras 173 and 173. The infrared LED 172 is arranged around one infrared camera 173 (on the left side of the robot R in FIG. 8).
When the laser device 171, the infrared LED 172, and the infrared camera 173 are installed at the waist level on the front surface of the torso R2, the robot is compared with the case where the laser device 171, the infrared LED 172, and the infrared camera 173 are attached to other parts (for example, the head R4 and the leg R1). There is an advantage that the influence of the shaking of R is reduced and the imaging range is less likely to be blocked by the arm R3 and the leg R1.

[Laser device]
The laser device 171 is, for example, a device that irradiates infrared laser light in a slit shape. The laser device 171 is connected to an actuator (not shown) for changing the irradiation direction of the infrared laser light, and can radiate slit light radially onto the road surface as a search area. When the slit light hits an object (for example, a road surface), a laser bright line is drawn on the road surface.
The laser device 171 is connected to a sensor control unit 180 (switching determination unit 181), which will be described later, and irradiates and stops slit light based on a command from the sensor control unit 180.

[Infrared LED]
The infrared LED 172 is a device that irradiates infrared rays toward the search area. In this embodiment, as shown in FIG. 8, a plurality of infrared LEDs 172, 172,... Surround the infrared camera 173 on the left side of the robot R. Is installed. Infrared rays emitted from the infrared LED 172 are recursively reflected by the mark M made of a recursive material installed on the road surface.
The infrared LED 172 is connected to a sensor control unit 180 (switching determination unit 181), which will be described later, and irradiates and stops infrared rays based on a command from the sensor control unit 180.

[Infrared camera]
The infrared camera 173 that is an imaging unit can capture a captured image as digital data. For example, a CCD infrared camera is used. As shown in FIG. 8, the infrared cameras 173 and 173 are arranged side by side at the height of the front waist in the trunk portion R2. An image captured by the infrared camera 173 is output to a sensor control unit 180 described later.

  Of the images captured by the infrared camera 173, a laser emission line is captured in an image captured in the search area irradiated with slit light (hereinafter referred to as “slit light image”). The distance to the object is calculated by detecting this laser emission line and using the principle of the so-called optical cutting method. The slit light image is captured by the left and right infrared cameras 173 and 173. Thereby, the three-dimensional shape of the road surface can be grasped in detail.

  On the other hand, among the images captured by the infrared camera 173, the mark M is captured in an image (hereinafter referred to as “infrared image”) obtained by capturing a search area irradiated with infrared rays. As shown in FIG. 8, the infrared camera 173 is fixed at a predetermined angle to the waist of the torso R <b> 2 of the robot R, and therefore detects where the mark M is reflected on the infrared image. Thus, the relative positional relationship between the mark M and the infrared camera 173, and the relative positional relationship between the mark M and the robot R can be recognized. Therefore, it is not necessary to capture the infrared image with the two infrared cameras 173 and 173, and in this embodiment, the infrared image is captured only with the left infrared camera 173 of the robot R.

[Sensor control unit]
Next, the sensor control unit 180 will be described in more detail with reference to FIG. FIG. 9 is a block diagram illustrating a configuration of the peripheral state detection unit.
As shown in FIG. 9, the sensor control unit 180 includes a switching determination unit 181, a road surface detection unit 182, a mark detection unit 183, a self-position calculation unit 184, and a self-position correction unit 185.

Further, the sensor control unit 180 can acquire map data stored in a storage unit 190 described later via the main control unit 140. The map data acquired from the storage unit 190 is the map data of the moving area where the robot R moves, the position data of the mark M installed at a specific location in the moving area, and a predetermined width (range) in the position data. ) With respect to the mark installation area of the mark M (hereinafter, abbreviated as “mark installation area data” as appropriate).
The acquired map data is input to the switching determination unit 181 and the self-position calculation unit 184.

[Switching judgment section]
The switching determination unit 181 acquires the mark installation area data of the mark M included in the map data read from the storage unit 190 via the main control unit 140 and the gyro sensor SR1 or the GPS receiver SR2 via the main control unit 140. This is a part for comparing with the self-position data. The switching determination unit 181 is connected to the laser device 171 and the infrared LED 172, and can output an operation command or a stop command, respectively.

  As a result of comparing the mark installation area data with the self-position data, if it is determined that the self-position is outside the mark installation area of the mark M, the switching determination unit 181 outputs an operation command to the laser device 171. At the same time, a stop command is output to the infrared LED 172. On the other hand, when it is determined that the self position is within the mark installation area of the mark M, the switching determination unit 181 outputs a stop command to the laser device 171 and outputs an operation command to the infrared LED 172. It is like that.

[Road surface detection unit]
The road surface detection unit 182 is a part that detects a road surface state by analyzing the slit light image captured by the infrared camera 173. Specifically, for example, the distance between the infrared camera 173 and the road surface irradiated with the slit light can be obtained using a so-called light cutting method. Since the slit light is irradiated radially on the road surface in the moving direction of the robot R, as a result, the robot R can recognize the three-dimensional shape of the moving road surface.
Information on the road surface state detected by the road surface detection unit 182 is output to the main control unit 140.

[Mark detection unit]
The mark detection unit 183 is a part that analyzes the infrared image captured by the infrared camera 173 and detects the mark M.
The mark detection unit 183 includes, for example, a band-pass filter, and can selectively observe light around the center wavelength of the infrared LED 172. As a result, light beams in unnecessary wavelength regions are cut off, and the device can be made resistant to disturbances caused by visible light or the like.
Further, the mark detection unit 183 measures the mutual distance between the three points (see FIG. 1) constituting one mark M and the distance between the centers of the two marks M (interval between the centers of the three points), If these two types of distances are near the set value, they are recognized as marks M. Thereby, it can be set as the apparatus strong against the disturbance by infrared reflectors other than the mark M. FIG.

[Self-position calculation unit]
The self-position calculation unit 184 is a part that calculates the relative positional relationship between the mark M and the robot R from the position (coordinates) of the mark M captured in the infrared image.
Since the infrared camera 173 is fixed at a predetermined angle to the height of the waist of the robot R, by analyzing which position on the infrared image, in other words, which pixel the mark M appears in. The relative positional relationship between the robot R and the mark M can be calculated. Further, since two marks M are set as one set, it is possible to calculate how much the robot R is inclined with respect to a straight line connecting the marks M. That is, the self position calculation unit 184 can calculate the accurate self position of the robot R based on the coordinates of the mark M acquired from the map data and the relative positional relationship between the mark M and the robot R.
The self-position of the robot R calculated by the self-position calculation unit 184 is output to the self-position correction unit 185.

[Self-position correction unit]
The self position correcting unit 185 is a part that corrects the self position of the robot R based on the position data of the mark M detected by the mark detecting unit 183.
In the present embodiment, the self-position correcting unit 185 compares the self-position calculated by the self-position calculating unit 184 with the self-position acquired from the gyro sensor SR1 or the GPS receiver SR2, and if there is a deviation, The self position calculated by the position calculation unit 184 is corrected as positive.
Then, the corrected self-position data of the robot R is output to the main control unit 140. Thereby, the movement error or the position recognition error accumulated by the autonomous movement control is eliminated, and the movement of the robot R can be controlled accurately and reliably.

  Note that the self-position correction in the self-position correcting unit 185 is not limited to the above method. For example, the autonomous movement control unit 150 may be instructed to finely adjust the position and orientation of the robot R so that the mark M appears at a predetermined position in the infrared image.

  In the present embodiment, the gyro sensor SR1 and the GPS receiver SR2 are used as self-position recognition means, and a self-position correction unit 185 that corrects the self-position by detecting the mark M is provided, so that the self-position can be accurately detected. Although it is configured so that it can be recognized, the self position may be recognized by the gyro sensor SR1 and / or the GPS receiver SR2 without using the self position correcting unit, or the self position is recognized by detecting the mark M. You may do it. Furthermore, the self position may be recognized by other methods.

