JP2008217741A - Movement setting method for mobile apparatus, and movement setting system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To allow anybody to easily set the movement route or movement range of a mobile apparatus 2 to be moved within the designated route or range. <P>SOLUTION: A movement setting system 1 of the mobile apparatus 2 includes: a sheet 5 which indicates an area for the movement of the mobile apparatus 2 and where a pattern 11, to be convertible into a coordinate value for indicating a position on the sheet, is printed; a reader 4 for reading the pattern 11 printed on the sheet 5; a storage means 34 for storing a conversion table 36 which indicates correspondence relation between the coordinate value of the pattern 11 on the sheet 5 and position information in the area; a conversion means 40 for converting the respective coordinate values in locus data 27, composed of the plurality of coordinate values generated based on the reading by the reader 4, through the use of the conversion table 36; and a control data generation means 41 for generating control data 38 to be used for controlling the movement of the mobile apparatus 2, based on the position information obtained by the conversion means 40. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a movement setting method and a movement setting system for a mobile device that moves along a designated route or moves within a designated range.

  Patent Document 1 discloses a robot cleaner and a control program for controlling its operation. The robot cleaner of Patent Document 1 stores room map data storing a room map formed by registering obstacles in a room and a cleaning path storing a cleaning route created based on the room map data as a cleaning route. Route data. If the shape of the detected obstacle cannot be estimated, the control program registers the unknown obstacle in the room map data, and reconstructs the cleaning route data.

JP 2004-033340 A (Claims etc.)

  By the way, when moving devices such as conventional mobile robots and models are moved along a desired route, a line is previously arranged on the traveling surface along the moving route, or a computer or a display device is provided on the moving device. Need to be connected and program the movement route to the mobile device. For this reason, conventional mobile devices that move along these predetermined routes are used by industrial automation (FA) engineers and some robot enthusiasts who are familiar with the internal structure and setting programs of robots and have specialized knowledge. It is currently used for entertainment or entertainment. Such specialization at the time of route designation is one factor that hinders the spread of mobile devices moving along the designated route to ordinary households.

  Moreover, the robot cleaner of patent document 1 moves and cleans the inside of a room. The robot cleaner disclosed in Patent Document 1 uses a room map data in which an obstacle is registered, generates a route that moves according to a predetermined traveling rule set as a cleaning route data, and moves the route generated by itself. To do. In other words, this cleaning mobile robot only needs to be able to move and clean all over the room, so there is no need to designate a movement route for it. Therefore, the mobile cleaning robot of Patent Document 1 does not specify a desired movement route.

  Note that when a movement range is to be specified for a mobile device such as a mobile robot, expertise is required to specify the range as in the case of specifying the movement route described above.

  The present invention provides a movement setting method and movement setting system for a mobile device in which anyone can easily set a movement route or a movement range of a mobile device that moves within a specified route or a specified range. With the goal.

  The movement setting method for a mobile device according to the present invention is a movement setting method for a mobile device that moves along a designated route or within a designated range. In this movement setting method, a sheet indicating an area to which the moving device is moved and printed with a pattern that can be converted into a coordinate value indicating a position on the sheet is read by the reading device, and the reading device reads the sheet on the sheet. A step of generating trajectory data indicating the trajectory read in step 2 with a plurality of coordinate values, and converting each coordinate value of the generated trajectory data into position information based on a correspondence relationship between an area on the sheet and a pattern, As control data used for movement control by a movement route or movement control within a movement range in a mobile device, a route that travels a point based on the plurality of position information or a range surrounded by the points based on the plurality of position information is generated. Steps.

  The movement setting system for a mobile device according to the present invention is a sheet that indicates a mobile device that moves along a specified route or within a specified range, and an area in which the mobile device is moved, and coordinates that indicate a position on the sheet. Storage means for storing a sheet on which a pattern that can be converted into a value is printed, a reading device that reads the pattern printed on the sheet, and a conversion table that indicates a correspondence relationship between the coordinate value of the pattern on the sheet and position information in the area Conversion means for converting each coordinate value in trajectory data composed of a plurality of coordinate values generated based on reading by a reading device into position information using a conversion table, and position information obtained by the conversion means. And control data generating means for generating control data used for movement control of the mobile device.

