JP2007147217A - Robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To substantialize a comfortable environment for humans without depending on manual operation. <P>SOLUTION: The robot 10 includes various sensors and detects the environmental state such as temperature, humidity, soiling on a floor, and dirtiness in the air. When the detected result of the environmental state is different from a set condition (set temperature, set humidity, set value of dirtiness, set value of odor), the robot 10 controls an electronic apparatus for adjusting the environmental state. For example, when the detected temperature is different from the set temperature, an air conditioner A is controlled to adjust the temperature of the room. Further, when the detected dirtiness of the floor is more than the set value of dirtiness, a fully automatic vacuum cleaner B is controlled to remove (reduce) dirt on the floor. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a robot, and more particularly to a robot provided with a plurality of sensors for detecting environmental conditions such as temperature, humidity, floor and air contamination.

  2. Description of the Related Art Conventionally, there has been a technology for externally controlling electrical equipment such as a television receiver and an air conditioner (hereinafter sometimes simply referred to as “air conditioner”) using a communication technology such as a mobile phone or a computer. It has been reported. For example, according to the remote control system of Patent Document 1, a robot that has the same transmission / reception function as that of a portable terminal in a mobile phone system and can move inside a building is arranged inside a house, By remotely operating the robot with a portable terminal, home appliances such as a television receiver, a VTR, and an air conditioner are remotely operated.

  Further, according to the remote control device disclosed in Patent Document 2 (the same applies to Patent Document 3), the robot has a function as a remote controller that controls driving of each electric device such as a television receiver and an air conditioner. By instructing the setting contents of each electric device from an instruction terminal such as a mobile phone terminal or a computer terminal, the robot moves to the vicinity of each electric device and controls their drive.

Furthermore, an example of a self-propelled robot cleaner is disclosed in Non-Patent Document 1. This self-propelled robot cleaner (home cleaning robot), for example, automatically creates a map in a room and performs cleaning while moving autonomously.
JP 2002-281567 A [H04Q 9/00] JP 2003-18665 A [H04Q 9/00] JP 2003-18670 A [H04Q 9/00] http://kadenfan.hitachi.co.jp/robot/

  However, in the techniques of Patent Documents 1 to 3, it is possible to remotely operate an electric device, but only a robot is used as a remote controller. In order to appropriately control the electric device, a user needs Need to give instructions. That is, the operation is troublesome.

  In the technique of Non-Patent Document 1, the home cleaning robot only cleans the entire room or the room at random according to the user's operation, and the robot itself cannot clean as needed.

  Therefore, a main object of the present invention is to provide a novel robot capable of realizing a comfortable environment for human beings.

  According to the first aspect of the present invention, when the detection means for detecting the environmental situation and the detection result of the detection means do not satisfy the predetermined condition, a control signal for satisfying the predetermined condition is transmitted to the electric device for adjusting the environmental situation. It is a robot provided with the transmission means to do.

  According to the first aspect of the present invention, the robot (10: reference number corresponding to the embodiment; the same applies hereinafter) is an electrical device for adjusting environmental conditions (for example, temperature, humidity, floor or air contamination, etc.), for example. (For example, an air conditioner A, a fully automatic vacuum cleaner B, an air purifier C, a humidifier D, and a dehumidifier E) are disposed indoors such as an office or home where the air conditioner A is installed. The detection means (72, 100 to 106, S81) detects an environmental condition (environmental condition) such as temperature, humidity, floor dirt or air dirt. The CPU (72) determines whether or not the environmental status detected by the detection means (72, 100 to 106, S81) satisfies a preset environmental status condition (setting condition). When the detected environmental situation does not satisfy the setting condition, the transmission means (72, 98, S85, S89, S93, S97) transmits a control signal to the electric device, and the environmental situation satisfies the setting condition. Let the electrical equipment adjust.

  According to the first aspect of the present invention, since the environmental condition is detected and the electric device is appropriately controlled so that the detected environmental condition satisfies the setting condition, a comfortable space for human beings without bothering human hands. Can be realized.

  The invention of claim 2 is dependent on claim 1, and the detection means includes at least one of a temperature sensor, a humidity sensor, a dirt sensor, and an odor sensor.

  In the invention of claim 2, the detection means (72, 100 to 106, S81) includes at least one of a temperature sensor (100), a humidity sensor (102), a dirt sensor (104), and an odor sensor (106). The robot (10) can recognize environmental conditions in the vicinity of itself based on the detection results of the temperature sensor (100), the humidity sensor (102), the dirt sensor (104), and the odor sensor (106). That is, it is possible to detect the temperature and humidity at the current position (room or a part of the area) of the robot (10), and it is also possible to detect dirt on the floor and air.

  According to the invention of claim 2, since various sensors are provided, it is possible to adjust the temperature and humidity, or to clean the floor and air dirt by controlling the electrical equipment based on the output of each sensor. it can.

  The invention of claim 3 is dependent on claim 1 or 2, and comprises an autonomous moving means for autonomously moving.

  In the invention of claim 3, the robot (10) includes autonomous moving means (24, 26, 72, 78) and autonomously moves indoors.

  According to invention of Claim 3, since it moves autonomously, the environmental condition of various places is detectable. For this reason, it is possible to adjust the local temperature and humidity, and to purify local floor and air stains. That is, in order to maintain (realize) a comfortable space for human beings, it is possible to respond more precisely.

  The invention of claim 4 is dependent on claim 3 and further comprises map storage means for storing map data, and the detection means refers to the map data stored in the map storage means and moves autonomously by the autonomous movement means. When detecting environmental conditions.

  According to a fourth aspect of the present invention, the map storage means (110) stores map data (for example, indoor map data such as a building or home of a certain company) about the space where the robot (10) is placed. The map data is managed, for example, divided into a large area and a small area. Specifically, the room where the robot (10) is arranged is divided into large areas such as room units, and each room is further divided into small areas for each predetermined range. The robot (10) moves autonomously by the self-moving means (24, 26, 72, 78) based on the map data stored in the map storage means (110), and by the detecting means (72, 100-106, S81). Detect environmental status (information).

  According to invention of Claim 4, since it moves, referring a map, all areas can be searched and an environmental condition can be adjusted efficiently.

  The invention according to claim 5 is dependent on any one of claims 1 to 4 and further comprises human detection means for detecting a person existing around or in the vicinity, and when the person is detected by the human detection means, the autonomous movement means Follow the person.

