JP2007152472A - Charging system, charging station and robot guidance system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To surely guide an autonomous moving robot to a charging station. <P>SOLUTION: This charging system 1 includes: the autonomous moving robot 10 moved by the power of a battery 17; and the charging station 20 for charging the battery 17. The charging station 20 includes light emitting parts 22L, 22R for projecting guide marks GML, GMR on the projection positions on the floor surface. The autonomous moving robot 10 includes: an imaging means 13 for imaging the floor surface; a control means 11 for generally controlling the autonomous robot; and a storage means 11A for storing as the target field of view image data the image data of the guide marks previously imaged by the imaging means in a predetermined attitude in a predetermined target field of view position where the autonomous moving robot approaches the charging station. The control means compares the input image data of the guide marks imaged by the imaging means with the target field of view image data stored in the storage means to move the autonomous moving robot so that both data substantially agree with each other. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention is directed to a charging system that can reliably guide an autonomous mobile robot to a charging station by a guide mark that is projected from the charging station toward the floor surface, and projects from the charging station and the guidance station toward the floor surface. The present invention relates to a robot guidance system that guides an autonomous mobile robot using guide marks.

  Currently, most robots have been used as industrial robots. Recently, autonomous mobile robots that are safe and can coexist with humans at home have been put into practical use.

  This type of autonomous mobile robot is a human-type autonomous walking robot that walks on two legs, a pet-type autonomous walking robot such as a dog or monkey that walks on four legs, or a wheel-type autonomous movement that moves on multiple wheels. There are robots, etc., and the autonomous mobile robot can freely move on the floor surface using the power of the rechargeable battery built in the autonomous mobile robot as a power source. An example of guiding such an autonomous mobile robot to a predetermined position on the floor surface is a charging operation.

At this time, when it is detected that the remaining capacity of the battery built in the autonomous mobile robot has decreased, the autonomous mobile robot moves toward the charging station installed on the floor, and the battery charges at this charging station. Examples of a charging system and a charging station having a specific idea are disclosed in Patent Documents 1 and 2 below.
JP 2001-125641 A JP 2001-179663 A

  In the above-mentioned Patent Document 1, although not shown here, an autonomous mobile robot that moves on the floor surface using the power of the built-in battery as a power source can walk on four legs in the shape of a dog that is representative of pet animals. It is configured as a pet-type autonomous walking robot having multiple joints.

  On the other hand, the charging station installed on the floor is formed in a box shape modeled on a dog's bed. In this charging station, for example, visibility identification data such as a two-dimensional code or other visual mark is arranged at a predetermined portion.

  Then, the pet-type autonomous walking robot can reach the charging station by tracking the visibility identification data arranged at the charging station with a camera, and thereafter, the battery is charged.

  In Patent Document 2 described above, although not shown here, the autonomous mobile robot that moves on the floor surface using the power of the built-in rechargeable battery as a power source has a multi-joint that can walk on two legs. It is configured as a humanoid legged mobile robot (autonomous walking robot).

  On the other hand, the charging station installed on the floor surface is configured in a substantially chair type that can be seated corresponding to a human type. In this charging station, as in Cited Document 1, visibility identification data such as a two-dimensional code is pasted on a conspicuous portion on the surface of the charging station, and this visibility identification data is tracked with a camera. Thus, the legged mobile robot can reach the charging station by itself.

  Furthermore, when the humanoid legged mobile robot reaches the approximately chair-type charging station and charges the battery built in the legged mobile robot, the bottom of the buttocks on the legged mobile robot side or the charging A measuring device such as a length measurement sensor or CCD (Charge Coupled Device) camera is installed on the station side, monitoring the movement of the legged mobile robot and charging station, and the movement of the legged mobile robot approaching the charging station There is a description that may be adaptively controlled.

  By the way, according to Patent Documents 1 and 2 described above, the autonomous mobile robot can reach the charging station on its own by tracking visibility identification data such as a two-dimensional code provided in the charging station with a camera. There may be problems such as that a part for displaying the visibility identification data such as a dimension code takes an installation space and the visibility identification data impairs the appearance.

  Furthermore, when the autonomous mobile robot is configured as a human-type legged mobile robot capable of walking on two legs, and the charging station is configured in a substantially chair-like shape, the legged mobile robot is placed at a predetermined position on the charging station. A camera that tracks the visibility identification data and a seating sensor when a measuring device such as a length sensor or CCD camera is installed on the bottom of the buttocks on the legged mobile robot side or the charging station side for sitting Since the measuring instrument and two types of sensors are required, the charging system and the charging station become expensive.

