JP2013229049A - Guiding robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a guiding robot for allowing movement of the guiding robot according to input from a person to be guided grasping a part of the guiding robot.SOLUTION: A guiding robot comprises: a moving actuator 62 for generating drive force for moving a base body; moving actuator control means 92 for controlling drive of the moving actuator 62; a grasp part installed to the base body; and input value detection means 10 for detecting input to the grasp part by a person to be guided. The moving actuator control means 92 calculates target velocity of the base body according to the input detected by the input value detection means 10, and controls the drive of the moving actuator 62 so that the base body moves at the calculated target velocity.

Description

  The present invention relates to a guidance robot used when, for example, a guided person who does not know the destination location is guided to the destination.

Conventionally, for example, as a guidance robot for guiding a guided person who does not know the location of the destination, such as a person who visits the destination for the first time, and is difficult to move to the destination, to the destination, for example, Patent Literature There are guide robots described in 1 to 3.
The guidance robot described in Patent Document 1 displays information necessary for the guided person to move to the destination, such as a direction instruction when moving to the destination, and leads the guided person. It will guide you to your destination.

In addition, the guidance robot described in Patent Document 2 displays information necessary for the guided person to move to the destination, displays the information on the display, outputs the voice from the speaker, and guides the guided person. It is a guide to the ground.
In addition, the guidance robot described in Patent Document 3 identifies a guided person by extracting a characteristic part of the guided person by image processing using an imaging unit such as a camera. And it guides to the destination while leading the guided person while referring to the characteristic part for the identified guided person.
In the case of the guidance robot described in these patent documents, even if the guided person does not recognize the destination, the guidance robot follows the guidance robot that precedes the destination. The guide can move toward the destination.

JP 2008-152504 A JP 2007-276080 A JP 2003-280739 A

However, in the guidance robot described in Patent Document 1, information necessary for the guided person to move to the destination is displayed on the display. For this reason, when a to-be-guided person is a visually handicapped person (weak vision etc.), there exists a possibility that the to-be-guided person cannot obtain the information displayed on the display.
Moreover, in the guidance robot described in Patent Document 2, information necessary for the guided person to move to the destination is output from the speaker by voice. For this reason, when a to-be-guided person is a hearing impaired person (deafness etc.), there exists a possibility that the to-be-guided person cannot obtain the information output from the speaker.

Further, in the guidance robot described in Patent Document 3, a guided person is specified by using image processing. However, image processing is generally expensive in calculation, and complicated processing is performed for specifying the guided person. Since it is necessary, there is a possibility that a problem that the response is lowered may occur. Moreover, there is a possibility that a problem of misrecognizing another person who looks similar as a guided person may occur.
Further, the guidance robots described in Patent Documents 1 to 3 guide the guided person to the destination while leading the guided person. For this reason, it is assumed that the guided person moves to the destination while being away from the guidance robot preceding the destination.

For this reason, when the distance between the guided person and the guiding robot is long, such as when the guided person moves slowly or when the guided person picks up a dropped object, the guided person uses the guiding robot. It may be difficult to recognize, and there may be a problem that it is difficult to guide to the destination. Further, when the guided person is a visually handicapped person, it may be difficult for the guided person to recognize the position of the guiding robot preceding the destination. In addition, it is difficult to change the destination or stop the guidance if you want to change the destination temporarily during the guidance to the destination or if you want to move freely without setting the destination. Problems may occur.
The present invention has been made paying attention to the above problems, and can move the guidance robot in response to an input from a guided person holding a part of the guidance robot. An object is to provide a guidance robot.

[Invention 1] In order to solve the above-described problem, a guidance robot according to Invention 1 includes a base, a moving actuator that is provided on the base and generates a driving force for moving the base, and the moving robot. A guide robot comprising: a moving actuator control means for controlling the driving of the actuator; a gripping part attached to the base; and an input value detection means for detecting an input to the gripping part,
The movement actuator control means calculates a target speed of the base in accordance with the input detected by the input value detection means, and drives the movement actuator so that the base moves at the calculated target speed. It is characterized by controlling.
With such a configuration, the target speed of the base is calculated in accordance with the input to the gripper by the guided person, and the drive of the moving actuator is controlled so that the base moves at the calculated target speed. . Accordingly, the guiding robot can be moved by moving the base in accordance with the input to the gripping portion by the guided person holding a part of the guiding robot.

