JP2001306145A - Moving robot device and program record medium therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a moving robot device in which interest is not lost because of its changeful movement, and capable of moving complicatedly and autonomously in the interrelationship among other moving bodies. SOLUTION: The position relationship among other moving bodies is stored on a behavior rule table 2-1, in advance. A CPU 1 decides the direction satisfying the behavior rule based upon this detection result and the behavior rule as the self-movement direction and the device main body rule is autonomously moved to the direction when a position and distance among the other moving bodies existing in surrounding are detected by a body distance sensor.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile robot apparatus that moves autonomously based on a surrounding environment and a program recording medium for the mobile robot apparatus.

[0002]

2. Description of the Related Art Conventionally, a mobile robot device that autonomously moves based on the surrounding environment, particularly an entertainment robot called an animal-type robot or a pet robot, has an external world detecting function and a recognizing function. Is constantly recognized, and an operation pattern incorporated in advance is selectively called in accordance with the recognition result to autonomously move (walk).

[0003]

However, in this type of mobile robot device, when a pre-installed motion pattern is selected based on the surrounding environment and autonomously moves, for example, a wall or an obstacle in a room may be moved. There are many monotonous movements, such as avoiding detours, and there is a drawback that one gets tired immediately. It is an object of the present invention to provide an unpredictable action or a complicated action in a mutual relationship with another moving object, and to provide a mobile robot apparatus that does not get tired of a variety of movements.

[0004] The means of the present invention are as follows. An invention according to claim 1 is a mobile robot device that autonomously moves based on a surrounding environment, and an action rule storage unit that stores a positional relationship between the device body and another mobile object as its own action rule, External object information detecting means for searching the surrounding environment of the apparatus body to detect external information, and moving object recognition for recognizing the position and distance of another moving object based on the external information detected by the external information detecting means. Means, moving direction determining means for determining, as the moving direction of the apparatus body, a direction satisfying the action rule based on the content of recognition by the moving body recognizing means and the action rule, and a direction determined by the moving direction determining means. Operation control means for moving the apparatus main body. Another object of the present invention is to provide a recording medium in which a program code for causing a computer to execute each of the above-described functions is recorded.

[0005] The present invention may be as follows. (1) The action rule is a requirement condition indicating a coexistence number that can coexist with another moving body within a range of a predetermined distance around the apparatus main body, and the moving direction determining unit satisfies the coexistence number. The direction is determined as the moving direction of the apparatus main body. In this case, the request condition is a request condition corresponding to each group in a case where a plurality of moving objects are divided into a plurality of groups. The moving direction may be determined according to which group the moving object belongs to. Further, the attribute identification of the group of each mobile unit is as follows:
You may make it perform based on the identification signal which the moving body outputs. (2) The action rule is a tracking condition for another moving body, and the moving direction determining means determines a direction satisfying the required condition as a moving direction of the apparatus main body and also determines a moving amount. It may be. In this case, the tracking condition includes a tracking separation distance when approaching a moving object to be tracked, and the operation control unit moves the device to be tracked by moving the apparatus body in the determination direction. After approaching the body, the subject may be tracked while maintaining the tracking separation distance. Further, the pre-tracking condition may include a target condition of a moving object to be tracked, and the tracking movement may be performed corresponding to a moving object that matches the target condition among other moving objects. . (3) A setting means capable of arbitrarily setting the action rule is provided. Therefore, according to the first aspect of the present invention, the position and the distance of another moving object are recognized based on the detected outside world information, and the action of the moving object is determined based on the recognized content and a predetermined action rule. By determining the direction that satisfies the rule as its own moving direction and moving the device itself, it is possible to perform unpredictable and complex actions in the interrelation with other moving objects, A mobile robot device that does not get tired can be provided.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is a block diagram showing the overall configuration of the mobile robot device according to this embodiment. This mobile robot device is an animal-type robot device (pet robot device) that walks and moves autonomously based on the surrounding environment, and constantly recognizes the positional relationship between the main body of the device and other moving objects around it. The moving direction of the apparatus body is determined based on the recognition result and a preset action rule, thereby enabling complicated autonomous movement. In addition, the other moving objects include not only animal-type robot devices having the same configuration but also humans and the like. You can enjoy various actions.