  The mobile device movement setting system according to the present invention has the following features in addition to the above-described configuration of the present invention. That is, the reading device associates each coordinate value with the time when the coordinate value is read in the trajectory data. As the control data, the point of the plurality of position information is moved in the order in which the plurality of coordinate values are generated, and the section between the plurality of points is moved at a speed corresponding to the reading time interval in the plurality of coordinate values. Generate something that moves and / or stops.

  The mobile device movement setting system according to the present invention has the following features in addition to the above-described components of the present invention. That is, when a new coordinate value is generated based on reading by the reading device, the conversion means converts the coordinate value into position information. Then, when new position information is generated by the conversion means, the mobile device moves to the position of the new position information.

  The mobile device movement setting system according to the present invention has the following features in addition to the above-described components of the present invention. That is, the movement setting system is used for movement control within a movement range as control data when the locus of a plurality of coordinate values generated based on reading by the reading device is in a loop shape. In other cases, control data generating means for generating control data used for movement control by the movement route is included.

  In the present invention, using an electronic pen and a sheet, anyone can easily set a movement route and a movement range of a moving device that moves within a designated route or a designated range.

  Hereinafter, a movement setting method and movement setting system for a mobile device according to an embodiment of the present invention will be described with reference to the drawings. The movement setting system for a mobile device will be described by taking a movement setting system for a self-propelled speaker robot as an example. The movement setting method of the mobile device will be described by taking the operation of this movement setting system as an example.

  FIG. 1 is a system configuration diagram showing a movement setting system 1 for a self-propelled speaker robot 2 according to an embodiment of the present invention. The movement setting system 1 of the self-propelled speaker robot 2 is connected to the self-propelled speaker robot 2 as a mobile device, a conversion device 3 that transmits control data 38 to the self-propelled speaker robot 2, and the conversion device 3. An electronic pen 4 serving as a reading device, and a sheet 5 read by the electronic pen 4.

  The sheet 5 read by the electronic pen 4 is, for example, white paper, a plastic plate, and the like, and a floor plan as a drawing of a dot pattern (pattern) 11 and a room (area) in which the self-propelled speaker robot 2 travels. FIG. 12 is overprinted.

  The dot pattern 11 is composed of a plurality of dots, and is printed on the sheet 5 with, for example, white ink that absorbs infrared rays. The dot pattern 11 can be converted into coordinate values on the sheet 5 by, for example, 6 × 6 dots. The coordinate value of the dot pattern 11 is a coordinate value indicating a position in the sheet 5 with reference to the upper left corner of the sheet 5, for example.

  The floor plan 12 printed on the sheet 5 is printed on the sheet 5 with colored ink that transmits infrared rays. 1 is printed with a floor plan 12 in which a table 13 is arranged in the center of the room and a shelf 14 is arranged in the upper left corner.

  FIG. 2 is a block diagram showing an electrical configuration of the movement setting system 1 of the self-propelled speaker robot 2 of FIG.

  The electronic pen 4 includes an infrared LED (Light Emitting Diode) 21, an infrared camera 22, a communication I / F (Inter Face) 23, a microcomputer 24 to which these are connected, a battery (not shown) that supplies power to these, and the like.

  The infrared camera 22 is a CCD (Charge Coupled Device) or CMOS (Complementary Metal-Oxide Semiconductor) sensor, for example, and periodically outputs received infrared pattern data to the microcomputer 24. The infrared LED 21 and the infrared camera 22 are disposed toward the pen tip of the electronic pen 4. Thereby, the infrared camera 22 of the electronic pen 4 can periodically read the dot pattern 11 near the pen tip.

  The communication I / F 23 is, for example, a USB (Universal Serial Bus) I / F. The USB I / F transmits / receives data to / from a USB I / F (here, the communication I / F 31 of the conversion device 3) of another device connected by a USB cable. In addition, the communication I / F 23 may be a so-called Bluetooth, even if the communication I / F 23 communicates with another device by a communication cable such as an E / N (Ethernet (registered trademark)) cable. It may communicate with other devices via a wireless LAN (Local Area Network) or the like.