[Invention 2] Further, the guidance robot according to Invention 2 is the guidance robot according to Invention 1, wherein the movement actuator control means generates the movement actuator as the input detected by the input value detection means increases. The driving force is increased.
With such a configuration, the greater the input to the gripper by the guided person, the greater the driving force generated by the moving actuator, and the greater the input to the gripper by the guided person, It becomes possible to increase the moving speed of the robot.

[Invention 3] Further, the guiding robot of Invention 3 is the guiding robot of Invention 1 or 2, wherein the moving actuator control means corrects the target speed using a viscosity term corresponding to the moving speed of the substrate. The drive of the moving actuator is controlled so that the base body moves at the corrected target speed.
With such a configuration, it is possible to suppress a sudden change in the moving speed of the guiding robot by correcting the target speed using the viscosity term corresponding to the moving speed of the base body. Further, in the state where there is no input to the gripping part by the guided person, the moving speed of the guiding robot can be gradually reduced according to the viscosity term.

[Invention 4] Furthermore, the guiding robot of Invention 4 is the guiding robot according to any one of Inventions 1 to 3, wherein the moving actuator control means uses a friction term corresponding to the moving speed of the substrate. The target speed is corrected, and the driving of the moving actuator is controlled so that the base body moves at the corrected target speed.
With such a configuration, it is possible to suppress a sudden change in the moving speed of the guiding robot by correcting the target speed using a friction term corresponding to the moving speed of the base body. Furthermore, in the state where there is no input to the gripping part by the guided person, the moving speed of the guiding robot can be gradually reduced according to the friction term.

[Invention 5] Further, the guidance robot according to Invention 5 is the guidance robot according to any one of Inventions 1 to 4, wherein the input value detection means includes a force applied in directions of three axes perpendicular to each other, and It is a six-axis force sensor capable of detecting moments around the three axes.
With such a configuration, the input to the gripper by the guided person by the single six-axis force sensor, the force applied in the directions of the three axes orthogonal to each other, and the moment about the three axes, Each can be detected.

[Invention 6] Further, the guiding robot of Invention 6 is the guiding robot of Invention 5, wherein the balancing wheel supporting the base is interposed between the base and the balancing wheel, and the balancing robot An expansion / contraction part that expands and contracts in a direction orthogonal to the rotation axis of the wheel, an expansion / contraction actuator that generates a driving force capable of extending / contracting the expansion / contraction part, and an expansion / contraction actuator control unit that controls driving of the expansion / contraction actuator. A caster device having
The expansion / contraction actuator control unit drives the expansion / contraction actuator according to at least one of a force applied in the direction of the three axes detected by the six-axis force sensor and a moment about the axis of the three axes. It is characterized by controlling.
With such a configuration, the drive of the expansion / contraction actuator is controlled according to at least one of the force applied in the direction of the three axes and the moment around the three axes detected by the six-axis force sensor. . Thus, the distance between the base body and the balancing wheel can be changed by expanding and contracting the expansion / contraction part according to the value detected by the six-axis force sensor.

[Invention 7] Further, the guidance robot according to Invention 7 is the guidance robot according to any one of Inventions 1 to 6, wherein the guiding movement mode is configured to move the substrate to a destination, and the substrate is moved to the gripping portion. A movement mode switching operation section that switches between a free movement mode that moves in the direction according to the input,
The movement mode switching operation unit is disposed at a position where a guided person's hand using the guidance robot can hold the holding unit and perform switching operation to the guide movement mode or the free movement mode. Features.
With such a configuration, the guided person can perform an operation of switching the movement mode for moving the base body, that is, the guiding robot, together with the input to the grip portion.

