JP2005148960A - Peripheral equipment cooperation system for autonomously traveling object - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide the cooperation system of an autonomously traveling object with peripheral equipment for preventing the useless operation of the peripheral equipment by realizing the cooperation of the traveling object and the peripheral equipment, transferring path data generated by the traveling object to the peripheral equipment, and making the controller of the peripheral equipment integrally manage the peripheral equipment including the traveling object. <P>SOLUTION: A traveling object M transmits an event including a generated traveling path and traveling object ID to a peripheral equipment controller 11. The peripheral equipment controller 11 sets and stores a mutual interference area with each traveling object for each piece of peripheral equipment, judges whether the traveling object M is present in the mutual interference area, and makes an operation request to the peripheral equipment when the traveling object M is present in the mutual interference area. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a cooperation system with peripheral devices in generating a route for an autonomous mobile body.

  As a conventional cooperative system for autonomous mobile bodies, there is a system in which an autonomous vehicle automatically gets on and off an elevator that moves up and down a plurality of floors in a building and can move sequentially to a plurality of preset floors (for example, , See Patent Document 1). In this system, when an autonomous vehicle gets on and off the elevator, the front sensor provided on the autonomous vehicle confirms the open state of the elevator door and starts running of the autonomous vehicle, causing a collision with the elevator door. I try to prevent it.

  In addition, it is also known that a moving body performs an operation of giving way to another moving body to smooth the movement of the other moving body (see, for example, Patent Document 2). Here, the route from the map information to the destination is generated, and the position obtained by the means for recognizing the obstacle and the self-position is recognized on the map while avoiding the obstacle. Travel control is performed to the destination, and in order to avoid other moving bodies, the vehicle is stopped in an appropriate stop area of the passage and the passage is given to another moving body.

Furthermore, there is a system in which a moving body can be moved between tiers using existing lifting means (for example, see Patent Document 3). In this system, the usage status of the lifting / lowering means is judged, and if it is not used elsewhere, the lifting / lowering means is set to a mode dedicated to the moving body, and the moving body uses the lifting / lowering means instruction signal according to the operation of the lifting / lowering means The moving body gets on and off the lifting means based on the instruction signal and moves according to a preset route.
JP 2000-339030 A JP 2003-140747 A Patent 3319802

  By the way, in any of the conventional systems, the map used to generate the optimum route to the destination of the moving body is stored inside the moving body, and the route data can be referred to from other places. It is not.

  Here, when a moving body moves between rooms through a passage or the like, only the door lying on the moving path is opened, and other doors are not to be opened. Even if the moving body passes, the sensor senses it and opens the door unconditionally. As described above, this problem cannot be solved in a system in which route data cannot be referred to from others. In addition, peripheral devices (lighting, elevators, sensors, cameras, and the like) that need to be turned on and off in accordance with the movement of the moving body need to be linked with the moving body.

The present invention has been made in view of the above-described problems, and cooperates between a moving body and a peripheral device, transfers route data generated by the moving body to the peripheral device, and the controller of the peripheral device includes the moving body. An object of the present invention is to provide a linkage system with peripheral devices of an autonomous mobile body that can avoid unnecessary operations of the peripheral devices by managing peripheral devices in an integrated manner.
In addition, by dynamically setting the area where each peripheral device and mobile unit interfere with each other, the peripheral device controller constantly monitors the position of the mobile unit, without using a large number of sensors, It aims at providing the cooperation system of the autonomous mobile body which can aim at cooperation of an apparatus.

  In order to achieve the above object, according to the first aspect of the present invention, when a destination is set on map data held by a mobile body, an optimal travel route is determined based on the current position information and obstacle information of the mobile body. An autonomous mobile body that generates and travels based on the route, a peripheral device that is fixedly arranged in the external environment of the mobile body, and a peripheral device controller that integrally manages operation and position data of these peripheral devices A peripheral device cooperation system for an autonomous mobile body, wherein the mobile body includes a signal transmission means for transmitting an event including a movement route generated to the peripheral device controller and a mobile body ID in order to cooperate with the peripheral device. And the peripheral device controller sets an area for mutual interference with each mobile unit (referred to as a mutual interference area) for each peripheral device, and requests means for storing the location data of the mobile unit. In response to this request, means for receiving the position data transmitted from the moving body to identify the current position of the moving body, and determining whether the position of the moving body is within the mutual interference area, If there is, means for making an operation request to the corresponding peripheral device.