[Storage unit]
Returning to FIG.
The storage unit (storage means) 190 is configured by a storage device such as a RAM or a hard disk device, for example, and includes map data of a moving area where the robot R moves, a comprehensive wireless environment map, an optimal wireless master map, wireless environment data, This is a part for storing image data taken by the camera C from the measurement position of the wireless environment data.
The map data includes mark installation area data of the mark M (see FIG. 2) installed at a specific location in the movement area, and the storage unit 190 stores the map stored via the main control unit 140. Data can be output to the switching determination unit 181 and the self-position calculation unit 184 (see FIG. 9) of the sensor control unit 180.
In addition, the storage unit 190 records the overall wireless environment data in the overall wireless environment map by the overall wireless environment map creation unit 142 of the main control unit 140, and the optimum wireless master device map creation unit 143 records the optimum wireless master device map. The optimum wireless master device data is recorded, and the integrated wireless environment map update unit 144 updates the integrated wireless environment data of the integrated wireless environment map and the optimum wireless parent device data of the optimum wireless parent device map, and the surrounding image acquisition unit 146. Thus, the image data captured using the camera C at the position where the wireless environment data is measured is stored in association with the position of the map data.

  Further, a comprehensive wireless environment map, image data, and the like stored in the storage unit 190 are transmitted to the management computer 3 via the main control unit 140 and the wireless communication unit 160 and managed by the management computer 3. 5 is stored. Further, the map data, the comprehensive wireless environment map, and the optimum wireless master device map stored in the storage unit 5 can be downloaded and stored in the storage unit 190 provided in the robot R as necessary. ing.

<Robot control method>
Subsequently, a control method of the robot R will be described with reference to the drawings as appropriate.
(Robot autonomous movement control)
First, control when the robot R moves autonomously while switching between irradiation with slit light and irradiation with infrared light will be described with reference to FIG. 10 (see FIGS. 2, 5 and 9 as appropriate). FIG. 10 is a flowchart relating to autonomous movement control (switching control between slit light irradiation and infrared irradiation) of the robot.

(Step S1)
First, the robot R recognizes its own position by acquiring self-position data by the gyro sensor SR1 or the GPS receiver SR2 which is self-position recognition means. The acquired self-position data is output to the switching determination unit 181 via the main control unit 140.

(Step S2)
Next, the switching determination unit 181 acquires map data including the position data of the mark M from the storage unit 190 via the main control unit 140.

(Step S3)
Then, the switching determination unit 181 compares the self-position of the robot R with the mark installation area of the mark M, and determines whether or not the self-position is within the mark installation area of the mark M. Specifically, as shown in FIG. 2, a range within a predetermined distance from the mark M is set as a mark installation area of the mark M and stored in the storage unit 190 (and the storage unit 5) in advance, and the robot R It is determined whether the coordinates of the self position are included in the mark installation area.

  Note that the determination method in the switching determination unit 181 is not limited to this. For example, the distance between the self-position and the mark M is calculated, and if the distance is smaller than the threshold, it is determined that the mark is in the mark installation area. You may make it do. In this determination, the moving direction of the robot R may be taken into consideration. That is, when the robot R is moving away from the mark M, it is not necessary to detect the mark M. Therefore, even if the distance between the mark M and the robot R's own position is within the threshold value, You may make it determine with not being in an area | region.

  Thereby, slit light irradiation and infrared irradiation can be switched at an appropriate timing. Therefore, the infrared camera 173 can be shared to save space, and power consumption can be reduced by not performing unnecessary infrared irradiation.

(Step S4)
If the switching determination unit 181 determines that the self position is not within the mark installation area of the mark M (No in step S3), the switching determination unit 181 outputs an operation command to the laser device 171 and stops at the infrared LED 172. Output instructions. Upon receiving the operation command, the laser device 171 irradiates slit light radially on the road surface as the search area (see FIG. 2A). In addition, the infrared LED 172 that has received the stop command stops the infrared irradiation.

(Step S5)
When the slit light is irradiated by the laser device 171, the infrared camera 173 captures the search area irradiated with the slit light and acquires the slit light image.
The captured slit light image is output to the road surface detection unit 182.

(Step S6)
The road surface detection unit 182 acquires the three-dimensional shape of the road surface by analyzing the slit light image using, for example, a light cutting method. That is, the road surface state is detected by the road surface detection unit 182.
The detected three-dimensional data of the road surface is output to the main control unit 140.

(Step S7)
The main control unit 140 compares the shape of the road surface stored as map data with the shape of the road surface sent from the road surface detection unit 182. As a result of the comparison, if the two match or are within the tolerance range (No in step S7), the main control unit 140 determines that there is no obstacle, returns to step S1, and senses the surrounding state of the robot R again. To do.

(Step S8)
As a result of the comparison, if the two do not match or exceed the tolerance range (Yes in step S7), the main control unit 140 determines that there is an obstacle in the search area. Then, the main control unit 140 instructs the autonomous movement control unit 150 to avoid the obstacle. Specifically, for example, it may be instructed to pass a detour, or an obstacle may be eliminated using the arm R3.

Even when there is no obstacle, for example, when there is a step on the road surface, the leg R1 and the arm R3 of the robot R are controlled based on the three-dimensional data of the road surface detected by the road surface detection unit 182 instead of the map data. By doing so, the robot R can be controlled to move more accurately and reliably.
Returning to step S3, the description will be continued.

(Step S9)
If it is determined in step S3 that the self-position is within the mark installation area of the mark M (Yes in step S3), the switching determination unit 181 outputs an operation command to the infrared LED 172 and also instructs the laser device 171 to stop. Is output. The infrared LED 172 that has received the operation command irradiates the road surface as the search area with infrared rays (see FIG. 2B). The laser device 171 that has received the stop command stops the irradiation of the slit light.

(Step S10)
When infrared rays are irradiated by the infrared LED 172, the infrared camera 173 acquires an infrared image by imaging the search area irradiated with infrared rays. Since the mark M made of a reflective material having recursiveness is installed in the search area, the mark M is captured in the infrared image.
The captured infrared image is output to the mark detection unit 183.

(Step S11)
The mark detection unit 183 analyzes the infrared image using image processing such as pattern matching, and detects the mark M. Thereby, it is possible to grasp where (on which pixel) the mark M is located on the infrared image.

(Step S12)
The self-position calculation unit 184 calculates the position of the robot R based on the position of the mark M on the infrared image (hereinafter referred to as “image position”).
Specifically, the self-position calculation unit 184 uses the relative distance and the relative angle between the mark M and the robot R obtained from the infrared image to add / subtract from the position data of the mark M read from the storage unit 190. Calculate R's self-position. Since the mounting position and mounting angle of the infrared camera 173 are fixed, the relative positional relationship between the robot R and the mark M can be calculated depending on where the mark M appears in the infrared image. Further, since the two marks M are used as a set, a relative angular deviation can be recognized. Therefore, it is possible to correct a deviation in direction recognition.

Here, the height and inclination of the infrared camera 173 may change with the movement of the robot R. In such a case, for example, the posture of the robot R is grasped based on the control data of the autonomous movement control unit 150, The amount of change of the infrared camera 173 from the reference posture may be offset. In such a case, for example, the detection result can be corrected using a deflection model of the robot R.
The calculated self-position data of the robot R is output to the self-position correcting unit 185.

(Step S13)
Next, the self-position correcting unit 185 compares the self-position of the robot R acquired from the gyro sensor SR1 or the GPS receiver SR2 with the self-position of the robot R calculated by the self-position calculating unit 184.
As a result of the comparison, if the two match or are within the tolerance range (No in step S13), the process returns to step S1 without continuing the self-position correction and continues to detect the peripheral state.

(Step S14)
As a result of the comparison, if both are inconsistent or out of the tolerance range (Yes in step S13), the self-position calculated based on the mark M is set as positive, and the self-position of the robot R is corrected. Thereby, the movement error or the self-position recognition error accumulated by the autonomous movement control is eliminated, and the movement of the robot R can be controlled accurately and reliably.

  In the present embodiment, the absolute coordinates (coordinates on the map data) of the robot R are calculated from the position data of the mark M by the self-position calculator 184. However, the present invention is not limited to this. The relative positional relationship between the mark M and the robot R may be obtained, and the position of the robot R may be corrected so that the relative positional relationship becomes a predetermined value. This method has an advantage that it is not necessary to calculate the absolute coordinates of the robot R, and is effective when the robot R is to be stopped at a predetermined position.

