JP2004098233A - Autonomous mobile robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an autonomous mobile robot which determines an optimum moving route. <P>SOLUTION: This autonomous mobile robot 1 is provided with designation means 30 and 40 for designating a moving start point and a moving end point, a retrieval means 50 for retrieving a plurality of moving routes from the moving start point to the moving end point, a calculation means 50 for calculating at least one of moving cost and moving time required for each of the plurality of moving routes, a determination means 50 for determining one of the plurality of moving routes as an optimum moving route based on at least one of the moving cost and moving time required for each of the plurality of moving routes, a moving means 170 for making the autonomous mobile robot 1 movable, and control means 50, 120 and 130 for controlling the moving means 170 to move the autonomous mobile robot 1 along an optimum moving route. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an autonomous mobile robot that can move autonomously.
[0002]
[Prior art]
In recent years, research and development of autonomous mobile robots that move autonomously in a coexisting environment without human control have been actively performed, and their practical use has been progressing. Autonomous mobile robots are expected to play various roles. For example, autonomous mobile robots can be used as unmanned transport vehicles in factories, applied to maintenance and inspection of plants, used to follow caregivers in welfare facilities to assist with work such as carrying luggage, and even guide dogs. It is expected that it will be used as a substitute for the game.
[0003]
As a method for controlling the movement of the autonomous mobile robot (navigation method), a method using a route on a map from a departure point to a destination point (for example, see Non-Patent Document 1), A robot operation path is generated from the recognition result, and a method according to a traveling command based on the robot operation path and information from a visual sensor (for example, see Patent Document 1), a method using an IC tag, and tracing a line / landmark are used. A visual system system that moves while moving is known.
[0004]
The autonomous mobile robot moves in an indoor environment (such as in a factory or a hospital) or moves in an outdoor environment (such as a general road) according to the above-described navigation method.
[0005]
[Patent Document 1]
JP-A-9-267276
[Non-patent document 1]
Journal of the Robotics Society of Japan (October 1987, Vol. 5 No. 5 PP. 19-28)
[0006]
[Problems to be solved by the invention]
However, while conventional autonomous mobile robots can autonomously move from the starting point to the target point, the autonomous mobile robot assumes that the autonomous mobile robot will take actions that contribute to humans in the outdoor environment. It has not yet been considered in the action plan to determine the travel route from the viewpoint of travel cost and travel time. As a result, the autonomous mobile robot often moves on a moving route having a high moving cost or a long moving time, which is economically wasteful.
[0007]
In view of the fact that the cost of moving the autonomous mobile robot itself is incurred even when the autonomous mobile robot itself moves, the present inventor has proposed various types of movement such as the cost of moving the autonomous mobile robot itself and the cost of moving using public transportation. We considered to decide the moving route based on the comprehensive judgment considering the cost and the moving time.
[0008]
Accordingly, it is an object of the present invention to provide an autonomous mobile robot that can determine an optimal travel route based on at least one of a travel cost and a travel time required for each of a plurality of travel routes. It is in.
[0009]
[Means for Solving the Problems]
The autonomous mobile robot according to the present invention includes a designation unit that designates a movement start point and a movement end point, a search unit that searches for a plurality of movement routes from the movement start point to the movement end point, and the plurality of movement routes. Calculating means for calculating at least one of a moving cost and a moving time required for each of the plurality of moving routes, and calculating the plurality of moving routes based on at least one of a moving cost and a moving time required for each of the plurality of moving routes. Deciding means for deciding one of the routes as an optimum moving route, moving means for enabling the autonomous mobile robot to move, and moving the autonomous mobile robot along the optimum moving route. Control means for controlling the moving means, whereby the object is achieved.
[0010]
The calculating means may calculate the moving cost in consideration of a degree of inclination of a road.
[0011]
The calculating means may calculate the moving cost and the moving time, and determine the optimum moving route based on the moving cost and the moving time.
[0012]
The plurality of travel routes may include a travel route using a means of transportation and a travel route only for movement by the autonomous mobile robot.
[0013]
The travel cost required for the travel route using the transportation means may include a fare for the transportation means and a travel cost required for traveling by the autonomous mobile robot.
[0014]
The information processing apparatus may further include an acquisition unit configured to acquire information on the fare of the transportation means via a network.
[0015]
At least one of the plurality of travel routes may be a travel route that relays an energy supply location.