  According to a second aspect of the present invention, in the peripheral device cooperation system for an autonomous mobile body according to the first aspect, the peripheral device controller may cause the mobile body to pass through the mutual interference area based on route data received from the mobile body. Only a peripheral device with a standby state is placed in a standby state.

  According to a third aspect of the present invention, in the peripheral device cooperation system for an autonomous mobile body according to the first aspect, individual information such as the size and speed of the mobile body is identified according to the mobile body ID, thereby the mutual interference area. It is characterized by having the function of changing the shape.

  According to a fourth aspect of the present invention, in the peripheral device cooperation system for autonomous mobile bodies according to the second aspect, the system further comprises a monitoring device that collects the operating status of each peripheral device, and the peripheral device controller receives the peripheral device received from the monitoring device. When it is necessary to use a peripheral device that is not currently in operation on the moving path of the moving object, the operating condition data is transmitted to the moving object, and the moving object receives the moving condition data. An optimal movement route is generated again based on the operation status data.

  According to a fifth aspect of the present invention, there is provided the peripheral device cooperation system for an autonomous mobile body according to the second aspect, wherein the mobile body travels on the basis of the generated travel path, such as an emergency stop command or a charge command for the mobile body. When the destination or travel route is changed, the travel route is regenerated on the map data held, the result is transmitted to the peripheral device controller, and the peripheral device controller receives the request. The peripheral device to be operated based on the route is redefined.

  The invention according to claim 6 is the peripheral device cooperation system for autonomous mobile bodies according to claim 3, wherein individual information such as the size and speed of the mobile body is identified according to the mobile body ID, and the operation of the associated peripheral devices It has the function to change

  According to a seventh aspect of the present invention, in the peripheral device cooperation system of the autonomous mobile body according to the first aspect, when the mobile body goes out of the mutual interference area, the peripheral device is automatically terminated. It is characterized by.

  The invention according to claim 8 is the peripheral device cooperation system of the autonomous mobile body according to claim 1, wherein the autonomous mobile body is composed of a load transport robot and a cleaning robot, and the load transport robot rotates the wheels. A moving mechanism having an actuator, a sensor for detecting an obstacle, a self-position detecting unit for detecting a self-position, a baggage-loading unit for loading a baggage, and a movement control unit for moving while avoiding an obstacle to a target position The cleaning robot includes a wheel and a moving mechanism having an actuator that rotates the wheel, a sensor that detects an obstacle, a self-position detecting unit that detects a self-position, a cleaning unit that collects garbage, and a room. A cleaning control unit that sequentially cleans the robot from a desired position, and the luggage transfer robot and the cleaning robot transmit their own positions and receive events from the opponent. Characterized in that it has a communication function to attach.

  The invention of claim 9 is the peripheral device cooperation system of the autonomous mobile body according to claim 1, wherein the autonomous mobile body is a porter robot, and the porter robot includes a moving mechanism having a wheel and an actuator for rotating the wheel; A sensor that detects an obstacle, a self-position detection unit that detects a self-position, a luggage storage unit that stores a baggage, a person recognition unit that recognizes a person, and a movement that moves while avoiding an obstacle to a target position And a control unit.

  According to the first aspect of the present invention, the area where the mobile unit itself interferes with each mobile unit is set for each peripheral device based on the position data of the autonomous mobile unit itself. Without use, cooperation between the autonomous mobile body and the peripheral device can be realized, and the cost can be reduced.

  According to the invention of claim 2, when the peripheral device is, for example, an automatic door, the door that does not need to operate is automatically detected as when the autonomous mobile body passes in front of the automatic door adjacent to the movement route. It is possible to prevent wasteful opening.