  Therefore, an autonomous mobile robot can be reliably guided to a charging station, and a charging system and a charging station having a simple and inexpensive structure are desired, and the autonomous mobile robot can be reliably guided to a predetermined position where the autonomous mobile robot is to be guided. A robot guidance system is desired.

The present invention has been made in view of the above problems, and the invention according to claim 1 includes an autonomous mobile robot that includes a rechargeable battery and moves on the floor surface using the power of the battery as a power source, and the battery. In a charging system comprising a charging station for charging
The charging station is
A light emitting unit for projecting a guide mark at a light projecting position on the floor which is a predetermined relative position with respect to the position of the charging station;
The autonomous mobile robot is
Imaging means for imaging the floor surface, control means for overall control of the autonomous mobile robot, and the imaging means in a predetermined posture at a predetermined target view position where the autonomous mobile robot approaches the charging station. Storage means for storing captured image data of the guide mark as target view field image data,
The control means includes
The input image data of the guide mark imaged by the imaging means and the target view image data stored in the storage means are compared, and the autonomous mobile robot is moved so that the two data substantially match. This is a characteristic charging system.

Further, the invention according to claim 2 is configured such that the autonomous mobile robot is a humanoid walking on two legs, and the charging station is configured in a substantially chair shape,
The control means moves the autonomous mobile robot to the standing position at the time of sitting so that the input image data of the guide mark imaged by the imaging means substantially matches the target view image data, and then the autonomous movement The charging system according to claim 1, wherein the battery is charged by sitting a robot on the charging station.

The invention according to claim 3 is a charging station for charging a rechargeable battery provided in an autonomous mobile robot that moves on a floor surface.
A charging station comprising a light emitting unit for projecting a guide mark at a light projecting position on a floor surface that is a predetermined relative position with respect to the position of the charging station to guide the autonomous mobile robot. is there.

The invention according to claim 4 is a robot guidance system comprising an autonomous mobile robot that moves on a floor surface and a guidance station that guides the autonomous mobile robot,
The guidance station is
A light emitting unit for projecting a guide mark at a light projecting position on the floor which is a predetermined relative position with respect to the position of the guidance station;
The autonomous mobile robot is
Imaging means for imaging the floor surface, control means for overall control of the autonomous mobile robot, and the imaging means in advance in a predetermined posture at a predetermined target view position where the autonomous mobile robot approaches the guidance station. Storage means for storing captured image data of the guide mark as target view field image data,
The control means includes
The input image data of the guide mark imaged by the imaging means and the target view image data stored in the storage means are compared, and the autonomous mobile robot is moved so that the two data substantially match. This is a featured robot guidance system.

  According to the charging system of claim 1, in particular, the guide mark projected from the charging station is picked up by the image pickup means attached to the autonomous mobile robot, and the guide mark is picked up by the image pickup means by the control means of the autonomous mobile robot. By controlling the movement of the autonomous mobile robot in a direction that substantially matches the target view image data stored in advance, the autonomous mobile robot can surely reach the target view position approaching the charging station. Since it is not necessary to provide visibility identification data such as a two-dimensional code as described in the prior art on the charging station side, it is advantageous for installation space and appearance, etc. Furthermore, a guide mark is placed on the floor surface at the charging station. Providing a charging system at low cost as it is only necessary to attach the light emitting part It can be.

  In addition, according to the charging system of the second aspect, since the rhythm mobile robot is configured as a humanoid walking on two legs and the charging station is configured as a substantially chair type, the autonomous mobile robot is controlled by the control means of the autonomous mobile robot. Can be reliably seated on the charging station.

  According to the charging station of the third aspect, the autonomous mobile robot can be reliably guided to the charging station by the guide mark projected on the floor surface.

  Further, according to the robot guidance system of claim 4, in particular, the guide mark projected from the guidance station is imaged by the imaging means attached to the autonomous mobile robot, and the imaging means is imaged by the control means of the autonomous mobile robot. The autonomous mobile robot is reliably guided to the target visual field position close to the guidance station by controlling the movement of the autonomous mobile robot in the direction in which the input image data of the guide mark that has been input is substantially coincident with the target visual field image data stored in advance. This eliminates the need to provide visibility identification data such as a two-dimensional code as described in the prior art on the guidance station side, which is advantageous for installation space and appearance. Since it is only necessary to attach the light emitting unit that projects light onto the surface, the robot guidance system The can be provided at low cost.

  Hereinafter, an embodiment of a charging system, a charging station, and a robot guidance system according to embodiments of the present invention will be described in detail with reference to FIGS.

