JP2008129614A - Mobile object system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mobile object system improving usability in moving a mobile object while securing comfort of a resident etc. <P>SOLUTION: In a building 10, a robot housing room 21 is provided at a nearly central portion of the ground floor surrounded by a dinning 13, an entrance 11, and a closet 16. In the robot housing room 21, a plurality of doorways 22 to 24 which are directly connected to a plurality of rooms are provided, and door bodies 25 to 27 are respectively provided at these doorways 22 to 24. In the building 10, moving routes are set for every room from the robot housing room 21 to an ending point. Then a mobile robot 40 moves based on the moving routes while referring to map information stored in a memory. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a mobile system in which a mobile body such as a self-propelled robot is circulated in a building.

In recent years, in a building such as a house, it has been studied that a self-propelled robot circulates and the inside of the building is cleaned and guarded by the robot, and a part of it is put into practical use. For example, in the self-propelled robot described in Patent Document 1, the robot body is repeatedly circulated while changing the traveling route every time in a specific region, and map information is created based on the position information of the obstacle acquired at the repeated lap. To do. And according to this structure, it is supposed that the map information of all the area parts in a specific area | region can be produced | generated automatically, and subsequent work efficiency can be improved.
JP-A-2005-339408

  In the above prior art, map information of each room can be automatically created while taking into account obstacle information such as furniture in the house, but there are limitations on the area to be traveled at that time. That is, in a building such as a house, a plurality of rooms are partitioned by partition walls, doors, etc., and can travel freely only within the partitioned area. For this reason, there is a restriction when the map information is automatically generated as described above. Further, when the self-propelled robot travels, there is a risk that the resident may feel uncomfortable if there is interference with a person living in the building.

  The main object of the present invention is to provide a mobile system that can increase the usefulness of traveling a mobile body while ensuring the comfort of residents and the like.

  Hereinafter, means and the like effective for solving the above-described problems will be described while showing functions and effects as necessary. In the following, in order to facilitate understanding, a corresponding configuration example in the embodiment of the invention is appropriately shown in parentheses, etc., but is not limited to the specific configuration shown in parentheses.

  The present invention provides a mobile system in which a mobile body (mobile robot 40) circulates in a building, storage means (memory 45a) for storing map information including floor plan information in the building, and the storage means. Traveling control means (robot control unit 45) that travels the mobile body based on the travel route set each time while referring to the stored map information is provided. The map information may include position information of furniture installed in each room. When the mobile body travels based on the travel route, the map information is referred to, so that the mobile body can travel while checking the shape and size of each room, the position of furniture, and the like. As a result, it is possible to increase the usefulness when the moving body is driven while ensuring the comfort of residents and the like.

  In addition, it is also possible to use design CAD data for home sales or production as initial data of map information.

  When a moving body is run in a situation where a resident or the like is in a room or the like in a building, the moving body may hit the resident or the like, which may be uncomfortable (obstructive) for the resident. In addition, a resident or the like becomes an obstacle to traveling for a moving object. Therefore, it is preferable that a human detection unit that detects the presence or absence of a person is provided, and the travel control unit causes the mobile body to travel in an area where no human is detected by the human detection unit. Thereby, when the moving body is driven in the room, it is suppressed that the moving body becomes unpleasant for the resident or the like, and the resident or the like becomes an obstacle for the moving body.

  A means for determining whether or not the mobile object is traveling along the travel route, wherein the travel control means is when the mobile object is traveling and there is a person in an area including the travel route; In addition, it is preferable to change the travel route thereafter and prohibit travel along the travel route when the moving body is before traveling and there is a person in the area including the travel route. According to this configuration, even if a resident or the like enters the traveling area while the mobile body is traveling, the resident or the like can be prevented from feeling uncomfortable.

  Position recognition means (robot control unit 45) for recognizing the position of the moving body is provided, and the travel control means moves the position while collating position information of the moving body recognized by the position recognition means with the map information. It is good to run your body. As a configuration of the position recognition means, for example, a wireless receiver such as a GPS receiver may be mounted on the moving body, and the position of the moving body may be recognized based on the reception data of the wireless receiver. In addition, an imaging device such as a CCD camera is installed in the building, and the position of the moving object is recognized based on the captured image of the imaging device, or many detection elements (markers) are installed on the floor of the building. The position of the moving body can be recognized based on the detection result of the detection element.

  As described above, by moving the moving body while collating the position information of the moving body and the map information, the moving body can be accurately driven along the respective travel route.