  In the invention of claim 5, the human detection means (42, 48, 72, 76, 80, S15, S41) detects the presence of the human (14). The autonomous moving means (24, 26, 72, 78) follows the human (14) when the human detecting means (42, 48, 72, 76, 80, S15, S41) detects the presence of a human. Specifically, when the human detection means (42, 48, 72, 76, 80, S15, S41) detects the presence of the human (14), the motor control board (78) receives the control data from the CPU (72). The wheel motor (26) is driven and the robot (10) is moved close to the human (14). Then, for example, the distance between the robot (10) and the person is measured by the ultrasonic distance sensor (32), and the robot moves until the distance is closer than a preset distance (for example, 1 m). Further, when the robot (10) moves away from the robot (10) due to the movement of the human (14) (when the distance between the human (14) and the robot (10) becomes longer than a preset distance), It moves by the autonomous moving means (24, 26, 72, 78) until it becomes closer than the set distance. In this way, the robot (10) moves so as to keep the distance from the human (14) within a predetermined distance, and therefore follows the human.

  According to the invention of claim 5, since the detected human is followed, the environmental condition in the vicinity of the human can be maintained comfortably or can be adjusted.

  The invention according to claim 6 is dependent on any one of claims 1 to 5, and further includes a communication action executing means for performing a communication action with a human using at least one of a body motion and a voice.

  In the invention of claim 6, the robot (10) can communicate with the human (14) by using at least one of body movement and voice. For example, when the detection means (42, 48, 72, 76, 80, S15, S41) detects the presence of a person and approaches the person, he may say "Good morning" with one hand up. it can. Also, for example, when following a detected person (14), if you say "separate" from the person, you will say "I'm wrong" and leave the person (14) and act alone. You can also.

  According to the sixth aspect of the present invention, it is possible to naturally dissolve in the space where a human exists, and to detect the environmental situation without disturbing the human behavior and to keep the environmental situation near the human being comfortable. be able to.

  According to the present invention, since the electric device is appropriately controlled based on the detected environmental situation, it is possible to realize a comfortable environment for humans even without a command from humans.

  The above object, other objects, features, and advantages of the present invention will become more apparent from the following detailed description of embodiments with reference to the drawings.

  Referring to FIG. 1, a robot 10 according to this embodiment is an interaction-oriented robot mainly intended to communicate with a communication target such as a human 14, for example, body movements and voices such as gesture gestures. It has a function to perform communication behavior including at least one of the above.

  The robot 10 is disposed indoors such as an office or home where electric devices are installed. In this embodiment, as shown in FIG. 1, an air conditioner (air conditioner) A, a fully automatic cleaner B, an air cleaner C, a humidifier D, a dehumidifier E, and the like correspond to the electrical devices. That is, the electric device adjusts its indoor environment (temperature, humidity, air, floor dirt, etc.).

  Moreover, although a detailed mechanism will be described later, the robot 10 includes a mechanism for autonomously moving, and can freely move autonomously in the arranged space (indoor). Although omitted in FIG. 1, the robot 10 further includes an infrared signal transmission device 98 (see FIG. 3) that transmits a control signal for controlling each electric device.

  In FIG. 1, for simplicity, a single person 14 is shown. However, a plurality of persons may exist or may not exist.

  FIG. 2 is a front view showing the appearance of the robot 10, and the hardware configuration of the robot 10 will be described with reference to FIG. The robot 10 includes a carriage 22, and wheels 24 for autonomously moving the robot 10 are provided on the lower surface of the carriage 22. The wheel 24 is driven by a wheel motor 26 (see FIG. 3), and the carriage 22, that is, the robot 10 can be moved in any direction, front, rear, left, and right. As described above, the robot 10 is movable in the space of the tissue, but may be fixedly provided at a predetermined position in the space depending on circumstances.

  Although omitted in FIG. 2, a collision sensor 28 (see FIG. 3) is attached to the front surface of the carriage 22, and the collision sensor 28 detects contact of a person and other obstacles to the carriage 22. That is, when contact with an obstacle is detected during the movement of the robot 10, the driving of the wheels 24 is immediately stopped to suddenly stop the movement of the robot 10.

  In this embodiment, the height of the robot 10 is about 100 cm so as not to intimidate people, particularly children. However, this height can be changed.

  A polygonal column sensor mounting panel 30 is provided on the carriage 22, and an ultrasonic distance sensor 32 is mounted on each surface of the sensor mounting panel 30. The ultrasonic distance sensor 32 measures the distance between the sensor mounting panel 30, that is, the person around the robot 10 mainly.

  Moreover, the lower part of the robot 22 is surrounded by the sensor mounting panel 30 so that the body of the robot 10 stands upright. This body is constituted by a lower body 34 and an upper body 36, and the lower body 34 and the upper body 36 are connected to each other by a connecting portion 38. Although illustration is omitted, the connecting portion 38 has a built-in lifting mechanism, and the height of the upper body 36, that is, the height of the robot 10 can be changed by using this lifting mechanism. The lifting mechanism is driven by a waist motor 40 (see FIG. 3), as will be described later.

  The height of the robot 10 described above is that when the upper body 36 is at its lowest position. Therefore, the height of the robot 10 can be 100 cm or more.

  One omnidirectional camera 42 and one microphone 46 are provided in the approximate center of the upper body 36. The omnidirectional camera 42 photographs the surroundings of the robot 10 and is distinguished from an eye camera 48 described later. As this omnidirectional camera 42, for example, a camera using a solid-state imaging device such as a CCD or a CMOS can be adopted. The microphone 46 captures ambient sounds, particularly voices of people who are communication targets. The installation positions of the omnidirectional camera 42 and the microphone 46 are not limited to the upper body 36 and can be changed as appropriate.

  Upper arms 52R and 52L are provided on both shoulders of the upper body 36 by shoulder joints 50R and 50L, respectively. The shoulder joints 50R and 50L each have three axes of freedom. That is, the shoulder joint 50R can control the angle of the upper arm 52R around each of the X axis, the Y axis, and the Z axis. The Y axis is an axis parallel to the longitudinal direction (or axis) of the upper arm 52R, and the X axis and the Z axis are orthogonal to the Y axis from different directions. On the other hand, the shoulder joint 50L can control the angle of the upper arm 52L around each of the A axis, the B axis, and the C axis. The B axis is an axis parallel to the longitudinal direction (or axis) of the upper arm 52L, and the A axis and the C axis are axes orthogonal to the B axis from different directions.