[0016]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0017]
FIG. 1 shows an appearance of a robot 1 as an example of an autonomous mobile robot according to an embodiment of the present invention.
[0018]
The robot 1 has a moving unit 170 that allows the robot 1 to move.
[0019]
Any mechanism can be adopted as the mechanism of the moving unit 170. For example, when the moving unit 170 includes a roller 172 installed on a limb, by controlling the rotation of the roller 172, the robot 1 can perform operations such as moving forward, retreating, and going up and down a slope. Become. Alternatively, the robot 1 may be a mobile robot such as a tire type or a leg type. The robot 1 may be a humanoid robot imitating an animal such as a human who walks upright on two legs, or a pet robot imitating an animal walking on four legs.
[0020]
The robot 1 includes a camera 10 corresponding to “eyes”, a speaker 110 (voice interface) and an antenna 62 (communication interface) corresponding to “mouth”, and a microphone 30 (voice interface) and antenna 62 corresponding to “ears”. It is preferable to have a (communication interface) and a movable part 180 corresponding to a “neck” or an “arm”.
[0021]
Further, the robot 1 may include a distance sensor 80 such as an ultrasonic sensor. The distance sensor 80 is installed, for example, in front of the robot 1. By measuring the distance to an obstacle on the movement path of the robot 1 using the distance sensor 80, the robot 1 can move avoiding the obstacle.
[0022]
The robot 1 is provided with an energy supply port 92. For example, when the power supply unit of the robot 1 is a fuel cell (for example, a polymer electrolyte fuel cell), ethanol serving as fuel is supplied to the robot 1 through the energy supply port 92.
[0023]
FIG. 2 shows the internal configuration of the robot 1.
[0024]
The image recognition unit 20 captures an image from the camera 10 (image input unit), recognizes the captured image, and outputs the recognition result to the processing unit 50.
[0025]
The voice recognition unit 40 captures voice from the microphone 30 (voice input unit), recognizes the captured voice, and outputs the recognition result to the processing unit 50.
[0026]
For example, it is assumed that the owner of the robot 1 gives an instruction to the robot 1 by voice. The voice instruction is input to the voice input unit 30. The voice instruction is a type of instruction that clearly indicates the coordinates of the movement start point and the coordinates of the movement end point, such as "move from the point of north latitude xx east longitude xx to the point of north xx east longitude xx". Alternatively, the instruction may be of a type that does not explicitly indicate the coordinates of the movement start point and the coordinates of the movement end point, such as “move to the location of △△”. The voice recognition unit 40 recognizes a movement start point and a movement end point by analyzing a voice instruction input to the voice input unit 30. For example, when the instruction by voice is an instruction to “move from the point of north latitude xx east longitude xx to the point of north xx east longitude xx”, the voice recognition unit 40 determines that (movement start point = north latitude xx ○ East longitude XX, end point of movement = north latitude xx east longitude XX). For example, when the instruction by voice is an instruction to “move to a place called XX”, the voice recognition unit 40 determines that (movement start point = current location (that is, the point of north latitude XX east longitude XX)) , The end point of the movement = △△ (that is, the point of north latitude xx east longitude xx). The fact that the coordinates of the current position are north latitude xx east longitude xx can be recognized, for example, by referring to the output of the position detection unit 70 described later. The fact that the coordinates of the place of Δ △ is latitude XX east longitude XX can be recognized by referring to a map database 150 described later, for example.
[0027]
In this manner, the movement start point and the movement end point can be specified using the voice input unit 30 and the voice recognition unit 40. In this case, the voice input unit 30 and the voice recognition unit 40 function as a specifying unit that specifies a movement start point and a movement end point.
[0028]
Of course, the method of designating the movement start point and the movement end point is not limited to the above-described method using sound. The movement start point and the movement end point may be specified using arbitrary information other than the voice. For example, a movement start point and a movement end point may be specified using an image. In this case, the image input means 10 and the image recognizing means 20 function as designating means for designating a movement start point and a movement end point. Alternatively, when the robot 1 further includes character input means (not shown) for inputting characters, the movement start point and the movement end point may be designated using characters. In this case, the character input means functions as a designation means for designating a movement start point and a movement end point.