[Invention 8] Further, the guidance robot according to Invention 8 is the guidance robot according to any one of Inventions 1 to 7, wherein the moving actuator is a motor.
A moving wheel that supports the base and rotates by a driving force generated by the motor is provided.
With such a configuration, it is possible to form a guiding robot that can move by rotating a moving wheel by a driving force generated by a motor in accordance with an input to a gripping part by a guided person. .
[Invention 9] The guidance robot according to Invention 9 further includes a floor reaction force detector that detects a floor reaction force received by the caster device.
The expansion / contraction actuator control unit controls driving of the expansion / contraction actuator according to the floor reaction force detected by the floor reaction force detection unit.
If it is such a structure, the drive of the expansion-contraction actuator will be controlled according to the floor reaction force which the caster apparatus received. Accordingly, the distance between the base body and the balancing wheel can be changed by expanding and contracting the expansion / contraction portion according to the floor reaction force received by the caster device.

[Invention 10] On the other hand, in order to solve the above-described problem, a control method for a guidance robot according to Invention 10 includes a base and a moving actuator that is provided on the base and generates a driving force for moving the base. And a guide robot control method comprising: a gripping unit attached to the base; and input value detection means for detecting an input to the gripping unit,
A target speed of the base is calculated according to the input detected by the input value detection means, and the drive of the moving actuator is controlled so that the base moves at the calculated target speed.
With such a configuration, the target speed of the base is calculated in accordance with the input to the gripper by the guided person, and the drive of the moving actuator is controlled so that the base moves at the calculated target speed. . Accordingly, the guiding robot can be moved by moving the base in accordance with the input to the gripping portion by the guided person holding a part of the guiding robot.

[Invention 11] Further, the control method for the guidance robot according to Invention 11 is the control method for the guidance robot according to Invention 10, wherein the driving force generated by the moving actuator increases as the input detected by the input value detection means increases. It is characterized by increasing.
With such a configuration, the greater the input to the gripper by the guided person, the greater the driving force generated by the moving actuator, and the greater the input to the gripper by the guided person, It becomes possible to increase the moving speed of the robot.

[Invention 12] Further, the control method for the guiding robot according to Invention 12 is the method for controlling the guiding robot according to Invention 10 or 11, wherein the target speed is corrected using a viscosity term corresponding to the moving speed of the base body, The driving of the moving actuator is controlled so that the base body moves at the corrected target speed.
With such a configuration, it is possible to suppress a sudden change in the moving speed of the guiding robot by correcting the target speed using the viscosity term corresponding to the moving speed of the base body. Further, in the state where there is no input to the gripping part by the guided person, the moving speed of the guiding robot can be gradually reduced according to the viscosity term.

[Invention 13] Further, the guidance robot according to Invention 13 corrects the target speed by using a friction term corresponding to the moving speed of the substrate in any one of the control methods of the guidance robot according to Inventions 10 to 12. The driving of the moving actuator is controlled so that the base body moves at the corrected target speed.
With such a configuration, it is possible to suppress a sudden change in the moving speed of the guiding robot by correcting the target speed using a friction term corresponding to the moving speed of the base body. Furthermore, in the state where there is no input to the gripping part by the guided person, the moving speed of the guiding robot can be gradually reduced according to the friction term.

As described above, according to the guiding robot of the first aspect, the guided person holding a part of the guiding robot can be reliably guided to the destination according to the input to the holding unit. The effect that it becomes possible is acquired.
Further, according to the guiding robot of the second aspect, the moving speed of the guiding robot can be controlled to a speed according to the moving speed of the guided person holding a part of the guiding robot.
Further, according to the guiding robot of the third aspect, it is possible to suppress a sudden change in the moving speed of the guiding robot. Further, in the state where there is no input to the gripping part by the guided person, the moving speed of the guiding robot can be gradually decreased according to the viscosity term. For this reason, it becomes possible to improve the safety | security at the time of use of a guidance robot.

Further, according to the guiding robot of the fourth aspect, it is possible to suppress a sudden change in the moving speed of the guiding robot. Further, in the state where there is no input to the gripping part by the guided person, the moving speed of the guiding robot can be gradually reduced according to the friction term. For this reason, it becomes possible to improve the safety | security at the time of use of a guidance robot.
According to the guiding robot of the fifth aspect of the present invention, the force applied in the directions of the three axes orthogonal to each other by one six-axis force sensor and the three axes around the three axes without using two three-axis sensors. Each moment can be detected. The triaxial sensor is a force sensor that detects forces applied in directions of three axes orthogonal to each other.