  Further, forearms 56R and 56L are provided at the respective distal ends of the upper arms 52R and 52L via elbow joints 54R and 54L. The elbow joints 54R and 54L can control the angles of the forearms 56R and 56L around the axes of the W axis and the D axis, respectively.

  In the X axis, Y axis, Z axis, W axis, A axis, B axis, C axis, and D axis that control the displacement of the upper arms 52R and 52L and the forearms 56R and 56L, "0 degree" is the home position, respectively. In this home position, as shown in FIG. 2, the upper arms 52R and 52L and the forearms 56R and 56L are directed downward.

  Although not shown in the figure, the shoulder portion including the shoulder joints 50R and 50L of the upper body 36, the upper arms 52R and 52L, and the forearms 56R and 56L described above are each shown by touch sensors (shown comprehensively in FIG. 3). : 58), and these touch sensors 58 detect whether or not a person touches each part of the robot 10.

  Spheres 60R and 60L corresponding to hands are fixedly provided at the tips of the forearms 56R and 56L, respectively. However, if a finger or palm function is required, a “hand” in the shape of a human hand can be used.

  Although the shape and dimensions of the robot 10 are set as appropriate, in another embodiment, for example, the upper body 36 includes a front surface, a back surface, a right side surface, a left side surface, a top surface, and a bottom surface, and the right side surface and the left side surface. You may form so that the surface may face diagonally forward. That is, the width of the front surface may be shorter than the width of the back surface, and the shape of the upper body 36 viewed from above may be a trapezoid.

  In such a case, the shoulder joints 50R and 50L are provided on the right side surface and the left side surface via left and right support portions whose surfaces are parallel to the left and right side surfaces, respectively. The rotation range of the upper arm 52R and the upper arm 52L is restricted by the left and right side surfaces or the surface (attachment surface) of the support portion, and the upper arms 52R and 52L do not rotate beyond the attachment surface.

  However, if the inclination angle of the left and right side surfaces, the distance between the B axis and the Y axis, the lengths of the upper arms 52R and 52L, the lengths of the forearms 56R and 56L, etc. are appropriately set, the upper arms 52R and 52L Since it can rotate to the inner side, the arms of the robot 10 can cross forward even if there is no degree of freedom of the arms by the W axis and D axis. Therefore, even when the degree of freedom of arms is small, it is possible to execute close and intimate communication behavior such as embracing a person in front.

  A head 64 is provided above the center of the upper body 36 via a neck joint 62. The neck joint 62 has a degree of freedom of three axes, and the angle can be controlled around each of the S axis, the T axis, and the U axis. The S-axis is an axis that extends from the neck directly upward (vertically upward), and the T-axis and the U-axis are axes that are orthogonal to the S-axis in different directions. The head 64 is provided with a speaker 66 at a position corresponding to a human mouth. The speaker 66 is used for the robot 10 to communicate with people around it by voice or sound. However, the speaker 66 may be provided in another part of the robot 10, for example, the trunk.

  The head 64 is provided with eyeballs 68R and 68L at positions corresponding to the eyes. Eyeball portions 68R and 68L include eye cameras 48R and 48L, respectively. Hereinafter, the right eyeball portion 68R and the left eyeball portion 68L may be collectively referred to as the eyeball portion 68, and the right eye camera 48R and the left eye camera 48L may be collectively referred to as the eye camera 48.

  The eye camera 48 captures the face of the person approaching the robot 10 and other parts or objects, and captures the corresponding video signal. As the eye camera 48, a camera similar to the omnidirectional camera 42 described above can be used.

  For example, the eye camera 48 is fixed in the eyeball part 68, and the eyeball part 68 is attached to a predetermined position in the head 64 via an eyeball support part (not shown). The eyeball support unit has two degrees of freedom and can be controlled in angle around each of the α axis and the β axis. The α axis and the β axis are axes provided with respect to the head 64, the α axis is an axis in a direction toward the top of the head 64, the β axis is orthogonal to the α axis and the front side of the head 64 ( It is an axis in a direction perpendicular to the direction in which the face is facing. In this embodiment, when the head 64 is at the home position, the α axis is set to be parallel to the S axis, and the β axis is set to be parallel to the U axis. In such a head 64, when the eyeball support portion is rotated around each of the α axis and the β axis, the tip (front) side of the eyeball portion 68 or the eye camera 48 is displaced, and the camera axis, that is, the line-of-sight direction is changed. Moved.

  In the α axis and β axis that control the displacement of the eye camera 48, “0 degree” is the home position. At this home position, the camera axis of the eye camera 48 is the head 64 as shown in FIG. The direction of the front side (face) is directed, and the line of sight is in the normal viewing state.

  Further, the robot 10 includes a temperature sensor 100, a humidity sensor 102, a dirt sensor 104, and an odor sensor 106. For example, the temperature sensor 100, the humidity sensor 102, and the odor sensor 106 are attached to the shoulder. However, strictly speaking, the detection units of the sensors 100 to 106 are provided so as to be exposed from the shoulders of the robot 10, and other parts other than the detection units are provided inside the robot 10. Of course, the attachment positions of these sensors 100, 102, and 106 are not specified on the shoulders, and can be appropriately changed depending on the implementation conditions. Further, these sensors 100, 102 and 106 do not have to be provided at the same site (in this embodiment, shoulders), and may be provided at different sites. The dirt sensor 104 is attached to the lower surface of the carriage 22. The attachment position of the dirt sensor 104 is not necessarily limited to the lower surface of the carriage 22, and can be appropriately changed depending on the function of the dirt sensor 104, the detection method, and the like.

  For example, as the dirt sensor 104, an optical sensor that optically measures the reflectance of the floor surface can be used. Further, as the odor sensor 106, a hot-wire semiconductor sensor or the like can be used.

  As will be described in detail later, the robot 10 detects the temperature, humidity, the degree of dirt on the floor or the air, that is, the environmental condition (state) in the vicinity where the robot 10 exists, by using these sensors 100-106. . Therefore, when it is desired to detect another state, it is necessary to separately provide a sensor for detecting the state.