[0029]
The processing unit 50 searches for a plurality of movement routes from the movement start point to the movement end point, calculates at least one of a movement cost and a movement time required for each of the plurality of movement routes, and calculates the plurality of movement routes. One of the plurality of travel routes is determined as the optimal travel route based on at least one of the travel cost and travel time required for each of the routes. The processing unit 50 may determine the optimal travel route based only on the travel cost required for each of the plurality of travel routes, or may determine the optimal travel route based on only the travel time required for each of the plurality of travel routes. A suitable moving route may be determined, or an optimum moving route may be determined based on both the moving cost and the moving time.
[0030]
In this way, the processing unit 50 searches for a plurality of travel routes from the travel start point to the travel end point, and at least one of the travel cost and travel time required for each of the travel routes. Calculating means for calculating, and determining means for determining one of the plurality of travel routes as an optimal travel route based on at least one of a travel cost and a travel time required for each of the plurality of travel routes. Can work. The processing unit 50 includes, for example, a memory 52 that stores a program, and a CPU 54 that executes the program stored in the memory 52. In this case, the functions and operations of the processing unit 50 are realized by the CPU 54 executing a program stored in the memory 52.
[0031]
Further, the processing unit 50 controls the operation control unit 120 so that the robot 1 moves along the optimal movement route. For example, the processing unit 50 generates a control signal such that the distance between the current position of the robot 1 detected by the position detection unit 70 and the optimal movement route is equal to or less than a predetermined distance, and converts the control signal into an operation control unit. Output to 120. The distance between the current position of the robot 1 and the optimal movement route can be recognized by referring to, for example, a map database 150 described later. This is because both the current position of the robot 1 and the optimum movement route can be plotted on the map information stored in the map database 150.
[0032]
The operation control unit 120 drives various actuators 130 according to a control signal output from the processing unit 50. For example, when the moving unit 170 that enables the robot 1 to move includes the roller 172, the actuator 130 includes a motor 174 that controls the rotation of the roller 172. In this case, the operation control unit 120 drives the motor 174 that controls the rotation of the roller 172 according to the control signal output from the processing unit 50. Thus, the robot 1 can perform operations such as forward, backward, right turn, and left turn.
[0033]
As described above, the processing unit 50, the operation control unit 120, and the actuator 130 function as a control unit that controls the moving unit 170 so that the robot 1 moves along the optimal movement route. The moving unit 170 functions as a moving unit that enables the robot 1 to move.
[0034]
The map database 150 stores map information. The map information may represent a map of a specific area, or may represent a world map. The map information includes various information such as road information, public transportation information, and building location information. The position detection unit 70 detects the current position of the robot 1. The position detection unit 70 can be realized by using, for example, a GPS (Global Positioning System).
[0035]
Note that the processing unit 50 may have a function of understanding a dialogue based on the result of voice recognition, and a function of searching the dialogue database 140 and generating a response sentence. Furthermore, the response sentence may be output to the voice synthesis unit 100, and the voice synthesized by the voice synthesis unit 100 may be output from the voice output unit 110 such as a speaker.
[0036]
The conversation database 140 stores conversation patterns and rules for generating response sentences.
[0037]
The information database 160 stores information such as today's weather and news, knowledge such as various common senses, and information about the owner of the robot 1 (eg, gender, age, name, occupation, character, hobby, date of birth, etc.). And information on the robot 1 (for example, information such as a model number and an internal configuration). Information such as today's weather and news is acquired from the outside of the robot 1 via the transmission / reception unit 60 (communication unit) and the processing unit 50, and stored in the information database 160, for example. The robot 1 may be an interactive agent.
[0038]
The power supply unit 90 is configured to be able to receive energy supply from outside the robot 1 via an energy supply port 92. The power supply unit 90 supplies power to each unit of the robot 1. The power supply unit 90 may be, for example, a fuel cell (for example, a polymer electrolyte fuel cell) or a rechargeable battery.
[0039]
FIG. 3 shows a procedure of a process for determining one of a plurality of travel routes from a travel start point to a travel end point as an optimal travel route. This processing can be stored in the memory 52 in the processing unit 50 in the form of a program, for example. This processing can be executed by the CPU 54 in the processing unit 50, for example.
[0040]
Here, the procedure of the process will be described by taking, as an example, a case where the robot 1 goes to a robot parts store to replace parts (for example, a CCD) of the robot 1.