  The microcomputer 24 of the electronic pen 4 includes a timer 25 for measuring time and elapsed time, a memory 26, a CPU (Central Processing Unit) (not shown), and the like. The memory 26 stores read data 27 as locus data. The CPU reads and executes a program (not shown) stored in the memory 26. Thereby, functions such as the coordinate reading unit 28 and the transmission unit 29 are realized in the microcomputer 24 of the electronic pen 4.

  The coordinate reading unit 28 analyzes each pattern data periodically supplied from the infrared camera 22 and generates a reading coordinate value corresponding to each pattern data. The coordinate reading unit 28 stores the generated read coordinate value in the memory 26 in association with the current time measured by the timer 25. As a result, the read data 27 is stored in the memory 26.

  FIG. 3 is an explanatory diagram showing an example of the read data 27 in FIG. The read data 27 includes trajectory data including a plurality of read coordinate values generated by the coordinate reading unit 28. Each reading coordinate value of the transmission unit is associated with time data indicating each reading time.

  The transmission unit 29 manages communication by the communication I / F 23 of the electronic pen 4. The transmission unit 29 supplies the read data 27 stored in the memory 26 to the communication I / F 23 of the electronic pen 4 for transmission.

  As shown in FIG. 2, the conversion apparatus 3 is a personal computer, for example, and includes a communication I / F 31, a wireless communication device 32, a microcomputer 33 to which these are connected, and the like. The microcomputer 33 of the conversion device 3 includes a memory 34 as storage means, a CPU (Central Processing Unit) not shown, and the like. The memory 34 stores reception data 35, a conversion table 36, route data 37, control data 38, and the like. The CPU reads and executes a program (not shown) stored in the memory 34. Accordingly, the microcomputer 33 of the conversion device 3 includes functions such as a receiving unit 39, a path data converting unit 40 as a converting unit, a control data generating unit 41 as a control data generating unit, and a control communication unit 42 as a transmitting unit. Is realized.

  The program stored in the memory 26 of the electronic pen 4 and the program stored in the memory 24 of the conversion device 3 are those stored in the memories 26 and 34 before shipment of the devices 4 and 3. Alternatively, it may be stored in the memories 26 and 34 after the shipment of these devices 4 and 3. Further, some of the programs stored in the memories 26 and 34 may be stored after the shipment of these devices 4 and 3. As described above, the program stored in the memories 26 and 34 after shipment is an installation of a program stored in a computer-readable recording medium such as a CD-ROM (Compact Disc Read Only Memory) or a semiconductor memory. Alternatively, it may be downloaded from a server device or the like via a transmission medium such as the Internet.

  The receiving unit 39 manages communication by the communication I / F 31 of the conversion device 3. When the communication I / F 31 of the conversion device 3 receives data from the communication I / F 23 of the electronic pen 4, the reception unit 39 stores the data in the memory 34. As a result, the reception data 35 is stored in the memory 34. When the communication I / F 31 of the conversion device 3 receives the read data 27 from the communication I / F 23 of the electronic pen 4, the received data 35 having the same contents as the read data 27 is stored in the memory 34. .

  When the reception data 35 as the read data 27 is stored in the memory 34, the path data conversion unit 40 uses the reception data 35 and the conversion table 36 to determine the movement path designated by the electronic pen 4 and the sheet 5. The route data 37 shown is generated. The route data conversion unit 40 stores the generated route data 37 in the memory 34.

  FIG. 4 is an explanatory diagram showing an example of the conversion table 36 in FIG. The conversion table 36 is for converting the coordinate value by the dot pattern 11 printed on the sheet 5 into the position coordinate value indicating the position in the floor plan 12 printed on the sheet 5. The conversion table 36 uses a plurality of coordinates obtained from the dot pattern 11 so as to be synchronized (matched) with the correspondence relationship based on the correspondence relationship between the printing position of the dot pattern 11 on the sheet 5 and the floor plan 12. A value and a plurality of position coordinate values are stored in a one-to-one correspondence. As shown in FIG. 1, the position coordinate value indicating the position in the floor plan 12 is, for example, a coordinate value based on a length in meters with respect to the entrance of the room.