(Create a comprehensive radio environment map)
Next, the creation control of the comprehensive radio environment map by the robot R will be described.
FIG. 11 shows an example of map data and a comprehensive wireless environment map, where (a) is map data (floor map) and (b) is a comprehensive wireless environment map.
As shown in FIG. 11 (a), the map data is in the form of a floor map showing the layout of entrances, conference rooms, receptions, etc. for each floor of the building. 2 includes the installation position of the wireless master device 1, the mark installation area data of the mark M arranged at an appropriate position, and the like.

  As described above, the robot R can acquire the self-position data by the gyro sensor SR1 and the GPS receiver SR2, and can move while grasping the self-position by detecting the mark M. Then, by measuring the radio environment data of the radio wave transmitted from the radio base unit 1 at an appropriate position, the total radio environment data is calculated and written in the map data, so that the total as shown in FIG. Create a radio environment map. In this example, the wireless environment data is measured at each position where the mark M is arranged to calculate the overall wireless environment data, and is written in the map data stored in the storage unit 190 in association with the measurement position (recording). To create a comprehensive radio environment map.

(Creation of comprehensive wireless environment map by guidance)
In order to measure wireless environment data, it has been conventionally necessary for an operator (person) to carry a measuring instrument and move to various areas in an area where a comprehensive wireless environment map is to be created. However, the work of carrying and measuring a measuring instrument by a person in this way requires not only a great deal of labor, but also the measuring instrument and the wireless communication unit 160 actually mounted on the robot R have wireless communication conditions. Because of the difference, there may be a case where the radio environment when the radio communication unit 160 of the robot R receives the radio wave from the radio base unit 1 does not exactly match the radio environment.

Therefore, in the present embodiment, the wireless environment detection unit 163 that measures the wireless environment data of the robot R is mounted, and instead of carrying the measuring device, the person H guides and moves the robot R and moves it in place. By causing the robot R to measure the wireless environment data and calculating the total wireless environment data, and recording the total wireless environment data in association with the measurement position in the map data of the measured movement area of the robot R, the total wireless environment data Create a map.
More specifically, as shown in FIG. 12, the person H pulls and guides the right hand of the robot R (the gripping part (hand) 71R provided at the tip of the arm part R3) and guides it to the measurement position.

  As shown in FIGS. 3 to 5, the robot R according to the present embodiment can move (walk or run) by driving and controlling the electric motors of the joints of the leg R1. Further, by driving and controlling an electric motor provided at each joint portion of the arm portion R3, a hand can be put out or a hand of the person H can be held. Furthermore, a 6-axis force sensor 62R (movement detecting means) provided between the gripping portion 71R provided at the tip of the arm portion R3 and the wrist joint portions 36R and 37R acts on the gripping portion 71R of the robot R. The three-direction components Fx, Fy, Fz of the reaction force and the three-direction components Mx, My, Mz of the moment can be detected (see FIG. 4).

  The three-direction components Fx, Fy, Fz of the reaction force detected by the six-axis force sensor 62R are transmitted to the arm control unit 151c of the autonomous movement control unit 150, and the arm control unit 151c performs the three-direction components of these reaction forces. Based on Fx, Fy, and Fz, as shown in FIG. 12, the direction in which the person H pulls the gripping portion 71R of the robot R and the magnitude of the force are determined and transmitted to the main control portion 140. The main control unit 140 determines the moving direction and the moving speed of the robot R based on the direction in which the person H pulls the gripping unit 71R of the robot R and the magnitude of the pulling force, and sends it to the leg control unit 151a. Command movement. The leg control unit 151 a can drive and control each joint part of the leg R <b> 1 according to the moving direction and speed commanded from the main control unit 140, and can move while being pulled by the person H.

  Next, referring to FIG. 13 (refer to FIG. 5 as appropriate), the flow of processing for creating a comprehensive wireless environment map when the robot R is guided by the person H and guided will be described. Here, FIG. 13 is a flowchart showing a flow of processing in which the robot is drawn by a person and moves to a measurement location to create a comprehensive wireless environment map.

  First, a measurement mode for measuring wireless environment data is selected (step S20). Here, the measurement mode refers to a mode in which the timing for measuring the wireless environment data is determined on the path on which the robot R moves with the hand of the person H. That is, while the robot R is moved by the person H and moves, the “automatic mode” in which the wireless environment data is automatically measured at a predetermined time period set in advance and the position to be measured are appropriately set as the person H. There is a “person-designated mode” in which measurements are taken in response to instructions.

The measurement mode can be selected, for example, by connecting to the management computer 3 using the terminal 7 and using input means such as a keyboard (not shown). Then, the management computer 3 instructs the measurement mode to the robot R. Alternatively, a selection switch may be provided at an appropriate position such as the back of the robot R, or the selection may be instructed directly to the robot R by voice.
When the selection is instructed by voice, for example, the robot R acquires voice by the microphone MC, generates character information from the voice acquired by the voice recognition unit 121b of the voice processing unit 120, and outputs the character information to the main control unit 140. Then, the main control unit 140 can analyze the character information and acquire the instruction content of the measurement mode.

  Next, the robot R confirms the current position by the gyro sensor SR1, the GPS receiver SR2, and the surrounding state detection unit 170, and sets it as the start position of the measurement work (step S21).

When the robot R confirms the current position, the robot R downloads map data including the current position from the storage unit 5 managed by the management computer 3 (step S22).
Specifically, the robot R requests map data from the management computer 3 via the wireless master device 1 by the wireless communication unit 160. The management computer 3 reads the corresponding map data from the storage unit 5 and transmits it to the robot R via the wireless master device 1. The robot R receives the map data through the wireless communication unit 160 and stores the received map data in the storage unit 190. With the above procedure, the download of the map data is completed.
The robot R may omit the procedure for downloading the map data when the map data including the current position is already stored in the storage unit 190.

  When the map data is ready, the robot R analyzes the image captured by the camera C by the image processing unit 110, recognizes the position of the person H to be guided to the measurement location, and moves the arm R3 by the arm control unit 151c. It drives and hands (for example, grip part 71R as shown in FIG. 12) are shown with respect to the said person H (step S23).

When the person H pulls out the hand (for example, the gripping portion 71R) that was pulled out in step S23, the movement starts in the pulled direction (step S24).
Specifically, for example, when the robot R is pulled, for example, as described above, as described above, the three-direction components Fx, Fy, Based on Fz, the moving direction and the moving speed of the robot R are determined, the joints of the leg R1 are driven and controlled, and the movement is started in a state where the person H is drawn.

  The robot R measures the wireless environment data in the wireless communication between the wireless communication unit 160 and the wireless master device 1 by the wireless environment detection unit 163 according to the measurement mode selected in step S20, and the comprehensive wireless environment data calculation unit. In step 141, the total wireless environment data is calculated based on the wireless environment data measured by the wireless environment detection unit 163. Then, the comprehensive wireless environment map creation unit 142 records the comprehensive wireless environment data calculated by the comprehensive wireless environment data calculation unit 141 in the map data stored in the storage unit 190 in association with the measurement position. A wireless environment map is created (step S25).

  When the comprehensive wireless environment map is created, the robot R reads out the comprehensive wireless environment map stored in the storage unit 190 and transmits it by the wireless communication unit 160 (step S26). When the management computer 3 receives the comprehensive wireless environment map via the wireless master device 1, the management computer 3 stores it in the storage unit 5.

  Next, with reference to FIG. 14 (refer to FIG. 5 as appropriate), a detailed processing flow for creating the comprehensive radio environment map will be described. Here, FIG. 14 is a flowchart showing the flow of processing for creating the comprehensive radio environment map. The comprehensive radio environment map creation process shown in FIG. 14 corresponds to step S25 in the flowchart shown in FIG.

The robot R confirms the measurement mode selected in step S20 in the flowchart of FIG. 13 (step S30), and if it is “automatic mode” (“automatic” in step S30), the main control unit of the robot R Based on an internal clock (not shown) built in 140, it is determined whether it is a predetermined cycle time for measurement (step S31). If it is not the predetermined cycle time (No in step S31), the person H is directly moved to continue moving, and step S31 is repeatedly executed until the cycle time comes.
When the cycle time comes (Yes in step S31), the wireless environment detection unit 163 measures wireless environment data such as wireless strength in communication between the wireless communication unit 160 and the wireless master device 1 (step S32).

  Then, the gyro sensor SR1, the GPS receiver SR2, and the surrounding state detection unit 170 grasp the self-position when measured (step S33).