In this case, the plurality of animal robot devices are
A moving object (human or animal) other than an animal-type robot device is classified as belonging to another group, such as a group A, a group B, and the like. Also, each animal-type robot device has
As will be described in detail later, there are two types of operation modes, a “group play mode” and a “follow-up mode”, which can be arbitrarily switched. Here, the “group play mode” is an operation mode in which an autonomous movement is performed while deciding a movement direction in which the self moves in accordance with which group the other moving objects existing around the self belong to. It also enables group behavior. The “follow-up mode” is an operation mode in which a predetermined moving body is specified from among the moving bodies existing around itself, and moves following the moving body. It is also possible to track as.

The CPU 1 is a central processing unit that controls the overall operation of the animal type robot in accordance with the operating system and various application software in the storage unit 2. The storage unit 2 stores an operating system, various application software, and the like, and has a recording medium including a magnetic, optical, semiconductor memory, and the like, and a drive system therefor. This recording medium may be a fixed medium such as a hard disk or a removable medium.
It is a portable medium such as a D-ROM, a floppy desk, a RAM card, and a magnetic card. The CPU 1 can also take in some or all of the data stored in the recording medium from another device and newly register or additionally register it in the recording medium.

On the other hand, the animal type robot has an object distance sensor 3, a movement drive unit 4, a signal transmission unit 5, and a signal reception unit 6.
Which are connected to the CPU 1 as input peripheral devices. The object distance sensor 3 detects its surrounding environment, has a light emitting element or a light receiving element, and measures a distance or a position to an obstacle or another moving object based on reflected light after light irradiation. An optical sensor. The object distance sensor 3 is mounted to be rotatable 360 degrees with respect to the apparatus main body, searches the surrounding environment around the apparatus main body, and measures a distance and a position to an obstacle or another moving body. Thus, the CPU 1 creates a surrounding environment map based on the detection result, and recognizes the position and distance of another moving object existing in the environment map. The movement drive unit 4 includes a motor, a power supply, and a drive mechanism, and drives the four-legged joints and other movable parts of the animal robot device to walk and move the device body.

The signal transmitting unit 5 transmits and outputs information for identifying itself to other animal type robot devices as a unique signal, and transmits information for identifying the group to which it belongs to as a group identification signal. For example, a unique signal and a group identification signal are always transmitted and output by infrared communication. The signal receiving unit 6 receives the above-described unique signal and group identification signal transmitted from another animal-type robot device, and also receives various information transmitted from the communication operation unit 7. For example, it is constituted by an infrared communication device.
The communication operation unit 7 is a cordless remote controller, has a display unit and an input unit, and transmits input information to the animal robot device by, for example, infrared communication. In this case, the communication operation unit 7 selects and designates an arbitrary robot device from among the plurality of animal robot devices so that it can be remotely operated, and also transmits predetermined information to each animal robot device. It is settable.

The storage unit 2 stores an action rule table 2-1, an environment map 2-2, and a moving object table 2-3, and stores a group identification signal and a unique signal which are registered in advance. It is remembered. Action rule table 2
-1 stores an action rule arbitrarily set for each group in advance, and the setting is performed according to transmission information from the communication operation unit 7. In this case, the configuration of the action rule table 2-1 is different depending on whether the currently set operation mode is the “group play mode” or the “follow-up mode”. A), and in the “follow-up mode”, the configuration as shown in FIG. 9B.

That is, the action rule table 2-1 corresponding to the “group play mode” includes the groups “A”, “B”, “C”
, The “group identification signal”, “restricted range (radius m)”, and “coexistence number” are stored. In this case, the groups “A” and “B” indicate a group in which a plurality of animal-type robot devices are classified into the A group and the B group, and the group “C” indicates a person other than the robot device as the same group. If you do,
The “group identification signal” includes the groups “A”, “B”,
Identification information for identifying “C”, group “A”,
“Group identification signal” is set for “B”, but is not set for group “C”, and group “C” is identified by “no setting”.