  According to the invention of claim 3, when the size of the autonomous mobile body is different, even if the area of the peripheral device (for example, the door) is narrowed if the mobile body is small, there is little interference with the door. When the body size is large, it waits for the door to open at a position a little further away than when it is small. Thereby, it is possible to wait for the operation of the peripheral device at the optimum standby position regardless of the type of the moving body.

  According to the invention of claim 4, it is possible to reach the destination without passing through the area of the peripheral device where the moving body is not operating, and to avoid having to stop traveling during the movement. it can.

  According to the invention of claim 5, even when the moving route of the moving body is suddenly changed, the operating peripheral device is reset, so the cooperation with the peripheral device is also performed for the new moving route. Is possible.

  According to the sixth aspect of the present invention, for example, when a moving body that does not have a camera travels along a route, the illumination area in the route is not validated, or a high-performance camera is mounted. In other words, the operation of the peripheral device can be switched according to the characteristics of the moving body, such as reducing the amount of illumination light, and it is possible to eliminate waste of the peripheral device operation.

  According to the seventh aspect of the present invention, it is possible to perform processing such as turning off the lighting of the room without the moving body or closing the door that is open even though there is no moving moving body. Can be suppressed.

  According to the invention of claim 8, in addition to the effect of the invention of claim 1, the obstacle that can be moved unattended by the cooperative operation between the luggage transport robot and the cleaning robot as an autonomous mobile body. Cleaning can be performed while moving an object.

  According to the ninth aspect of the invention, in addition to the effect of the first aspect of the invention, the porter robot as an autonomous mobile body can carry the cargo to the destination while avoiding the obstacle.

Hereinafter, a cooperation system with peripheral devices of an autonomous mobile body having a route generation function for autonomous movement according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 shows a block configuration of an autonomous mobile body M (hereinafter referred to as a mobile body) according to the first embodiment of the present invention, and FIG. 2 shows peripheral devices 21, 31, 41 and peripheral device controllers operating in cooperation with the mobile body. 11 block configurations are shown. The moving body M generates a route for autonomous movement from the storage means 2 for storing the current position, the map data of the travel area, the travel route data generated up to the destination, and the map data stored in the storage means 2. And a route generation means 3 for performing the above. These storage means 2 and path generation means 3 constitute a main controller 4. In the map data, a fixed obstacle such as a wall is drawn, and when the user sets a destination on the map, the route generation means 3 is optimized based on the current position information and obstacle information of the moving object M. Generate a travel route. The moving body M travels based on the generated movement route.

  The moving body M further includes an interface 5 (display device, input device, etc.) for giving a target position and an operation command, and environment recognition means 6 (laser radar, ultrasonic sensor, imaging) for recognizing an obstacle or its own position. Camera), traveling means 7 for traveling by a motor or the like using the battery 10 as a driving source, and recognizing its own position on the map based on information obtained by the environment recognizing means 6, and obstacles Travel control means 8 for controlling the travel means 7 to the target position based on the route data generated by the route generation means 3 while avoiding objects is provided. In addition, when the moving body M detects an obstacle existing in front of the traveling route by the environment recognition unit 6 even during traveling, the position of the environmental obstacle such as a wall stored as information on the map is taken into consideration. The route generation means 3 generates an optimum route again and travels according to the optimum route.

  Each of the peripheral devices 21, 31, and 41 is a door, an elevator, and a light that are arranged in a fixed position in the external environment of the moving body M, and may be a sensor, a camera, or the like. Each peripheral device has controllers 22, 32, and 42 each having a communication function. The peripheral device controller 11 includes a control unit 12, a memory 13, and a communication unit 14, and has a function of integrating and managing operations and position data of the peripheral devices 21, 31, and 41. The peripheral device controller 11 may exist inside the mobile body M or outside the mobile body. However, when there are a plurality of mobile bodies M inside the mobile body, the peripheral device controller is provided only on one of the mobile bodies. It is necessary to give the function as 11.