  FIG. 3 is a block diagram showing an electrical configuration of the robot 10. With reference to FIG. 3, the robot 10 includes a CPU 72 for controlling the whole. The CPU 72 is also called a microcomputer or a processor, and is connected to the memory 76, the motor control board 78, the sensor input / output board 80, and the audio input / output board 82 via the bus 74.

  Although not shown in the figure, the memory 76 includes a ROM and a RAM. The ROM 10 stores a control program for the robot 10 in advance, and voice or voice data to be generated from the speaker 66 when the communication action is executed. (Speech synthesis data) and angle data for presenting a predetermined gesture are also stored. The RAM is used as a work memory or a buffer memory. Further, the memory 76 compares the action control program for executing the communication action, the communication program for communicating with the external computer, and the detection condition detected by the environmental sensors 100 to 106 and the preset setting condition. An electric device control program for transmitting a control signal to the electric device is stored.

  The motor control board 78 is constituted by, for example, a DSP, and controls driving of each axis motor such as each arm, head, and eyeball. That is, the motor control board 78 receives the control data from the CPU 72 and controls two angles of the α axis and β axis of the right eyeball portion 68R (in FIG. 3, collectively referred to as “right eyeball motor”). .) Control the rotation angle of 84. Similarly, the motor control board 78 receives control data from the CPU 72, and controls two angles of the α axis and β axis of the left eyeball portion 68L (in FIG. 3, collectively referred to as “left eyeball motor”). Controls the rotation angle of 86.

  The motor control board 78 receives the control data from the CPU 72, and controls the angles of the X axis, Y axis and Z axis of the right shoulder joint 50R and the W axis angle of the right elbow joint 54R. The rotation angles of a total of four motors (one collectively shown as “right arm motor” in FIG. 3) 88 including one motor to be controlled are adjusted. Similarly, the motor control board 78 receives the control data from the CPU 72 and determines the angles of the three motors for controlling the angles of the A-axis, B-axis and C-axis of the left shoulder joint 50L and the D-axis angle of the left elbow joint 54L. The rotation angle of a total of four motors (one collectively shown as “left arm motor” in FIG. 3) 90 with one motor to be controlled is adjusted.

  Further, the motor control board 78 receives control data from the CPU 72, and controls three angles of the S-axis, T-axis, and U-axis of the head 64 (collectively "head motor" in FIG. 3). The rotation angle of 92 is controlled. Furthermore, the motor control board 78 receives the control data from the CPU 72 and controls the rotation angle of two motors 26 (hereinafter collectively referred to as “wheel motors”) 26 that drive the waist motor 40 and the wheels 24. To do.

  In this embodiment, a motor other than the wheel motor 26 is a stepping motor or a pulse motor in order to simplify the control. However, as with the wheel motor 26, a DC motor may be used.

  Similarly, the sensor input / output board 80 is also constituted by a DSP, and takes in signals from each sensor and gives them to the CPU 72. That is, data relating to the reflection time from each of the ultrasonic distance sensors 32 is input to the CPU 72 through the sensor input / output board 80. Further, a video signal from the omnidirectional camera 42 is input to the CPU 72 after being subjected to predetermined processing by the sensor input / output board 80 as required. Similarly, the video signal from the eye camera 48 is also input to the CPU 72. Further, the plurality of touch sensors described above (collectively indicated as “touch sensor 58” in FIG. 3) and signals from the collision sensor 28 are provided to the CPU 72 via the sensor input / output board 80. Furthermore, signals from the environmental sensors 100 to 106 that detect various environmental conditions such as the temperature sensor 100, the humidity sensor 102, the dirt sensor 104, and the odor sensor 106 described above are also given to the CPU 72 in the same manner.

  Similarly, the voice input / output board 82 is also configured by a DSP, and voice or voice in accordance with voice synthesis data provided from the CPU 72 is output from the speaker 66. Also, the voice input from the microphone 46 is taken into the CPU 72 via the voice input / output board 82.

  The CPU 72 is connected to the communication LAN board 94 via the bus 74. The communication LAN board 94 is configured by a DSP, gives transmission data sent from the CPU 72 to the wireless communication device 96, and transmits the transmission data from the wireless communication device 96 to the wireless communication device 96 via a network such as a wireless LAN, although not shown. To send to an external computer. The communication LAN board 94 receives data via the wireless communication device 96 and gives the received data to the CPU 72. That is, the communication LAN board 94 and the wireless communication device 96 allow the robot 10 to perform wireless communication with an external computer or the like.

  The infrared signal transmission device 98 is connected to the CPU 72 via the bus 74. The CPU 72 generates a control signal for controlling the electric device and gives it to the infrared signal transmitting device 98. The infrared signal transmitting device (infrared light emitting device) 98 converts the control signal given from the CPU 72 into an infrared signal and transmits it to each electrical device AE.

  Although illustration is omitted, since each electric device has a different arrangement position (height and direction), in order to reliably receive an infrared signal to each electric device, an infrared transmission unit (light emitting unit) includes a plurality of robots 10. It is necessary to provide it at the place.

  Further, the CPU 72 is connected to a map information database (hereinafter simply referred to as “map DB”) 110 via a bus 74. The map DB 110 is a database for storing map data (map data) for an area (space) in which the robot 10 is placed. In this embodiment, the map data is managed by dividing it into a large area and a small area. For example, as shown in FIG. 4 (A), the map data is divided into large areas such as a room unit provided indoors where the robot 10 is arranged. Further, as shown in FIG. In the room, for example, it is divided into small areas of X [cm] × Y [cm]. Specifically, a room Rx (R1, R2,..., RN-1, RN) exists inside the robot 10 and a certain room Rx includes a plurality of small areas RxAy (RxA1, RxA2, ... RxAM). However, FIG. 4B shows a case where the variable x is N.

  In this embodiment, X and Y are set to the same value (for example, 30), but X and Y may be different values.

  As described above, the robot 10 having such a configuration is disposed indoors (in a three-dimensional space) such as an office or a home in which electric devices are installed. Based on the detection results of the temperature sensor 100, the humidity sensor 102, the dirt sensor 104, and the odor sensor 106 (these may be collectively referred to as “environmental sensors”), the robot 10 Recognize the indoor environment). That is, it is possible to know the temperature and humidity at the current position of the robot 10 (the room or a certain region in the room), and it is also possible to know the dirt on the floor and air.