  Next, the total radio environment data calculation unit 141 calculates the total radio environment data based on the radio environment data measured in step S32 (step S34).

  Then, the comprehensive wireless environment map creation unit 142 writes the comprehensive wireless environment data calculated in step S34 to the map data stored in the storage unit 190 in association with the self position grasped in step S33, that is, the measurement position. A comprehensive wireless environment map is created (updated) (step S35).

  When the update of the comprehensive wireless environment map is completed, the robot R confirms whether or not the guidance is completed by the person H based on the output value of the six-axis force sensor 62R (step S36). For example, when the external guidance is not detected by analyzing the output of the 6-axis force sensor 62R, it is determined that the guidance by the person H has been completed (Yes in step S36), and the comprehensive radio environment map creation process is performed. finish.

On the other hand, if it is determined that the guidance by the person H has not ended (No in step S36), the process returns to step S31, and the period time of the next measurement is confirmed while moving according to the guidance.
Thereafter, step S31 to step S36 are repeatedly executed until it is determined in step S36 that the guidance is completed, and the comprehensive wireless environment map creation process is continued.

When the measurement mode is “person designation mode” (“person designation” in step S30), the robot R repeatedly confirms the output of the six-axis force sensor 62R while moving, and the six-axis force sensor 62R detects. Based on the force to do, it is determined whether or not the person H who guides the hand stops walking (step S37).
If the person H does not stop walking (No in step S37), step S37 for determining whether or not the person has stopped walking is repeatedly executed while continuing to move by being pulled by the person H as it is.
When it is determined that the robot R has stopped walking (Yes in step S37), the wireless environment detection unit 163 measures wireless environment data such as wireless strength in communication between the wireless communication unit 160 and the wireless parent device 1 ( Step S38). In this measurement mode, wireless environment data is measured while walking is stopped. Further, in order to reduce the influence of sudden noise and the like and perform measurement with high accuracy, the measurement at the same position is repeated a plurality of times, and the average value of the measurement values of each wireless environment data is calculated and used. For this purpose, for example, the wireless intensity is measured for 5 seconds, that is, 10 times every 500 milliseconds by the wireless intensity detector 163a (see FIG. 6), and the measurement data is output to the main controller 140. Similarly, the other wireless environment data is measured a predetermined number of times by each unit of the wireless environment detection unit 163 and the measurement data is output to the main control unit 140.

  Then, the gyro sensor SR1, the GPS receiver SR2, and the surrounding state detection unit 170 grasp the self-position when measured (step S39).

  The wireless environment data input to the main control unit 140 calculates an average value of the wireless intensity data measured by each unit of the wireless environment detection unit 163 in step S38 by the general wireless environment data calculation unit 141 of the main control unit 140. Comprehensive wireless environment data is calculated based on the calculated average value of these wireless environment data (step S40).

  Then, the comprehensive wireless environment map creation unit 142 writes the comprehensive wireless environment data calculated in step S40 to the map data stored in the storage unit 190 in association with the self position grasped in step S39, that is, the measurement position. A comprehensive radio environment map is created (data is added) (step S41).

  When the writing of the comprehensive wireless environment data to the map data is finished, the robot R synthesizes, for example, the text “End point measurement, move to the next point” by the voice synthesis unit 121a of the voice processing unit 120. Then, the speaker S outputs (speaks) and prompts the person H to guide to the next measurement position (step S42).

For example, if the robot R does not detect the operation of pulling and guiding the hand by the person H even after a predetermined time (for example, 15 seconds) has elapsed since the end of the utterance in step S42, the guidance is terminated. Judgment is made (Yes in step S43), and the comprehensive radio environment map creation process is terminated.
The determination of the end of the guidance is performed by, for example, converting a voice instruction by the person H into text by the voice recognition unit 121b of the voice processing unit 120, such as “generation of the comprehensive wireless environment map is finished”, The control unit 140 may analyze and determine the instruction content.

On the other hand, when the robot R detects the resumption of the guidance by the person H in step S43, it determines that the guidance is not finished (No in step 43), and returns to step S37 to confirm the stop of walking. While moving to the next measurement position.
Thereafter, step S37 to step S43 are repeatedly executed until it is determined in step S43 that the guidance is completed, and the comprehensive wireless environment map creation process is continued.

  As described above, since the robot R moves within the movement area under the guidance of the person H and measures the wireless environment data on the movement path, the person H, for example, via the terminal 7 or the like, It is possible to save the trouble of inputting the measurement position and instructing the robot R. In addition, since the state of the wireless environment between the robot R and the wireless master device 1 is directly measured using the wireless communication unit 160 mounted on the robot R, an accurate comprehensive wireless environment map can be created.

  In the present embodiment, the robot R moves in the direction of movement of the person H to be guided based on the output of the six-axis force sensor 62R (L) provided on the arm R3 when the hand is pulled by the person H. For example, the robot R takes a picture of the person H with the cameras C and C, and the person R of the person H uses the stereo processing unit 111a and the moving body extraction unit 111b of the image processing unit 110. It is also possible to detect the moving direction and the moving speed. Further, for example, the movement of a person may be detected by other means such as a human sensor including an infrared sensor.

(Creation of comprehensive radio environment map by independent movement)
Next, referring to FIG. 15 to FIG. 17 (refer to FIG. 5 as appropriate), the measurement position of the wireless environment data is simply designated in advance to the robot R, and the robot R moves alone to create a comprehensive wireless environment map. How to do will be described. Here, FIG. 15 is a diagram for explaining the designation of the measurement position where the robot independently moves the movement region and measures the wireless environment data, (a) shows the mark installation position, and (b) shows FIG. 16 is an example of a comprehensive wireless environment map created based on wireless environment data measured at a mark installation position. FIG. 16 shows a robot process for measuring the wireless environment data at a specified mark position and creating a comprehensive wireless environment map FIG. 17 is a flowchart showing details of steps for creating the comprehensive radio environment map in FIG. 16.

As shown in FIG. 15A, marks M (M _{1 to} M ₁₂ ) are provided at a plurality of locations in the movement region of the robot R. Further, the map data (floor map) stored in the storage unit 5 (see FIG. 5) includes mark installation area data associated with the number of the mark M (numbers 1 to 12 in the example of FIG. 15). include.
An operator who wants the robot R to create a comprehensive wireless environment map, for example, accesses the management computer 3 using the terminal 7 (see FIG. 5) and designates the number of the mark M as the measurement position. The measurement position can be instructed to the robot R.

  When the robot R receives the execution command signal for the process of creating the comprehensive wireless environment map from the management computer 3 via the wireless master unit 1, first, as shown in FIG. The management computer 3 is requested via the machine 1, and the map data stored in the storage unit 5 is downloaded to the storage unit 190 built in the robot R (step S50). If the map data of the target moving area is already stored in the storage unit 190, the procedure for downloading the map data can be omitted.

  Next, the robot R acquires the mark order (mark number string) indicating the measurement position and the measurement order from the management computer 3 (step S51).

Upon acquiring the mark order, the robot R moves from the current position (robot start position) to the first designated mark M (for example, M ₁ ) (step S52).

  When moving to the designated mark M, the wireless environment detection unit 163 measures the wireless environment data, the integrated wireless environment data calculation unit 141 calculates the integrated wireless environment data, and the integrated wireless environment map creation unit 142 stores the storage unit 190. The calculated total radio environment data is written in the map data stored in the map in association with the position of the corresponding mark number to create a total radio environment map (step S53).

The robot R confirms whether or not the mark M designated as the measurement position in step S53 is the final number. If the mark is final (Yes in step S54), the robot R proceeds to step S55.
On the other hand, if the mark M is not the final number (No in step S54), the process returns to step S52 and moves to the position of the next mark M (for example, M ₂ ). Then, the wireless environment data is measured at the next mark position to calculate the overall wireless environment data, and the calculated overall wireless environment data is associated with the position of the mark number in the map data stored in the storage unit 190. Write and create a comprehensive wireless environment map (step S53).
Then, the processes from step S52 to step S54 are repeated until a comprehensive wireless environment map at the mark position of the final number is created.