  The map information stored in the storage means is rewritable data, and is detected by the obstacle detection means (obstacle detection sensor 47) provided on the moving body and the obstacle detection means while the mobile body is traveling. Update means (robot control unit 45) for updating the map information based on obstacle information may be provided. That is, furniture or the like is installed in each room in the building as an obstacle to the moving body, and the furniture or the like is additionally installed or the installation location is changed. In this case, by updating the map information as described above, even when furniture or the like is added or the installation location thereof is changed, it is possible for the moving body to travel appropriately.

  In a building such as a house, the type of floor may differ from room to room, for example, wooden floorboards (flooring) and tatami mats may be laid in each room, and carpets and other rugs may be laid on the floor. is there. In such a case, attribute information (such as the type and state of flooring) for each room is also stored as map information, and the operation control means (robot control unit 45) performs an action defined based on the attribute information. It is good to let the moving body do it. In this case, the traveling speed of the moving body, the cleaning mode (in the case of a cleaning robot), and the like may be appropriately changed according to the attribute information for each room.

  Further, in a building in which a moving body circulates in a plurality of rooms in the building, a moving body accommodation room (robot accommodation room 21) for accommodating the moving body is provided, and each of the moving body accommodation rooms is moved to a different room. It is preferable to provide a plurality of entrances (entrances 22 to 24) that allow entry and exit of the door.

  In short, when moving a mobile body such as a self-propelled robot in a building such as a house, each room in the building may be partitioned by a partition or a door, making it difficult to move between the rooms. There is a case. In this regard, in the present invention, it is possible to enter and exit a plurality of rooms through a plurality of entrances provided in the moving body accommodation chamber. Therefore, even if each room of the building is partitioned by a partition wall, a door, or the like, the moving body can be moved between the rooms, and the restriction on the travel range can be relaxed. As a result, the travel range of the mobile body can be expanded, thereby increasing the usefulness when the mobile body is traveled.

  Here, it is preferable to provide the moving body accommodation chamber at a position that becomes a boundary portion between a plurality of rooms. Thereby, a mobile body can be easily moved back and forth with respect to each room adjacent to a boundary part.

  In this case, in particular, it is preferable to provide the moving body accommodation chamber inside a partition that divides the plurality of rooms. By providing the movable body accommodation chamber inside the partition wall, the movable body accommodation chamber can be provided inconspicuously as viewed from the room side.

  In addition, an energy supply device (charging device 38) that supplies energy to the moving body may be provided in the moving body accommodation chamber. According to this configuration, when the mobile body moves between the plurality of rooms via the mobile body storage chamber, it is possible to replenish energy from the energy supply device to the mobile body as needed. Accordingly, it is possible to suppress inconveniences such as the loss of the energy of the moving body during the running and the poor running.

  Also, in a mobile system installed in a building, a route setting means (robot control unit 45) for setting a travel route for each room with the mobile accommodation chamber as a starting point and an end point, and a travel set by the route setting means It is preferable to include travel control means (robot control unit 45) that causes the mobile body to travel based on a route. In this case, by setting a traveling route for each room starting from the moving body accommodation room and starting point, it is possible to move around the other room after going around one room with a plurality of rooms as the traveling range (traveling area) of the moving body. Also when performing, the circulation of each room can be performed smoothly. Which room is set with the travel route is preferably determined based on an instruction from the user or a time schedule defined in advance.

  In addition, when the moving body is moving out of the moving body storage chamber, a determination unit (management computer 50) that determines whether or not the moving body is in the vicinity of the entrance / exit, and the determination unit causes the mobile body to be It is preferable to further include door control means (management computer 50) that opens the open / close doors (door bodies 25 to 27) provided at the entrance when it is determined that the door is in the vicinity. In this case, since the opening / closing door is automatically opened when the moving body is in the vicinity of the entrance / exit, it is possible to suppress the inconvenience that the moving body collides with the opening / closing door when returning (returning) to the moving body accommodation chamber.

  The moving body may be a cleaning robot including a suction unit (dust suction device 43) for sucking dust and the like in a building. In this case, each room can be suitably cleaned for a plurality of rooms in the building. In addition, it is also possible to provide a dust collector in the moving body storage chamber, and according to this configuration, dust or the like sucked by the mobile robot can be collected in one place.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, an embodiment of the invention will be described with reference to the drawings. In the present embodiment, a building cleaning system will be described in which a self-propelled mobile robot is circulated as a moving body in a building such as a house and indoor cleaning is performed by the robot.