[0041]
Step ST1: A movement start point and a movement end point are designated. For example, it is assumed that the owner of the robot 1 has issued a voice instruction to the robot 1 "go to a robot parts store to replace parts." In this case, the voice recognition unit 40 recognizes the movement start point and the movement end point by analyzing the voice input by the voice input unit 30. In this example, the movement start point is the current position, and the movement end point is the robot parts store. Here, the method of voice recognition does not matter. The voice recognition unit 40 outputs the voice recognition result (that is, the movement start point and the movement end point) to the processing unit 50.
[0042]
Step ST2: The processing unit 50 searches for a plurality of movement routes from the movement start point to the movement end point.
[0043]
FIG. 4 shows a result of searching for a plurality of travel routes from a travel start point to a travel end point using map information. The map information is stored in the map database 150. The example illustrated in FIG. 4 illustrates an example in which three movement routes R1, R2, and R3 are searched as a plurality of movement routes from a movement start point to a movement end point. The travel route R1 is a travel route in which the robot 1 uses transportation means (that is, the robot 1 travels from the travel start point to the A station, travels from the A station to the B station by rail, and travels from the B station to the travel end point. Travel route). Each of the movement routes R2 and R3 indicates a movement route in which the robot 1 does not use transportation means (that is, a movement route in which the robot 1 travels from a movement start point to a movement end point).
[0044]
It is not essential to use the map information to search for a plurality of routes from the movement start point to the movement end point. For example, when a combination of a movement start point and a movement end point is determined in advance, and a plurality of movement routes corresponding to the combination are determined in advance, the movement start point and the movement start point are referred to without referring to the map information. A plurality of travel routes corresponding to the travel end point can be searched.
[0045]
Step ST3: The processing unit 50 calculates at least one of the moving cost and the moving time for each of the plurality of moving routes searched in step ST2.
[0046]
In the example shown in FIG. 4, the movement cost required for the robot 1 to move from the movement start point (current position) to the movement end point (destination) along the movement route R1 is calculated to be 230 yen. The moving cost (20 yen) required for the robot 1 to move from the movement start point (current position) to the A station by itself, and the moving cost required for the robot 1 to move from the A station to the B station by rail. The moving cost (that is, the fare of the railway from Station A to Station B) (200 yen) and the moving cost required for the robot 1 to move from Station B to the end point (destination) by itself (10 yen) )) Is 230 yen. In addition, fares for public transportation such as railways can be obtained via a network. For example, the processing unit 50 can function as an obtaining unit that obtains the fare of the means of transportation via the antenna 62 and the transmission / reception unit 60 via the network.
[0047]
Similarly, the movement cost required for the robot 1 to move from the movement start point (current position) to the movement end point (destination) along the movement route R2 is calculated as 200 yen, and the robot 1 moves along the movement route R3. The travel cost required for 1 to travel from the travel start point (current location) to the travel end point (destination) is calculated to be 300 yen.
[0048]
The moving cost required for the robot 1 to move from the first point to the second point by itself is calculated according to (Equation 1).
[0049]
(Equation 1)
Travel cost C = Σ_{i = 1} ^Na_i* (L_i/ E) * k
Where L_iIndicates the distance of the i-th section when the section from the first point to the second point is divided into N sections, E indicates the distance (fuel efficiency) that the robot 1 can move per unit energy amount, k indicates the moving cost per unit energy amount (energy unit price), and a_iIndicates the slope coefficient of the i-th section. For example, L_iIs km, the unit of E is km / l, and the unit of k is circle / l. Here, i = 1, 2,..., N. N is an arbitrary integer of 1 or more.
[0050]
In this specification, “Σ_{i = 1} ^NX_iIs written as "X₁+ X₂+ ... X_NIs synonymous with the notation "." Here, X is an arbitrary symbol.
[0051]
For example, when the power supply unit 90 of the robot 1 is a fuel cell, the energy unit price is the unit price of fuel (for example, ethanol). When the power supply unit 90 of the robot 1 is a rechargeable battery, the energy unit price is a power supply unit price of electric energy.
[0052]
Slope coefficient a_iIs set to 1 when the road is flat, and 1 <a according to the degree of inclination of the road when the road is uphill._i<10, and when the road is downhill, 0.1 <a according to the degree of inclination of the road._i<1 is set.