  The robot 10 controls the air conditioner A so that the environmental condition (room temperature) is adjusted to a preset temperature (set temperature Ts). Specifically, the robot 10 compares the temperature (detected temperature) T detected by the temperature sensor 100 with the set temperature Ts, and based on the comparison result, the detected temperature T matches the set temperature Ts. In addition, control signals for operation / stop (power on / off), operation switching (for example, cooling, heating, dehumidification, etc.) and temperature setting are transmitted to the air conditioner A.

  Further, the robot 10 controls the humidifier D or the dehumidifier E so that the environmental condition (room humidity) is adjusted to a preset humidity (set humidity Ss). Specifically, the robot 10 compares the humidity (detected humidity) S detected by the humidity sensor 102 with the set humidity Ss, and based on the comparison result, the detected humidity S and the set humidity Ss match. In addition, control signals for operation / stop (power on / off) and strength (strong, medium, weak, etc.) are transmitted to the humidifier D and the dehumidifier E.

  Further, the robot 10 compares the degree of dirt (dirt detection value) Y detected by the dirt sensor 104 with the set degree of dirt (dirt set value) Ys, and based on the comparison result, the dirt value Y Control signal for operating / stopping (power supply on / off) and designating the room Rx (region RxAy) to be cleaned is transmitted to the fully automatic cleaner B so that becomes smaller than the dirt set value Ys.

  Furthermore, the robot 10 compares the degree (odor detection value) N of the odor (air dirt) detected by the odor sensor 106 with the set odor intensity (odor setting value) Ns, and the comparison result is obtained. Based on this, a control signal for operation / stop (power on / off) and intensity is transmitted to the air cleaner C so that the odor detection value N is smaller than the odor setting value Ns.

  When the air conditioner A has an air purifying function, it is not necessary to provide the air purifier C. In such a case, the air conditioner A may be controlled instead of the air purifier C.

  The set temperature Ts, the set humidity Ss, the dirt set value Ys, and the odor set value Ns described above are values for creating a comfortable environment for the human 14 and are obtained empirically through experiments and the like. Accordingly, such set values Ts, Ss, Ys, and Ns are variably set according to the environment (including seasons) to which the robot 10 is applied.

  As described above, the robot 10 is capable of autonomous movement (self-propelled) and can also perform communication behavior with the human 14. Therefore, in this embodiment, the robot 10 searches for the human 14, and if the human 14 is detected (detected) as a result of the search, the robot 10 follows the human 14 (following behavior) and detects the environmental situation while following the human being. Then, each electric device is controlled as necessary. However, when a plurality of humans 14 are detected as a result of the search, any one human 14 is followed according to a predetermined rule. For example, as a method of selecting one person 14 according to a predetermined rule, for example, one person 14 is selected at random, the person 14 detected first or last is selected, or each person 14 is selected. It is conceivable that a priority is assigned to the person 14 and the person 14 having the highest or lowest priority is selected. Further, as a result of searching all the rooms Rx and all the regions RxAy, if the human 14 is not detected, or if the detected human is rejected by the detected human even if the human is detected, the robot 10 alone Detects environmental conditions while acting (single action), and controls each electrical device as necessary.

  Further, in this embodiment, when searching for the human 14 or autonomously moving (self-propelled) by a single action, the room Rx is rotated in order (R1, R2, R3,..., RN) and each room Rx. , The region RxAy is sequentially rotated (RxA1, RxA2, RxA3,..., RxAM). At this time, map data is referred to.

  For example, the robot 10 is arranged at the upper left position of the room R1 (for example, near the entrance door), and moves autonomously with reference to the map data with the position as the origin (reference position). Therefore, the robot 10 can easily grasp which area it is currently in, and can easily move to another area.

  In this embodiment, the map data is stored in the map DB 110 in advance, but based on detection data detected using various sensors of the robot 10, such as the ultrasonic distance sensor 32 and the omnidirectional camera 42. Alternatively, the robot 10 itself may create map data and store it in the map DB 110.

  Further, as described above, the robot 10 detects the human 14. Although detailed description is omitted, when the human 14 is simply detected, the determination can be made based on the video from the omnidirectional camera 42 or the eye camera 48 of the robot 10. However, when the human 14 is detected by video processing, the processing becomes enormous. For example, a specific mark (a character, a symbol, a figure, or the like) is attached to the clothes of the human 14 and, based on the mark. Thus, the human 14 can be detected. In addition, if the person 14 has or attaches a wireless tag and the robot 10 is provided with a device that receives a signal from the wireless tag, the person 14 can be easily detected. Further, the identification information of the mark and the wireless tag described above is made different for each person 14, and the information is stored in a database inside the robot 10 or a database connected to the outside so that the robot 10 can access, The human 14 can also be detected individually.

  Specifically, the CPU 72 shown in FIG. 3 executes the entire process according to the flowchart shown in FIG. As shown in FIG. 5, when the CPU 72 starts the entire process, first, initialization is executed in step S1. Specifically, “0” is assigned (set) to the variable IsRx, and “1” is assigned to the variable x. Here, the variable IsRx is a variable (flag) for determining whether or not the room Rx has been searched. Therefore, “0” is set to the variable IsRx when the room Rx is not searched, and “1” is set to the variable IsRx when the room Rx is searched. The variable x is a number for identifying each room and is set from 1 to N. As described above, in this embodiment, since each room Rx is rotated in order, “1” is assigned to the variable x when initialization is performed. Thereafter, the same processing is executed in initialization.

  In the next step S3, it is determined whether or not there is a stop command from the human 14. The stop command may be input by voice, for example, a stop command button may be provided on the robot 10 and operated, or a stop command command is transmitted to the robot 10 from an external computer. You may do it. If “YES” in the step S3, that is, if there is a stop command from the human 14, the series of operations is ended as it is. On the other hand, if “NO” in the step S3, that is, if there is no stop command from the human 14, in a step S5, it is determined whether or not “0” is set in the variable IsRx.

  If “NO” in the step S5, that is, if the variable IsRx is set to “1”, it is determined that the room Rx has already been searched, and the variable x is incremented (x = x + 1) in a step S7. Return to step S5. In other words, the next room Rx is determined. On the other hand, if “YES” in the step S5, that is, if the variable IsRx is set to “0”, it is determined that the room Rx has not been searched yet, and the process proceeds to the step S9.