Also, in this embodiment, the moving direction of the self is restricted by another moving body around the self, but the "restricted range" is set arbitrarily. The range of the predetermined surrounding distance is shown. The “number of coexistences” indicates the number of mobile units in each group that can coexist within the “limit range”. That is, in the setting example of FIG. 9A, the “restricted range” and the “coexistence number” set corresponding to the A group indicate that the robot apparatuses belonging to the A group are within a radius of 3 m around the self. The content defines what should coexist. In other words, if three robots of the group A do not coexist within a radius of 3 m, the behavior of searching for and chasing the robots of the group A is taken. The content defines an action rule that takes an action to escape until the “number” becomes “3”.

As shown in FIG. 9B, the action rule table 2-1 corresponding to the “follow-up mode” includes groups “A”,
The “group identification signal”, the “tracking flag”, the “separation distance”, and the “priority” are stored in correspondence with “B” and “C”. Here, the “tracking flag” specifies a tracking target group, and when its value is “1”,
When the tracking target group is “0”, it indicates that the group is not a tracking target group. The “separation distance” indicates a separation distance that is set in advance in order to cause tracking while maintaining a constant interval. In addition, the “priority” indicates which group has a higher priority when a plurality of tracking target groups exist, and the mobile unit belonging to the group is tracked.

The environment map 2-2 is a 360-degree environment map created based on the detection result of the object distance sensor 3. The moving object table 2-3 stores the distance, position, and the like detected by the object distance sensor 3 for each other moving object within the range of the environment map. here,
When the object distance sensor 3 confirms another moving object existing within the range of the environment map, the object distance sensor 3 detects the position and the distance,
1 recognizes this detection result and determines the position of each moving object,
The distance is written to the moving object table 2-3. As shown in FIGS. 6 and 8A, the moving object table 2-3 stores “serial number”, “group identification signal”, “coordinate”, “distance”, and “unique signal” for each moving object. Configuration. The “serial number” is a serial number that is updated each time a moving object existing within the range of the environmental map is detected, and the “group identification signal”
Is the identification signal sent from the moving object,
The position coordinates (XY coordinate values) of the moving object with its origin as its origin, the “distance” is the distance to the moving object with its own center, and the “unique signal” is the unique signal transmitted from the moving object. is there.

Next, the operation of the animal type robot apparatus according to this embodiment will be described with reference to the flow charts shown in FIG. 2 and FIGS. Here, the programs for realizing the functions described in these flowcharts are stored in the storage unit 2 in the form of readable program codes, and the CPU 1 sequentially executes the operations according to the program codes. I do. 2 and 3
Is a flowchart showing the overall operation of the animal-type robot device, and is started to be executed when the power is turned on. First,
The object distance sensor 3 is driven to search for an environment around 360 degrees (step A1). In this case, as shown in FIG. 5, a surrounding environment having a radius of 6 m around the self is measured. In the figure, the hatched rectangular portion existing in the center indicates the animal-type robot device (the robot of interest to be moved), and the outer circle indicates the measurement environment range with a radius of 6 m. Further, the circle drawn by the inner broken line indicates the “restricted range” set in the above-described action rule table 2-1. Indicates an obstacle or the like. And
The CPU 1 creates an environment map describing the walls and obstacles of the room based on the measurement results of the surrounding environment, stores the created environment map in the storage unit 2 (step A2), and stores the current position of the CPU 1 in the plane coordinate system. In order to set the position as the origin, the position change amount is initialized as (0, 0) (step A3).