[0053]
FIG. 5 shows the slope coefficient a_iAnd the degree of inclination of the road. (A) of FIG. 5 shows that when the road is flat, a_i= 1, and FIG. 5B shows that 1 <a when the road is uphill._iFIG. 5C shows that 0.1 <a when the road is downhill._i<1.
[0054]
In the example shown in FIG. 4, the moving route R2 has a moving distance L (= L₁+ L₂+ ... + L_N), The moving cost C is small. This is because the road of the movement route R2 is flat, whereas the road of the movement route R3 has a large degree of inclination.
[0055]
The fuel efficiency E and the energy unit price k are stored in the information database 160, for example. Slope coefficient a_iAre stored in the map database 150, for example.
[0056]
FIG. 6 shows the slope coefficient a stored in the map database 150.₁, A₂, A₃An example is shown below.
[0057]
In the example shown in FIG. 6, the road on the prefectural road XX (up) is divided into three sections (a first section p1 <p <p2, a second section p2 <p <p3, and a third section p3 <p <P4), and in the first section, the slope coefficient a₁Is set to 1 (a₁= 1), the slope coefficient a in the second section₂Is set to 7 (a₂= 7), the slope coefficient a in the third section₃Is set to 0.3 (a₃= 0.3). Thus, the slope coefficient a₁, A₂, A₃By using, it is possible to express that the road on the prefectural road XX (up) changes from a flat state to an up state, and then changes from an up state to a down state.
[0058]
It can be seen that the state of the road on the prefectural road XX (down) is opposite to the state of the road on the prefectural road XX (up). Therefore, the slope coefficient of the road on the prefectural road XX (down) is b_i, The slope coefficient of the prefectural road XX (up) is a_iThen, b_i= 1 / a_iBecomes That is, for the prefectural road XX (downward) road, the slope coefficient b in the first section₁Is set to 1 (b₁= 1), the slope coefficient b in the second section₂Is set to 1/7 (b₂= 1/7), and the slope coefficient b in the third section₃Is set to 1 / 0.3 (b₃= 1 / 0.3).
[0059]
Slope coefficient a of prefectural road XX (up)_iIs stored in the map database 150, the slope coefficient b of the prefectural road XX (down)_iNeed not be stored in the map database 150. b_i= 1 / a_iBy b_iCan be obtained by calculation. Thereby, the capacity of the map database 150 required for storing the slope coefficient can be saved.
[0060]
In the example shown in FIG. 4, the movement time (estimated movement time) required for the robot 1 to move from the movement start point (current position) to the movement end point (destination) along the movement route R1 is calculated to be 30 minutes. Is done. Similarly, the estimated travel time along the travel route R2 is calculated as one hour, and the estimated travel time along the travel route R3 is calculated as one hour.
[0061]
The moving time (estimated moving time) required for the robot 1 to move from the first point to the second point by itself is calculated according to (Equation 2).
[0062]
(Equation 2)
Travel time T = Σ_{i = 1} ^Na_i* D * (L_i/ V) + MT
Where L_iRepresents the distance of the i-th section when the section from the first point to the second point is divided into N sections, V represents the average moving speed of the robot 1, and MT represents the time when using the means of transportation. Indicates the sum of the travel time and the expected waiting time when using the means of transportation, d indicates a constant, and a_iIndicates the slope coefficient of the i-th section. For example, L_iIs km, the unit of V is km / h, and the unit of MT is h. Here, i = 1, 2,..., N. N is an arbitrary integer of 1 or more.
[0063]
Step ST4: The processing unit 50 determines one of the plurality of travel routes as an optimal travel route based on at least one of the travel cost and travel time calculated in step ST3.
[0064]
The processing unit 50 may determine an optimal travel route based only on the travel cost calculated in step ST3. In this case, the processing unit 50 determines, for example, a travel route with the smallest travel cost as the optimal travel route. In the example shown in FIG. 4, the movement route R2 is determined as the optimum movement route. This is because the traveling cost (200 yen) of the traveling route R2 is the smallest among the traveling routes R1 to R3.
[0065]
Alternatively, the processing unit 50 may determine an optimal movement route based only on the movement time calculated in step ST3. In this case, the processing unit 50 determines, for example, a travel route with the shortest travel time as the optimal travel route. In the example shown in FIG. 4, the travel route R1 is determined as the optimal travel route. This is because the traveling time (30 minutes) of the traveling route R1 is the shortest of the traveling routes R1 to R3.
