JP2002041144A - Mobile working robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that it is impossible to instantaneously give instructions, or to flexibly change a working area since it is necessary to perform complicated operations to program the working area at the time of guiding a mobile working robot. SOLUTION: The working area of a mobile working robot and the position of the main body 1 are simultaneously captured by a picture receiving means 8 by using a remote control device 3 using light emission so that a main body part 1 can be guided. Thus, it is possible to give instructions in a real time.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile work robot such as a self-propelled cleaner or an automatic guided vehicle having a traveling function and performing work while moving.

[0002]

2. Description of the Related Art Hitherto, various mobile work robots have been developed in which a work drive is added to a work equipment, a sensor, and a run control means to automatically perform work. For example, a self-propelled cleaner has a suction nozzle or a brush at the bottom of the main body as a cleaning function, a driving and steering means as a moving function, and an obstacle detecting means for detecting an obstacle during traveling,
Position recognition means for recognizing the position, while moving along the peripheral wall of the cleaning place by the obstacle detection means, recognizing the cleaning area by the position recognition means, and moving within the cleaning area to move the entire cleaning area. Is to clean.

[0003]

However, in such a conventional mobile work robot, relative position recognition is performed using an internal field sensor such as a gyro sensor or a travel distance sensor for the position recognition means, so that the actual operation of the robot is actually performed. It was necessary to run and program, or to program the travel distance and time systematically to store certain operations. For this reason, the flexibility of the operation is poor, and it is difficult to use it for the purpose of frequently changing the working position.

Therefore, according to the present invention, a free instruction can be issued and recognized each time even in a wide moving work area.
The purpose is to provide a reliable and practical mobile work robot.

[0005]

According to the present invention, in order to solve the above-mentioned problems, the main body is controlled by capturing light emitted from a remote controller using image input means for detecting the position of the main body. It is assumed that.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention according to claim 1 comprises a main body section which moves and performs work, a remote control section which is operated by an operator, and a monitoring section which monitors a moving area by an optical means such as a camera. The main body includes a driving unit and a steering unit that move the main unit, a driving control unit that controls the driving unit and the steering unit to control the traveling of the main unit, and a monitoring unit that controls a moving area of the main body. Image input means for inputting an image, position recognition means for recognizing the position of the main body from the image input by the image input means, and information signals obtained from the position recognition means to travel control means of the main body. Signal transmitting means for transmitting, the remote control unit has an instruction unit, a light emitting unit for emitting visible or invisible light, and a signal control unit for blinking the light emitting unit by operation of the instruction unit. By luminescence Te captures the light emission by the image input means, autonomous, or by performing induced remote instruction, in which it becomes possible to always work to move immediately according to the instructions of the remote control unit.

According to a second aspect of the present invention, the location where the light is emitted is captured by the image input means and recognized by the light emission of the light emitting means of the remote control unit, and guidance is provided to the location by autonomous or remote instruction. In addition, there is no need to input a position in order to capture a place where the remote controller emits light, and guidance can be performed by a simple operation.

According to a third aspect of the present invention, the location where the light is emitted is captured and recognized by the image input means by the emission of the light emitting means of the remote control unit, and the location is guided by the autonomous or remote instruction. The operation is performed within a predetermined range with the point being substantially at the center, and the predetermined operation can be performed as well as the position being recognized and guided by the light emission of the remote control unit.

According to a fourth aspect of the present invention, the light emitting means of the remote control unit emits light in a predetermined pattern corresponding to the operation instructed by the instruction unit, and recognizes the position and the operation corresponding to the predetermined pattern. By autonomously or remotely instructing to the point where the light emitting operation was performed or in the vicinity thereof, and performing the work within a predetermined range around the point,
Since the instruction can be selected by the instruction unit of the remote control unit, the position and the content of the work operation can be transmitted by one operation of the remote control unit, so that the work variation is further increased and the usability is improved.

According to a fifth aspect of the present invention, a predetermined main body is selected by operating an instruction section of a remote controller, and a predetermined pattern corresponding to the main body selected by operating the instruction section is emitted. This system guides autonomous or remote control of the main unit according to the pattern. Even if multiple units are operating, it can control without interference and control multiple units with one remote control unit. Is possible.