  When the generation of the optimum route is completed, the mobile unit M transmits the optimum route to the peripheral device controller 11 in response to a request from the peripheral device controller 11. The peripheral device controller 11 sets an area (referred to as a mutual interference area) in which each peripheral device interferes with the moving body M based on the received route. Based on this mutual interference area, each peripheral device operates in a coordinated manner as the moving body M moves.

  FIG. 3 shows a processing flow by the control means 12 of the peripheral device controller 11. The peripheral device controller 11 requests the transmission of the position data and the position data ID of the moving body M (# 1-1), and receives the position data transmitted from the moving body M (# 1-2). As a result, the peripheral device controller 11 identifies the current position of the moving body M, and determines whether the position of the moving body M is within the mutual interference area, that is, within the interference area of the peripheral device disposed in the environment. (# 1-3). If the mobile unit M is located within the interference area of the peripheral device, the peripheral device controller 11 issues an operation command to the corresponding peripheral device (# 1-4). Conversely, when the position of the moving body M moves from the mutual interference area to the outside of the interference area, the peripheral device controller 11 performs end processing such as “close door” and “turn off lighting”. An operation command is issued to the peripheral device to perform the operation.

  FIG. 4 shows a flow of processing when the moving body M enters the mutual interference area of the peripheral device, and FIGS. 5 and 6 show setting examples of the mutual interference area in each peripheral device. When creating the mutual interference area, it is necessary to change the door opening / closing timing and lighting ON / OFF timing according to the performance of the moving body M. In these drawings, A, A1 and A2 are mutual interference areas, C1 and C2 are rooms, D1 is a door as a peripheral device, L is illumination as a peripheral device, and W is a wall. As shown in FIG. 4, when the moving body M enters the mutual interference area A of the door D1, the door D1 opens. In addition, as shown in FIG. 5, the time for opening the door D1 is faster when the moving body M2 having a higher speed passes through the door D1 than the moving body M1 having a lower speed. Further, it is necessary to increase the time during which the large moving body M2 opens the door D1 compared to the small moving body M1.

  Further, when sending the self-position data of the moving body M to the peripheral device controller 11, the timing for opening and closing the door D1 is different depending on whether the self-position of the moving body M is taken at the tip of the moving body M or the center of gravity. . Therefore, it is necessary to change the shape and size of the area A according to the ID sent from the moving body M.

  In addition to the size and shape of area A, there are situations in which the operation of peripheral devices is changed. For example, when a camera is not mounted on the moving body M, there is no need to shoot, so there is no need to illuminate the room. As shown in FIG. 6, high sensitivity can be taken even in a dark place. In the case of the moving body M4 equipped with a simple camera, the amount of illumination can be reduced. Furthermore, in the case of the moving body M3 equipped with a normal camera, it is necessary to increase the amount of light. In this way, it is necessary to change the operation of the peripheral device depending on the ID of the moving body and the equipment.

  The peripheral device controller 11 holds map data in the memory 13, and the position data of the peripheral device is input from the beginning on this map data. When creating the mutual interference area, the peripheral device controller 11 After determining whether there is a peripheral device, only the peripheral device on the path of the mobile unit M is valid. For peripheral devices that are not on the route, a mutual interference area is not created and the device operates even if it approaches the peripheral device. Do not. FIG. 7 shows a specific example thereof. When the moving body M enters the room C1 from the passage C0 through the door D1, even if there are doors D2 and D3 facing the passage C0, only the area for the door D1 is made effective, and the operation unnecessary door D2, The area for D3 is disabled. Thereby, useless operation can be avoided.

  The mobile unit M first generates a route and transmits the information to the peripheral device controller 11. When the peripheral device controller 11 receives the route information, the mobile device M uses the information as to whether or not each peripheral device is operating correctly. Next, a determination is made as to whether the route is usable. If there is a peripheral device that does not operate on the path of the moving body M, the peripheral device controller 11 instructs the moving body M to generate a path again. At that time, the position of the peripheral device that does not operate is set as an obstacle, and the position is prevented from passing.