  When the reception data 35 and the route data 37 as the read data 27 are stored in the memory 34, the control data generation unit 41 is designated by the electronic pen 4 and the sheet 5 using the reception data 35 and the route data 37. The control data 38 for controlling the movement according to the travel path is generated. The path data conversion unit 40 stores the generated control data 38 in the memory 34.

  FIG. 5 is an explanatory diagram showing an example of the control data 38 in FIG. This control data 38 is for controlling movement by a movement route designated by the electronic pen 4 and the sheet 5, and an acceleration command, a constant speed command, a left turn command, a right turn command, a stop command, etc. are described in the order of execution. ing. In each command, parameters such as speed, time, and angle are specified.

  The wireless communication device 32 transmits / receives data to / from the wireless communication device 51 of another device (here, the self-propelled speaker robot 2) by, for example, so-called Bluetooth or wireless LAN. Note that the conversion device 3 and the self-propelled speaker robot 2 may perform wired communication by USB I / F or the like.

  The control communication unit 42 manages communication by the wireless communication device 32 of the conversion device 3. The control communication unit 42 supplies control data 38 to be stored in the memory 34 to the wireless communication device 32 of the conversion device 3 for transmission.

  As shown in FIG. 2, the self-propelled speaker robot 2 includes a wireless communication device 51, a control unit 52, an actuator 53 such as a travel motor, and the like. When the wireless communication device 51 receives the control data 38, the control unit 52 controls the operation / stop of the actuator 53 according to the control data 38.

  Next, operation | movement of the movement setting system 1 of the self-propelled speaker robot 2 which has the above structure is demonstrated. In the following description, a case where the user first writes a travel route with the electronic pen 4 in the floor plan 12 of the sheet 5 and then connects the electronic pen 4 to the conversion device 3 will be described as an example. In this case, when receiving the control data 38 from the conversion device 3, the self-propelled speaker robot 2 moves along the designated travel route in the room shown in the floor plan 12 according to the control data 38.

  FIG. 6 is an explanatory diagram illustrating an example of a locus written on the sheet 5 by the electronic pen 4. In FIG. 6, the written locus is indicated by a thick line 61. The trajectory 61 is a route that goes around the clockwise from the entrance of the room and returns to the entrance. Further, the trajectory 61 rotates or changes direction in the middle of the route.

  When the user writes, for example, the locus of FIG. 6 on the sheet 5 with the electronic pen 4, the infrared camera 22 of the electronic pen 4 receives the reflected light from the contact point of the pen tip and periodically receives the infrared light receiving pattern data. Output. The coordinate reading unit 28 analyzes each received light pattern data and generates a read coordinate value indicating a position in the sheet 5 on which the pattern is printed. Thereafter, the coordinate reading unit 28 obtains the current time from the timer 25 every time it generates a read coordinate value, and stores the read coordinate value and the current time in the memory 26 in association with each other. As a result, as shown in FIG. 3, the memory 26 stores read data 27 including a plurality of read coordinate values indicating a locus of FIG. 6 and a plurality of time data.

  When the user finishes specifying the movement path using the electronic pen 4 and the sheet 5, the user connects the electronic pen 4 to the conversion device 3. As a result, the communication I / F 23 of the electronic pen 4 and the communication I / F 31 of the conversion device 3 become communicable with each other. When the communication I / F 23 of the electronic pen 4 becomes communicable, the transmission unit 29 reads the read data 27 stored in the memory 26 and supplies the read data 27 to the communication I / F 23 of the electronic pen 4.

  Then, the communication I / F 23 of the electronic pen 4 transmits the supplied read data 27 to the communication I / F 31 of the conversion device 3. The receiving unit 39 of the conversion device 3 stores the data received by the communication I / F 31 of the conversion device 3 in the memory 34 of the conversion device 3 as received data 35. As a result, the read data 27 indicating the locus of FIG. 6 is stored as received data 35 in the memory 34 of the conversion device 3.