In addition, according to the guiding robot of the sixth aspect of the present invention, it is possible to suppress the inclination of the guiding robot according to the value detected by the six-axis force sensor, so that the stability of the guiding robot can be improved. It becomes possible.
Further, according to the guiding robot of the seventh aspect, it is possible for the guided person to perform the movement mode switching operation without holding the movement mode switching operation unit.
Further, according to the guiding robot of the eighth aspect, it is possible to easily form the guiding robot that moves on the ground by the moving wheels that are rotated by the driving force generated by the motor.

In addition, according to the guiding robot of the ninth aspect, since it is possible to suppress the tilt of the guiding robot according to the floor reaction force received by the caster device, it is possible to improve the stability of the guiding robot. It becomes possible.
On the other hand, according to the control method for the guiding robot of the tenth aspect, it is possible to reliably guide the guided person holding a part of the guiding robot to the destination according to the input to the holding unit. The effect of becoming is obtained.
Further, according to the control method for the guiding robot of the eleventh aspect, the moving speed of the guiding robot can be controlled to a speed according to the moving speed of the guided person holding a part of the guiding robot. It becomes.

In addition, according to the control method for the guiding robot of the twelfth aspect, it is possible to suppress a sudden change in the moving speed of the guiding robot. Further, in the state where there is no input to the gripping part by the guided person, the moving speed of the guiding robot can be gradually decreased according to the viscosity term. For this reason, it becomes possible to improve the safety | security at the time of use of a guidance robot.
Further, according to the control method for the guiding robot of the thirteenth aspect, it is possible to suppress a sudden change in the moving speed of the guiding robot. Further, in the state where there is no input to the gripping part by the guided person, the moving speed of the guiding robot can be gradually reduced according to the friction term. For this reason, it becomes possible to improve the safety | security at the time of use of a guidance robot.

It is a figure which shows the structure of the robot for guidance. It is the enlarged view of the range enclosed with the circle | round | yen II in FIG. 1, and its periphery. It is a front view of a caster device. It is a block diagram which shows the control system of a guidance robot. It is a flowchart which shows the process which the actuator control means for a movement performs in the production | generation of a motor command signal. It is a flowchart which shows the process which the actuator control means for expansion / contraction performs in the production | generation of a linear motion command signal. It is a flowchart which shows operation | movement of the guidance robot in guidance movement mode. It is a flowchart which shows operation | movement of the guidance robot in free movement mode.

(First embodiment)
Hereinafter, a first embodiment of the present invention (hereinafter referred to as “the present embodiment”) will be described with reference to the drawings.
(Constitution)
First, the configuration of the guidance robot 1 according to this embodiment will be described with reference to FIGS.
FIG. 1 is a side view of the guidance robot 1 according to the present embodiment, and shows the configuration of the guidance robot 1.
As shown in FIG. 1, the guidance robot 1 of the present embodiment includes a base body 2, a moving wheel 4, two obstacle detection means 6, a gripping portion 8, an input value detection means 10, and movement. A mode switching operation unit 12, a speaker 14, and two caster devices 16 are provided.

The base 2 is formed of a hollow body that forms an octagon when viewed from above. In addition, the shape of the base | substrate 2 is not limited to this, For example, you may form in the shape which makes | forms a circle by the top view.
The moving wheel 4 is a wheel that is rotated by a driving force generated by a moving actuator 62 described later. Specifically, the moving wheel 4 is formed of a pair of wheels (a left moving wheel and a right moving wheel) that are rotatably disposed on the lower surface of the base 2. The moving wheel 4 is connected to the moving actuator 62 via a pulley or the like that can transmit the driving force generated by the moving actuator 62. Further, the pair of wheels are respectively disposed on the lower surface of the base body 2 so as to be rotatable to both side surfaces with respect to the center of the base body 2. In FIG. 1, of the pair of wheels forming the moving wheel 4, only the left moving wheel is shown.