According to a sixth aspect of the present invention, a monitoring unit is provided outside the main unit, the position of the remote control unit where visible or invisible light is emitted is detected and recognized, and guidance is provided by autonomous or remote instructions. Since the monitoring unit is placed outside the main body, the position can be recognized more freely, and additionally, the position can be recognized at an absolute position.

According to a seventh aspect of the present invention, the monitoring unit detects the position where the visible or invisible light of the remote control unit emits light, and a storage device for storing the position is provided in the monitoring unit or the main unit. By using the terminal to perform guidance by autonomous or remote instructions, the position where light is emitted by one operation of the remote controller is stored, and guidance is performed, so that the operability is further increased.

According to the invention described in claim 8, a light emitting point is recognized from an image input by a plurality of cameras mounted on a main body part in a previously stored area, stored in a storage device, and the position is used by using the position. It moves by recognizing directions and distances based on the parallax of multiple cameras by performing guidance by autonomous or remote instructions, so that there is no need to install a monitoring unit outside and it can be used without construction etc. It is.

According to a ninth aspect of the present invention, in the remote control section, a luminous body having a wide-angle luminous characteristic or a luminous body which can move in multiple directions is used as a light source of the luminous means. The remote control unit can be supplemented no matter which direction the image input unit captures from the remote control unit. Therefore, the directivity at the time of operating the remote control unit is lost, and the remote control unit can be used more freely.

According to a tenth aspect of the present invention, the main body is provided with a main body light-emitting portion which blinks in a predetermined pattern, and has a different pattern from the blinking pattern of the light-emitting means mounted on the remote controller. The position of the unit is identified, and the position of the main body and the remote control unit can be recognized with the same image input means.

According to an eleventh aspect of the present invention, the main body is provided with a main body light-emitting portion which blinks at a predetermined wavelength, and the wavelength of the light is different from the wavelength of the light-emitting means mounted on the remote controller. The respective wavelengths are used to identify the respective positions. The same image input means enables the position of the main body and the remote controller to be recognized at the same time, so that the speed of the guidance control can be increased.

[0017]

Embodiments of the present invention will be described below with reference to the drawings.

(Embodiment 1) FIG. 1 is a perspective view of Embodiment 1 of the present invention. Here, it comprises a main body 1 that moves and performs work, a monitor 2 that monitors an area, and a remote controller 3 that is operated by a work instructor.

FIG. 2 is an oblique perspective view of the main body 1. The main body 1 has a drive steering means 4 for driving and steering the main body 1 and a traveling control means 5 for controlling the drive steering means 4. Built-in. Reference numeral 6 denotes a rechargeable battery that supplies power to the drive steering means 4 and the like. Reference numeral 7 denotes a main body communication unit that communicates with the monitoring unit 2.

FIG. 3 is a block diagram of the monitoring unit 2. The monitoring unit 2 monitors the moving area of the main unit 1. The monitoring unit 2 includes an image input unit 8 for monitoring an area, an image processing unit 9 for storing and processing an image, and a monitoring unit communication unit 10 for communicating with the main unit 1. FIG. 4 is an external view of the remote controller 3. The remote controller 3 includes an operation switch 11 operated by a work instructor and a light emitting unit 12 that emits visible or invisible light in conjunction with the operation switch 11.

Next, the operation of the above configuration will be described. When the main unit 1 is started, the monitoring unit 2 captures the position of the main unit 1 with the image input unit 8. The position information is transmitted to the image processing unit 9, transmitted to the main unit 1 via the main unit communication unit 7 via the monitoring unit communication unit 10, and transmitted to the travel control unit 5.

Here, the operation switch 11 of the remote controller 3
Is operated, the light emitting means 12 blinks in a predetermined manner, is captured by the image input means 8 of the monitoring section 2, transmitted to the image processing section 9 in the same manner as the position information of the main body section 1, and transmitted to the monitoring section communication section. 10 to the main unit 1 through the main unit communication unit 7,
It is transmitted to the traveling control means 5. Thus, the position information of the remote controller can be recognized by the main body.

As described above, according to the present invention, the position information can be easily transmitted to the main body by the remote controller, and the user can easily specify the position.