  FIG. 1 is a diagram illustrating an example of a floor plan in the first floor portion of the building 10. As shown in FIG. 1, the building 10 is provided with a front door 11, a living room 12, a dining room 13, a kitchen 14, a washroom 15, storage rooms 16 and 17, and the like. These rooms (spaces) are provided with the same height on the floor, and cleaning with a mobile robot is performed for these rooms. The entrance 11 is provided with a closet 18, and a door 19 is provided between the entrance 11 and an integrated space composed of a living room 12, a dining room 13, and the like.

  In addition, a robot accommodating chamber 21 is provided in a substantially central portion of the first floor of the building 10 and surrounded by the dining room 13, the entrance 11 (closet 18), and the storage compartment 16. The robot accommodation chamber 21 has a sufficient accommodation space sufficient to accommodate the mobile robot 40. The robot accommodating chamber 21 is provided with a plurality of entrances 22, 23, and 24 that directly communicate with the plurality of rooms, and doors 25, 26, and 27 are provided at the entrances 22 to 24, respectively. The details are shown in FIG.

  In FIG. 2, a wall 31 is an inner wall provided on the entrance 11 side, and a wall 32 is an inner wall provided on the dining 13 side. The robot housing chamber 21 is surrounded by the walls 31, 32 and the like. Is provided. That is, the robot accommodating chamber 21 is provided at the boundary between the rooms and inside the partition walls that divide the rooms. Baseboards 33 and 34 are attached to the lower ends of the walls 31 and 32. A part of the baseboards 33 and 34 is cut into a horizontally-long rectangular shape, and the cutout openings serve as entrances 22 and 23 for entering and exiting the robot. The doorways 22 and 23 can be opened and closed by door bodies 25 and 26. The baseboards 33 and 34 and the door bodies 25 and 26 are made of the same material and color, and the door bodies 25 and 26 are not conspicuous when viewed from the room side (for example, the dining room 13 side). In FIG. 2, for convenience of explanation, only the door body 26 on the entrance / exit 23 side is shown, and the door body 25 on the entrance / exit 22 side is shown by a virtual line.

  The upper ends of the door bodies 25 and 26 are rotatably supported by the baseboards 33 and 34, and the door bodies 25 and 26 are rotated either inside or outside the baseboards 33 and 34. The doorways 22 and 23 are opened and closed (the door body 27 not shown in FIG. 2 is also the same). In the present embodiment, the door bodies 25 and 26 are rotated by the door opening / closing motor 36 (see FIG. 3), but the door bodies 25 and 26 are pushed open by the mobile robot 40 without using the door opening / closing motor. It is also good. In addition, an arbitrary opening / closing mechanism for the door bodies 25 and 26 can be adopted, and an opening / closing mechanism such as a slide type or a shutter type can also be adopted.

  According to the configuration of the robot housing chamber 21 described above, the entrance floor of the entrance 11 and the LDK floor composed of the living room 12, the dining room 13, the kitchen 14, and the like are divided by the door 19, and each of these floors and the storage room in the storage room 16 are separated. Even if the floor is divided by the surrounding partition walls, the mobile robot 40 can be moved to each floor through the entrances 22 to 24.

  FIG. 3 is a diagram showing the robot housing chamber 21 and its peripheral configuration and the mobile robot 40. As shown in FIG. 3, the wall portion 32 is provided with a door opening / closing motor 36 on the robot housing chamber 21 side and a robot detection sensor 37 on the room side. The door opening / closing motor 36 and the robot detection sensor 37 are provided for each of the entrances 22 to 24 (for each door body 25 to 27). In FIG. 3, the robot detection sensor 37 is installed in a state of protruding from the wall 32, but may be installed so as to be embedded in the wall 32. It is also possible to provide the robot detection sensor 37 on the baseboard 34 or the floor material. The robot housing chamber 21 is provided with a charging device 38 for charging (energy supply) the mobile robot 40. The charging device 38 charges the mobile robot 40 using commercial power as a power source.