When the process at the mark position of the final number is completed (Yes in step S54), as shown in FIG. 15B, comprehensive wireless environment data is written in the storage unit 190 in association with the mark position of the map data. A comprehensive wireless environment map has been created. Then, the robot R transmits the created comprehensive wireless environment map to the management computer 3 by the wireless communication unit 160 (step S55), and ends the process.
The management computer 3 stores the transmitted comprehensive wireless environment map in the storage unit 5.

Next, referring to FIG. 17 (refer to FIG. 5 as appropriate), step S53 of creating the comprehensive radio environment map in FIG. 16 will be described.
When the robot R moves to the position of the designated mark M (step S52 in FIG. 16), it stops moving (walking) (step S60).

  Next, while the robot R is stopped at the mark position, the wireless environment detection unit 163 measures wireless environment data including wireless intensity (step S61). Each unit of the wireless environment detection unit 163 measures the wireless environment data a plurality of times and outputs it to the main control unit 140, as in step S38 of the flowchart shown in FIG.

  The main control unit 140 calculates an average value of each radio environment data measured by the radio environment detection unit 163 a plurality of times by the total radio environment data calculation unit 141, and calculates the total radio environment data based on the average value of the radio environment data Is calculated (step S62).

  The main control unit 140 writes the calculated total radio environment data in association with the position of the mark number in the map data stored in the storage unit 190 and writes the calculated total radio environment data (step S63). Exit.

  In this way, it is possible to write (additional recording) the comprehensive wireless environment data for one designated mark position.

  Next, with reference to FIG. 18, another method for designating the position for measuring the wireless environment data to the robot R will be described. Here, FIG. 18 is a diagram for describing designation of a position where wireless environment data is measured. (A) shows an example of designation by a grid, and (b) designates additional measurement points individually. An example is shown.

  In the example shown in FIG. 18A, a grid can be set for map data (floor map) and the grid points of the grid can be designated as measurement points as indicated by dotted lines in the figure. The grid is set, for example, by setting the vertical and horizontal grid intervals in the drawing with the upper left corner of the map shown in FIG. 18A as the origin. When the measurement position is designated by the grid in this way, the robot R calculates the grid point of the grid from the vertical and horizontal grid intervals, and sequentially moves to the calculated grid point position to obtain the wireless environment data. Measure and calculate total wireless environment data based on the measured wireless environment data. Then, the comprehensive wireless environment map can be created by writing the comprehensive wireless environment data in the map data stored in the storage unit 190 in association with the position of the measured grid point.

  As described above, by using the grid, the measurement position can be easily specified, and the measurement position can be equally specified in the movement region.

In addition, if the grid is set finely, the number of measurement points may be excessive, but conversely, if the grid setting is coarse, the measurement points may be insufficient.
Therefore, specify the grid at appropriate intervals so as not to be too fine, and refer to the layout on the map, and additionally specify positions that are likely to be affected by radio wave obstacles as measurement points individually. It is possible to specify an important measurement position in detail and flexibly while suppressing an increase in input work for the operator to specify the measurement position.

FIG. 18B shows a state where measurement positions are individually added and designated. In this example, seven points of measurement positions P _{1 to} P ₇ are added.
The robot R acquires the positions corresponding to the grid points of the grid shown in FIG. 18A and the individually added positions shown in FIG. 18B as measurement positions, and sequentially moves to the measurement points. By measuring the wireless environment data, calculating the comprehensive wireless environment data from the measured wireless environment data, and writing it in the map data, a comprehensive wireless environment map can be created.

FIG. 19 is an example of a comprehensive wireless environment map, (a) is a comprehensive wireless environment map created by designating a measurement position as a grid, and (b) is a comprehensive wireless environment map in a display format for a user. is there.
The comprehensive wireless environment map shown in FIG. 19A is a comprehensive wireless environment map in which the comprehensive wireless environment data at the measurement position designated by the grid shown in FIG. 18A is written. Further, (b) is based on the comprehensive wireless environment map shown in (a), so that the operator (user) can easily understand the wireless environment, under the GUI (Graphical User Interface) environment, In this example, the level (goodness) is displayed in three levels (Excellent, Good, Poor). For example, the terminal 7 (see FIG. 5) reads out the comprehensive wireless environment map stored in the storage unit 5, performs appropriate image processing, and displays the map in the display format for the user on the screen of the terminal 7. Can do.

Note that the display format is not limited to color coding. For example, the integrated wireless environment may be displayed in contour lines by connecting points of the same level with lines.
In this way, by converting the comprehensive wireless environment map into a format that can be easily understood by the user and displaying the map, for example, when deciding where to install the wireless master device 1, By comparing and creating a comprehensive wireless environment map, superiority or inferiority can be easily determined. Moreover, since the area | region where the level of a comprehensive radio | wireless environment is low can be recognized easily, as a countermeasure, for example, the suitable place where the radio | wireless parent | base station 1 is added can be determined easily.

(Creation of optimal radio base unit map)
Next, referring to FIG. 20 (refer to FIG. 5 as appropriate), a method of selecting the wireless master device 1 to which the robot R is connected when a plurality of wireless master devices 1 are installed will be described. Here, FIG. 20 is a diagram for explaining a state in which the robot selects a wireless master device to be connected when a plurality of wireless master devices are arranged. FIG. It is a figure explaining a mode that the optimal radio | wireless parent | base station map is produced from an environment map, (b) is a figure explaining a mode that the radio | wireless main | base station to connect is selected from several optimal radio | wireless main | base stations.

  As shown in FIG. 20A, the two wireless master devices 1A and 1B are installed at the lower right corner and the lower left corner on the map, respectively. (A) The upper left diagram and the right diagram are respectively the comprehensive radio environment maps for the wireless master device 1A and the wireless master device 1B, and the comprehensive wireless environment data at the measurement positions designated by the grid are written therein.

As described above, in the present embodiment, when a plurality of wireless master devices 1 are arranged in the movement region of the robot R, the wireless environment data is measured for each wireless master device 1, and the comprehensive wireless device 1 is measured. The environment map creating unit 142 creates a comprehensive wireless environment map and stores it in the storage unit 190.
Next, based on the comprehensive wireless environment map for a plurality of wireless master devices stored in the storage unit 190 by the optimum wireless master device map creating unit 143, the optimum wireless master device map (optimum wireless base station) indicating the optimal wireless master device is shown. Station map).
In the present embodiment, a case where two wireless master devices 1A and 1B are arranged will be described as an example, but three or more wireless master devices may be provided.

  Here, the optimum wireless master device is a wireless master device having the largest comprehensive wireless environment data value. Therefore, as shown in the lower diagram of (a), it is possible to create an optimum wireless master device map in which the optimum wireless master device is selected from the two wireless master devices 1A and 1B. However, in the optimal wireless master device map, “A” and “B” indicate that the optimal wireless master device is the wireless master device 1A and the wireless master device 1B, respectively, and “AB” indicates two devices. Since the wireless master devices have the same numerical value, both wireless master devices are optimal wireless master devices.

  In the optimum wireless master device map shown in FIG. 20A, as shown by “AB”, when there are a plurality of wireless master devices having the same level of the overall wireless environment, the robot R can select any of the wireless master devices. It is necessary to choose whether to connect with. Therefore, with reference to FIG. 20B, a method of selecting a wireless master device to which the robot R connects when there are a plurality of optimal wireless master devices will be described.

The robot R appropriately switches the connection with the wireless master device 1 in the optimum comprehensive wireless environment as it moves, but when switching the connection with the wireless master device 1, that is, when handing over, the robot R and the wireless master device 1 are switched. Is temporarily disconnected, and the robot R becomes unable to communicate with the management computer 3.
In the present embodiment, in order to avoid that the robot R becomes incapable of communicating with the management computer 3 as much as possible, the wireless master device 1 that does not require handover is selected.

  The diagram shown in (b) of FIG. 20 is an enlarged view of a region surrounded by a thick line at the center of the figure in the optimal radio base station map shown in the lower part of (a). Then, (b) considers that the area shown in (b) is divided into 3 × 3 (3 rows, 3 columns) areas, and the optimal radio base station in the optimal radio base station map from the surrounding areas. This indicates which radio base unit is selected in the central area when it proceeds to the central area of 1A and 1B ("AB").

  In the left diagram of (b), the robot R proceeds from left to right in the middle row of the 3 × 3 region. At this time, since the robot R is connected to the wireless master device 1B in the left column area of the center row, when proceeding to the left, the wireless master device 1B is selected and the handover is not performed. The connection with the wireless master device 1B is maintained.