(Embodiment 2) FIG. 5 shows Embodiment 2 of the present invention.
It is a flowchart which shows a process. The configurations of the main body unit 1, the monitoring unit 2, and the remote control unit 3 are the same as in the first embodiment.

When the main unit 1 is started, the monitoring unit 2 captures the position of the main unit 1 by the image input unit 8 (S0001). The position information is transmitted to the image processing unit 9 (S000
2). Then, it is transmitted to the main unit 1 via the main unit communication unit 6 via the monitoring unit communication unit 10 (S0003). Thereafter, the position information is transmitted to the travel control means 5 (S00
04). Further, when the operation switch 11 of the remote controller 3 is operated, the light emitting means 12 performs predetermined blinking (S000).
5). The predetermined blinking of the light emitting unit 12 is captured by the image input unit 8 of the monitoring unit 2 (S0006). Thereafter, the position information is transmitted to the image processing unit 9 in the same manner as the position information of the main unit 1 (S0007), and transmitted to the main unit 1 from the monitoring unit communication unit 10 through the main unit communication unit 7 (S00).
08). The traveling control means 5 detects the difference between the position of the main unit 1 and the position of the remote control unit 3 based on the received positional information of the main unit and the information on the light emitting position of the remote control unit 3 (S0009), and calculates the direction and distance of the difference. Then, in order to move the main body 1 in a direction to cancel the difference (S0010), the drive steering means 4 is controlled (S0011), and the main body 1 is moved (S0).
012).

As described above, the guidance by light emission is performed by using only the monitoring unit 2 for guiding the main body 1 and by the same operation as that for identifying the position of the main body. It can also detect, calculate, and easily transmit position information such as direction and distance.

(Embodiment 3) FIG. 6 is an operation explanatory view showing an operation example of the main body 1 according to a third embodiment of the present invention. In the following description, the configurations of the main unit 1, the monitoring unit 2, and the remote control unit 3 are the same as in the first embodiment.

The main unit 1 emits light from the remote controller 3
The position is recognized, and the light emission instruction position (C00
01), and the light emission designated position (C000)
The operation is performed by moving a predetermined range (C0002) around 1), and in the case of cleaning or the like, cleaning or the like can be automatically performed at the center of the designated position (C0001) on the remote controller 3. It can be used for cleaning dirty places each time.

FIG. 7 is an external view of a remote controller 3a used in the main unit 1 and the monitoring unit 2 and used at the same time. The remote controller 3a is provided with an operation switch 11a including a plurality of push button switches and a light emitting unit 12a.

(Embodiment 4) FIG. 8 shows a light emission pattern (P00
01, P0002, and P0003) are diagrams showing examples, and are associated with the respective switches of the operation switch 11a. FIG. 9 is an operation explanatory diagram showing an operation example of the main body 1.

The operation switch 11 of the remote controller 3a
When any of a is operated, the light emitting means 12a emits light in accordance with the light emission pattern (P0001) corresponding to the operation switch 11a. Thereafter, as in the third embodiment, a predetermined range (C000) is centered on the light emission designated position (C0001).
3) is moved and work is performed. Similarly, the other operation switch 11a and the light emission pattern (P000
2, P0003) and a predetermined range (C0004, C000)
5) are associated with each other, and work in a different range can be performed for each.

As described above, a work range corresponding to each of the operation switches 11a of the remote controller 3a can be designated, and a plurality of work patterns can be identified and designated, so that work flexibility is further improved. Things.

Further, by associating the same light emission pattern with each of a plurality of main bodies, the main bodies can be identified, and instructions can be given to a large number of main bodies at the same time, so that usability is further improved. In the present invention, a plurality of main bodies are assumed, but the effectiveness of the present invention is not impaired even if each main body has a functionally different performance.

The light emission pattern described here is one example, and does not particularly limit the gist of the present invention. Similarly, the number of operation switches and the number of patterns may be any number, and the gist of the present invention is not impaired even if the identification of the work pattern and the identification of the main body are used in combination.