FIG. 1 is a perspective view showing an external appearance of a charging system according to Embodiment 1 of the present invention.
FIG. 2 is a configuration diagram illustrating the configuration of the charging system according to the first embodiment of the present invention.
FIG. 3 is a perspective view showing a state where a guide mark projected from a charging station is captured by a video camera attached to the front of the head of the autonomous mobile robot in the charging system according to the first embodiment of the present invention. ) Shows the target field of view, (b) shows an example of the error field of view,
FIGS. 4A to 4F are schematic diagrams schematically showing the relationship between the guide mark by the symbol from the charging station and the standing position of the robot in the charging system according to the first embodiment of the present invention.
FIGS. 5A to 5F are schematic views schematically showing a relationship between a guide mark by a character string from a charging station and a standing position of the robot in the charging system according to the first embodiment of the present invention.
FIG. 6 is a configuration diagram for explaining the configuration in the control means when correcting the robot seating position in the charging system according to the first embodiment of the present invention;
FIG. 7 is a flowchart of correcting the robot seating position in the charging system according to Embodiment 1 of the present invention.

  As shown in FIGS. 1 and 2, the charging system 1 according to the first embodiment of the present invention is roughly classified to charge the autonomous mobile robot 10 having a function of moving on the floor and the autonomous mobile robot 10. The autonomous mobile robot 10 that moves on the floor surface using the power of the built-in rechargeable battery 17 as a power source is installed on the floor surface, as will be described later. A guide mark GM projected toward the floor surface from the charging station 20 is surely guided to the charging station 20.

  First, in the first embodiment, the autonomous mobile robot 10 is configured as a humanoid autonomous walking robot that walks on two legs, and includes a head, left and right arms, left and right wrists, a torso, left and right legs, The left and right feet are articulated with joints.

  Then, the control means 11 that controls the autonomous mobile robot 10 as a whole causes the joints of the respective parts constituting the driving unit 12 to perform predetermined operations by the driving force of a motor (not shown). Only the movements related to walking with the left and right legs and the left and right feet constituting a part of the drive unit 12 are targeted.

  The autonomous mobile robot 10 is not limited to a human-type autonomous walking robot, but is a pet type such as a dog or a monkey walking on the floor using the power of the built-in battery 17 as a power source. Either an autonomous walking robot or a wheel-type autonomous mobile robot that moves by a plurality of wheels may be used.

  In addition, the humanoid autonomous mobile robot 10 is provided with a control means 11 for controlling the entire autonomous mobile robot 10 and uses a video camera or the like that functions as a surrounding image recognition means in a portion corresponding to the eyes in front of the head. An image pickup means (hereinafter referred to as a video camera) 13 is attached to the front, a microphone 14 (FIG. 2) is provided in a portion corresponding to the ear of the head, and a speaker 15 is provided in a portion corresponding to the mouth of the head. (FIG. 2) is attached respectively. Furthermore, a charging unit 16 with a conductive contact exposed and a battery 17 connected to the charging unit 16 are attached to the back surface of the body unit of the autonomous mobile robot 10.

  Next, the charging station 20 is configured in a substantially chair shape that can be seated corresponding to the humanoid autonomous mobile robot 10, and is substantially perpendicular to the bottom surface 20 a installed on the floor surface and the bottom surface 20 a. The formed front surface 20b, a seating base portion 20c connected to an upper portion of the front surface 20b and formed substantially parallel to the bottom surface 20a, and a rear portion of the seating base portion 20c to be connected substantially vertically upward. The autonomous mobile robot 10 is seated on the seating base 20c and leans against the backrest 20d by having at least the backrest 20d formed on the seat.

  Further, in the charging station 20 described above, the guide marks GML and GMR are projected at the light projecting position on the floor surface which is operated by the control of the control means 21 and is at a predetermined relative position with respect to the position of the charging station 20. A pair of left and right light emitting portions 22L and 22R are attached to the left and right of the front surface 20b, and guide marks GML and GMR for indicating self-positions from the pair of left and right light emitting portions 22L and 22R toward the floor surface in front of the front surface. For example, a pair of left and right lights are projected in a shape with a symmetrical L-shaped design.

  In the first embodiment, a pair of light emitting units 22L and 22R are attached to the left and right of the front surface 20b of the charging station 20, but the number of light emitting units may be at least one, and light is emitted from the light emitting units. The guide mark to be used may be in any form as long as the front, rear, left and right can be identified with respect to the installation position of the charging station 20 by a symbol or a character string.

  At this time, the pair of left and right light emitting portions 22L and 22R use light emitting elements that emit any one of visible light, infrared light, ultraviolet light, and the like, and particularly when light other than visible light is used. There is a merit in appearance because it cannot be seen with the eyes.