  Next, in the case shown in the center diagram of (b), the robot R advances from the diagonally upper right (the area in the left column of the upper row) to the central area diagonally to the lower left. At this time, in the area in the left column of the upper row, the robot R is connected to the wireless master unit 1A. Therefore, when proceeding to the lower right, the wireless master unit 1A is selected and the handover is not performed. The connection with the wireless master device 1A is maintained as it is.

  Next, in the case shown in the right diagram of (b), the robot R proceeds from the diagonally lower right (the area in the right column in the lower row) to the left (the middle column in the lower row), and then moves upward ( Proceed to the middle area). First, in the area in the right column of the lower row, since the robot R is connected to the wireless master device 1A, when traveling to the right, the handover is not performed and the connection to the wireless master device 1A is maintained as it is. Thereafter, when proceeding upward, the wireless master device 1A is selected to maintain the connection with the wireless master device 1A, and no handover is performed here.

As described above, in a situation where a plurality of wireless master devices can be selected, the robot R of the present embodiment selects a wireless master device that can avoid handover.
Even when there are three or more wireless master units, in a situation where wireless master units having the same level of the overall wireless environment can be selected, the wireless master unit should be selected so as to avoid handover as much as possible. Good.

(Use of comprehensive wireless environment map)
Next, an operation when the robot R uses the comprehensive wireless environment map will be described with reference to FIG. 21 (refer to FIG. 5 as appropriate). Here, FIG. 21 is a flowchart showing a processing flow when the robot uses the comprehensive wireless environment map.

When the robot R executes the task, it uses the comprehensive wireless environment map created in advance and stored in the storage unit 190, but the comprehensive wireless environment map created by the robot R is uploaded to the management computer 3, It is stored in the storage unit 5. When the integrated wireless environment map restarted and stored in the storage unit 190 is deleted or the integrated wireless environment map created by another robot is stored in the storage unit 5, the robot R manages The necessary comprehensive wireless environment map can be downloaded from the computer 3 and used.
As a result, the robot R can save time and effort to create a new comprehensive wireless environment map each time a task is executed.

  As shown in FIG. 21, the robot R first connects to the management computer 3 via the wireless master unit 1 by the wireless communication unit 160 and stores map data stored in the storage unit 5 managed by the management computer 3. It is confirmed whether or not the comprehensive radio environment map relating to the moving area where the robot R will execute the task is stored in the database (step S70).

  When the desired comprehensive wireless environment map is stored in the storage unit 5 (Yes in step S70), the robot R downloads the comprehensive wireless environment map from the management computer 3 (step S71). Specifically, the management computer 3 reads the comprehensive wireless environment map from the storage unit 5 and transmits the read comprehensive wireless environment map to the robot R via the wireless master device 1. The robot R receives the comprehensive wireless environment map by the wireless communication unit 160 and stores it in the storage unit 190. This completes the download of the comprehensive wireless environment map.

Note that the comprehensive wireless environment map that the robot R downloads from the management computer 3 may be a comprehensive wireless environment map created by the robot R or a comprehensive wireless environment map created by another robot. In addition, when a comprehensive wireless environment map by a plurality of robots is stored, for example, the latest comprehensive wireless environment map may be downloaded, or the average value of the comprehensive wireless environment data of these maps may be calculated. The used comprehensive radio environment map may be used. In the case of an area where a plurality of wireless master devices are installed, the optimum wireless master device map may be downloaded instead of or in addition to the comprehensive wireless environment map. Further, the robot R may be able to select a map to be downloaded as necessary, or a plurality of types of maps may be downloaded.
Note that the type of map to be downloaded may be selected appropriately by the management computer 3 in accordance with the contents of the task that the management computer 3 instructs the robot R to transmit.

  On the other hand, when the desired comprehensive wireless environment map is not stored in the storage unit 5 (No in step S70), the robot R maps the desired movement area stored in the storage unit 5 from the management computer 3. Data is downloaded (step S72). Then, a comprehensive radio environment map in the moving area is created (step S73). As described above, the creation process of the comprehensive wireless environment map is, for example, measured around the mark installation location of the mark M shown in FIG. 15 to measure the wireless environment data, calculate the comprehensive wireless environment data, and correspond to the measurement position. A comprehensive wireless environment map is created by writing the map data stored in the storage unit 190. At this time, the created comprehensive wireless environment map is stored in the storage unit 190.

  The robot R reads out the comprehensive wireless environment map created in step S73 from the storage unit 190, and transmits it to the management computer 3 via the wireless master device 1 by the wireless communication unit 160 (step S74). Then, the management computer 3 stores the received comprehensive wireless environment map in the storage unit 5 to complete the upload of the comprehensive wireless environment map.

(Update of general wireless environment map)
Next, referring to FIG. 22 (refer to FIG. 5 as appropriate), an operation in which the robot R measures wireless environment data during task execution and updates (maintenance) the comprehensive wireless environment map will be described. Here, FIG. 22 is a flowchart showing a flow of processing for updating the comprehensive wireless environment map during task execution.

The robot R of the present embodiment always measures wireless environment data even during execution of tasks other than the task of creating the comprehensive wireless environment map, and calculates the comprehensive wireless environment data calculated based on the wireless environment data, the map Comparing the total radio environment data recorded in the data as the total radio environment map, rewriting the total radio environment data as necessary, and updating the total radio environment map.
The wireless environment data is repeatedly measured at a predetermined timing. For example, when one measurement is completed, the next measurement may be started continuously, or may be periodically performed at intervals of 10 seconds.

  As shown in FIG. 22, when the robot R moves within the movement area and executes a task such as article transportation, for example, a general wireless environment map as shown in FIG. The optimal wireless master device map is downloaded from the management computer 3 and stored in the storage unit 190, and the wireless master device 1 (1A or 1B) having the best overall wireless environment at the current position of the robot R, that is, the start position of the task. Is searched using the optimal wireless master device map downloaded (step S80).

Next, the robot R is connected by the wireless communication unit 160 to the optimum wireless master device 1 (hereinafter described as the wireless master device 1A) searched in step S80 (step S81), and starts executing the task. In parallel, the comprehensive wireless environment map update process is executed (step S82).
During the task execution, the robot R moves while constantly grasping its own position by the gyro sensor SR1, the GPS receiver SR2, and the surrounding state detection unit 170, and refers to the optimum wireless master device map to obtain the optimum A handover is appropriately performed so as to connect to the wireless master device 1 (1A or 1B).

  Next, with reference to FIG. 23 (refer to FIG. 5 as appropriate), an operation in which the robot R updates the comprehensive wireless environment map during task execution will be described in detail. Here, FIG. 23 is a flowchart showing a flow of processing in which the robot updates the comprehensive wireless environment map during task execution, and corresponds to step S82 in the flowchart shown in FIG.

  The robot R according to this embodiment repeatedly measures the wireless environment data such as the wireless strength by the wireless environment detection unit 163 of the wireless communication unit 160 at a predetermined timing while executing the task. The measured wireless environment data is output (step S90).

  When the robot R measures the wireless environment data, the robot R grasps its own position by the gyro sensor SR1, the GPS receiver SR2, and the surrounding state detection unit 170 (step S91). Note that the measurement of the wireless environment data and the grasp of the self-location may be performed in parallel.

  The wireless master device abnormality notification unit 145 of the main control unit 140 determines whether the wireless environment data has been normally measured by the wireless environment detection unit 163 (step S92). Whether or not wireless environment data measurement is possible is, for example, whether wireless environment data is input to the main controller 140 within a predetermined time by the wireless master device abnormality notification unit 145 or whether the input wireless environment data is not an abnormal value. If the wireless environment data cannot be measured (No in step S92), the wireless master device abnormality notifying unit 145 has an abnormality in the wireless master device 1A via the wireless communication unit 160. This is notified to the management computer 3 (step S93). At this time, since the connected wireless master device 1A is abnormal, it is conceivable that the connection is disconnected, and the wireless master device abnormality notification unit 145 determines the communication partner of the wireless communication unit 160 from the wireless master device 1A. The connection is switched to another wireless master device 1B, and the management computer 3 is notified via the wireless master device 1B that the wireless master device 1A is abnormal. In addition, when no other wireless master device 1 that can establish communication within the movement area is found, the robot R stores the abnormal state of the wireless master device 1A in, for example, the storage unit 190, and any wireless device 1 You may make it notify when the communication with the management computer 3 can be restarted via the main | base station 1. FIG.