  The mobile robot 40 has a thin box-shaped main body 41 and a plurality of (for example, four) wheels 42 provided in the lower portion of the body 41, and can travel by rotation of the wheels 42. In addition, the mobile robot 40 controls a dust suction device 43 that sucks dust, dust, and the like on the floor surface F, a motor unit 44 that is a driving source when the robot travels, and the dust suction device 43 and the motor unit 44. And a power supply device 46 composed of a secondary battery that can be repeatedly charged. In addition, an obstacle detection sensor 47 is provided on the upper surface of the body. The obstacle detection sensor 47 is an obstacle detection means for detecting obstacles (tables, chairs, bags, etc.) around the mobile robot 40. For example, a 360-degree omnidirectional sensor is used. .

  A power receiving terminal 48 is provided on the side surface of the body of the mobile robot 40, and charging (replenishment of energy) of the power supply device 46 is performed through the power receiving terminal 48. That is, the power receiving terminal 48 of the mobile robot 40 is provided at a position where it can contact (connect) to the charging terminal 38 a provided in the charging device 38 when the robot 40 is accommodated in the robot accommodating chamber 21. Thus, charging of the mobile robot 40 from the charging device 38 is performed in a state where the power receiving terminal 48 on the mobile robot 40 side and the charging terminal 38 a on the charging device 38 side are in contact with each other.

  Note that a dust collecting device for taking out and collecting dust sucked by the dust suction device 43 of the mobile robot 40 may be provided in the robot housing chamber 21. This dust collector is preferably connected to a dust box or the like provided outside the building through a duct. For charging the mobile robot 40, it is possible to adopt a non-contact charging method.

  FIG. 4 is a block diagram showing an electrical configuration in the building cleaning system. In FIG. 4, the robot controller 45 is configured with a well-known microcomputer, and the mobile robot 40 autonomously travels in the building according to the control program and map information stored in the memory 45a. Perform automatic cleaning. In this case, in detail, the floor plan data in the building is stored in advance in the memory 45a as the map information, and the robot control unit 45 refers to the floor plan data and the travel route that is set each time for autonomous travel control. To implement. The floor plan data (map information) stored in the memory 45a also includes position information of furniture and the like (tables, chairs, bags, etc.) installed in each room. Robot travel is possible. In addition, it is also possible to use design CAD data for home sales or production as initial data of map information.

  When the mobile robot 40 travels, the detection signal of the obstacle detection sensor 47 is sequentially input to the robot controller 45, and when an obstacle is detected by the obstacle detection sensor 47, the obstacle is avoided. Avoidance driving is also possible.

  The robot control unit 45 has a function of monitoring the remaining amount of electricity (remaining energy) of the power supply device 46, and the charging device 38 when the remaining amount of electricity (remaining energy) falls below a predetermined threshold value. I am trying to charge from.

  The robot control unit 45 has a wireless communication function such as a wireless LAN, and can wirelessly communicate with the management computer 50 installed in the building 10. The management computer 50 has a function of setting a cleaning schedule, cleaning contents, and the like based on an input operation by the user, and the cleaning schedule, cleaning contents, etc. set by the management computer 50 are appropriately transmitted to the robot control unit 45. The Conversely, various information acquired when the mobile robot 40 travels through each room in the building (ie, during cleaning) is appropriately transmitted from the robot controller 45 to the management computer 50. Yes. Specifically, the cleaning schedule is set as to which room (which place) is to be cleaned in which time zone. Moreover, about the cleaning content, cleaning content, such as sweep cleaning and wiping cleaning, a cleaning level (cleanliness), etc. are set.

  The management computer 50 has a function of opening and closing the door opening / closing motor 36. When the mobile robot 40 moves out of the robot housing chamber 21 or when the robot 40 returns to the robot housing chamber 21, the door opening / closing motor 36 is driven according to a command from the management computer 50, and each door body 25-27. Is opened and closed. At this time, depending on which doorway 22-24 is used, the corresponding door bodies 25-27 are selectively opened and closed each time.

  In particular, when the mobile robot 40 returns to the robot housing chamber 21, the presence of the mobile robot 40 is detected by the robot detection sensors 37 provided at the respective entrances 22 to 24, and the management computer 50 Based on the detection result, it is determined that the mobile robot 40 is in the vicinity of the entrances 22 to 24. Then, the corresponding door bodies 25 to 27 are opened. In this case, a door opening signal indicating that the door bodies 25 to 27 are opened is transmitted from the management computer 50 to the robot controller 45 of the mobile robot 40, and the mobile robot 40 receives the door opening signal. The robot controller 45 is caused to enter the robot housing chamber 21. By detecting the return of the mobile robot 40 in this way, the inconvenience that the mobile robot 40 collides with the door bodies 25 to 27 is suppressed.