  The pair of left and right guide marks GML and GMR projected on the floor in front of the charging station 20 is captured by a video camera 13 attached to the front of the head of the autonomous mobile robot 10. . At this time, the video camera 13 is configured to receive the wavelengths of the pair of left and right guide marks GML and GMR projected from the pair of left and right light emitting units 22L and 22R.

  Further, the backrest portion 20d of the charging station 20 is provided with a power feeding portion 23 that exposes the conductive contacts. When the autonomous mobile robot 10 is seated on the seating base portion 20c, the body of the autonomous mobile robot 10 The battery 17 built in the autonomous mobile robot 10 can be charged by connecting the conductive contact of the charging unit 16 provided on the back of the unit to the conductive contact of the power feeding unit 23 of the charging station 20. In the first embodiment, the charging unit 16 of the autonomous mobile robot 10 and the power supply unit 23 of the charging station 20 depend on the connection of the conductive contacts, but the present invention is not limited to this, and contactless using electromagnetic induction or the like. Power supply may be performed.

  As described above, when the autonomous mobile robot 10 is a humanoid walking on two legs, if the charging station 20 is configured in a substantially chair shape, the autonomous mobile robot 10 is seated on the charging station 20 to reliably charge the battery 17. Can be done.

  When the autonomous mobile robot 10 is configured as a pet-type autonomous walking robot, a wheel-type autonomous mobile robot, or the like, a video camera 13 is attached to the front of the autonomous mobile robot 10 and a guide is provided to the front of the charging station 20. What is necessary is just to comprise suitably at least 1 or more light emission part which projects a mark so that charging is possible.

  Next, in the charging system 1 according to the first embodiment of the present invention configured as described above, when the charging unit 16 detects that the remaining capacity of the battery 17 built in the autonomous mobile robot 10 has decreased, the autonomous mobile robot The autonomous mobile robot 10 moves toward the charging station 20 according to commands from the control means 11.

  At this time, the first embodiment targets a case where the autonomous mobile robot 10 is in an area where the video camera 13 can capture the guide marks GML and GMR projected from the charging station 20. If the autonomous mobile robot 10 is in an area where the video camera 13 cannot capture the guide marks GML and GMR projected from the charging station 20, the video camera 13 tracks the shape of the charging station 20, or It is sufficient to use a method such as tracking by the action memory of the autonomous mobile robot 10 and the mapping memory in the room where the charging station 20 is installed.

  Here, the target field of view shown in FIG. 3A is that the autonomous mobile robot 10 has reached the standing position just before sitting in front of the front surface 20b of the charging station 20 with the back of the body portion facing the charging station 20. In addition, the predetermined posture of the autonomous mobile robot 10 is a standing posture, and the video camera 13 attached to the front of the head of the autonomous mobile robot 10 is directed to the floor surface by a command from the control unit 11. A pair of left and right guides in a state in which the pair of left and right guide marks GML and GMR projected from the charging station 20 is imaged by the video camera 13 in this predetermined posture. This is the field of view at the position where the target field image data of the marks GML and GMR is obtained.

  At this time, when the front surface 20b of the charging station 20 installed on the floor is used as a reference position, the pair of left and right light emitting portions 22L and 22R has a pair of left and right guide marks GML and GMR as, for example, a symmetrical L-shaped pattern. When the light is projected upward, the X-axis direction distance between the front surface 20b of the charging station 20 and the bottom of the symmetrical L-shaped symbol is preset to X0, the center of the front surface 20b and the symmetrical L-shaped The distance in the Y-axis direction inside each L-shaped symbol is preset to Y0 and Y0 in a direction orthogonal to a straight line passing through the center of the symbol.

  On the other hand, when the autonomous mobile robot 10 reaches the standing position just before sitting in front of the charging station 20, the X-axis direction distance between the center of the two legs and the front surface 20b of the charging station 20 is X1, The distance between the two legs in the Y-axis direction perpendicular to a straight line passing through the center of 20b is Y1 and Y1.

  When the autonomous mobile robot 10 has reached the standing position just before the seating position equivalent to the predetermined target field of view position, the autonomous mobile robot 10 keeps the above-mentioned predetermined posture in front of the head of the autonomous mobile robot 10. The pair of left and right guide marks GML and GMR projected from the pair of left and right light emitting units 22L and 22R of the charging station 20 are imaged by the attached video camera 13, and the pair of left and right guide marks GML, GMR target view image data is stored in advance in the control means 11 as will be described later.