  The route data conversion unit 40 starts processing when new read data 27 is stored as received data 35 in the memory 34 of the conversion device 3. The route data converter 40 reads a plurality of read coordinate values in the received data 35 and converts each read coordinate value read into a position coordinate value using the conversion table 36. The route data conversion unit 40 stores a plurality of position coordinate values obtained by the conversion process in the memory 34. As a result, the memory 34 stores route data 37 composed of a plurality of position coordinate values and indicating a route moving along the locus of FIG.

  When the route data 37 is generated by the route data conversion unit 40, the control data generation unit 41 generates the control data 38 using the route data 37 and the reception data 35 stored in the memory 34.

  For example, the trajectory in FIG. 6 is a route that goes around the room from the entrance to the right and returns to the entrance. In this case, as shown in FIG. 5, the control data generation unit 41 accelerates to a predetermined speed from the entrance of the room, turns left after a predetermined constant speed travel time, and further turns right after a predetermined constant speed travel time. Thus, control data 38 composed of a plurality of control commands for making a round turn around the room is generated. Further, the control data generation unit 41 determines the speed in each section based on the time intervals of the plurality of read coordinate values of the reception data 35, and determines parameters such as an acceleration command, a deceleration command, and a stop command. For example, when the read coordinate values having the same value continue, the control data generation unit 41 adds a deceleration command, a stop command, and an acceleration command so as to stop at that position, and determines those parameters.

  The control data generation unit 41 stores the generated control data 38 in the memory 34. When new control data 38 is stored in the memory 34, the control communication unit 42 determines whether or not the wireless communication device 32 of the conversion device 3 can communicate with the wireless communication device 51 of the self-propelled speaker robot 2. Determine whether. When the wireless communication devices 32 and 51 are in a state where they can communicate with each other, the control communication unit 42 supplies the control data 38 stored in the memory 34 to the wireless communication device 32 of the conversion device 3. When the wireless communication devices 32 and 51 are not in a state where they can communicate with each other, the control communication unit 42 waits until the communication is possible, and then transmits the control data 38 stored in the memory 34 to the conversion device 3. Supply to the wireless communication device 32.

  The wireless communication device 32 of the conversion device 3 transmits the supplied control data 38 to the wireless communication device 51 of the self-propelled speaker robot 2. When the wireless communication device 51 receives the control data 38, the control unit 52 of the self-propelled speaker robot 2 controls the operation / stop of the actuator 53 according to the control data 38.

  If the position of the self-propelled speaker robot 2 when receiving the control data 38 does not coincide with the control start position of the control data 38 (in the case of FIG. 6, the entrance of the room), the self-propelled speaker robot 2 The control unit 52 detects its own position (absolute position or relative position) by various sensors (not shown) mounted on the robot, moves it to the control start position of the control data 38, and then moves based on the control data 38. Control may be started.

  As described above, in this embodiment, the infrared camera 22 of the electronic pen 4 reads the dot pattern 11 printed on the sheet 5 so as to overlap the floor plan 12, and the coordinate reading unit 28 uses the electronic pen 4 to read the sheet 5. Read data 27 having a plurality of read coordinate values indicating the locus written in is generated. Then, the route data conversion unit 40 of the conversion device 3 uses the conversion table 36 to convert a plurality of read coordinate values in the read data 27 into a plurality of position coordinate values to generate route data 37, and generate control data. The unit 41 generates control data 38 for moving the movement path for moving the plurality of position coordinate values. The control data 38 is transmitted to the self-propelled speaker robot 2 and is used by the control unit 52 for movement control along the movement path.

  Therefore, according to this embodiment, a user who wants to move the self-propelled speaker robot 2 along a desired route has an electronic layout on the sheet 5 on which the floor plan 12 of the room in which the self-propelled speaker robot 2 is moved is printed. What is necessary is just to write the movement path | route with the pen 4. FIG. Accordingly, the user can easily set the movement path of the self-propelled speaker robot 2 without having specialized knowledge about the self-propelled speaker robot 2 and route setting for the self-propelled speaker robot 2.