  In addition, it is also possible to provide a guidance device outside the doorways 22 to 24 so that the mobile robot 40 can accurately return to the robot housing chamber 21. As the guidance device, an electronic tag or a frequency oscillator that outputs a radio signal of a predetermined frequency can be considered.

  Next, a specific operation when the inside of a building is cleaned by the mobile robot 40 will be described. FIG. 5 shows a travel route of the mobile robot 40 during cleaning. In FIG. 5, for the purpose of simplifying the explanation, only the entrance 11, living room 12, dining room 13, kitchen 14, and storage room 16 are simply illustrated for each room on the first floor of the building, and the travel route of the mobile robot 40 is indicated by a broken line. Is shown.

  In the example shown in FIG. 5, three robot travel routes are set, the first route R1 cleans the entrance 11 and the second route R2 cleans the living room 12, the dining room 13, and the kitchen 14. The third travel path R <b> 3 is a travel path for cleaning the storage compartment 16. Each of these routes R1 to R3 is set with the robot housing chamber 21 as a starting point and an ending point. For example, the first route R1 → the second route during the daytime when the house is absent (around 2 to 4 pm), or at night (after 1 to 3 am) after the family goes to bed The inside of the building is cleaned in the order of route R2 → third route R3.

  In such a case, with the start of cleaning (activation of the mobile robot 40), first, the mobile robot 40 in the robot housing chamber 21 moves out from the entrance 22 (see FIG. 1) leading to the entrance 11, and enters the illustrated first route R1. Drive along. As the vehicle travels, the mobile robot 40 cleans the entrance floor. When the cleaning is completed, the mobile robot 40 returns once to the robot housing chamber 21 through the doorway 22.

  Next, the mobile robot 40 moves out from the entrance 23 (see FIG. 1) leading to the dining room 13 and travels along the illustrated second route R2. As the vehicle travels, the mobile robot 40 cleans the LDK floor. When the cleaning is completed, the mobile robot 40 returns to the robot housing chamber 21 through the doorway 23 again. At this time, according to the second route R2, the LDK floor is cleaned in the order of the kitchen 14, the dining 13, and the living room 12.

  Next, the mobile robot 40 moves out from the doorway 24 (see FIG. 1) leading to the storage compartment 16 and travels along the illustrated third route R3. Then, as the vehicle travels, the mobile robot 40 cleans the storage floor. When the cleaning is completed, the mobile robot 40 returns to the robot housing chamber 21 through the doorway 24 again.

  The travel route described above is merely an example, and can be arbitrarily changed according to the user's intention and the like. For example, when cleaning the LDK floor, it is possible to set a travel route for traveling (cleaning) only the living room 12 or only the living room 12 and the dining room 13. In addition, when the remaining amount of electricity (remaining energy) of the mobile robot 40 is reduced, charging is performed in the storage chamber 21 when the mobile robot 40 returns to the robot storage chamber 21. Further, when the remaining electric power (residual energy) of the mobile robot 40 decreases during the cleaning of each floor, the mobile robot 40 returns to the robot storage chamber 21 even during the cleaning, and the robot storage chamber 21 After charging the battery, it will be dispatched again to resume cleaning.

  When an obstacle such as furniture is present on the travel route of the mobile robot 40, the obstacle detection sensor 47 detects the presence of the obstacle. Then, the mobile robot 40 autonomously travels while avoiding the obstacle, and returns to the original travel route when the obstacle disappears. The state of obstacle avoidance is shown in FIG. In FIG. 6, the same robot traveling paths (R1 to R3) as those in FIG. 5 are set.

  In FIG. 6, an obstacle S (furniture or the like) that is not included in the floor plan data (map information) in the memory 45a is installed on the second route R2 in the dining room 13. In such a case, when the mobile robot 40 reaches the point P1, the obstacle detection sensor 47 recognizes the obstacle S, and thereafter, the mobile robot 40 shifts to an avoidance travel in which the obstacle S is avoided. RX (section of P1-P2) of a figure is an avoidance driving | running route. After that, the mobile robot 40 returns to the original travel route (second route R2) when the point P2 is reached.

  Further, the mobile robot 40 of the present embodiment is provided with a map update function, and the floor plan data (map information) in the memory 45a is appropriately updated by the robot control unit 45 based on the obstacle information acquired during traveling. It has come to be. That is, when the obstacle S is newly detected as described in FIG. 6, the obstacle information is registered in the floor plan data (map information) in the memory 45a. There is a possibility that the obstacle S is temporarily installed. Therefore, the data update may not be performed only when the obstacle S is detected once, and the data may be updated when the obstacle S is detected repeatedly (predetermined number of times) in a plurality of times of traveling.