  Next, an example of the error field of view shown in FIG. 3B is a state in which the autonomous mobile robot 10 is far away from the charging station 20, and the standing position of the target field of view shown in FIG. When the target visual field position is a point that is located further forward than the center of the two legs of the autonomous mobile robot 10 and the distance 20 in the X-axis direction between the front surface 20b of the charging station 20 is larger than X1 described above. Is only different. Also at this time, a pair of left and right guide marks GML and GMR projected from the pair of left and right light emitting units 22L and 22R of the charging station 20 is imaged by the video camera 13 attached to the front of the head of the autonomous mobile robot 10, and this video The input image data of the pair of left and right guide marks GML and GMR imaged by the camera 13 is compared with the target view image data stored in advance in the control means 11 as will be described later, and the input image data becomes the target view image data. Control is performed so that the autonomous mobile robot 10 is moved in a substantially coincident direction to reach a standing position at the time of normal sitting.

  And the specific example which showed the relationship between the guide mark by the above-mentioned pattern and the standing position of the autonomous mobile robot 10 is shown to Fig.4 (a)-(f). In this case, in FIG. 4, the visual field direction in which the video camera 13 captures the guide mark with the symbol is set in the direction indicated by the arrow, and the guide mark indicated by the black frame indicates the state captured by the video camera 13. On the other hand, a guide mark indicated by a dotted frame indicates target view field image data stored in advance in the control means 11.

  Here, the target field of view shown in FIG. 4A is the case where the target field of view image data of the pair of left and right guide marks GML and GMR imaged by the video camera 13 is in the same state as in FIG. This target field-of-view image data is stored in advance in the control means 11.

  Further, the error field of view shown in FIG. 4B is the same state as the input image data of the pair of left and right guide marks GML and GMR imaged by the video camera 13 as shown in FIG. A case far from 20 is shown.

  The error field of view shown in FIG. 4C shows a case where the input image data of the pair of left and right guide marks GML and GMR captured by the video camera 13 is shifted to the right with respect to the target field image data.

  The error field of view shown in FIG. 4D is when the input image data of the pair of left and right guide marks GML and GMR imaged by the video camera 13 is swung counterclockwise with respect to the target field image data. Is shown.

  Further, the error field of view shown in FIG. 4 (e) is such that the input image data of the pair of left and right guide marks GML and GMR imaged by the video camera 13 is reversed in the front / rear and left / right directions with respect to the target field image data. On the other hand, the case where the direction is reversed is shown.

  Also, the error field of view shown in FIG. 4 (f) is that the input image data of the pair of left and right guide marks GML and GMR imaged by the video camera 13 is rotated by 90 ° with respect to the target field image data and is in a normal direction. Shows the case where the direction is different.

  Furthermore, the specific example which showed the relationship between the guide mark by a character string, and the standing position of the autonomous mobile robot 10 is shown in FIG. In this case, in FIG. 5, the visual field direction in which the video camera 13 captures the guide mark by the character string is set in the direction indicated by the arrow, and the dotted frame indicates the foot of the autonomous mobile robot by the light projected from the charging station 20. A guide mark with a dark character string indicates a state captured by the video camera 13, while a guide mark with a light character string indicates target view field image data stored in advance in the control means 11. ing.

  Here, the target field of view shown in FIG. 5A is the inside of the control means 11 in a state where the guide mark by the character string (STATEION) imaged by the video camera 13 is partially hidden by the shadow of the foot of the autonomous mobile robot 10. The target view image data stored in advance.

  The error field of view shown in FIG. 5B shows a case where the input image data of the guide mark by the character string (STATION) imaged by the video camera 13 is far from the charging station 20.

  Further, the error field of view shown in FIG. 5C shows a case where the input image data of the guide mark by the character string (STATUS) captured by the video camera 13 is shifted to the right with respect to the target field image data.

  In addition, the error field of view shown in FIG. 5D is a case where the input image data of the guide mark by the character string (STATE) captured by the video camera 13 is swung counterclockwise with respect to the target field image data. Is shown.

  Further, the error field of view shown in FIG. 5 (e) is such that the input image data of the guide mark by the character string (STATION) imaged by the video camera 13 is reversed in the front / rear / left / right direction with respect to the target field of view image data. On the other hand, the case where the direction is reversed is shown.

  Further, the error field of view shown in FIG. 5 (f) is that the input image data of the guide mark by the character string (STATEION) imaged by the video camera 13 is rotated by 90 ° with respect to the target field image data, and the error field of view is normal. Shows the case where the direction is different.

  FIG. 5 is an example using the fact that a specific portion of the character string is hidden by the shadow of the foot of the autonomous mobile robot 10. In this case, the character string is displayed when the standing position of the autonomous mobile robot is shifted laterally. Since it is easy to detect a change in a specific part, error calculation accuracy (speed) can be improved.