  By the way, some navigation devices installed in automobiles and the like can set a route to be passed. However, the route generated in this navigation device is generated by searching for a route that most closely matches the locus designated by the user on the touch panel, for example, using navigation data prepared in advance to indicate the road. It is. The movement route generated by the navigation device or the like does not use the locus written by the user as the route.

  In this embodiment, the coordinate reading unit 28 of the electronic pen 4 associates each reading coordinate value in the reading data 27 with each reading time, and the control data generating unit 41 of the conversion device 3 The speed in each section is determined based on the reading coordinate value reading time interval, and parameters such as an acceleration command, a deceleration command, and a stop command are determined.

  Therefore, the user can easily set not only the moving path of the self-propelled speaker robot 2 but also the moving speed in each section without having specialized knowledge. The user can set the moving speed of the self-propelled speaker robot 2 based on the writing speed with the electronic pen 4. Moreover, the user can stop the self-propelled speaker robot 2 at the position by stopping the electronic pen 4.

  The above embodiment is an example of a preferred embodiment of the present invention, but the present invention is not limited to this, and various modifications and changes can be made without departing from the scope of the invention. is there.

  In the above embodiment, the electronic pen 4 generates the read data 27 having the trajectory data for designating the travel route of the self-propelled speaker robot 2. In addition to this, for example, the electronic pen 4 may generate read data 27 having trajectory data for designating the travel range of the self-propelled speaker robot 2.

  FIG. 7 is an explanatory diagram showing an example of a locus written on the sheet 5 by the electronic pen 4 in order to designate the traveling range of the self-propelled speaker robot 2. In FIG. 7, the travel range of the self-propelled speaker robot 2 is indicated by a thick line 71. The traveling range of the self-propelled speaker robot 2 is specified by a locus 71 that closes the left-hand range of the room.

  When the read data 27 having the closed trajectory data for designating such a travel range is generated, the route data conversion unit 40 of the conversion device 3 converts a plurality of read coordinate values in the trajectory data into a plurality of positions. Conversion to coordinate values generates route data 37 indicating the movement range, and the control data generation unit 41 generates control data 38 for designating the movement range. The control unit 52 of the self-propelled speaker robot 2 autonomously moves within the range based on the control data 38 generated by the control data generation unit 41 according to a predetermined travel rule. Thus, the operation / stop of the actuator 53 is controlled.

  Furthermore, the route data conversion unit 40 of the conversion device 3 determines whether or not the trajectory data specifies a movement route or a movement range, and according to the determination result. Alternatively, the control data 38 for designating movement along the movement route may be generated, or the control data 38 for designating the movement range may be generated. In this case, the route data conversion unit 40 reproduces the trajectory data on a virtual plane, for example, and if the reproduced trajectory is, for example, a simple closed loop, the trajectory data is within the movement range. In other cases, it may be determined that the trajectory data specifies a movement route. In addition to this, the route data conversion unit 40 may determine that the trajectory data specifies a movement range or a movement route by setting.

  In the above embodiment, the dot pattern 11 that can be converted into a coordinate value indicating the reading position in the sheet 5 is printed on the sheet 5. In addition to this, for example, a QR (Quick Response) code pattern or a bar code pattern that can be converted into a coordinate value indicating a reading position in the sheet 5 may be printed on the sheet 5.

  In the above embodiment, a floor plan 12 of one room is printed on the sheet 5 so as to overlap the dot pattern 11. That is, the area in which the self-propelled speaker robot 2 travels is shown in the floor plan 12 printed in a superimposed manner. In addition to this, for example, instead of the floor plan 12 for one room, a section diagram showing a plurality of rooms or the like may be printed on the sheet 5. The sheet 5 is transparent or translucent on which only the dot pattern 11 in which the coordinate values corresponding to a predetermined scale are coded is printed, and a predetermined floor plan printed on another printed material at the scale. It may be one that can be positioned and placed on FIG. In the case of this modification, the area where the self-propelled speaker robot 2 travels is indicated on the seat 5 at a predetermined scale.