  When the robot R notifies the management computer 3 of the abnormality of the wireless master device 1A, the robot R proceeds to step S102 and confirms whether the task is completed.

  On the other hand, when it is determined by the wireless master device abnormality notification unit 145 that the wireless environment detection unit 163 has successfully measured the wireless environment data (Yes in step S92), the comprehensive wireless environment data calculation unit 141 performs the wireless environment detection unit. Comprehensive wireless environment data is calculated based on the wireless environment data measured in 163 (step S94), and the comprehensive wireless environment for the connected wireless master device 1A at the position grasped in step S91 by the comprehensive wireless environment map update unit 144 is calculated. The data is read from the storage unit 190, and the total radio environment data recorded in the total radio environment map is compared with the total radio environment data calculated in step S94 to check whether there is a difference of 10% or more (step) S95). If the difference between the two data is less than 10% (No in step S95), the process proceeds to step S102.

If there is a difference of 10% or more between the two (Yes in step S95), the confirmation history of the comprehensive wireless environment data for the wireless master device 1A is referred to, and the difference from the data recorded in the comprehensive wireless environment map is 10 % Is 3 times (that is, whether the result of confirming the total wireless environment data of the past two times is a difference of 10% or more) (step S96). No in step S96), the process proceeds to step S102.
For example, the confirmation history may be stored in the comprehensive wireless environment map stored in the storage unit 190 in association with the position and the wireless parent device, and may be read and referenced as necessary.

If the difference of 10% or more continues three times or more (Yes in step S96), the comprehensive wireless environment map update unit 144 uses the latest comprehensive wireless environment data (that is, the total calculated based on the previous measurement data). The wireless environment data is overwritten on the map data to be reflected in the comprehensive wireless environment map, and the comprehensive wireless environment map is updated (step S97).
When a plurality of wireless master devices 1 are installed in this moving area, the integrated wireless environment map update unit 144 continues to update the integrated wireless environment map and the integrated wireless signals for other wireless master devices. The environment map is read from the storage unit 190, and the optimum wireless master device map is updated.

  Subsequently, it is further confirmed by referring to the confirmation history whether the difference is 20% or more and the difference is 20% or more in succession (step S98), and the difference is less than 20% or If it is less than 3 consecutive times (No in step S98), the process proceeds to step S102.

  If the difference is 20% or more for three consecutive times (Yes in step S98), the surrounding image acquisition unit 146 drives the leg R1 via the leg control unit 151a, and the orientation of the robot R on the spot The surrounding image is photographed using the camera C while changing. Image data acquired by shooting is stored in the storage unit 190 in association with the shooting position (step S99).

  In the present embodiment, for example, when a state having a difference of a predetermined value or more continues for a predetermined number of times of measurement, that is, when the state continues for a predetermined time or more as in step S96 and step S98, the comprehensive radio environment map Therefore, the influence of noise generated instantaneously can be ignored, frequent data update is avoided, the processing load on the robot R, the management computer 3, and the robot R and the wireless master unit 1 are updated. Increase in the amount of communication between the two can be suppressed.

  Here, referring to FIG. 24 (refer to FIG. 5 as appropriate), shooting of surrounding images will be described. FIG. 24 is a diagram for explaining how the robot captures a surrounding image. FIG. 24A illustrates a state where the robot captures a surrounding image while changing its orientation, and FIG. The shooting position in the map is shown, and the lower part shows the surrounding images taken from that shooting position.

  If the situation where the difference from the data recorded in the comprehensive wireless environment data of the comprehensive wireless environment data is 20% or more continues three times (Yes in step S98 in FIG. 23), the movement area of the robot R is, for example, It is presumed that a situation has occurred where the wireless environment is constantly affected, such as when a partition is installed or an obstacle is placed. Therefore, in this embodiment, when the robot R determines that there is a large difference from the value recorded in the map of the comprehensive wireless environment data, that is, when a large change in the wireless environment is detected, the surroundings at that point Then, the image data obtained by photographing is sent to the management computer 3 so that the operator can use it for analyzing the situation.

As shown in FIG. 24 (a), the robot R stops walking, rotates 90 ° on the spot, and sequentially captures images with a 90 ° angle of view, thereby omnidirectional (360 °). Take a picture.
In detail, the robot R controls each part of the leg R1 via the leg control unit 151a of the autonomous movement control unit 150 by the surrounding image acquisition unit 146, and stops walking (for example, FIG. b) First, a front image i that is the moving direction is taken using the camera C mounted on the head R4, position P) in the upper diagram. The captured image is stored in the storage unit 190. Next, the robot R uses the surrounding image acquisition unit 146 to drive and control the leg R1 via the leg control unit 151a to change the direction to the right, and to capture the right image ii using the camera C. The stored image data is stored in the storage unit 190. Similarly, the robot R changes the direction by 90 degrees clockwise, shoots the back image iii and the left image iv, and stores the captured image data in the storage unit 190. Then, when the shooting of the left image iv is completed, the robot R further turns 90 degrees clockwise and stops in the first moving direction.

  In this way, the image data (see the lower part of FIG. 24B) obtained by dividing and photographing four images is temporarily stored in the storage unit 190.

Returning to FIG. 23, the description will be continued.
If a large change in the wireless environment is detected in step S98, the surrounding radio wave is captured and image data is acquired as described above (step S99), and the received radio wave is analyzed by the radio communication unit 160. The wireless node of the same standard as the robot R and its traffic are detected to search whether other wireless devices are present in the movement area, and the presence / absence of other wireless devices and the traffic are stored as search results. It is stored in 190 (step S100). Here, for example, when the sum of the traffic of all the wireless nodes is larger than the amount of data transmitted and received by the robot R, it can be determined that the wireless environment is bad.

When the search for other wireless devices is completed, the robot R uses the wireless communication unit 160 by the wireless master device abnormality notification unit 145 to transmit the wireless environment for the wireless master device 1A to the management computer 3 via the wireless master device 1A. Is transmitted, together with the image data stored in the storage unit 190, the search results of other wireless devices, and the wireless environment data measured in step S90 (step S101).
Then, when the notification to the management computer 3 is completed, the process proceeds to step S102.

  In this embodiment, the wireless environment data including the noise floor (wireless noise) measured in step S90 is temporarily stored in the storage unit 190, read out from the storage unit 190 in step S101, and is used as a management computer. 3 is transmitted. In particular, a noise floor, which is one of the evaluation values of wireless noise, is useful for determining whether the wireless environment is good or bad.

When the update process of the comprehensive wireless environment map under each condition is finished, the robot R checks whether the task is finished (step S102). If the task is finished (Yes in step S102), the process is finished. .
If the task has not ended (No in step S102), the process returns to step S90 to continue the execution of the task and repeat the update process of the comprehensive wireless environment map.

The management computer 3 receives an abnormality notification of the wireless master device 1 (for example, 1A) from the robot R (step S93), or receives a notification that a large change in the wireless environment is detected (step S101). ), The notification content is stored in the storage unit 5 as log information, and the log information is displayed on a display screen (not shown) of the terminal 7, for example, to notify the notification content from the robot R to the operator.
Using the terminal 7, the operator can analyze the problem with reference to, for example, image data taken at a point where the wireless environment has changed significantly, wireless environment data, etc., and examine the countermeasure.

  As described above, the robot R according to the present embodiment always measures the wireless environment data even during execution of tasks other than the process of creating the comprehensive wireless environment map, and calculates the total wireless environment calculated from the measured wireless environment data. The data is compared with the total wireless environment data recorded in the total wireless environment map downloaded from the management computer 3 and stored in the storage unit 190, and a difference greater than a predetermined value is detected continuously for a predetermined time. In this case, since the comprehensive wireless environment map is updated, the maintenance of the comprehensive wireless environment map can be performed by causing the robot R to execute a normal task.