  Next, an operation in which the autonomous mobile robot 10 is configured in a human form, and the charging station 20 is configured in a substantially chair shape, and the autonomous mobile robot 10 is seated on the charging station 20 to perform charging is described with reference to FIG. , FIG. 6 and FIG.

  As shown in FIG. 6, in the control means 11 provided in the autonomous mobile robot 10, target view image data indicating a standing position at the time of sitting equivalent to a predetermined target view position approaching the charging station 20 is shipped from the factory. A target view guide mark data storage unit 11A serving as a storage means that is sometimes stored in advance, a guide mark data input unit 11B that inputs input image data of a guide mark imaged by the video camera 13, and a target view guide mark data stored in advance. Is compared with the input guide mark data and outputs error data to the drive unit 12. When the error data is input to the drive unit 12 from the comparison calculation unit 11 C, the autonomous movement is performed. Since the robot 10 moves in the direction in which the error data decreases, the field of view changes. Is feedback controlled to capture the force image data and the like are performed.

  In the above description, the target view guide mark data storage unit 11A for storing the target view image data is provided in the control unit 11. However, the present invention is not limited to this, and the target view guide mark data storage unit may be provided independently. good.

  More specifically, when the robot seating position correction flowchart shown in FIG. 7 is started, in step S 1, the autonomous mobile robot 10 is moved to the vicinity of the chair-type charging station 20 according to a command from the control means 11 of the autonomous mobile robot 10. Move to.

  Next, in step S2, the autonomous mobile robot 10 is shifted to a predetermined robot reference posture. Here, the robot reference posture is the posture in which the autonomous mobile robot 10 stands up and the video camera 13 attached to the front of the head of the autonomous mobile robot 10 is set in the viewing direction shown in FIG. This refers to a state where the camera 13 images the guide mark projected from the charging station 20 onto the floor surface.

  Next, in step S <b> 3, the guide mark projected on the floor surface from the charging station 20 is visually recognized by the video camera 13 attached to the front of the head of the autonomous mobile robot 10.

  Next, in step S4, the guide mark data (input image data) captured by the video camera 13 and the target view guide mark data (target view image data) storing the standing position when seated on the charging station 20 are compared and calculated. To evaluate the correlation. In this step S4, when the input guide mark data and the target visibility guide mark data have a correlation within a preset threshold value, and the two are substantially the same, the autonomous mobile robot 10 stands up when it is normally seated. It is determined that the position has been reached (OK), and then, in step S5, a robot seating operation is performed on the chair-type charging station 20 to end this flow. Of course, after the robot is seated, the charging station 20 charges the battery 17 built in the autonomous mobile robot 10.

  On the other hand, in step S4, when the input guide mark data and the target view guide mark data deviate from within a preset threshold value and the two do not substantially match, the autonomous mobile robot 10 has reached the normal standing position when sitting. No (NG) is determined.

  Next, in step S6, after determining NG in step S4, the difference between the input guide mark data and the target view guide mark data is calculated to obtain error data, and in step S7, based on the error data. The robot standing position is corrected, and the process returns to step S2. Thereafter, the flow operation is repeated until the input guide mark data (input image data) substantially matches the target view guide mark data target view image data.

  By executing the above-described operation flow, the humanoid autonomous mobile robot 10 can correct the positional relationship with respect to the chair-type charging station 20 to a predetermined target view position without looking back, and the humanoid When the autonomous mobile robot 10 is seated on the chair-type charging station 20, smooth seating becomes possible.

  When the autonomous mobile robot 10 is configured as either a pet-type autonomous walking robot or a wheel-type autonomous mobile robot, the video camera 13 attached to the autonomous mobile robot 10 projects light from the charging station 20. The guide mark is imaged, and the control means 11 of the autonomous mobile robot 10 autonomously moves in the direction in which the input image data of the guide mark (GML, GMR) imaged by the video camera 13 substantially coincides with the pre-stored target view field image data. By controlling the movement of the robot 10, the autonomous mobile robot 10 can surely reach the target view position approaching the charging station 20, and a two-dimensional code or the like as described in the related art on the charging station 20 side. To avoid installation of visibility identification data Advantageously it further, the charging system 1 so may be attached to only the light-emitting unit for emitting a guide mark on the floor to the charging station 20 can be provided at low cost.

  FIG. 8 is a perspective view showing an appearance of the robot guidance system according to the second embodiment of the present invention.