  In addition, when the mobile robot 40 is run in a situation where there are residents in the room in the building, the mobile robot 40 hits the residents and the person becomes uncomfortable (obstructive). In addition, for the mobile robot 40, a resident or the like becomes an obstacle to traveling. Therefore, in this embodiment, a human sensor as a human detection means is installed in each room (a room where the robot is to run) in the building, and the robot runs in each room based on the detection signal of the human sensor. I will let you. Specifically, as shown in FIG. 1, a human sensor 51 is provided at the entrance 11, a human sensor 52 is provided at the living room 12, a human sensor 53 is provided at the dining room 13, and a human sensor 54 is provided at the kitchen 14. A human sensor 55 is installed at 16. Detection signals from these human sensors 51 to 55 are sequentially input to the management computer 50. The management computer 50 detects the presence / absence of a person for each room based on the detection signals of the human sensors 51 to 55 and transmits the person detection result to the robot control unit 45. The robot control unit 45 performs traveling control of the mobile robot 40 based on the human detection result received from the management computer 50. In addition, each said human sensor 51-55 is installed in the position which can detect suitably the presence or absence of the person in a room, such as the ceiling of a corresponding room, and a wall.

  Here, the robot traveling control based on the human detection result will be described with reference to the flowchart of FIG. The process of FIG. 7 is executed by the robot controller 45.

  In FIG. 7, in step S11, it is determined whether or not the mobile robot 40 is currently traveling along a predetermined travel route (for example, the travel routes R1 to R3 described above). If the vehicle is not traveling, the process proceeds to step S12, and based on the person detection result received from the management computer 50, it is determined whether or not there is a person in the room (on the traveling route) to be traveled. When there is no person, entry (running) into the room is permitted (step S13), and when there is a person, entry (running) into the room is prohibited (step S14).

  If the vehicle is traveling, the process proceeds to step S15, and based on the person detection result received from the management computer 50, it is determined whether or not there is a person in the currently traveling room (on the traveling route). If there is no person, the vehicle continues to travel on the same travel route (step S16). If there is a person, the travel route is partially changed to travel in an area where there is no person (step S17).

  According to the process of FIG. 7, even if a resident or the like enters the traveling area while the mobile robot 40 is traveling, the mobile robot 40 can be caused to travel without interfering with the resident.

  According to the embodiment described in detail above, the following excellent effects can be obtained.

  Since the robot accommodating chamber 21 is provided with a plurality of entrances 22 to 24 that allow entry into and exit from different rooms, even if each room of the building 10 is partitioned by a partition wall, a door, or the like, a plurality of entrances 22 to 24 are provided through the entrances 22 to 24. Direct access to and from the room. Therefore, it is possible to relax restrictions on the travel range in the building. As a result, the substantial travel range of the mobile robot 40 can be expanded, thereby increasing the usefulness of the mobile robot 40 when traveling.

  In the present embodiment, the mobile robot 40 is embodied as a cleaning robot. By extending the traveling range as described above, it is possible to suitably clean each room for a plurality of rooms in a building. It becomes like this.

  Since the robot housing chamber 21 is provided at the boundary of each room and inside the partition wall that divides each room, the mobile robot 40 can be easily moved to and from each room adjacent to the boundary. Further, the robot accommodating chamber 21 can be provided so as not to be noticeable when viewed from the room side.

  Since the charging device 38 for charging the mobile robot 40 is provided in the robot housing chamber 21, the mobile robot 40 moves from the charging device 38 when moving between the plurality of rooms via the robot housing chamber 21. The robot 40 can be charged at any time. Accordingly, it is possible to suppress inconveniences such as a loss of energy of the mobile robot 40 in the course of traveling and poor running.

  In addition, since the robot control unit 45 sets a travel route for each room with the robot housing chamber 21 as a starting point and an end point, and the mobile body is caused to travel based on the travel route, the traveling range of the mobile robot 40 is set in a plurality of rooms. As a (traveling area), each room can be smoothly circulated even when the other room is circulated after the lap of one room.