1 is a system configuration diagram showing a mobile robot control system according to an embodiment of the present invention. It is the perspective view which showed the mode during the movement of the robot which concerns on this embodiment, (a) is the state which is moving the normal movement area | region, (b) is the state which is moving the mark installation area | region. FIG. It is a side view which shows typically the external appearance of the robot of FIG.1 and FIG.2. It is a perspective view which shows typically the drive structure of the robot of FIG. It is the block diagram which showed the structure of the robot which concerns on this embodiment. It is a block diagram which shows the structure of a radio | wireless communication part. It is a figure for demonstrating comprehensive radio | wireless environment data. It is the perspective view which showed the trunk | drum of the robot which concerns on this embodiment. It is a block diagram which shows the structure of a periphery state detection part. It is a flowchart regarding autonomous movement control (switching control of slit light irradiation and infrared irradiation) of a robot. An example of map data and a comprehensive wireless environment map is shown, (a) is map data (floor map), and (b) is a comprehensive wireless environment map. It is a figure which shows a mode that a person pulls and guides a robot's hand. It is a flowchart which shows the flow of the process in which a robot draws a hand and moves to a measurement location and creates a comprehensive wireless environment map. It is a flowchart which shows the flow of a process of synthetic radio environment map creation. It is a figure explaining designation | designated of the measurement position where a robot moves a movement area independently and measures wireless environment data, (a) is a figure which shows the installation position of a mark, (b) is the radio | wireless measured at the mark installation position. It is an example of the comprehensive radio | wireless environment map produced based on environmental data. It is a flowchart which shows the flow of a process of the robot which measures the radio | wireless environment data of the designated mark position, and produces a comprehensive radio | wireless environment map. It is a flowchart which shows the detail of the step which produces the comprehensive radio | wireless environment map in FIG. It is a figure for demonstrating designation | designated of the position which measures radio | wireless environment data, (a) shows the example designated by a grid, (b) shows the example which designates and adds a measurement point separately. It is an example of a comprehensive wireless environment map, (a) is a comprehensive wireless environment map created by designating a measurement position as a grid, and (b) is a comprehensive wireless environment map in a display format for a user. It is a figure explaining a mode that a wireless parent machine which a robot connects when a plurality of wireless parent machines are arranged, (a) is the optimal wireless parent machine from the comprehensive radio environment map for a plurality of wireless parent machines It is a figure explaining a mode that a map is created, (b) is a figure explaining a mode that the radio | wireless parent machine to connect is selected from several optimal radio | wireless parent machines. It is a flowchart which shows the flow of a process when a robot uses a comprehensive wireless environment map. It is a flowchart which shows the flow of a process which updates a comprehensive radio | wireless environment map during task execution. It is a flowchart which shows the flow of the process in which a robot updates a comprehensive radio | wireless environment map during task execution. It is a figure for demonstrating a mode that a robot image | photographs a surrounding image, (a) shows a mode that a robot image | photographs a surrounding image, changing a direction, (b) is the imaging | photography in a floor map at the upper stage. The position is shown, and the lower part shows the surrounding images taken from that position.

Explanation of symbols

1, 1A, 1B Wireless master unit (radio base station)
3 Computer for Management 5 Storage Unit 62R, 62L 6-Axis Force Sensor (Movement Detection Unit)
110 Image processing unit (movement detection means)
140 Main Control Unit 141 Comprehensive Wireless Environment Data Calculation Unit (Comprehensive Wireless Environment Data Calculation Means)
142 Comprehensive radio environment map creation unit (comprehensive radio environment map creation means)
143 Optimal radio base station map creation unit (optimum radio base station map creation means)
144 Comprehensive Radio Environment Map Update Unit (Comprehensive Radio Environment Map Update Unit)
145 Radio base unit abnormality notification unit (radio base station abnormality notification means)
146 Ambient image acquisition unit (Ambient image acquisition means)
150 Autonomous movement control part (autonomous movement control means)
160 Wireless communication unit (wireless communication means)
163 Wireless environment detection unit (wireless environment detection means)
170 Peripheral state detection unit (self-position recognition means)
190 Storage unit (storage means)
A Mobile robot control system C Camera (imaging means)
R Robot (mobile robot)
R1 leg (moving means)
SR1 Gyro sensor (self-position recognition means)
SR2 GPS receiver (self-position recognition means)

Claims (7)

Wirelessly communicates with the management computer via any one of a plurality of wireless base stations connected to the management computer, and autonomously uses the map data of the movement area in a predetermined movement area A mobile robot that moves automatically,
Legs for autonomous movement;
Wireless communication means for performing wireless communication with the wireless base station;
In the wireless communication between the wireless communication unit and the wireless base station, a plurality of types of wireless environment data indicating the wireless environment goodness including the wireless strength of the received signal received by the wireless communication unit are repeated at a predetermined timing. Wireless environment detecting means for detecting;
Comprehensive radio environment data calculation means for calculating total radio environment data indicating a result of predetermined weighting of the plurality of radio environment data at each predetermined timing ;
Self-position recognition means for recognizing the position of the self in the moving region;
Storage means for storing map data of the moving area;
The calculated total radio environment data is written in the map data stored in the storage unit in association with the position recognized by the self-position recognition unit when the radio environment data is detected. A comprehensive radio environment map creating means for creating an environment map for each radio base station ;
The calculated total radio environment data is compared with the total radio environment data recorded in the map data in association with the position when the radio environment data is detected. Comprehensive wireless environment that updates the comprehensive wireless environment map by rewriting the comprehensive wireless environment data recorded in the map data to the most recently calculated comprehensive wireless environment data when a certain state continues for a predetermined number of times or more Map update means,
A map in which a radio base station having the best comprehensive radio environment data is stored in the storage unit based on a plurality of total radio environment maps created for each of the plurality of radio base stations by the total radio environment map creation unit An optimum radio base station map creating means for creating an optimum radio base station map by writing data in association with a position;
The calculated total radio environment data is compared with the total radio environment data recorded in the map data in association with the position when the radio environment data is detected. When a certain state continues for a predetermined number of times or more, the wireless environment detection unit detects the wireless environment data detected by the imaging unit at a position where the wireless environment data has been detected and changes the shooting direction. Ambient image acquisition means for storing in the storage means in association with the position where the environmental data is detected,
With
The mobile robot characterized in that the wireless communication means transmits a plurality of images around the self to the management computer via the wireless base station . The movement according to claim 1, wherein the plurality of types of radio environment data includes data related to the radio strength, and further includes data related to at least one of a communication speed, a communication error count, and a data retransmission count. robot. Based on the map data stored in the storage means and the position recognized by the self-position recognition means, the leg portion autonomously moves to a predetermined position, and the wireless environment The mobile robot according to claim 1, wherein the wireless environment data is detected by a detection unit. Furthermore, it has movement detecting means for detecting the moving direction and moving speed of the person,
The movement detecting means includes
A six-axis force sensor that is provided on the arm of the mobile robot and detects a three-way component of a reaction force acting on the arm and a three-way component of a moment;
The three-direction component of the reaction force and the three-direction component of the moment detected by the six-axis force sensor are estimated to have acted on the arm portion by pulling the arm portion, and the reaction force An arm control unit that detects a moving direction and a moving speed of the person based on a three-directional component and a three-directional component of the moment;
With
The mobile robot moves with the person according to the moving direction and the moving speed detected by the arm control unit, and detects wireless environment data by the wireless environment detecting means on a route moving with the person. The mobile robot according to claim 1 or 2, characterized in that Furthermore, it has movement detecting means for detecting the moving direction and moving speed of the person,
The movement detection unit includes a stereo camera and an image processing unit that performs stereo processing on an image captured by the stereo camera and extracts a moving body,
The image processing unit estimates the extracted moving body as the person, and detects a moving direction and a moving speed of the person based on the stereo-processed image.
The mobile robot moves with the person according to the moving direction and the moving speed detected by the image processing unit, and detects wireless environment data by the wireless environment detecting means on a route moving with the person. The mobile robot according to claim 1, wherein: When the wireless environment detection unit cannot detect the wireless environment data related to one wireless base station, the wireless communication unit passes the other wireless base station different from the one wireless base station. The mobile robot according to any one of claims 1 to 5 , further comprising: a wireless base station abnormality notification means for notifying the management computer that there is an abnormality in the wireless base station. . The comprehensive wireless environment map created by the comprehensive wireless environment map creating means is transmitted to the management computer by the wireless communication means. The method according to any one of claims 1 to 6 , Mobile robot.

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