  A specific example is shown in FIG. In the figure, G is a destination, and the door D2 cannot be used. Therefore, the route is changed to pass through the door D3, and the setting area for the door D3 is turned ON. Note that it is assumed that the peripheral device controller 11 constantly detects the operation information of each peripheral device with a sensor or the like and grasps the operating state of the peripheral device. FIG. 9 shows a specific example of the moving path of the moving body and the room illumination. Of the lights in the rooms C1 to C4, the light 4 in the room C4 is not turned on and is turned off.

  When the moving body M actually moves, the shortest route may be a route that is different from the route originally planned due to the presence of various obstacles, retreat behavior, and the like. In that case, the mobile unit M regenerates the route and tries to reach the destination with the shortest route, but the peripheral device used at that time is changed, and the peripheral device that should not be used is used. Or a situation where peripheral devices that should be used are not used. Therefore, when the mobile unit M regenerates the route, all the map data in the peripheral device controller 11 is initialized, and only the mutual interference area of the peripheral device existing on the route of the mobile unit M is enabled again. To do. FIG. 10 shows a specific example in the case of destination change. By changing the destination G, the peripheral device controller 11 resets the area A2 for the door D3 instead of the area A1 set for the door D2.

  Next, a peripheral device cooperation system for moving bodies according to a second embodiment of the present invention will be described. 11 and 12 show the configuration of the robot cooperation system according to the second embodiment. In the system according to the present embodiment, the autonomous mobile body includes a luggage transport robot R2 and a cleaning robot R1, and includes an application control computer 51 as a means corresponding to a peripheral device controller and an air cleaner 54 as a peripheral device, for example. A LAN that performs bidirectional communication via the communication adapter 53 is constructed. In FIG. 12, reference numeral 61 denotes a distribution board incorporating the application control computer 51, 62 and 63 are air conditioners, and are equivalent to the air purifier 54. The robot cooperation system can cope with various environments such as homes, offices, hospital facilities, public facilities, welfare facilities, restaurants, etc. For example, the case of a house will be described.

  Although not shown in detail, the load carrying robot R2 is equipped with a moving mechanism having a wheel and an actuator for rotating the wheel, a sensor for detecting an obstacle, a self position detecting unit for detecting a self position, and a load. A luggage loading section and a movement control section that moves to avoid the obstacle to the target position are provided. In addition, the cleaning robot R1 has a moving mechanism having a wheel and an actuator that rotates the wheel, a sensor that detects an obstacle, a self-position detecting unit that detects a self-position, a cleaning unit that collects dust, and a desired room. And a cleaning control unit for sequentially cleaning from the position. The baggage transport robot R2 and the cleaning robot R1 have a communication function of transmitting their own positions to the control computer 51 and receiving events from the other party.

  Each robot may send its own position and event directly to the other party, or a separate computer is provided as an application control computer, each robot sends its own position, and the other party's position is assigned to the application control computer. You may check from the map service. Here, a cooperative system using an application control computer 51 (hereinafter referred to as a control computer) will be described. The control computer 51 generates an event for the load transport robot R2 and the cleaning robot R1 in order to execute the task of cleaning. The control computer 51 also manages and provides information on each robot.

  First, in the second embodiment, the operation of the robot cooperation system excluding the air cleaner 54 or the air conditioners 62 and 63 will be described. FIG. 13 shows the processing flow of the control computer 51 in that case, FIG. 14 shows the processing flow of the cleaning robot R1, and FIG. 15 shows the processing flow of the luggage transport robot R2.