In this state, the object distance sensor 3 is driven again to search for another moving object existing in the surrounding environment having a radius of 6 m (step A4), and to check whether the moving object has been detected (step A5). The search operation is continued until the existence of the moving object is confirmed. In this case, the confirmation of the moving object is performed by recognizing the entire outer shape. If you see a moving object in the surrounding environment by this,
The current position and distance of each mobile unit are detected (step A6), and the group identification signal and the individual signal transmitted by the mobile unit are received (step A7). Then, the position and distance of each moving object are recognized, and a group identification signal,
The data is written into the mobile unit table 2-3 together with the individual signal (step A8).

Then, it is determined whether the currently set operation mode is the "group play mode" or the "follow-up mode" (step A9), and the operation is performed with reference to the contents of the action rule table 2-1. Control processing according to the mode is performed. Here, the designation of the operation mode and the setting for the action rule table 2-1 are performed by remote operation by the communication operation unit 7. FIG. 4 is a flowchart showing the operation of the animal-type robot device in response to the remote operation by the communication operation unit 7, and shows an interrupt process started when a transmission request is received from the input unit of the communication operation unit 7. ing.
First, a process of setting the contents of the action rule table 2-1 for each group is performed for each of the "group play mode" and the "follow-up mode" (step B1). In this case, FIG.
As shown in (B), since the configuration of the action rule table 2-1 is different for each of the "group play mode" and the "follow-up mode", necessary items are set according to the mode. When the type of the operation mode is selected and designated, the selected mode is stored and held in a temporary work memory (not shown) in the storage unit 2 (step B2).

Now, the "group play mode" is selected and designated,
It is assumed that necessary items corresponding thereto are set in the action rule table 2-1. In this case, step A10 in FIG.
And the contents of the moving object table 2-3 and the "group play mode"
With reference to the corresponding action rule table 2-1, it is determined whether all the action rule conditions corresponding to each group are satisfied. FIG. 5 is a diagram illustrating a positional relationship with another moving body in a state where the game mode is set to the “group play mode”. Here, the robot devices a1, a2, and a3 are A
Belongs to group, b1 belongs to group B, and human c1
Belong to group C.

FIG. 6 shows the contents of the moving object table 2-2 measured for each moving object by the object distance sensor 3 in the surrounding environment of FIG. 5, and the position and distance of each moving object are counterclockwise. This is the case where the measurement is performed, and the robot devices b1, a
The search is performed in the order of 1, b2, a2,. Note that "001" of the "group identification signal" is the A group, "00"
“2” indicates a group B, and “none” indicates a group C. In this state, the contents of the action rule table 2-1 corresponding to “group play mode” are set as shown in FIG. It is assumed that the robot devices a1, a2, a3, and b1 exist within a "limit range" having a radius of 3 m. In this action rule table 2-1, “3” is set as “the number of coexistences” corresponding to the A group.
Since “0” is set for the B group and “1” is set for the C group, the “number of coexistences” corresponding to the A group satisfies the conditions.
For the “coexistence number” corresponding to the group, the condition is not satisfied.

Here, if it is determined that all the action rules are satisfied, the process directly returns to step A4 to search for the surrounding moving objects. When the condition is not satisfied, the process proceeds to the next step A11, and a direction / position satisfying the action rule condition corresponding to each group is selected as a movement candidate.
In this case, the direction is away from the robot device b1,
A direction approaching the human c1 without leaving the robot devices a1, a2, and a3 is selected as a movement candidate. Although the thick arrow in FIG. 5 indicates the moving direction of the selection candidate, the selection of the candidate is not limited to one, and a plurality of candidates may be selected at one time. Then, among the selected candidates, narrow down to candidates without obstacles on the environmental map,
It is determined as a first candidate (step A12), and is moved by a predetermined amount in the position and direction of the first candidate (step A12).
13).