  Stored in the memory 45a in the robot controller 45 is floor plan data (including position information of furniture, etc.) in the building as map information, and the mobile robot 40 is referred to together with the floor plan data and the respective travel route. Since the robot is allowed to travel, the mobile robot 40 can be allowed to travel while checking the shape and size of each room, the position of furniture, and the like when the robot travels.

  The floor plan data (map information) in the memory 45a is appropriately updated by the robot control unit 45 based on the obstacle information acquired while the mobile robot 40 is traveling, so that furniture and the like are added in each room in the building. Even if the installation location is changed, the mobile robot 40 can travel appropriately.

  The management computer 50 determines whether or not the mobile robot 40 is in the vicinity of the entrances 22 to 24, and opens the door bodies 25 to 27 when it is determined that the mobile robot 40 is in the vicinity of the entrances 22 to 24. Therefore, the inconvenience that the mobile robot 40 collides with the door bodies 25 to 27 when returning (returning) to the robot accommodating chamber 21 can be suppressed.

  The presence or absence of a resident in the building is detected, and the mobile robot 40 is caused to travel in an area where no resident is detected. Therefore, when the mobile robot 40 is driven in a building (room), the mobile robot is used for the resident. 40 can be prevented from becoming unpleasant (obstructive). Moreover, if it uses the mobile robot 40, it can suppress that a resident etc. become the obstruction.

  The present invention is not limited to the description of the above embodiment, and may be implemented as follows, for example.

  The form of the robot housing chamber 21 is changed. In the building 10 of FIG. 8, the robot housing chamber 21 is provided to be extended toward the washroom 15, and an entrance / exit 61 leading to the washroom 15 is provided. A door body 62 is provided at the doorway 61. In this case, a total of four entrances and exits are formed in the robot accommodating chamber 21 together with the aforementioned entrances 22 to 24, and each of the entrances 22 to 24 and 61 passes through the entrances 22 to 24 and 61. The mobile robot 40 can directly enter and leave the adjacent room. In this configuration, since it is possible to directly enter and exit the four rooms, the traveling range of the mobile robot 40 can be set more suitably, and convenience is improved.

  The robot controller 45 may be provided with a position recognition function for recognizing the position of the mobile robot 40 so that the mobile robot 40 travels while collating the position information of the mobile robot 40 with the floor plan data (map information). . For example, when the position of the mobile robot 40 deviates from the travel route on the map, the position is corrected on the travel route each time. As a configuration of the position recognition means, for example, a configuration in which a wireless receiver such as a GPS receiver is mounted on the mobile robot 40 and the position of the mobile robot 40 is recognized based on the reception data of the wireless receiver may be employed. By traveling the mobile robot 40 while collating the position information of the mobile robot 40 and the floor plan data (map information), the mobile robot 40 can be traveled accurately along each travel route.

  In addition, an imaging device such as a CCD camera is installed in the building 10 and the position of the mobile robot 40 is recognized based on the captured image of the imaging device, or many detection elements (markers) are scattered on the floor of the building 10. In addition, the position of the mobile robot 40 can be recognized based on the detection result of the detection element. In this case, the management computer 50 is preferably provided with a position recognition function, and position recognition information based on the captured image and the detection result of the detection element is sequentially transmitted from the management computer 50 to the mobile robot 40 (robot control unit 45).

  As the map information in the memory 45a, attribute information for each room (floor material type, state, etc.) is also stored, and the robot control unit 45 performs an action defined based on the attribute information on the mobile robot 40. It is good to make it. For example, floor information (woody floorboard, tatami mat, carpeting, etc.) for each room is stored as attribute information. When each room is cleaned by the mobile robot 40, the traveling speed, the suction mode, and the like of the mobile robot 40 are appropriately adjusted according to the floor information of each room.

  In the above embodiment, the mobile robot 40 can autonomously travel by the travel control of the robot control unit 45 mounted on the mobile robot 40. However, the mobile robot 40 can be changed by remote operation (wireless operation) of the management computer 50. The mobile robot 40 may be caused to travel. In this case, the management computer 50 stores the floor plan data (map information) in the memory in the computer 50. Then, by the travel control of the management computer 50, the mobile robot 40 is traveled while referring to the floor plan data and the travel route set each time. In this configuration as well, the mobile robot 40 can smoothly circulate in each room as described above.

  In the management computer 50, the floor plan data (map information) in the memory may be appropriately updated based on the obstacle information acquired while the mobile robot 40 is traveling.