These processing procedures will be described below.
(1) The user requests the control computer 51 to clean through the human interface.
(2) The control computer 51 generates a cleaning start event for the cleaning robot R1, and generates an evacuation event for the luggage transport robot R2.
(3) Each robot transmits its own position to the control computer 51.
(4) The control computer 51 has map data of a place to be cleaned, and manages the current position of each robot with reference to a predetermined position in the map.
(5) The cleaning robot R1 notifies the control computer 51 that an obstacle has been detected when the obstacle is detected during the movement for performing the cleaning.
(6) The control computer 51 generates an event for the luggage transport robot R2 to go to the cleaning robot R1 to determine whether the obstacle is registered as movable.
(7) The load carrying robot R2 takes in the current location of the cleaning robot R1 managed as map data of the control computer 51, generates a route to the place, and moves.
(8) The load transport robot R2 acquires an obstacle existing in front of the cleaning robot R1 as image data using a camera, and collates whether it is registered as movable.
(9) If it is registered, the load carrying robot R2 moves so that the load carrying portion hits a predetermined receiving portion, and lifts the obstacle by raising the load carrying portion.
(10) When the load carrying robot R2 notifies the control computer 51 that the obstacle has been lifted, the control computer 51 takes in the course of continuing cleaning from the cleaning robot R1 and adds it to the map data.
(11) The control computer 51 calculates a position where the cleaning robot R1 and the load transport robot R2 do not interfere with each other, and instructs the position of the retreat to the load transport robot R2.
(12) The cleaning robot R1 continues cleaning when there are no obstacles.

  Next, the operation of the embodiment of the robot cooperation system to which the air purifier 54 or the air conditioners 62 and 63 (which will be described below as a representative) will be described. The air cleaner 54 may have only an air cleaning function or may be mounted on an air conditioner. The air purifier 54 detects the amount of dust with a sensor during air cleaning, and determines that cleaning is necessary if the amount of dust exceeds a predetermined value. If it is determined that cleaning is required, an event that cleaning is required is generated in the control computer 51. In response to this event, the control computer 51 needs to be cleaned by a person equipped with a human interface (a human interface of the load transport robot R2, a human interface of the cleaning robot R1, or another human interface). Let them know. Then, a person gives a cleaning instruction through a human interface. At this time, if there is no person who determines the cleaning, the cleaning may be performed only by the determination of the robot.

  In addition, during cleaning, an air cleaning function may be used to remove dust flying in the room. Further, when the cleaning operation starts, the control computer 51 may generate an event in the window actuator so as to open the window.

  As shown in FIG. 12, even when the control computer 51 is in the distribution board 61, the application software of the control computer 51 can be updated or changed. When adding a new function or robot, the application software is changed. To do.

  Next, a robot cooperation system according to the third embodiment will be described. FIG. 16 shows the configuration of this embodiment. The autonomous mobile body in this system is the porter robot R3. The porter robot R3 is connected to the condominium management server 52 and the control computer 51 via the Internet. The porter robot R3 recognizes a person, a moving mechanism having a wheel and an actuator that rotates the wheel, a sensor that detects an obstacle, a self-position detecting unit that detects a self-position, a baggage storage unit that stores a baggage, and a person A human recognition unit, and a movement control unit that moves to a target position while avoiding an obstacle. This porter robot R3 is assumed to be used in an apartment.

  17 to 20 show the processing flow of this system. The porter robot R3 carries the resident's luggage from the parking lot or entrance of the apartment to each room. For example, the porter robot R3 is called from a car returned from shopping. The porter robot R3 that has come to the parking lot detects the characteristics of the person in the person recognition unit, and collates it with the data registered in the condominium management server 52. At this time, the characteristics of the person to be verified may be any of face, voice, daylighting, fingerprint, personal identification number, personal IC card or ID tag. If the resident of the apartment is recognized, the luggage storage unit is unlocked and the luggage can be stored. After the luggage is stored, it is locked after the luggage storage section is closed. Further, the room number of the resident is detected from the management server 52, and a movement route to the room is generated in the stored map data. The porter robot R3 moves to the resident's room along this route.

  The porter robot R3 transmits a key unlock request to the management server 52 in front of the room, and the management server 52 requests the control computer 51 in the room to unlock the room. The control computer 51 informs the inhabitants of the room that the package has been transported through the human interface device or robot in the room and asks whether it can be unlocked. If the unlocking permission is obtained, the control computer 51 unlocks the front door. The porter robot R3 detects a person who has picked up the luggage at the entrance by the person recognition unit, and collates it with the data registered in the condominium management server 52. If you are confirmed to be a resident of this room, unlock the luggage compartment. After the luggage is taken out, the porter robot R3 returns to a predetermined place.