  Although the robot guidance system 2 which concerns on Example 2 of this invention shown in FIG. 8 is applying the technical idea of the charging system 1 which concerns on Example 1 of this invention demonstrated previously using FIG. Since the charging operation is omitted and the robot guiding operation is mainly used, only differences from the first embodiment will be briefly described below.

  That is, the robot guidance system 2 according to the second embodiment of the present invention can be broadly divided into an autonomous mobile robot 10 having a function of moving on the floor surface and a guidance station 30 having a function of guiding the autonomous mobile robot 10. As will be described later, the autonomous mobile robot 10 that moves on the floor surface using the power of the rechargeable battery 17 as a power source is moved from the guidance station 30 installed on the floor surface or wall surface to the floor surface. It is characterized in that it is reliably guided by the guide mark GM projected toward the screen.

  First, also in the second embodiment, the autonomous mobile robot 10 is configured as a humanoid autonomous walking robot that walks on two legs, but is not limited thereto, such as a dog or a monkey that walks on four legs. Either a pet-type autonomous walking robot or a wheel-type autonomous mobile robot that moves with a plurality of wheels may be used.

  The above-described humanoid autonomous mobile robot 10 is provided with control means 11 for controlling the entire autonomous mobile robot 10, and a video camera 13 functioning as a surrounding image recognition means is located in front of the head in front of the head. It is attached towards. Further, a charging unit 16 with exposed conductive contacts and a battery 17 connected to the charging unit 16 are attached to the back of the body of the autonomous mobile robot 10 as necessary. In Example 2, it is sufficient that the autonomous mobile robot 10 can move on the floor surface by itself.

  Next, the induction station 30 has at least a bottom surface 30a installed on the floor surface, a front surface 30b formed substantially perpendicular to the bottom surface 30a, and a top surface 30c facing the bottom surface 30a, and is in a box shape. Is formed.

  In addition, the guide station 30 operates under the control of the control means 31 and projects the guide marks GML and GMR at the light projection position on the floor surface that is a predetermined relative position with respect to the position of the guidance station 30. A pair of left and right light emitting portions 32L and 32R are attached to the left and right of the front surface 30b, and guide marks GML and GMR for indicating the self position from the pair of left and right light emitting portions 32L and 32R toward the front floor surface of the front surface. For example, a pair of left and right lights are projected in the shape of a symmetrical L-shaped pattern.

  In the second embodiment, a pair of light emitting portions 32L and 32R are attached to the left and right of the front surface 30b of the guidance station 30, but the number of light emitting portions may be at least one, and light is emitted from the light emitting portions. The guide mark to be used may be in any form that can identify front, rear, left, and right with respect to the installation position of the guidance station 30 by a pattern or a character string.

  The operation of the robot guidance system 2 configured as described above is similar to that in the first embodiment, and guide marks (GML, GMR) taken into the video camera 13 in a state where a predetermined target view position close to the guidance station 30 is reached. Is stored in advance in a target view guide mark data storage section (FIG. 6) provided as a storage means in the control means 11 of the autonomous mobile robot 10, and the video by the control means 11 of the autonomous mobile robot 10. The autonomous mobile robot 10 is controlled to move in a direction in which the input image data of the guide mark (GML, GMR) imaged by the camera 13 substantially matches the target view image data.

  As a result, the autonomous mobile robot 10 can be reliably guided to the target visual field position approaching the guidance station 30, and visibility identification data such as a two-dimensional code as described in the prior art is provided on the guidance station 30 side. This eliminates the need for an installation space and an appearance, and furthermore, only the light emitting unit for projecting the guide mark on the floor surface needs to be attached to the guidance station 30, so that the guidance system 30 can be provided at low cost. .

  Examples of guidance of the autonomous mobile robot 10 using the robot guidance system 2 described above include the following.

  The autonomous mobile robot 10 is an exhibition guide robot for the exhibition, and by providing the dielectric station 30 in each exhibition and its vicinity, the exhibition guide robot is surely placed at a predetermined position in the vicinity of the exhibition. You can guide and explain each exhibit.

  In addition, the dielectric station 30 does not have to be installed on the floor surface, and the autonomous mobile robot 10 is a painting explanation robot, and its wall surface is used to guide the painting explanation robot near each picture displayed on the wall surface. Alternatively, a dielectric station 30 may be installed. Even in this case, it is possible to reliably guide the painting explanation robot in the vicinity of each painting and to explain each painting.

  Further, when the autonomous mobile robot 10 is an industrial parts transport robot, if the dielectric station 30 is installed in the vicinity of each parts supply point, the parts transport robot is surely guided to each predetermined position for work. Can be made.