As a result, when the own robot apparatus starts to move autonomously, the amount of change that changes with the movement is updated successively, and the amount of change exceeds a predetermined amount, for example, half of the “restricted range”. In this case, it is determined whether the radius exceeds 1.5 m (step A14). Here, when it is determined that the change amount exceeds the predetermined amount, the process returns to step A1 to re-create the environmental map. After correcting the current position by the amount of change (step A15), the process returns to the process of searching for surrounding moving objects (step A4). Less than,
By repeating the above-described operation, the contents of the moving object table 2-3 at the present time and the contents of the action rule table 2-1 corresponding to the "group play mode" are referred to, and the action rule conditions corresponding to each group are followed. Movement is performed. In this case, the robot device b1 is out of the “limit range”, and the robot devices a1, a2, a3 and the human c1 are in the “limit range”.
It will keep moving until it is inside.

Since any action rule condition is set in the action rule table 2-1 for each of the other robot apparatuses, depending on the set contents, each robot apparatus may be connected to another moving object. Depending on the positional relationship, complex actions can be taken. For example, assuming that the target robot device of interest in FIG. 5 is b3 belonging to group B, the behavior rule table 2- of the robot devices a1, a2, and a3
It is assumed that “0” is set to 1 as the “coexistence number” corresponding to the B group. In this case, the robot device a1,
a2 and a3 are calculated each time the robot device b1 approaches.
The robot moves so as to escape from the robot device b1. That is, an operation in which the robot devices a1, a2, and a3 guide the robot device b1 becomes possible. Conversely, an operation in which the robot device b1 guides each robot device of the A group can be performed. In addition, if action rules associated with two or more groups are set, more complex actions are possible, such as actions in which each robot device forms a group or plays freely away from the group. Depending on how the group-based action rules are set for each robot device, unpredictable and complex actions are also possible.

On the other hand, if the "follow mode" is selected and designated,
It is assumed that necessary items corresponding thereto are set in the action rule table 2-1. In this case, step A16 in FIG.
And the contents of the moving object table 2-3 and the “follow mode”
With reference to the contents of the corresponding action rule table 2-1,
It is checked whether or not the moving object of the group in which the “tracking flag” is set exists around. FIG. 7 is a diagram schematically illustrating a positional relationship with another moving body in the state of the “follow-up mode”. Here, it is assumed that the robot devices a1 and a2 belong to the A group, b1 belongs to the B group, and the human c1 belongs to the C group. FIG. 8A shows the contents of the moving object table 2-3 measured for each moving object by the object distance sensor 3 in the surrounding environment of FIG. Is measured
The search is performed in the order of the robot devices a1, a2,. In this case, the action rule table 2-
It is assumed that the content shown in FIG. 9B is set in 1.

In this state, the "tracking flag" is set in the action rule table 2-1 corresponding to the "follow-up mode" so as to correspond to the A group and the C group. Moving bodies a1, a
Since 2, c1 exists, it is determined in step A17 that there is a match. Then, the process proceeds to step A18, and the group is specified according to the “priority” set in the action rule table 2-1 among the plurality of corresponding groups. In this case, the priority is A> C as shown in FIG.
Is set, the group A is specified. Then, it is determined whether there are a plurality of moving objects in the specific group around (step A19). In this case, since the moving objects a1 and a2 are present, the moving object closest to the self from among them ( a2) is specified as a tracking target (step A20). In other words, it determines its own moving direction.

The moving object specified in this way is registered and held in the temporary work memory in the storage unit 2 as a tracking target (step A21). FIG. 8B shows the registered content of the tracking target, in which the “unique signal” and the current “distance” are registered. Then, the “separation distance” set in the action rule table 2-1 corresponding to the group to which the tracking target belongs is called, and the distance between itself and the tracking target is obtained. It is checked whether the distance is equal to or more than the "separation distance" (step A22). If the distance is equal to or more than the "separation distance", the moving body is moved toward the tracking target by a predetermined amount (step A23). The thick arrow in FIG. 7 indicates the moving direction. Next, after measuring the distance to the moving object to be tracked in step A24, the process returns to step A22, and the following movement is repeated.

Since any action rule condition is set in the action rule table 2-1 for each of the other robot devices, depending on the set contents, each of the robot devices may be connected to another mobile object. Depending on the positional relationship, complex actions can be taken. For example, robot devices a1, a2,
It is also possible to follow b1 in a single-column file systematically while maintaining a predetermined interval, or to make it follow in a two-column column device. In this case, if the first robot device is remotely operated by the communication operation unit 7, it can be moved to a desired position in the column state.

