JP2009201226A - Charging device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a charging device which is recognized more accurately by an autonomous mobile robot. <P>SOLUTION: The charging device is provided with a light source, emitting a light recognized by the autonomous mobile robot which autonomously performs charging. The charging device is provided with a transmission face which is a part of a housing storing the light source and transmits light that the light source emits. The transmission face is formed, in such a way that a normal in an external direction of the housing in the transmission face becomes pointing obliquely downward, with respect to the level. Thus, the autonomous mobile robot can recognize the charging device, in a more accurate manner. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a charging device, and more particularly to a charging device that charges an autonomous mobile robot that performs charging autonomously.

  In recent years, development of autonomously moving human-type and pet-type robots has been progressing. Such a robot is generally equipped with a rechargeable driving battery (battery) for supplying electric power for driving.

  Various technologies that can automate charging work by autonomously charging an autonomous mobile robot have been proposed (see, for example, Patent Document 1). In Patent Document 1, an autonomous mobile robot reads a light emission position and a flashing pattern of a light flashing signal source such as an LED provided in a charging device (charging station), thereby deriving a moving direction and accurately at a charging station. It is described that it can move.

JP 2004-151924 (paragraph 0012)

  In the method described in Patent Document 1, when an autonomous mobile robot recognizes light emission (LED light) of an LED provided in an automatic charging station and performs position detection, the housing of the automatic charging station provided with the LED There is a possibility that the surrounding scenery is reflected on the LED and the LED light cannot be recognized. In particular, when a light source such as external light from a window or an electric light is reflected, the light and darkness between the LED light and the reflected image does not stand out. In addition, since the color of an image reflected, such as a carpet or a floor, varies depending on the environment, the light and darkness between the LED light and the projected image may not stand out. Therefore, there is a possibility that the autonomous mobile robot cannot accurately recognize the LED light and cannot detect the position of the automatic charging station.

  FIG. 5 is a cross-sectional view showing an example of a general automatic charging station. In FIG. 5, the example of the state in which the external light 12 from the window 11 is reflected in the housing | casing 13 of an automatic charging station is shown. The automatic charging station shown in FIG. 5 includes an LED 5 and a housing 13.

  The automatic charging station has a function of charging a battery included in the autonomous mobile robot. A general autonomous mobile robot 1 shown in FIG. 5 includes a stereo camera 3. The stereo camera 3 includes an image sensor such as a CCD and images a subject. A control unit (not shown) provided in the autonomous mobile robot 1 automatically recognizes the light emission of the LED 5 based on the image captured by the stereo camera 3 when the remaining battery level in the autonomous mobile robot 1 falls below a certain amount. Detect the location of the charging station. The autonomous mobile robot 1 can autonomously move to the detected automatic charging station and perform charging.

  FIG. 6 is an explanatory diagram illustrating an example of an image captured by the stereo camera 3. FIG. 6 shows a case where the image (shaded area) of the window 11 is reflected on the housing 13 as an example of imaging in the state illustrated in FIG. Since the window 11 is a light source, the contrast with the LED 5 does not stand out.

  Further, the image reflected on the housing 13 varies depending on the position of the light source of external light. FIG. 7 is an explanatory diagram illustrating an example of a state where the floor is reflected in the automatic charging station. FIG. 7 shows a state in which the illumination light 16 generated from the light source 15 is reflected by the floor 14 and reaches the casing 13 of the automatic charging station.

  FIG. 8 is an explanatory diagram illustrating an example of an image captured by the stereo camera 3. FIG. 8 illustrates a case where an image of the floor 14 (shaded area) is reflected on the housing 13 as an example of imaging in the state illustrated in FIG. Depending on the color and material of the floor 14, the light and darkness with the LED 5 may not stand out.

  In the system as described above, the autonomous mobile robot may not be able to accurately recognize the LED light and may not be able to charge autonomously.

  Accordingly, an object of the present invention is to provide a charging device that can be recognized more accurately by an autonomous mobile robot.

  A charging device according to the present invention is a charging device including a light source that emits light that is recognized by an autonomous mobile robot that autonomously charges, and is a part of a housing that stores the light source, and the light source emits light. A transmission surface that transmits light to be transmitted, and the transmission surface is formed such that a normal line of the surface in a direction outside the housing is obliquely downward with respect to the horizontal.

  According to the present invention, there is an effect that the autonomous mobile robot can recognize the charging device more accurately.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view of a charging device (automatic charging station) according to the present invention. The automatic charging station 4 shown in FIG. 1 includes a charging stand 6 and a control unit 7. The automatic charging station 4 has a function of charging a battery provided in the autonomous mobile robot 1.

  The control unit 7 has a function of controlling each unit of the automatic charging station 4 and is stored in the housing 8. For example, the control unit 7 controls the light emission of the LED 5 or the charging of the autonomous mobile robot 1 by the charging stand 6.