(Embodiment 5) FIG. 10 is an oblique perspective view of a main body 21 according to a fifth embodiment of the present invention. The main body 21 is provided with a drive steering means 2 for driving and steering the main body 21.
2 and a travel control means 23 for controlling the drive steering means 22 and controlling the travel of the main body 21. Reference numeral 24 denotes a rechargeable battery for supplying power to the drive steering means 22 and the like. Also,
Reference numeral 25 denotes a main body communication unit that communicates with the monitoring unit 2. The monitoring section 2 monitors the moving area of the main body 21. The position information of the main unit 21 and the position information of the remote control unit 3 captured by the image input unit 8 of the monitoring unit 2 are transmitted to the main unit communication unit 25 via the monitoring unit communication unit 10. Reference numeral 26 denotes a storage device for storing the light emitting position of the remote controller 3.

Next, the operation will be described. FIG. 11 is a perspective view of a work area showing an operation example of the fifth embodiment of the present invention. C0006 is a monitoring area captured by the image input means 8 of the monitoring unit 2. When the operation positions of the main unit 21 and the remote control unit 3 are present therein, the position of the main unit 1 is always captured.
Now, when the remote controller 3 is operated and emits light, the light emission point is also captured by the image input means 8, and the position information of the main body 21 and the position information of the remote controller 3 are transmitted via the monitor communication section 10 to the main body communication section 25. Subsequently, the position information of the remote control unit 3 is transmitted from the main body communication unit 25 to the storage device 26.
Sent to and retained. The position information of the remote controller 3 is stored in the storage device 26 as it is. Subsequently, the position information of the remote controller 3 and the position information of the main body 21 which is constantly captured are transmitted to the drive steering means 24, and the main body 21 is controlled and guided by the running control means 25 for controlling the running. .

Here, once the remote controller is operated, the position of the remote controller 3 is stored and held and continued until the main body reaches that position or the work near that position ends.

As described above, according to the present invention, the position of the remote controller 3 is stored by one operation of the remote controller 3,
Since it is held and continued until the main body reaches that position or the work near the position is completed, automation after one operation is possible.

At this time, since the monitoring unit 2 is separated from the main unit 21 and placed separately, the coordinates of the area of the monitoring unit 2 are always fixed. There is no need to re-recognize the coordinates to handle the position information, and the position can be immediately recognized and compared.

(Embodiment 6) FIG. 12 shows the main body 3 of Embodiment 6.
1 is a transparent perspective view of FIG. The main body 31 incorporates drive steering means 32 for driving and steering the main body 31 and travel control means 33 for controlling the drive steering means 32 and controlling the travel of the main body 31. Reference numeral 34 denotes a rechargeable battery for supplying power to the battery. Reference numerals 35 and 36 denote image input means provided above the main body 31.

FIG. 13 is a block diagram showing a data flow according to the sixth embodiment of the present invention. The signals from the image input means 35 and 36 are subjected to arithmetic processing in an image comparison processing device 37,
The distance and the direction are calculated from the shift information of the two image data. Thereafter, the information is sent to the map recognizing device 38, and the travel control means 33 controls the drive steering means 32 and the like according to the travel direction and the distance from the current position of the main body 31.

Now, the operation of the above configuration will be described. The main body unit 31 recognizes its own position with respect to the map stored in the map recognition device 38 in advance. Then, when the remote controller 3 emits light in the monitoring area,
The image input means 35 and 36 capture light emission, and the image input means 3
The video signals from 5 and 36 are subjected to a comparison operation in an image comparison processing device 37, and from the displacement information of the two image data,
The distance and the direction with respect to the main body 31 are calculated. Thereafter, the information is sent to the map recognizing device 38, and from the current position of the main body 31, the travel control means 33 is operated in accordance with the travel direction and the distance.
Is for controlling and moving the drive steering means 32 and the like.

In this case, the position where the remote controller 3 emits light is captured by image input means mounted on the main body 31, and the position is calculated on a previously stored map. Instead, it can be simply configured.
Although the description has been made with reference to two image input means in this description, even if the number increases, it does not depart from the spirit of the invention.

(Embodiment 7) Hereinafter, Embodiment 7 of the present invention will be described. FIG. 14 is a side view of a remote controller 41 according to the seventh embodiment of the present invention.

The remote controller 41 comprises an operation switch 42 operated by a work instructor and a light emitting means 43 for emitting visible or invisible light in conjunction with the operation switch 42.
Here, 43A is a light distribution range of the light emitting means 43.