  Next, a peripheral device cooperation system according to the fourth embodiment will be described. FIG. 21 shows the configuration, and FIGS. 22 and 23 show the processing flow. In this system, an air cleaner 54, a refrigerator 55, an automatic door 56, and a lighting fixture 57 are connected as peripheral devices of the network. Here, an application will be described in which the luggage transport robot R2 takes out an instruction from the refrigerator 55.

  The door of the refrigerator 55 is controlled by a dedicated controller, and this controller is connected to the control computer 51 and the luggage transport robot R2 via a network. In response to the instruction, the load transport robot R2 generates a route to the position of the refrigerator 55 and moves toward the position. In the middle, the self position is sequentially detected and the value is sent to the control computer 51 and registered as the position of the load transport robot R2 in the map data.

  When the position of the load transport robot R2 comes before a predetermined value that enters a range that interferes with opening and closing of the door of the refrigerator 55, the control computer 51 issues a command to pause the movement of the load transport robot R2 and opens the door of the refrigerator 55. Instruct. When the door of the refrigerator 55 is opened, the control computer 51 moves the baggage transfer robot R2 to the front of the target refrigerator 55 when the load transfer robot R2 is temporarily stopped. The baggage transfer robot R2 moves to the instructed person when it finishes taking out the instructed item from the refrigerator 55. When moving out of the range of interference with opening / closing of the door of the refrigerator 55, the control computer 51 generates an event for the controller of the refrigerator 55 to close the door of the refrigerator.

  Next, it will be described that the luggage transport robot R2 moves in cooperation with the opening / closing of the automatic door 56 in the room. The automatic door 56 is controlled by a dedicated controller, and this controller is connected to the control computer 51 and the load transport robot R2 via a network. When the load carrying robot R2 moves from the living room to the entrance, it passes through an automatic door on the way. However, when moving to the refrigerator 55, it passes in front of the automatic door 56 next to the kitchen, but it is not necessary to open the automatic door 56 and pass through it. Therefore, the load carrying robot R2 sends the route to the self computer position and the target position to the control computer 51 during movement. If the route passes through the automatic door 56 in the map data of the control computer 51, the interference range of the automatic door 56 is set. A command to pause the movement of the automatic door 56 is issued, and an instruction is given to open the door of the automatic door 56.

  When the automatic door 56 is opened, the control computer 51 releases the temporary stop of the load transport robot R2, and the load transport robot R2 moves to the target entrance. However, since the load transport robot R2 moves to the refrigerator 55, the route of the load transport robot R2 does not pass through the automatic door 56 even if it passes in front of the automatic door 56. The interference range is not set, and the automatic door 56 cannot be opened. In addition, this invention is not restricted to the structure of the said embodiment, A various deformation | transformation is possible.

The block block diagram of the autonomous mobile body which concerns on 1st Embodiment of this invention. The block block diagram of the peripheral device which cooperates with the said mobile body, and a peripheral device controller. The flowchart of the process by the control means of a peripheral device controller. The figure which shows the process sequence when a mobile body enters into the mutual interference area of a peripheral device. The figure which shows the example of a setting of the mutual interference area in each peripheral device. The figure which shows the example of a setting of the mutual interference area in each peripheral device. The figure which shows the example of a setting of a mutual interference area. The figure which shows the example of a setting of a mutual interference area. The figure which shows the specific example of the moving path | route of a moving body, and the illumination of a room. The figure which shows the example of a setting of a mutual interference area. The block block diagram of the autonomous mobile body which concerns on 2nd Embodiment of this invention. The top view of the said structure. The flowchart of the process of the said structure. The flowchart of the process of the said structure. The flowchart of the process of the said structure. The block block diagram of the autonomous mobile body which concerns on 3rd Embodiment of this invention. The flowchart of the process of the said structure. The flowchart of the process of the said structure. The flowchart of the process of the said structure. The flowchart of the process of the said structure. The block block diagram of the autonomous mobile body which concerns on 4th Embodiment of this invention. The flowchart of the process of the said structure. The flowchart of the process of the said structure.