  In the above embodiment, the dot pattern 11 printed on the sheet 5 is read by the electronic pen 4, and read data 27 having a plurality of read coordinate values is generated in the electronic pen 4. In addition to this, for example, the dot pattern 11 printed on the sheet 5 is read by a mobile phone terminal with a camera or a portable information terminal, and read data 27 having a plurality of read coordinate values is generated in these portable devices. You may make it do.

  In the above embodiment, the conversion table 36 is stored in the memory 34 of the conversion device 3, the read data 27 is converted into the route data 37 by the route data conversion unit 40 of the conversion device 3, and the control data 38 is controlled by the conversion device 3. It is generated by the data generation unit 41. In addition to this, for example, the conversion table 36 is stored in the memory of a portable device such as the electronic pen 4 or the portable terminal, and the read data 27 and the control data 38 are the path data conversion unit 40 and the control data realized in the portable device. You may make it produce | generate by the production | generation part 41. FIG.

  In the above-described embodiment, the control data 38 is used for designating the movement path of the self-propelled speaker robot 2. In addition, for example, the control data 38 may be used in a self-propelled cleaning robot, a self-propelled model for playing music, a mowing robot used outdoors, a security robot, and the like. Further, in the control data 38, operations other than movement in these mobile robots, for example, control commands for instructing photographing by a camera, control commands for instructing output of sound from a speaker, designation of music to be reproduced, Even if a control command for instructing an operation other than running, such as a control command for controlling switching, a control command for designating or switching a part (musical instrument) to be played back in one piece of music, is included. Good. In addition, a mobile robot such as the self-propelled speaker robot 2 basically moves along a route specified by the control data 38. For example, when an obstacle sensor (not shown) is provided and an obstacle is detected, the robot moves. It may move along a designated route so as to avoid the obstacle.

  In the above embodiment, the control data 38 generated based on the reading of the electronic pen 4 is used in one self-propelled speaker robot 2. In addition, for example, one control data 38 may be shared by a plurality of self-propelled speaker robots 2 or other traveling robots. As a result, for example, a plurality of self-propelled speaker robots 2 that reproduce each part (musical instrument) of one piece of music move in a line, so that they move along a route designated by the electronic pen 4 or are designated. It is possible to configure a robot marching orchestra that moves within the range.

  In the above embodiment, the generation process of the read data 27 by the electronic pen 4, the generation process of the path data 37 by the path data conversion unit 40 of the conversion device 3, the generation process of the control data 38 by the control data generation unit 41, The transmission processing of the control data 38 by the control communication unit 42 is sequentially executed when the previous processing is completed. In addition, for example, these processes may be executed simultaneously in parallel. Furthermore, for example, the execution time is measured by a timer 25 of the electronic pen 4 or a timer (not shown) incorporated in the conversion device 3 or the self-propelled speaker robot 2, and the self-propelled speaker robot 2 controls the control data by this timer control. 38 may be executed.

  Specifically, for example, every time a new reading coordinate value is stored in the memory 26 by the coordinate reading unit 28, the transmission unit 29 of the electronic pen 4 transmits the new reading coordinate value to the conversion device 3, and the conversion device 3 3 of the route data conversion unit 40 sequentially converts the read coordinate values newly stored in the memory 34 into position coordinate values, and the control data generation unit 41 generates control commands up to the newly converted position coordinate values. Then, the control communication unit 42 transmits the newly generated control command to the self-propelled speaker robot 2, and the control unit 52 of the self-propelled speaker robot 2 may execute the received control command. .

  As a result, the self-propelled speaker robot 2 immediately executes traveling according to the locus written on the sheet 5 by the electronic pen 4. The electronic pen 4 and the sheet 5 can be used as a controller for moving the self-propelled speaker robot 2 in real time. The movement along the locus designated by the electronic pen 4 and the sheet 5 is immediately executed by the self-propelled speaker robot 2, so that the user can move to the desired position with respect to the self-propelled speaker robot 2 or travel The range can be specified easily. In the case of this modification, the sheet 5 may not be printed with overlapping drawings such as the floor plan 12. The self-propelled speaker robot 2 moves on the basis of its initial position, and the seat 5 can be used universally in any space.