Each obstacle detection means 6 is formed using a laser range sensor capable of detecting a distance from an object using a laser beam, for example, and is disposed inside the base 2. The obstacle detection means 6 is not limited to the laser range sensor, and may be formed using, for example, an infrared sensor or an ultrasonic sensor.
Specifically, each obstacle detecting means 6 includes a front side of the base 2 (left side of the base 2 in FIG. 1) and a rear side of the base 2 (right side of the base 2 in FIG. 1). Are arranged respectively. In FIG. 1, the obstacle detection means 6 arranged on the front side of the base 2 is shown as an obstacle detection means 6F, and the obstacle detection means 6 arranged on the rear side of the base 2 is shown as the obstacle detection means 6B. It is shown.
Further, when the obstacle detection means 6 detects the distance to the object, an information signal including this distance is sent to a sensor signal input I / F (“I / F” is an “interface” described later). The same applies to “I / F”. Here, the object is an object that becomes an obstacle when the guidance robot 1 moves, and is, for example, a fixed object such as a building or a moving object such as a pedestrian.

Here, with reference to FIG. 1, the configuration of the gripping unit 8, the input value detection means 10, the movement mode switching operation unit 12, and the speaker 14 will be described using FIG. 2.
FIG. 2 is an enlarged view of the area surrounded by a circle II in FIG. 1 and its surroundings.
As shown in FIG. 2, the grip portion 8 includes a frame portion 18 and a grip portion 20.
The frame portion 18 is formed in a substantially A shape when viewed from the top, and has a plate-like portion that forms a substantially triangular shape, and two leg portions that extend from two corners of the plate-like portion. ing. Further, the frame portion 18, specifically, the plate-like portion included in the frame portion 18 is attached to the upper surface of the base 2 through the input value detection means 10.

The grip part 20 is formed in a substantially cylindrical shape that can be held by a later-described guided person with one hand, and both ends thereof are fixed to two leg parts of the frame part 18 respectively. Moreover, the axial direction of the grip part 20 extends in the width direction (left-right direction) of the base 2.
The input value detection means 10 is a six-axis force sensor capable of detecting forces applied in directions of three axes orthogonal to each other and moments around the axes of these three axes. It is intervened between. As the six-axis force sensor, for example, “67M25A3-I40-AH 200N12” (manufactured by Nitta) can be adopted.

As a result, the input value detection means 10 receives the force applied by the guided person gripping the grip portion 20 to the grip portion 8 via the grip portion 20 in the directions of three axes perpendicular to each other, and these The moments around the three axes are formed so as to be detectable.
In the present embodiment, the three axes orthogonal to each other, the x axis extending in the direction in which the pair of wheels are arranged, the y axis orthogonal to the x axis in a top view, and z orthogonal to the y axis in a side view. The case where the axis is used will be described. That is, the x axis is an axis extending in the left-right direction of the guiding robot 1, the y axis is an axis extending in the front-rear direction of the guiding robot 1, and the z axis is a height of the guiding robot 1. It is an axis extending in the vertical direction.

Further, when the input value detection means 10 detects the force applied in the direction of the three axes and the moment about the axis of the three axes, it outputs an information signal including the detected force and moment to the sensor signal input I / F. To do.
The movement mode switching operation unit 12 is formed by a touch panel with the operation surface (display) that the guided person contacts is directed to the grip unit 20 side (the right side of the base 2 in FIG. 1). It is disposed in the vicinity of the grip portion 8 via the attached bracket 22.
The configuration of the movement mode switching operation unit 12 is not limited to the touch panel. For example, the movement mode switching operation unit 12 may be formed by a plurality of buttons to which various movement modes and destinations described later are assigned. .

The operation surface of the movement mode switching operation unit 12 forms a display unit that can display information such as images and characters. Specific examples of information displayed on the operation surface include a name of a position that is a destination in a guidance movement mode described later, an image related to the destination, and the like.
Note that, for example, when the area where the guidance robot 1 is used is specified, such as when the guidance robot 1 is used in a specific facility such as an art museum, the guidance is displayed on the operation surface of the movement mode switching operation unit 12. You may provide the braille which shows the position used as the destination in movement mode. In this case, even if the guided person using the guiding robot 1 is a visually impaired person, the guided person touches the operation surface of the movement mode switching operation unit 12 to operate the movement mode switching operation unit 12. It becomes possible.