The light emission of the light emitting means 43 is monitored by the monitoring unit 3.
The main unit 1 is controlled by capturing the image with the image input means 8. If the standard ceiling height of a general home is 2 m, and the light distribution range is 90 °, the monitor unit 3 is limited to a maximum of 2 m. Of the image input means 8 does not exist. Therefore, the light emitting means 43 having a wider angle light distribution characteristic is required, and by setting the angle to be wider than 90 °, the use range is widened.

Embodiment 8 Hereinafter, an eighth embodiment of the present invention will be described. FIG. 15 shows a main body 51 according to the eighth embodiment of the present invention.
It is an external appearance perspective view of. Reference numeral 52 denotes a light emitting unit provided on the upper part of the main body 51, which blinks repeatedly in a predetermined pattern.

FIG. 16 is a diagram showing a light emission pattern.
Now, P0006 is a light emitting pattern of the light emitting means 12 which emits visible or invisible light when the operation instructor operates the operation switch 11 on the remote controller 3. Also, P00
07 is a light emitting pattern of the light emitting unit 52 described above,
By making the two patterns different from each other as shown here, the main body 51 and the remote controller 3 can be reliably identified, and more reliable guidance can be achieved.

(Embodiment 9) A description will be given of a body configuration similar to that of the previous embodiment 8. FIG. 17 is a block diagram of the monitoring unit 61 according to the ninth embodiment of the present invention.

In the monitoring section 61, the image signals captured by the image input means 62 are converted into signal separation filters 63 and 6 respectively.
4, sequentially converted into position information by the image processing unit 65, and transmitted to the main unit 5 via the monitoring unit communication unit 66.
Sent to 1. By setting the wavelength of light emitted from the light emitting section 52 of the main body section 51 and the wavelength of light emitted by the light emitting section 12 of the remote control section 3 to be different from each other, the monitoring section 61 is separated from each other, and the position information is Thus, the main body 51 and the remote controller 3 can be reliably identified, and more reliable guidance can be provided.

[0051]

According to the first aspect of the present invention, there is provided a main body for moving and working, a remote controller operated by an operator, and a monitor for monitoring a moving area by an optical means such as a camera. A driving unit and a steering unit for moving the main unit, a driving control unit for controlling the driving unit and the steering unit to control the driving of the main unit, and an image of a moving area of the main unit for the monitoring unit. Image input means for input, position recognition means for recognizing the position of the main body from the image input by the image input means, and information signals obtained from the position recognition means are transmitted to travel control means of the main body. Having a signal transmission means, the remote control unit is operated by an instruction unit and a light emitting unit that emits visible or invisible light and an operation of the instruction unit,
It has signal control means for blinking the light emitting means, and by the light emission of the light emitting means, the light emission is caught by the image input means and guided by autonomous or remote instruction, always immediately according to the instruction on the remote control unit, immediately It is possible to move and work.

According to a second aspect of the present invention, the location where the light is emitted is captured and recognized by the image input means by the light emission of the light emitting means of the remote control unit, and guidance is provided to the location by autonomous or remote instruction. In addition, there is no need to input a position in order to capture a place where the remote controller emits light, and guidance can be performed by a simple operation.

According to the third aspect of the present invention, the location where the light is emitted is captured by the image input means and recognized by the light emission of the light emitting means of the remote control unit, and the location is guided by the autonomous or remote instruction. The operation is performed within a predetermined range with the point being substantially at the center, and the predetermined operation can be performed as well as the position being recognized and guided by the light emission of the remote control unit.

According to a fourth aspect of the present invention, the light emitting means of the remote control unit emits light in a predetermined pattern corresponding to the operation instructed by the instruction unit, and recognizes the position and the operation corresponding to the predetermined pattern, By autonomously or remotely guiding to the point where the light emitting operation was performed or in the vicinity thereof, and performing the work within a predetermined range around the point,
Since the instruction can be selected by the instruction unit of the remote control unit, the position and the content of the work operation can be transmitted by one operation of the remote control unit, so that the work variation is further increased and the usability is improved.