Explanation of symbols

M autonomous mobile body 11 peripheral device controller 21, 31, 41 peripheral device 2 storage means 3 route generation means 51 application control computer (peripheral device controller)
R1 Cleaning robot R2 Luggage transfer robot

Claims (9)

When the destination is set on the map data held by the mobile body, an autonomous mobile body that calculates and generates an optimal travel route based on the current position information and obstacle information of the mobile body and travels based on the route When,
Peripheral devices fixed in the external environment of the mobile body
A peripheral device cooperation system of an autonomous mobile body equipped with a peripheral device controller that integrally manages the operation and position data of these peripheral devices,
The mobile unit includes a signal transmission unit that transmits an event including the movement path generated to the peripheral device controller and the mobile unit ID in order to cooperate with the peripheral device.
The peripheral device controller is
Means for setting and storing an area (referred to as a mutual interference area) for mutual interference with each mobile device for each peripheral device;
Means for requesting the position data of the mobile object, receiving the position data transmitted from the mobile object in response to the request, and identifying the current position of the mobile object;
It is determined whether or not the position of the moving body is within the mutual interference area, and if within the mutual interference area, means for making an operation request to the corresponding peripheral device, Device linkage system.   2. The peripheral device controller according to claim 1, wherein, based on route data received from a mobile body, only the peripheral device in which the mobile body may pass through the mutual interference area is put in an operation waiting state. Peripheral device linkage system for autonomous mobiles.   The autonomous mobile body according to claim 1, wherein individual information such as the size and speed of the mobile body is identified according to the mobile body ID, and thereby the shape of the mutual interference area is changed. Peripheral device linkage system. It further includes a monitoring device that collects the operating status of each peripheral device,
When it is necessary for the peripheral device controller to use a peripheral device that is not currently in operation on the moving path of the moving object based on the peripheral device operation status data received from the monitoring device, the operation status data To the mobile,
The peripheral device cooperation system of an autonomous mobile body according to claim 2, wherein the mobile body generates an optimal movement route again based on the received operation status data. When a mobile object travels based on the generated travel route, a request to change the route such as an emergency stop command or a charge command for the mobile object is made, and the map held when the destination or travel route is changed Generate the movement route again on the data, send the result to the peripheral device controller,
The peripheral device cooperation system according to claim 2, wherein the peripheral device controller redefines a peripheral device to be operated based on the received route.   4. The peripheral device for an autonomous mobile body according to claim 3, wherein individual information such as the size and speed of the mobile body is identified according to the mobile body ID and has a function of changing the operation of the peripheral device to be linked. Cooperation system.   2. The peripheral device cooperation system for an autonomous mobile body according to claim 1, wherein when the mobile body goes out of the mutual interference area, the peripheral device is automatically terminated. The autonomous mobile body consists of a luggage transport robot and a cleaning robot,
The load carrying robot includes a wheel and a moving mechanism having an actuator that rotates the wheel, a sensor that detects an obstacle, a self-position detecting unit that detects a self-position, a load mounting unit that loads a load, and a target position. A movement control unit that moves while avoiding obstacles,
The cleaning robot includes a moving mechanism having a wheel and an actuator that rotates the wheel, a sensor that detects an obstacle, a self-position detecting unit that detects a self-position, a cleaning unit that collects garbage, and a room from a desired position. A cleaning control unit for sequentially cleaning,
2. The peripheral device cooperation of an autonomous mobile body according to claim 1, wherein the load carrying robot and the cleaning robot have a communication function of transmitting a self-position of each robot and receiving an event from a partner. system. The autonomous mobile body is a porter robot,
The porter robot recognizes a person, a moving mechanism having a wheel and an actuator for rotating the wheel, a sensor for detecting an obstacle, a self-position detecting unit for detecting a self-position, a baggage storing unit for storing a baggage. The peripheral device cooperation system for an autonomous mobile body according to claim 1, further comprising: a person recognition unit; and a movement control unit that moves while avoiding an obstacle to a target position.

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