  In such a robot guidance system 2, the position of the mark projected from the dielectric station 30 may be moved. In this case, for example, if the dielectric station 30 is configured to be installed at a plurality of locations, it is possible to move a predetermined position for guiding the autonomous mobile robot 10 with time, and accordingly, the autonomous mobile robot 10 The predetermined position to be guided can be moved while following the movement of the mark.

  When the robot guidance system 2 described above is used, there is no need to attach or write lines or marks for guiding the movement of the autonomous mobile robot 10 on the floor surface, so that the floor surface is not soiled and the aesthetic appearance of the floor surface is maintained. Be drunk.

It is the perspective view which showed the external appearance of the charging system which concerns on Example 1 of this invention. It is the block diagram which showed the structure of the charging system which concerns on Example 1 of this invention. In the charging system according to the first embodiment of the present invention, a perspective view showing a state where a guide mark projected from a charging station is imaged with a video camera attached to the front of the head of an autonomous mobile robot. The field of view is shown, and (b) is a diagram showing an example of the error field of view. (A)-(f) is the schematic diagram which showed typically the relationship between the guide mark by the design from a charging station, and the standing position of a robot in the charging system which concerns on Example 1 of this invention. (A)-(f) is the schematic diagram which showed typically the relationship between the guide mark by the character string from a charging station, and the standing position of a robot in the charging system which concerns on Example 1 of this invention. In the charging system according to the first embodiment of the present invention, it is a configuration diagram for explaining the configuration in the control means when correcting the robot seating position. 4 is a flowchart of correcting a robot seating position in the charging system according to the first embodiment of the present invention. It is the perspective view which showed the external appearance of the robot guidance system which concerns on Example 2 of this invention.

Explanation of symbols

1 ... charging system,
2 ... Robot guidance system,
10 ... Autonomous mobile robot,
11 ... Control means, 11A ... Storage means (target visibility guide mark data storage section),
12 ... Driving unit, 13 ... Imaging means (video camera),
14 ... Microphone, 15 ... Speaker, 16 ... Charging part, 17 ... Rechargeable battery,
20 ... Charging station,
20a ... bottom, 20b ... front, 20c ... seating base, 20d ... backrest,
21 ... Control means, 22L, 22R ... A pair of left and right light emitting units, 23 ... Power feeding unit,
30 ... guidance station,
30a ... bottom surface, 30b ... front surface,
31... Control means, 32L and 32R.
GML, GMR: A pair of left and right guide marks.

Claims (4)

In a charging system comprising a rechargeable battery, an autonomous mobile robot that moves on the floor using the power of the battery as a power source, and a charging station that charges the battery,
The charging station is
A light emitting unit for projecting a guide mark at a light projecting position on the floor which is a predetermined relative position with respect to the position of the charging station;
The autonomous mobile robot is
Imaging means for imaging the floor surface, control means for overall control of the autonomous mobile robot, and the imaging means in a predetermined posture at a predetermined target view position where the autonomous mobile robot approaches the charging station. Storage means for storing captured image data of the guide mark as target view field image data,
The control means includes
The input image data of the guide mark imaged by the imaging means and the target view image data stored in the storage means are compared, and the autonomous mobile robot is moved so that the two data substantially match. Characteristic charging system. The autonomous mobile robot is configured as a humanoid that walks on two legs, and the charging station is configured as a chair.
The control means moves the autonomous mobile robot to the standing position at the time of sitting so that the input image data of the guide mark imaged by the imaging means substantially matches the target view image data, and then the autonomous movement The charging system according to claim 1, wherein the battery is charged by sitting a robot on the charging station. In a charging station that charges a rechargeable battery for an autonomous mobile robot that moves on the floor,
A charging station, comprising: a light emitting unit that projects a guide mark at a light projecting position on a floor surface that is a predetermined relative position to the position of the charging station to guide the autonomous mobile robot. A robot guidance system comprising an autonomous mobile robot that moves on a floor surface and a guidance station that guides the autonomous mobile robot,
The guidance station is
A light emitting unit for projecting a guide mark at a light projecting position on the floor which is a predetermined relative position with respect to the position of the guidance station;
The autonomous mobile robot is
Imaging means for imaging the floor surface, control means for overall control of the autonomous mobile robot, and the imaging means in advance in a predetermined posture at a predetermined target view position where the autonomous mobile robot approaches the guidance station. Storage means for storing captured image data of the guide mark as target view field image data,
The control means includes
The input image data of the guide mark imaged by the imaging means and the target view image data stored in the storage means are compared, and the autonomous mobile robot is moved so that the two data substantially match. Characteristic robot guidance system.

Images