  In step S9, it is determined whether the variable x is N or less. Here, the variable x is an integer from 1 to N, and the variable x being larger than N means that the robot 10 has searched all the rooms Rx. The same applies when the robot 10 searches. If the variable x is N or less, that is, if there is a room Rx that has not been searched, “YES” is determined in the step S9, and the process moves to the room Rx in a step S11. Specifically, in step S11, the CPU 72 drives and controls the wheel motor 26 to move from the current position to the room Rx. At this time, the CPU 72 refers to the map data stored in the map DB 110 to determine the moving direction and distance, and gives a control signal corresponding to these to the motor control board 78.

  Next, in step S13, “1” is substituted into the variable IsRx. Subsequently, in step S15, it is determined whether or not a person 14 exists in the room Rx. Since the method for determining whether or not the human 14 exists is as described above, a duplicate description is omitted. If “NO” in the step S15, that is, if the person 14 does not exist in the room Rx, the process proceeds to the step S7 as it is. On the other hand, if “YES” in the step S15, that is, if the person 14 exists in the room Rx, the person moves to the vicinity of the detected person 14 (for example, the distance to the person 14 is about 1 m) in the step S17. The process proceeds to step S19.

  Although detailed explanation is omitted, when moving close to the human 14, the CPU 72 controls the driving of the wheel motor 26 and measures the distance to the human 14 based on the output of the ultrasonic distance sensor 32. To do. Hereinafter, the same applies to the case of approaching the human 14.

  In step S <b> 19, the robot 10 determines whether there is an instruction to leave the detected human 14. Here, the instruction to leave may be input by voice, or a button for inputting the instruction to leave may be provided on the robot 10 and operated. For example, when the human 14 utters “separate” or “fuzzy” toward the robot 10, it can be recognized (voice recognition) and it can be determined that an instruction to leave is input. As described above, since the robot 10 includes the plurality of touch sensors 58, for example, when the back is touched twice in succession, the CPU 72 detects this by the output of the touch sensor 58. Thus, it can be determined that an instruction to leave is input. These are merely examples, and any one method may be employed, and two or more methods may be employed.

  If “YES” in the step S19, that is, if there is an instruction to leave the person 14, the process proceeds to a step S23. On the other hand, if “NO” in the step S19, that is, if there is no instruction to leave the person 14, a follow-up action process for the person 14 is executed in a step S21, and the process returns to the step S1. The follow-up action process (see FIG. 6) will be described later.

  If “NO” in the step S9, that is, if the variable x exceeds N, it is determined that all the rooms Rx have been searched, and initialization is executed in a step S23. Since the initialization is the same as that described in step S1, duplicate description is omitted. In step S25, the single action process is executed, and the process returns to step S1. The single action process (see FIG. 7) will be described later.

  FIG. 6 is a flowchart showing the follow-up action process in step S21 shown in FIG. As shown in FIG. 6, when starting the follow-up action process, the CPU 72 determines whether or not there is a stop instruction by a human in step S31. If “YES” in the step S31, that is, if there is a stop command, the process is ended as it is. On the other hand, if “NO” in the step S31, that is, if there is no stop command, it is determined whether or not there is an instruction to leave the person 14 in a step S33. If “YES” in the step S33, that is, if there is an instruction to leave the person 14, the process proceeds to a single action process. On the other hand, if “NO” in the step S33, that is, if there is no instruction to leave the person 14, it is determined whether or not the distance Dist is less than a preset distance (set distance) MaxDist in a step S35. Here, the distance Dist is the distance between the human 14 and the robot 10 and is measured by the ultrasonic distance sensor 32. The set distance MaxDist is the maximum distance (for example, 1 m) for the robot 10 to follow the human 14.

  If “NO” in the step S 35, that is, if the distance Dist is equal to or larger than the set distance MaxDist, it is determined that the person 14 is too far away, and the person 14 is approached in the step S 37 in order to follow the person 14. Then, the process returns to step S35. On the other hand, if “YES” in the step S35, that is, if the distance Dist is less than the set distance MaxDist, in a step S39, an environmental condition detection and electrical device control (see FIG. 8) described later are executed, Proceed to S41.

  In step S41, it is determined whether or not the human 14 exists. That is, it is determined whether or not the following human 14 is lost. If “NO” in the step S41, that is, if the human 14 does not exist, it is determined that the human is lost, and the follow-up action process is returned. On the other hand, if “YES” in the step S41, that is, if the human 14 exists, it is determined whether or not the human 14 has moved in a step S43. Here, it is determined whether there is a change in the distance Dist detected by the ultrasonic distance sensor 32. If “YES” in the step S43, that is, if the human 14 moves, the process returns to the step S31 as it is to follow the movement. On the other hand, if “NO” in the step S43, that is, if the human 14 is not moving, in order to stay there, in a step S45, a standby action is performed for a predetermined time, and then the process returns to the step S31. For example, in step S45, the neck (head) is rotated left and right so as to remain at the same position for a certain time (for example, several tens of seconds) and look around.

  In this way, the environmental situation is detected while following the behavior, and the electrical equipment is controlled as necessary. Therefore, unlike the case where the environmental situation is detected using a sensor fixed at a specific location, human beings are used. The environment of the space where 14 exists can be arranged or can be kept comfortable.

  FIG. 7 is a flowchart showing the single action process of step S25 shown in FIG. As shown in FIG. 7, when starting the single action process, the CPU 72 determines whether or not there is a stop command from the human 14 in step S51. If “YES” in the step S51, that is, if there is a stop command by the human 14, the process is ended as it is. On the other hand, if “NO” in the step S51, that is, if there is no stop command, it is determined whether or not “0” is set in the variable IsRx in a step S53. If “NO” in the step S53, that is, if “1” is set in the variable IsRx, it is determined that the room Rx has already been searched, the variable x is incremented in a step S55, and the step S51 is performed. Return to. On the other hand, if “YES” in the step S53, that is, if the variable IsRx is set to “0”, that is, it is determined that the room Rx has not been searched yet, and the variable x is determined in the step S57. Judge whether it is N or less. If “NO” in the step S57, that is, if the variable x exceeds N, it is determined that all the rooms Rx have been searched. In a step S59, the waiting action is performed for a predetermined time, and the single action process is returned. . Here, unlike the standby action in the follow-up action described above, it is not necessary to follow the human 14 and therefore it is possible to wait for a relatively long time. Therefore, for example, the robot 10 stays at the same position for a fixed time (5 to 10 minutes) and rotates the neck (head) left and right so as to look around. Further, the robot 10 calls out to the humans 14 existing in the surrounding area by uttering a voice such as “I am free”. Alternatively, the robot 10 plays alone, for example, by singing a song or moving around.