As described above, in this embodiment,
The positional relationship with other moving objects is stored in advance as own action rules, and the direction that satisfies the action rules is determined based on the position / distance and the action rules with other moving objects existing in the vicinity. Since it is determined as a direction and made to move autonomously in that direction, complex autonomous movement becomes possible in the interrelationship with other robotic devices and humans, etc., and unpredictable behaviors and behaviors rich in changes become possible. It is possible to provide an autonomous mobile robot device that does not get tired.

In addition, since the number of coexistences that can coexist with other moving objects is defined as an action rule within a predetermined distance around the self, the vehicle approaches another moving object in a direction satisfying the coexistence number. If a moving object having a coexistence number of “0” or more than the coexistence number exists in the range, the moving body moves in a direction to escape therefrom, and complicated movement is possible with a simple setting of the coexistence number. In addition, since multiple moving objects are classified into groups and action rules are set corresponding to the groups, complex group actions are possible, and groups are grouped as a unit rather than individually setting action rules. Settings can be made, and the settings can be made easily.

Further, a "group play mode" and a "follow-up mode" can be arbitrarily designated. In the "group play mode", the group to which the other moving objects existing around the user belong is determined. By autonomously moving while deciding the direction of travel according to the self, for example, it is also possible to perform complex group actions, and in the "follow mode", a predetermined group is selected from among the moving objects existing around the self. By specifying the moving object and moving it following the moving object, for example, it is also possible to cause a plurality of robot devices to be tracked in order in a single column. In this case, in the “follow-up mode”, it is possible to perform the tracking movement while maintaining the tracking separation distance from the moving object to be tracked. In addition, since action rules can be set arbitrarily for "group play mode" and "follow mode",
Depending on the setting contents, it is possible to cause the user to take a desired action or a complicated action that cannot be expected.

In the above-described embodiment, the action rules are set in the animal-type robot apparatus by remote control by the communication operation unit 7. However, the setting may be performed using a computer. Of course, an input unit may be provided in the robot device, and an action rule may be set from the input unit. In addition, as a rule of action,
Is set, but for example, "exclusive relationship" or "family relationship" may be set, and the content is arbitrary.
Depending on what kind of action rule is set, more complicated operation control becomes possible. In addition, as a means to measure the surrounding environment and the position and distance of other moving objects,
It may be a digital camera or the like. Further, signal transmitters for position confirmation are installed at the four corners in the room, and the current position is specified by receiving a position confirmation signal from the transmitter, and the current position of the robot is determined with respect to other robot devices. Is transmitted, the position and the distance can be confirmed based on the position information transmitted from another robot device while confirming the current position of the robot. Further, the robot is not limited to an animal robot or a pet robot, and may be an amusement robot such as an automobile robot or a humanoid robot. Is also good.

[0032]

According to the present invention, the position and the distance of another moving object are recognized based on the detected outside world information, and the action is performed based on the recognized contents and a predetermined action rule. Since the device body is moved by determining the direction that satisfies the rule as its own moving direction, unpredictable and complex actions are possible in the interaction with other moving objects, and there are many changes It is possible to provide a mobile robot device that does not get tired by movement.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an overall configuration of an animal-type robot.

FIG. 2 is a flowchart illustrating an overall operation of the animal-type robot device that is started to be executed when the power is turned on.

FIG. 3 is a flowchart showing the overall operation of the animal-type robot device continued from FIG. 2;

FIG. 4 is a flowchart showing an operation of the animal-type robot apparatus in response to a remote operation by the communication operation unit 7;

FIG. 5 is a diagram schematically illustrating a positional relationship with another moving body in a state where the game mode is set to a “group play mode”.

6 is a diagram showing the contents of a moving object table 2-2 measured for each moving object by the object distance sensor 3 in the surrounding environment of FIG.