[0066]
Alternatively, the processing unit 50 may determine an optimal travel route based on both the travel cost and travel time calculated in step ST3. In this case, the processing unit 50 can determine an optimal movement route according to various methods. For example, the processing unit 50 uses the moving cost as a first-priority (or second-priority) evaluation criterion and uses the moving time as a second-priority (or first-priority) evaluation criterion in accordance with a priority method that is optimal. The route may be determined, the optimal travel route may be determined according to an evaluation point method using the sum of the evaluation points of the travel cost and the travel time as an evaluation criterion, or the evaluation point of the travel cost may be a criterion. The optimal travel route may be determined according to an exclusion method that excludes those below the point and the evaluation point of the travel time below the reference point, or by appropriately combining these methods to determine the optimal travel route. Is also good.
[0067]
Note that, in step ST4, when determining the optimal movement route based only on the movement cost calculated in step ST3, the calculation of the movement time can be omitted in step ST3. In step ST4, when determining the optimum travel route based only on the travel time calculated in step ST3, the calculation of the travel cost can be omitted in step ST3. This makes it possible to eliminate the need for the processing unit 50 to perform useless calculations.
[0068]
As described above, according to the present embodiment, based on at least one of the moving cost and the moving time required for each of the plurality of moving routes, one of the plurality of moving routes is optimally moved. Determined as root. This makes it possible to determine the movement route in a state in which the intention of the owner of the robot 1 is reflected.
[0069]
In the above-described embodiment, the case where the robot 1 goes to a robot parts store to replace its own part (for example, a CCD) has been described as an example, but the present invention is not limited to this. According to the present invention, it is possible to cause the robot 1 to perform various "uses" (business) such as walking a dog or shopping.
[0070]
FIG. 7 shows a processing procedure of a modification of the processing (FIG. 3) for determining the optimum movement route. This processing takes into consideration that energy is supplied to the robot 1 during the movement of the robot 1 from the movement start point to the movement end point.
[0071]
Steps ST61, ST62, ST63, and ST65 in FIG. 7 are the same as steps ST1, ST2, ST3, and ST4 in FIG. 3, respectively. Therefore, detailed description is omitted here.
[0072]
Step ST64: For all of the plurality of travel routes searched in step ST62, the processing unit 50 returns the fuel F for one way required for the robot 1 to reach the destination (or returns to the current location after reaching the destination). It is determined whether the robot 1 is currently equipped with the reciprocating fuel 2F) required for the robot 1. Such a determination can be made by determining whether or not (Equation 3) is satisfied. If (Equation 3) is satisfied, the process proceeds to step ST65. If (Equation 3) is not satisfied, the process proceeds to step ST66.
[0073]
(Equation 3)
Fuel F> Σ_{i = 1} ^Na_i* (L_i/ E)
Step ST66: The processing unit 50 obtains the nearest energy supply location from the plurality of travel routes searched in step ST62, and determines whether or not it is possible to move to the energy supply location with the remaining fuel. This determination can also be made by determining whether or not (Equation 3) is satisfied. If (Equation 3) is satisfied, the process proceeds to step ST67. If (Equation 3) is not satisfied, the process proceeds to step ST69.
[0074]
Step ST67: This step is executed when the robot 1 can move to the energy supply place. The processing unit 50 determines a predetermined one of the plurality of travel routes searched in step ST62 up to the nearest energy supply location of the travel route determined not to satisfy Equation 3 in step ST64. , The energy is replenished after deviating from the moving route, and the moving route and the moving cost returning to the predetermined moving route are recalculated.
[0075]
When the power supply unit 90 of the robot 1 is a fuel cell, the “energy supply place” refers to a place (fuel supply place) for supplying fuel (for example, ethanol) of the fuel cell. When the one power supply unit 90 is a rechargeable battery, it refers to a place (charging station) for charging the battery.
[0076]
Step ST68: The processing unit 50 selects a movement route that satisfies predetermined conditions from among a plurality of movement routes obtained by replacing the movement route of step ST62 with the movement route recalculated in step ST67. To be determined.
[0077]
Step ST69: This step is executed when the robot 1 cannot move to the energy supply place. In this case, the robot 1 cannot perform "own use" of the owner. As a result, the robot 1 informs the owner that he / she will cancel the "use".