  If “YES” in the step S57, that is, if the variable x is N or less, the process moves to the room Rx in a step S61. In step S63, it is determined whether or not “0” is set in the variable IsRxAy. Here, the variable IsRxAy is a variable (flag) for determining whether or not the region RxAy in the room Rx has been searched. When the area RxAy of the room Rx is searched, “1” is set to the variable IsRxAy, and “0” is set to the variable IsRxAy when the search is not yet performed.

  If “NO” in the step S63, that is, if “1” is set in the IsRxAy, it is determined that the area RxAy of the room Rx has already been searched, the variable y is incremented in the step S65, and the step S63 is performed. Return to. On the other hand, if “YES” in the step S63, that is, if the variable IsRxAy is set to 0, it is determined that the region RxAy of the room Rx has not been searched yet, and the variable y is equal to or less than M in the step S67. Determine if there is. Here, the variable y is an integer from 1 to M. If the variable y exceeds M, it means that all areas RxAy of a certain room Rx have been searched.

  If “NO” in the step S67, that is, if the variable y exceeds M, it is determined that all the regions RxAy of the room Rx are searched, and “1” is set to the variable IsRx in a step S69. Then, the variable x is incremented, the initial value “1” is set in the variable y, the process returns to step S51, and the next room Rx is searched. On the other hand, if “YES” in the step S67, that is, if the variable y is equal to or less than M, it is determined that the area RxAy of a certain room Rx has not been searched, and the area RxAy of the room Rx is determined in a step S71. Moving. Next, in step S73, environmental status detection and electrical device control processing are executed. In step S75, "1" is set to the variable IsRxAy, the variable y is incremented, and the process returns to step S63 to return to the next region RxAy. Search for.

  As described above, the robot 10 searches for all the regions Ry in all the rooms Rx by a single action, so that it detects a local environmental abnormality (for example, temperature and humidity levels, floor and air contamination). Therefore, it is possible to adjust to a comfortable environment or maintain a comfortable environment without bothering the human 14.

  FIG. 8 is a flowchart showing the environmental state detection and electrical device control processing in step S39 shown in FIG. 6 and step S73 shown in FIG. As shown in FIG. 8, when the CPU 72 starts the detection of the environmental situation and the control process of the electric device, the CPU 72 detects the outputs of the environmental sensors 100 to 106 in step S81. That is, the CPU 72 acquires the detection temperature T, the detection humidity S, the dirt detection value Y, and the odor detection value N.

  In a succeeding step S83, it is determined whether or not the detected temperature T is equal to the set temperature Ts. If “YES” in the step S83, that is, if the detected temperature T and the set temperature Ts are equal, it is determined that the temperature is comfortable for the human 14, and the process proceeds to a step S87 as it is. On the other hand, if the detected temperature T and the set temperature Ts are not equal, it is determined that the temperature is not comfortable for the human 14, and in step S 85, the temperature adjustment device is used for temperature adjustment in the region where the robot 10 is located (RxAy). Send a signal. Specifically, the CPU 72 transmits a control signal of the temperature controller (for example, the air conditioner A) to the temperature controller via the infrared signal transmitter 98. Then, in the temperature controller, the power supply is turned on / off, the setting (target) temperature setting is changed, the air flow strength setting is changed, the wind direction is adjusted, etc., so that it is comfortable for the human 14. To a suitable temperature (set temperature Ts).

  In step S87, it is determined whether the detected humidity S and the set humidity Ss are equal. If “YES” in the step S87, that is, if the detected humidity S and the set humidity Ss are equal, it is determined that the humidity is comfortable for the human 14, and the process proceeds to a step S91 as it is. On the other hand, if “NO” in the step S87, that is, if the detected humidity S and the set humidity Ss are not equal, it is determined that the humidity is not comfortable for the human 14, and in step S89, a humidity controller (for example, , A humidity adjustment signal for adjusting the humidity of the region (RxAy) where the robot 10 is located is transmitted to the humidifier D and the dehumidifier E). Specifically, the CPU 72 transmits a control signal of the humidity controller (humidifier D or dehumidifier E) to the humidity controller via the infrared signal transmitter 98. Then, in the humidity adjuster, the power is turned on / off, the strength of dehumidification and the strength of exhausting steam are adjusted, and the humidity is adjusted to a comfortable humidity (set humidity Ss) for the human 14.

  In step S91, it is determined whether the contamination detection value Y is less than the contamination setting value Ys. Further, for example, a dirt suction port may be provided on the lower surface of the carriage 22, and the dirt on the floor may be detected by detecting the sucked dust with an infrared sensor. If “YES” in the step S91, that is, if the dirt detection value Y is less than the dirt setting value Ys, it is determined that there is no (small) dirt (garbage) that is uncomfortable for the human 14, and the process proceeds to a step S95 as it is. . On the other hand, if “NO” in the step S91, that is, if the dirt detection value Y is greater than or equal to the dirt setting value Ys, that is, it is determined that there is dirt (garbage) that is uncomfortable for the human 14, and in a step S93, A cleaning start signal for removing dirt in the area (RxAy) where the robot 10 is located is transmitted to the cleaner. Specifically, the CPU 72 transmits a control signal of the cleaner (for example, a fully automatic cleaner B) to the cleaner through the infrared signal transmission device 98. Then, for example, the fully automatic vacuum cleaner B is driven, unpleasant dirt is removed, and a clean environment is adjusted for the human 14.

  Note that the robot 10 may have a cleaning function, and the robot 10 itself may remove unpleasant dirt using the cleaning function.

  In step S95, it is determined whether the odor detection value N is less than the odor setting value Ns. If “YES” in the step S95, that is, if the odor detection value N is less than the odor setting value Ns, it is determined that there is no (small) odor or air pollution that is uncomfortable (damaging to health) for the human 14. As it is, the detection of the environmental condition and the control processing of the electric device are returned. On the other hand, if “NO” in step S95, that is, if the odor detection value N is equal to or greater than the odor setting value Ns, it is determined that there is an odor or air pollution that is uncomfortable (harmful to health) for the human 14, In step S97, an air purifying signal for the area (RxAy) where the robot 10 is located is transmitted to the odor removing machine (for example, the air purifier C or the ventilation fan). Specifically, the CPU 72 transmits a control signal of the odor removing machine (for example, the air purifier C or the ventilation fan) to the odor removing machine via the infrared signal transmitting device 98. Then, the odor removing machine is driven to remove unpleasant (healthy health) odors and air stains, and the human 14 is adjusted to a clean and comfortable environment.