  The LED 5 is a light source that emits light (LED light) for causing the autonomous mobile robot 1 to detect the position of the automatic charging station. The LED 5 is included in the control unit 7 and stored in the housing 8.

  The charging stand 6 is loaded with the autonomous mobile robot 1, for example, joined to a charging connector (not shown) of the autonomous mobile robot 1 to supply power to the autonomous mobile robot 1, and is built in the autonomous mobile robot 1. Charge the battery.

  The housing 8 has a box shape and stores the control unit 7 and the LED 5. In the housing 8, for example, by using a material that transmits LED light on a surface other than the surface on which the LED 5 is disposed or the surface in contact with the floor, the autonomous mobile robot 1 can recognize the LED light. .

  An autonomous mobile robot 1 shown in FIG. 1 includes wheels 2 and a stereo camera 3. The stereo camera 3 includes an image sensor such as a CCD and images a subject. A control unit (not shown) provided in the autonomous mobile robot 1 automatically charges by recognizing the LED light based on the image captured by the stereo camera 3 when the remaining battery level in the autonomous mobile robot 1 falls below a certain amount. Detect the position of the station. The autonomous mobile robot 1 can drive the wheel 2 to autonomously move to the charging stand 6 and perform charging.

  FIG. 2 is a sectional view of the automatic charging station 4 according to the present invention. In FIG. 2, the example of the positional relationship of the autonomous mobile robot 1 which has recognized light emission of LED5, and the automatic charging station 4 is shown. Hereinafter, the surface of the housing 8 that faces the autonomous mobile robot 1 in FIG.

  As shown in FIG. 2, when the LED 5 is arranged inside the rear surface of the housing 8, for example, the front and side surfaces of the housing 8 transmit LED light so that the autonomous mobile robot 1 recognizes the LED light. Resin products such as acrylic are used.

  As shown in FIG. 2, the front surface and the side surface of the housing 8 are formed such that the normals of the housing external direction on each surface are obliquely downward with respect to the horizontal. For example, it is desirable that the front surface and the side surface of the housing 8 are formed so that the normal line in the housing exterior direction on each surface is downward from 10 degrees to 20 degrees with respect to the horizontal. By forming in such a manner, the light source reflected on the front surface and the side surface of the housing 8 can be limited to light sources existing in front of the extended surfaces of the respective surfaces.

  The material of the front surface and the side surface of the housing 8 is colored in a color that allows LED light to pass therethrough and makes the light contrast dark. For example, when the LED 5 is an infrared LED that emits light with an infrared wavelength, it is preferable to use a material colored in a color that transmits only light with an infrared wavelength as the front and side surfaces of the housing 8. Further, in order to reduce the reflectance of the front and side surfaces of the housing 8 (less than a predetermined value), it is desirable to use, for example, black or gray (an intermediate color between white and black) as the color. In addition, there is no restriction | limiting in the material and color of the front and side of the housing | casing 8 if LED light can be permeate | transmitted and a reflectance can be lowered | hung.

  Note that the upper surface of the housing 8 is also preferably formed of the same material as the front and side surfaces of the housing 8 and transmits LED light. By forming in this way, the autonomous mobile robot 1 can recognize LED light not only through the front and side surfaces of the housing 8 but also through the top surface.

  Further, the charging stand 6 is provided at a position facing the front surface of the housing 8 so as to extend from the bottom surface of the housing 8. As a material for the surface of the charging stand 6, for example, a resin product such as plastic is used.

  FIG. 3 is an explanatory diagram illustrating an example of a state in which the illumination light 10 from the light source 9 is reflected in the housing 8 of the automatic charging station. In the example shown in FIG. 3, the illumination light 10 is reflected by the charging stand 6 and reaches the housing 8.

  FIG. 4 is an explanatory diagram illustrating an example of an image captured by the stereo camera 3. FIG. 4 shows a case where the image (shaded area) of the charging stand 6 is reflected on the housing 8 as an example of imaging in the state shown in FIG.

  As shown in FIG. 4, by providing the charging stand 6 at a position facing the front of the housing 8, it is possible to prevent an image other than the charging stand 6 from appearing on the front of the housing 8. The charging stand 6 may be provided at a position facing the side surface of the housing 8, for example, but at a position facing the front of the housing 8 where the autonomous mobile robot 1 can best recognize the LED light. It is desirable to provide it.

  In addition, in order to prevent the charging stand 6 from being reflected on the front surface of the housing 8 and making it difficult to recognize the LED light, it is desirable to reduce the reflectance of the charging stand 6 (below a predetermined value). For example, it is desirable to use black or gray (an intermediate color between white and black) as the color of the charging stand 6. It is also preferable to use the same color as the front of the housing 8 as the color of the charging stand 6. By forming as such, the influence of the reflection of the charging stand 6 on the housing 8 can be reduced, and the recognition accuracy of the LED light can be further increased.