According to a fifth aspect of the present invention, a predetermined main body is selected by operating an instruction portion of the remote controller, and a predetermined pattern corresponding to the main body selected by operating the instruction portion is emitted. This system guides autonomous or remote control of the main unit according to the pattern. Even if multiple units are operating, it can control without interference and control multiple units with one remote control unit. Is possible.

According to a sixth aspect of the present invention, the monitoring unit is provided outside the main unit, and the position where the visible or invisible light of the remote controller is emitted is detected and recognized, and the guidance is performed by autonomous or remote instruction. Since the monitoring unit is placed outside the main body, the position can be recognized more freely, and additionally, the position can be recognized at an absolute position.

According to a seventh aspect of the present invention, the monitoring unit detects the position where the visible or invisible light of the remote control unit emits light, and a storage device for storing the position is provided in the monitoring unit or the main unit. By using the terminal to perform guidance by autonomous or remote instructions, the position where light is emitted by one operation of the remote controller is stored, and guidance is performed, so that the operability is further increased.

According to an eighth aspect of the present invention, a light-emitting point is recognized from an image input by a plurality of cameras mounted on a main body of a previously stored area, stored in a storage device, and the position is used by using the position. It moves by recognizing directions and distances based on the parallax of multiple cameras by performing guidance by autonomous or remote instructions, so that there is no need to install a monitoring unit outside and it can be used without construction etc. It is.

According to the ninth aspect of the present invention, in the remote control section, the light emitting element having a wide-angle light emitting characteristic or a light emitting element movable in multiple directions is used as the light source of the light emitting means. The remote control unit can be supplemented no matter which direction the image input unit captures from the remote control unit. Therefore, the directivity at the time of operating the remote control unit is lost, and the remote control unit can be used more freely.

According to a tenth aspect of the present invention, the main body is provided with a main body light emitting portion which blinks in a predetermined pattern, and has a different pattern from the flickering pattern of the light emitting means mounted on the remote controller. The position of the unit is identified, and the position of the main body and the remote control unit can be recognized with the same image input means.

According to an eleventh aspect of the present invention, the main body portion is provided with a main body light emitting portion which blinks at a predetermined wavelength, and the wavelength is different from the wavelength of the light emitting means mounted on the remote control portion. The respective wavelengths are used to identify the respective positions. The same image input means enables the position of the main body and the remote controller to be recognized at the same time, so that the speed of the guidance control can be increased.

[Brief description of the drawings]

FIG. 1 is a perspective view of a mobile work robot according to a first embodiment of the present invention.

FIG. 2 is an oblique perspective view of the robot.

FIG. 3 is a block diagram of a monitoring unit of the robot.

FIG. 4 is an external perspective view of a remote controller of the robot.

FIG. 5 is a flowchart illustrating a process performed by the mobile work robot according to the second embodiment of the present invention.

FIG. 6 is a view for explaining an operation example of a main body in the mobile work robot according to the third embodiment of the present invention.

FIG. 7 is an external perspective view of a remote controller of the robot.

FIG. 8 is a diagram showing an example of a light emission pattern in the mobile work robot according to the fourth embodiment of the present invention.

FIG. 9 is a perspective view illustrating an operation example of a main body of the robot.

FIG. 10 is an oblique perspective view of a main body of a mobile work robot according to a fifth embodiment of the present invention.

FIG. 11 is a perspective view of a work area showing an operation example of the robot.

FIG. 12 is an oblique perspective view of a main body of a mobile work robot according to a sixth embodiment of the present invention.

FIG. 13 is a block diagram showing a data flow in the robot.

FIG. 14 is a side view of a remote control unit in the mobile work robot according to the seventh embodiment of the present invention.

FIG. 15 is an external perspective view of a main body of a mobile work robot according to an eighth embodiment of the present invention.

FIG. 16 is a diagram showing a light emitting pattern of the robot.

FIG. 17 is a block diagram of a monitoring unit in a mobile work robot according to a sixth embodiment of the present invention.