  In this embodiment, as shown in FIGS. 4A and 4B, since the size and shape of each room are the same, the number of regions is M in all the rooms. However, if the room sizes are different, the value of M also changes. For example, in the map data, if the value of M is stored in association with each room, the value of M can be variably set according to the room to be searched.

  According to this embodiment, an environment sensor is provided in a robot that can move autonomously, and the robot appropriately controls each electrical device as necessary, so that a comfortable environment is realized without bothering human hands. can do.

  In this embodiment, an environmental condition is detected by a temperature sensor, a humidity sensor, a dirt sensor, and an odor sensor, and various electric devices are controlled according to the detected environmental condition. However, sensors and electrical devices should not be limited to those described above. Further, if the configuration can be controlled by a remote controller or the like without being limited to electrical devices, other devices can also be controlled, and thereby the environmental situation can be adjusted. For example, if the window can be electrically opened and closed, the window can be opened and closed by controlling the automatic opening and closing device with an infrared signal transmitted from the robot. Thereby, it is also possible to adjust temperature and humidity. Further, a surrounding sound (noise) can be detected by a sound sensor, that is, a microphone (46 in the embodiment), and the window can be opened and closed according to the volume of the sound. Therefore, for example, it is possible to prevent noise from entering the room or leaking outside. Further, for example, the lighting device can be controlled by an infrared signal transmitted from the robot, and the robot is provided with an optical sensor. Then, for example, the brightness in the vicinity of a person can be kept constant by detecting the brightness of the surrounding area following the person, turning the lighting device on / off, and adjusting the brightness. .

  Further, in this embodiment, when the robot detects a human, the detected human is followed until an instruction to leave, but the present invention should not be limited to this. For example, before starting a follow-up action, search for the presence or absence of humans over the entire range and select from a plurality of detected humans based on the order in which one human was detected (eg, first or last) It is also possible to select a person who has detected the above and perform a follow-up action. In addition, each person can be identified, and a priority order is assigned to each person, and one person is selected from a plurality of detected persons according to the priority order (for example, the highest priority order or the lowest priority order). It is also possible to select a human). Furthermore, even if a person who refuses to follow (has given an instruction to leave) once, even if it encounters after the next time, he chooses not to execute the follow-up action or to lower (higher) the priority. You may make it hard to be done. Conversely, when a person talks to a robot, the person may immediately follow the person or increase (decrease) the priority of the person so that the person can be selected easily. . Further, even if the robot is in a single action, when it is called by a human or when a person different from the person who gives an instruction to leave is detected, the robot may immediately shift from the single action to the following action.

  In this embodiment, the map data for the area where the robot is arranged is managed by dividing it into a large area (for each room) and a small area (area of X [cm] × Y [cm]). It is not limited to this. For example, if one room is large, a medium area (area that is divided into several rooms, for example, several meters square) that is large enough to be detected by humans even if it is farthest away is provided. You may make it manage by dividing into an area | region and a small area | region.

  Furthermore, in this embodiment, humans are detected based on video images, and individuals are identifiable using frequency tags. However, a floor pressure sensor may be laid down on the floor of a building to which the robot is applied, a person is detected based on the output, and the detected information may be transmitted to the robot via an external computer.

  Furthermore, in this embodiment, the robot directly transmits an infrared signal to the electric device. However, the present invention is not limited to this, and other methods can be adopted. For example, for each room, a receiving device that receives an infrared signal is provided at a position (location: height or direction) where the infrared signal is easily transmitted from the robot, and the receiving device and each electrical device are connected, for example, by wire. The infrared signal (control signal) may be transmitted to each electric device via the receiving device. In such a case, by including the position of the receiving device in the map data, it is possible to accurately transmit the control signal (infrared signal) and reliably adjust the environmental situation. Alternatively, if an external computer is connected to each electrical device and control signals can be transmitted, the external computer and the robot are connected via a network such as a wireless LAN, via the network and the external computer, A control signal can also be transmitted to each electric device.

FIG. 1 is an illustrative view showing a robot according to an embodiment of the present invention and a state of a real space where the robot exists. FIG. 2 is an illustrative view showing the appearance of the robot of FIG. 1 from the front. FIG. 3 is a block diagram showing an electrical configuration of the robot of FIG. FIG. 4 is an illustrative view for explaining an example of the contents of the map DB shown in FIG. FIG. 5 is a flowchart showing the overall processing of the CPU shown in FIG. FIG. 6 is a flowchart showing the follow-up action process of the CPU shown in FIG. FIG. 7 is a flowchart showing the single action process of the CPU shown in FIG. FIG. 8 is a flowchart showing the detection of the environmental condition of the CPU and the control process of the electric equipment shown in FIG.

Explanation of symbols

10. Robot 42 ... Omnidirectional camera 48 ... Eye camera 72 ... CPU
76 ... Memory 98 ... Infrared signal transmitter 100 ... Temperature sensor 102 ... Humidity sensor 104 ... Dirt sensor 106 ... Odor sensor 110 ... Database

Claims (6)

Detection means for detecting an environmental situation, and transmission means for transmitting a control signal for satisfying the predetermined condition to an electrical device that adjusts the environmental situation when a detection result of the detection means does not satisfy the predetermined condition ,robot.   The robot according to claim 1, wherein the detection unit includes at least one of a temperature sensor, a humidity sensor, a dirt sensor, and an odor sensor.   The robot according to claim 1, further comprising autonomous moving means for autonomously moving. Map storage means for storing map data;
The robot according to claim 3, wherein the detection means detects the environmental situation when the autonomous movement means refers to map data stored in the map storage means and moves autonomously. It further comprises a human detection means for detecting a human existing around or in the vicinity,
The robot according to any one of claims 1 to 4, wherein when the human is detected by the human detection means, the autonomous movement means follows the human.   The robot according to any one of claims 1 to 5, further comprising communication action execution means for performing a communication action with a human using at least one of a body motion and a voice.

Images