  In the above embodiment, the electronic pen 4 has the memory 26, and the read data 27 is generated in the memory 26. In addition, for example, the electronic pen may not have a memory, and the read data may be generated in the memory 34 of the conversion device 3 or the like. The data transfer based on reading from the electronic pen to the conversion device 3 or the like in this modification may be performed by wired communication using a cable or by wireless communication. An example of a reading device that performs reading without having a memory is a tablet pen that is connected to a personal computer.

  INDUSTRIAL APPLICABILITY The present invention can be suitably used for a mobile robot or a model that moves along a designated route or moves within a designated range in order to designate those routes and ranges.

FIG. 1 is a system configuration diagram showing a movement setting system for a self-propelled speaker robot according to an embodiment of the present invention. FIG. 2 is a block diagram showing an electrical configuration of the movement setting system of FIG. FIG. 3 is an explanatory diagram showing an example of the read data in FIG. FIG. 4 is an explanatory diagram showing an example of the conversion table in FIG. FIG. 5 is an explanatory diagram showing an example of the control data in FIG. FIG. 6 is an explanatory diagram showing an example of a locus written on a sheet by an electronic pen in order to designate a traveling route of the self-propelled speaker robot. FIG. 7 is an explanatory diagram illustrating an example of a locus written on a sheet by an electronic pen in order to designate a traveling range of the self-propelled speaker robot.

Explanation of symbols

1 Movement setting system for self-propelled speaker robot (movement setting system for mobile devices)
2 Self-propelled speaker robot (mobile equipment)
4 Electronic pen (reading device)
5 Sheet 11 Dot pattern (pattern)
12 Floor plan (Drawing the area where you want to move the mobile device)
27 Reading data (trajectory data)
34 Memory (storage means)
36 Conversion table 38 Control data 40 Route data conversion unit (conversion means)
41 Control data generator (control data generator)
42 Control communication unit (transmission means)

Claims (5)

A movement setting method for a mobile device that moves within a specified route or within a specified range,
A trajectory that is a sheet indicating an area in which the moving device is moved and on which a pattern on which a pattern that can be converted into a coordinate value indicating a position on the sheet is printed is read by the reading device and read on the sheet Generating trajectory data indicating a plurality of coordinate values;
Each coordinate value of the generated trajectory data is converted into position information based on the correspondence between the area on the sheet and the pattern, and movement control by the movement route or movement within a movement range is performed in the mobile device. As a control data used for the control, a step of generating a range that is surrounded by a route based on the plurality of position information or a point that is based on the plurality of position information,
A movement setting method for a mobile device, comprising: A mobile device that moves on a specified route or within a specified range; and
A sheet indicating an area in which the moving device is moved, and a sheet printed with a pattern that can be converted into a coordinate value indicating a position on the sheet;
A reading device for reading the pattern printed on the sheet;
Storage means for storing a conversion table indicating a correspondence relationship between coordinate values of the pattern on the sheet and position information in the area;
Conversion means for converting each coordinate value in trajectory data composed of a plurality of coordinate values generated based on reading by the reading device into position information using the conversion table;
Control data generating means for generating control data used for movement control of the mobile device based on the position information obtained by the converting means;
A movement setting system for a mobile device, comprising: The reading device associates the time when each coordinate value is read with respect to each coordinate value in the trajectory data,
As the control data, the points of the plurality of position information are moved in the order in which the plurality of coordinate values are generated, and the section between the plurality of points is set to the reading time interval in the plurality of coordinate values. Generating something that moves and / or stops at a corresponding speed,
The movement setting system for a mobile device according to claim 2. The conversion means, when a new coordinate value is generated based on the reading of the reading device, to convert the coordinate value to position information,
When the mobile device generates new position information by the conversion means, the mobile device moves to the position of the new position information.
The movement setting system for a mobile device according to claim 2.   When the trajectory by the plurality of coordinate values generated based on the reading of the reading device is in a loop shape, the control data is generated for use in movement control within a movement range, and the others 3. The mobile device movement setting system according to claim 2, further comprising control data generation means for generating the control data used for movement control by a movement route.

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