[0078]
FIG. 8 shows a travel route that leaves the travel route for energy replenishment and returns to the travel route again after energy replenishment. The moving routes R1 ', R2', R3 'shown in FIG. 8 are obtained by changing the moving routes R1, R2, R3 shown in FIG. 4 so as to relay the energy supply location.
[0079]
It should be noted that, after a plurality of travel routes have been searched, instead of changing the searched plurality of travel routes to relay the energy supply location as necessary in consideration of the remaining energy, the remaining energy is considered. May be used to search for a plurality of travel routes.
[0080]
Note that the processing illustrated in FIG. 7 is suitable when the number of energy supply locations is relatively small (for example, when the energy supply locations are installed approximately every 1 km). On the other hand, when the number of energy supply locations is relatively large (for example, when the energy supply locations are installed approximately every 100 m), the processing illustrated in FIG. 7 is not particularly required. In this case, it is sufficient that the robot 1 measures the remaining amount of energy and, when the amount of energy becomes equal to or less than the predetermined amount, moves to the nearest energy supply place. When the robot 1 carries an energy supply cartridge, the processing shown in FIG. 7 is unnecessary. This is because energy can be supplied from the energy supply cartridge in a timely manner.
[0081]
In this embodiment, the fuel of the fuel cell is liquid fuel (ethanol). However, a gas such as hydrogen gas may be used as the fuel, and the liquid fuel is supplied from the energy supply port 92. There is no problem even if you replace things.
[0082]
Further, in the present embodiment, as a method of performing navigation (road guidance), when a robot moves, a method of moving using a world map having a movement route from its current location to a destination and environmental information around the route is used. IC tag navigation that performs navigation based on the moving environment information recorded on the non-contact IC tag (moving information such as the location of the tag to be read next and environmental information such as the number of stairs and height). A method or a method of moving while tracing a line / landmark may be used alone or in combination.
[0083]
As described above, the robot 1 moves along the optimal movement route. The robot 1 can obtain various information during the movement. By collating the obtained information with desired information stored in the robot 1 in advance, it becomes possible to obtain information close to the desired information.
[0084]
FIG. 9 shows a procedure of a process in which the robot 1 acquires information desired by the owner of the robot 1.
[0085]
In step ST91, information desired by the owner of the robot 1 is stored in the information database 160 of the robot 1. The information desired by the owner of the robot 1 is, for example, information that the owner is interested in (for example, information on hobbies, information on a search object, and the like).
[0086]
FIG. 10 shows an example of information desired by the owner of the robot 1.
[0087]
As illustrated in FIG. 10, when the information desired by the owner of the robot 1 is “a lost dog”, hierarchical information for classifying a dog as information for identifying the dog (for example, a seed : Pomerarian, hair color: orange) and information (related information) related to information desired by the owner of the robot 1 are preferably stored in the information database 160. Other information desired by the owner of the robot 1 includes newly-published book information whose author is XX and motorcycle information whose model is 750 to 1500 cc and whose model is Harle-Davidson. After performing the preparations in step ST91, in step ST92, the robot 1 starts moving according to the optimum moving route.
[0088]
In step ST93, the processing unit 50 acquires information of at least the same category as the desired information stored in advance in step ST91. This is because even if the identification ability of the robot 1 is low, a candidate close to desired information is obtained. For example, when the camera 10 of the robot 1 recognizes an animal close to the desired dog, it is first determined whether or not the animal is a dog, at least in the same category, and if so, an image of the animal is determined. get.
[0089]
In step ST94, the processing unit 50 determines whether the obtained information is close to desired information. In the previous example, it is determined from the acquired dog image whether the coat color is orange and of Pomeranian breed. For this purpose, information is also used that the body height of a Pomeranian species is about 20 cm for both males and females, the body weight is 1.3 to 3.2 kg for males, 1.8 to 2.3 kg for females, and the hair is long and bushy. You. The determination (collation) is performed by the processing unit 50. As a result of the determination, when it is determined that the acquired information is close to the desired information, in step ST95, the processing unit 50 acquires information (related information) related to the acquired information, and The information is stored in the information database 160. In this example, for example, the related information indicates the location, time, and the like at which the image of the dog was acquired. Also, if there is a current owner, the owner can ask the owner for information related to the dog, such as when it was taken out of the dog and where the dog was obtained, in a dialogue, and then share the relevant information with the dog. It is stored in the information database 160 together with the image.