FIG. 7 is a diagram schematically illustrating a positional relationship with another moving body in a “follow-up mode” state.

8A is a diagram showing the contents of a moving object table 2-3 measured for each moving object by the object distance sensor 3 in the surrounding environment of FIG. 7, and FIG. The figure which showed the registration content at the time.

9A is a diagram illustrating a configuration of an action rule table 2-1 corresponding to “group play mode”, and FIG. 9B is a diagram illustrating a configuration of an action rule table 2-1 corresponding to “follow mode”. Figure.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 CPU 2 Storage part 3 Object distance sensor 4 Movement drive part 5 Signal transmission part 6 Signal reception part 7 Communication operation part 2-1 Action rule table 2-2 Environmental map 2-3 Moving body table

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Akira Hamada 3-2-1 Sakaemachi, Hamura-shi, Tokyo Casio Computer Co., Ltd. Hamura Technical Center F-term (reference) 2C150 BA06 CA01 CA02 DA05 DA24 DA26 DA27 DA28 ED42 ED52 EF03 EF07 EF13 EF16 EF23 EF29 EF33 EF36 3F059 AA00 BB06 CA05 DA05 DC08 DD11 FB12 FC01 3F060 AA00 BA10 CA14 5H301 AA02 AA10 BB14 BB15 CC03 CC06 DD01 DD06 DD08 DD16 FF10 FF11 FF13 GG11 LL19 GG11 LL19

Claims (9)

[Claims] 1. A mobile robot device that autonomously moves based on a surrounding environment, comprising: action rule storage means for storing a positional relationship between the device body and another moving body as its own action rule; An external world information detecting means for searching an environment to detect external world information; a moving body recognizing means for recognizing a position and a distance of another mobile body based on the external world information detected by the external world information detecting means; Moving direction determining means for determining, as a moving direction of the apparatus body, a direction satisfying the action rule based on the content of recognition by the moving body recognizing means and the action rule; and moving the apparatus body in the direction determined by the moving direction determining means. A mobile robot device comprising: an operation control means for moving. 2. The movement rule is a requirement condition indicating a coexistence number that can coexist with another moving body within a predetermined distance around the apparatus main body. 2. The mobile robot device according to claim 1, wherein a direction that satisfies is satisfied is determined as a moving direction of the device main body. 3. The request condition is a request condition corresponding to each group when a plurality of moving objects are divided into a plurality of groups. The moving direction determining means is recognized by the moving object recognizing means. The mobile robot device according to claim 2, wherein the moving direction is determined according to a group to which the other moving object belongs. 4. The mobile robot apparatus according to claim 3, wherein the attribute identification of the group of each mobile unit is performed based on an identification signal output from the mobile unit. 5. The action rule is a tracking condition for another moving body, and the moving direction determining means determines a direction satisfying the required condition as a moving direction of the apparatus main body and determines a moving amount thereof. The mobile robot device according to claim 1, wherein 6. The tracking condition includes a tracking separation distance when approaching a moving object to be tracked, and the operation control means determines that the tracking target is moved by moving the apparatus body in the determination direction. After approaching the moving object
6. The mobile robot device according to claim 5, wherein the mobile robot device performs tracking movement while maintaining the tracking separation distance. 7. The pre-tracking condition includes a target condition of a moving object to be tracked, and the tracking movement is performed in accordance with a moving object that meets the target condition among other moving objects. The mobile robot device according to claim 6, wherein 8. The mobile robot device according to claim 1, further comprising setting means for arbitrarily setting said action rule. 9. A recording medium having a program code readable by a computer, wherein the computer is readable by a computer for recognizing the position of another moving object and its distance based on external world information searched for the surrounding environment of the apparatus main body. A computer-readable program that determines a direction satisfying the behavior rule as a movement direction of the device body based on a simple program code, the recognition content, and a behavior rule indicating a positional relationship between the device body and another moving body. A recording medium having a code and a computer-readable program code for moving the apparatus body in the determined direction.