  In addition, it is desirable that the surface of the charging stand 6 or the surface of the housing 8 be subjected to an antireflection treatment such as a matte treatment so that external light is not easily reflected. By forming in this way, it is possible to prevent the charging stand 6 and external light from being reflected in the housing 8, and to further improve the recognition accuracy of the LED light.

  As described above, according to the present embodiment, the front and side surfaces of the casing of the charging apparatus are inclined at a predetermined angle toward the front and downward of each surface, so that a light source such as a window or a lamp is reflected. Can be prevented. Therefore, the recognition rate of LED light by the autonomous mobile robot can be increased.

  Moreover, according to this embodiment, since the charging stand is provided in the position which opposes the front of a housing | casing, the same charging stand is always reflected in a housing | casing irrespective of the installation position of an automatic charging station. Therefore, the autonomous mobile robot can stably recognize the LED light even if the installation position of the automatic charging station is changed.

  In the embodiment described above, a charging device having a characteristic configuration as shown in the following (1) to (7) is shown.

  (1) A charging device including a light source (for example, realized by the LED 5) that emits light recognized by an autonomous mobile robot that performs autonomous charging, and a housing (for example, a housing) that stores the light source 8) and a transmission surface (for example, realized by the front and side surfaces of the housing 8) that transmits light emitted from the light source, and the transmission surface is a housing on the surface. A charging device formed such that a normal line in an external direction is obliquely downward with respect to the horizontal.

  (2) A charging device including a charging stand (for example, realized by the charging stand 6) for loading and charging an autonomous mobile robot, and the charging stand is provided at a position facing the transmission surface. The charging device configured as described above can prevent an image other than the charging stand from appearing on the transmission surface.

  (3) The charging device is provided as a front surface and a side surface of a housing that stores the light source inside the back surface, and the charging stand is provided at a position facing the front surface of the housing.

  (4) The charging stand is a charging device having a reflectance equal to or lower than a predetermined value. The charging device configured as described above can reduce the influence of the charging stand reflected on the transmission surface.

  (5) The charging stand is a charging device that has been subjected to antireflection treatment. The charging device configured as described above can prevent the charging stand from being reflected on the transmission surface.

  (6) The charging stand is a charging device that exhibits the same color as the transmission surface. The charging device configured as described above can reduce the influence of the charging stand reflected on the transmission surface.

  (7) A charging device in which the transmission surface has a reflectance equal to or lower than a predetermined value. The charging device thus configured can prevent external light or the like from being reflected on the transmission surface.

  (8) The charging device in which the transmission surface is subjected to an antireflection treatment. The charging device thus configured can prevent external light or the like from being reflected on the transmission surface.

  The present invention can be effectively applied to a charging station that charges an autonomous mobile robot that autonomously charges.

It is a perspective view of the charging device (automatic charging station) by this invention. 1 is a cross-sectional view of an automatic charging station according to the present invention. It is explanatory drawing which shows the example of the state in which the illumination light from a light source is reflected in the housing | casing of an automatic charging station. It is explanatory drawing which shows the example of the image which the stereo camera imaged. It is sectional drawing which shows the example of a general automatic charging station. It is explanatory drawing which shows the example of the image which the stereo camera imaged. It is explanatory drawing which shows the example of the state in which the floor is reflected in the automatic charging station. It is explanatory drawing which shows the example of the image which the stereo camera imaged.

Explanation of symbols

1 Autonomous Mobile Robot 2 Wheel 3 Stereo Camera 4 Automatic Charging Station (Charging Device)
5 LED
6 Charging stand 7 Control unit 8 Case

Claims (8)

A charging device including a light source that emits light recognized by an autonomous mobile robot that autonomously charges,
A part of a housing for storing the light source, comprising a transmission surface that transmits light emitted from the light source;
The charging device is characterized in that the transmissive surface is formed such that a normal line of the surface in the direction outside the housing is obliquely downward with respect to the horizontal. It has a charging stand for loading and charging autonomous mobile robots,
The charging device according to claim 1, wherein the charging stand is provided at a position facing the transmission surface. The transmission surface is provided as a front surface and a side surface of a housing that stores the light source inside the back surface,
The charging device according to claim 2, wherein the charging stand is provided at a position facing the front surface of the housing. The charging device according to claim 2, wherein the charging stand has a reflectance equal to or lower than a predetermined value. The charging device according to any one of claims 2 to 4, wherein the charging stand is subjected to an antireflection treatment. The charging device according to any one of claims 2 to 5, wherein the charging stand exhibits a color equivalent to that of the transmission surface. The charging device according to any one of claims 1 to 6, wherein the transmission surface has a reflectance equal to or lower than a predetermined value. The charging device according to claim 1, wherein the transmission surface is subjected to an antireflection treatment.

Images