  In the above embodiment, various information is exchanged by wireless communication between the mobile robot 40 and the management computer 50. However, this is changed and various information is exchanged between the two by power line communication. Also good. Specifically, when a mobile robot 40 is connected to the charging device 38 using the charging device 38 provided in the robot housing chamber 21, that is, when charging is performed, information is exchanged by power line communication. Like that.

  In the above-described embodiment, the moving body is embodied as the mobile robot 40, but may be embodied as a robot for other purposes. For example, the helping robot orbits around the building 10 and transports articles and the like requested by the user. According to the system using the assisting robot, an article requested by the user can be arbitrarily transported between a plurality of rooms. In this case, an article to be transported for each room can be defined in advance as attribute information for each room.

The figure which shows the floor plan example in the 1st floor part of a building. The perspective view which shows the structure around a robot storage chamber. The figure which shows the internal structure of a robot storage chamber, and a mobile robot. The block diagram which shows the electrical structure in the cleaning system in a building. Schematic which shows the travel route of the mobile robot at the time of cleaning. A schematic diagram for explaining obstacle avoidance traveling. The flowchart which shows the robot traveling control based on a person detection result. The figure which shows the example which changed the form of the robot storage chamber in another embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Building, 11 ... Entrance part, 12 ... Living, 13 ... Dining, 14 ... Kitchen, 16 ... Storage room, 21 ... Robot accommodation room, 22-24 ... Entrance / exit, 25-27 ... Door body, 31, 32 ... Wall part , 33, 34 ... skirting board, 37 ... robot detection sensor, 38 ... charging device, 40 ... mobile robot, 43 ... dust suction device, 44 ... motor unit, 45 ... robot control unit, 45a ... memory, 46 ... power supply device, 47 ... Obstacle detection sensor, 50 ... Management computer, 51-55 ... Human sensor, 61 ... Entrance / exit, 62 ... Door body.

Claims (13)

In the moving body system that makes the moving body go around in the building,
Storage means for storing map information including floor plan information in the building;
A travel control unit that travels the moving body based on a travel route that is set each time while referring to the map information stored in the storage unit;
A mobile system characterized by comprising: Equipped with human detection means to detect the presence or absence of people,
The mobile system according to claim 1, wherein the travel control unit travels the mobile body in an area where no person is detected by the human detection unit. Means for determining whether or not the moving body is traveling along the travel route;
The travel control means changes the subsequent travel route when the moving body is traveling and there is a person in the area including the travel route, and the area before the travel includes the travel route. The mobile body system according to claim 2, wherein traveling on the same travel route is prohibited when there is a person in the road. Comprising position recognition means for recognizing the position of the moving body;
The mobile system according to any one of claims 1 to 3, wherein the travel control unit travels the mobile unit while collating position information of the mobile unit recognized by the position recognition unit with the map information. The map information stored in the storage means is rewritable data,
Obstacle detection means provided on the moving body for detecting an obstacle existing around the moving body;
5. The mobile system according to claim 1, further comprising an update unit configured to update the map information based on obstacle information detected by the obstacle detection unit while the mobile body is traveling. The map information includes attribute information for each room,
The mobile body system according to claim 1, further comprising an operation control unit that causes the mobile body to perform an operation defined based on the attribute information. In the moving body system that circulates the moving body in a plurality of rooms in the building,
The mobile body system according to any one of claims 1 to 6, wherein a mobile body storage chamber for storing the mobile body is provided, and the mobile body storage chamber is provided with a plurality of doorways that allow access to different rooms. .   The mobile body system according to claim 7, wherein the mobile body storage chamber is provided at a position that becomes a boundary between a plurality of rooms.   The mobile body system according to claim 8, wherein the mobile body storage chamber is provided inside a partition wall that partitions the plurality of rooms.   The mobile body system according to claim 7, wherein an energy supply device that supplies energy to the mobile body is provided in the mobile body storage chamber. A route setting means for setting a traveling route for each room, with the moving body storage chamber as a starting point and an ending point,
The mobile body system according to any one of claims 7 to 10, wherein the travel control means causes the mobile body to travel based on a travel route set by the route setting means. A determination means for determining whether or not the moving body is in the vicinity of the doorway when the moving body is out of the moving body accommodation chamber;
Door control means for opening an opening / closing door provided at the doorway when the determination means determines that the moving body is near the doorway;
The mobile system according to any one of claims 7 to 11, further comprising:   The mobile system according to any one of claims 1 to 12, wherein the mobile body is a cleaning robot including a suction unit that sucks dust and the like in a building.

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