[Explanation of symbols]

 1, 21, 31, 51 Main unit 2, 61 Monitoring unit 3, 3a, 41 Remote control unit 4, 22, 32 Driving steering unit 5, 23, 33 Travel control unit 6, 24, 34 Rechargeable battery 7, 25 Main unit communication unit 8, 35, 36, 62 Image input unit 9, 65 Image processing unit 10, 66 Monitoring unit communication unit 11, 11a, 42 Operation switch 12, 12a, 43 Light emitting unit 26 Storage device 43A Light distribution range 52 Light emitting unit 63, 64 Signal separation filter

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification code FI Theme coat ゛ (Reference) G05D 1/00 G05D 1/00 B (72) Inventor Miki Hono 1006 Kazuma, Kazuma, Kazuma, Osaka Matsushita Electric Industrial In-house F-term (reference) 3F059 AA01 AA12 BB07 BC06 BC07 DB06 FB00 FB12 3F060 AA01 CA12 HA02 5H301 AA02 AA09 BB05 CC03 DD06 DD07 DD16 DD17 EE09 GG09 GG29 KK02 KK08 KK10 KK12 KK14 KK18 Q19Q

Claims (11)

[Claims] 1. A main unit for moving and working, a remote controller operated by an operator, and a monitoring unit for monitoring a moving area by an optical means such as a camera. The main unit is moved to the main unit. A driving unit and a steering unit; a traveling control unit that controls the driving unit and the steering unit to control the traveling of the main body; and a plurality of pixels that input an image of a moving area of the main body to the monitoring unit. Image input means comprising elements, position recognition means for recognizing the position of the main body from the image input by the image input means, and information signals obtained from the position recognition means transmitted to travel control means of the main body The remote control unit has an instruction unit and a light emitting unit that emits visible or invisible light; and a signal control unit that blinks the light emitting unit by operating the instruction unit. A mobile work robot that captures the light emission from the image input means by means of step light emission and guides the autonomous or remote instruction. 2. Light emission of the light emitting means of the remote control unit
2. The mobile work robot according to claim 1, wherein the location where the light is emitted is captured and recognized by an image input means, and guidance is provided to the location by autonomous or remote instruction. 3. The light-emitting means of the remote control unit captures and recognizes the light-emitting location by the image input means, and guides the user to the location by autonomous or remote instruction. The mobile work robot according to claim 1, wherein the work is performed within a range. 4. A light emitting means of a remote control unit emits light in a predetermined pattern corresponding to the operation instructed by the instruction unit, recognizes a position and an operation corresponding to the predetermined pattern, and performs the light emitting operation. The mobile work robot according to claim 3, wherein guidance is provided to the vicinity by autonomous or remote instructions, and the work is performed within a predetermined range around the point. 5. A predetermined main body is selected by operating an instruction section of the remote control section, a predetermined pattern corresponding to the main body selected by the operation of the instruction section is emitted, and the autonomous operation of the main body according to the pattern is performed. 4. The mobile work robot according to claim 3, wherein guidance is provided by remote instructions. 6. A monitoring unit is provided outside the main unit to detect a position of a remote control unit at which visible or invisible light is emitted.
Recognize and guide by autonomous or remote instruction,
The mobile work robot according to claim 1. 7. The monitoring unit detects the position where the visible or invisible light of the remote control unit emits light, and a storage device for storing the position is provided in the monitoring unit or the main unit, and the position is used for autonomous or remote instruction. The guidance is performed by means of claim
Mobile work robot as described. 8. A light-emitting point is recognized from an image input by a plurality of cameras mounted on a main body of a previously stored area, stored in a storage device, and the position is used for autonomous or remote guidance. The mobile work robot according to claim 1, wherein the mobile work robot performs the operation. 9. The mobile work robot according to claim 1, wherein a light source having a wide-angle light emission characteristic exceeding 90 ° or a light source movable in multiple directions is used as a light source of the light emitting means. 10. The mobile work robot according to claim 1, wherein a main body light-emitting portion that blinks in a predetermined pattern is provided on the main body portion, and the pattern is different from the blinking pattern of the light-emitting means mounted on the remote controller. 11. A main body light emitting portion which blinks in a predetermined pattern at a predetermined wavelength in a main body portion, and has a wavelength different from a wavelength of a light emitting device mounted on a remote control portion, and a wavelength of light of both light emitters in an image input device. The mobile work robot according to claim 1, further comprising a filter connected to the robot.