[0090]
In step ST96, the owner is notified of the related information. The contact may be made promptly, or the report may be made after returning to the owner after completing the business.
[0091]
If the determination in step ST94 is "NO", the process proceeds to step ST97, and discards the information obtained in step ST93. Here, the method of acquiring information in step ST93 may be image acquisition by a camera, or may be text information or audio information obtained by receiving a local broadcast by a transmission / reception unit. For example, when a robot passes by in front of a bookstore, the bookstore may acquire new publication information of a book that is being advertised / promoted by a local broadcast. If the writer is the same as XX in the comparison between the obtained information and the desired information, the related information such as issue time, title, bookstore location, name, etc. is also obtained as the related information, and the related information is obtained. The information is stored in the information database 160.
[0092]
As described above, if the information obtained by receiving an image or a broadcast while the robot 1 is moving is information that is close to the desired information that the owner has been searching for before, the information is stored in the robot 1. Can provide unexpected information.
[0093]
Other desired information examples include a wanted person, a lost cat, a wanted bag, an antique, and the like. Since the information obtained by chance during the movement of the robot 1 can be acquired without missing, the owner of the robot 1 can be satisfied.
[0094]
【The invention's effect】
As described above, according to the autonomous mobile robot of the present invention, one of the plurality of travel routes is optimized based on at least one of the travel cost and travel time required for each of the plurality of travel routes. It is determined as a travel route. This makes it possible to determine the movement route by reflecting the intention of the robot owner. Further, if importance is placed on the moving cost, economic waste can be eliminated. The result is a very satisfying result for the robot owner.
[Brief description of the drawings]
FIG. 1 is a diagram showing an appearance of a robot 1 as an example of an autonomous mobile robot according to an embodiment of the present invention.
FIG. 2 is a diagram showing an internal configuration of the robot 1.
FIG. 3 is a flowchart showing a procedure of a process for determining one of a plurality of travel routes from a travel start point to a travel end point as an optimal travel route.
FIG. 4 is a diagram showing a search result of a plurality of travel routes from a travel start point to a travel end point using map information.
FIG. 5: Slope coefficient a_iDiagram showing the relationship between the road and the degree of inclination of the road
FIG. 6 shows a slope coefficient a stored in a map database 150.₁, A₂, A₃Figure showing an example of
FIG. 7 is a flowchart showing a procedure of a process of a modification of the process (FIG. 3) for determining an optimal movement route;
FIG. 8 is a diagram showing a movement route that leaves a movement route for energy replenishment and returns to a movement route again after energy replenishment;
FIG. 9 is a flowchart showing a procedure of a process in which the robot 1 acquires information desired by the owner of the robot 1;
FIG. 10 is a diagram showing an example of information desired by the owner of the robot 1.
[Explanation of symbols]
30 voice input unit
40 voice recognition unit
50 processing unit
120 ° operation control unit
130 ° actuator
150 map database
170 ° moving unit

Claims (7)

Designation means for designating a movement start point and a movement end point;
Search means for searching for a plurality of travel routes from the travel start point to the travel end point,
Calculating means for calculating at least one of a moving cost and a moving time required for each of the plurality of moving routes,
Determining means for determining one of the plurality of travel routes as an optimal travel route based on at least one of a travel cost and a travel time required for each of the plurality of travel routes;
Means of movement for enabling the autonomous mobile robot to move;
Control means for controlling the moving means so that the autonomous mobile robot moves along the optimal movement route. The autonomous mobile robot according to claim 1, wherein the calculation unit calculates the moving cost in consideration of a degree of inclination of a road. The autonomous mobile robot according to claim 1, wherein the calculation unit calculates the moving cost and the moving time, and determines the optimum moving route based on the moving cost and the moving time. The autonomous mobile robot according to any one of claims 1 to 3, wherein the plurality of travel routes include a travel route using transportation means and a travel route only for movement by the autonomous mobile robot. The autonomous mobile robot according to claim 4, wherein the travel cost required for the travel route using the transport means includes a fare of the transport means and a travel cost required for travel by the autonomous mobile robot. The autonomous mobile robot according to claim 5, further comprising an acquisition unit configured to acquire information on a fare of the transportation means via a network. The autonomous mobile robot according to claim 1, wherein at least one of the plurality of travel routes is a travel route that relays an energy supply location.

Images