  In addition, for example, in the guidance movement mode, the movement mode switching operation unit 12 can indicate the movement direction and turning direction of the guidance robot 1 in the guidance from the current position to the destination by voice output from the speaker 14. A voice guidance function may be provided. In this case, even if the guided person who uses the guiding robot 1 is a visually impaired person, the moving direction and turning direction of the guiding robot 1 can be output in advance by voice. Thereby, since the moving direction and turning direction of the guidance robot 1 can be audibly recognized in advance, it is possible to improve the safety when guiding the guided person to the destination. .

Here, the movement mode switching operation unit 12 is arranged at a position where the guided person's hand can grasp the grasping unit 8 and can be switched to the guidance movement mode or the free movement mode described later.
Specifically, the position at which the movement mode switching operation unit 12 is arranged is a position where the finger that the guided person is holding the holding unit 8 can touch the operation surface of the touch panel. In the present embodiment, as an example, a case will be described in which the position at which the movement mode switching operation unit 12 is disposed is above the input value detection unit 10.
Note that, for example, when the guided person who uses the guiding robot 1 is specified, such as when the guiding robot 1 is for home use, the position where the movement mode switching operation unit 12 is arranged is set to the guided person's position. It is preferable to adjust to an appropriate position according to physical characteristics (such as finger length).

The movement mode switching operation unit 12 is configured to change the movement mode of the guidance robot 1 based on the contact of the guided person to the operation surface, the guidance movement mode for moving the base body 2 to the destination, or the gripping part for the base body 2. 8 is switched to the free movement mode in which the movement is made in the direction corresponding to the input to 8 Then, an information signal including the switched movement mode is output to the sensor signal input I / F.
When detecting contact with the operation surface by the guided person, as an example, if an input with a strength equal to or greater than the pressing force of the guided person's finger is applied to the operating surface, the guided person It is recognized that the operation surface is touched by.

Then, when the position touched by the guided person on the operation surface is a position displaying information (icon or the like) related to switching to the guidance movement mode, the movement mode of the guidance robot 1 is changed to the guidance movement mode. Recognize that it has been switched. And the information signal containing the content which switched the movement mode to the guidance movement mode is output to the sensor signal input I / F.
On the other hand, when the position touched by the guided person on the operation surface is a position displaying information related to switching to the free movement mode, it is recognized that the movement mode of the guiding robot 1 has been switched to the free movement mode. To do. And the information signal containing the content which switched the movement mode to the free movement mode is output to sensor signal input I / F.

Further, the movement mode switching operation unit 12 displays an image on the operation surface in accordance with an information signal output from a video output I / F described later.
The speaker 14 is attached to the upper surface of the base 2 via a bracket 22 and outputs sound according to an information signal output from an audio output I / F described later. Note that the speaker 14 is attached to the upper surface of the base 2 with the sound output direction directed to the rear of the base 2 (the right side of the base 2 in FIG. 1).

Hereinafter, the description returns to FIG.
Each of the caster devices 16 is disposed on the lower surface of the base body 2 in front of and behind the moving wheel 4 in a side view. In FIG. 1, the caster device 16 disposed forward of the moving wheel 4 in a side view is indicated as a caster device 16F, and the caster device disposed rearward of the moving wheel 4 in a side view. 16 is shown as a caster device 16B.
Here, the detailed configuration of the caster device 16 will be described with reference to FIG. 1 and FIG. 3.
FIG. 3 is a front view of the caster device 16. In addition, although the following description is the description regarding the caster apparatus 16F among the caster apparatus 16F and the caster apparatus 16B, the structure of the caster apparatus 16B is the same as that of the caster apparatus 16F.
As shown in FIG. 3, the caster device 16 includes a caster 24, an expansion / contraction actuator 26, and a floor reaction force detection unit 28.

The caster 24 includes a balancing wheel 30, a balancing wheel support portion 32, and a caster support shaft 34.
The balancing wheel support portion 32 accommodates the balancing wheel 30 in a state where the balancing wheel 30 is rotatably supported.
The caster support shaft 34 is rotatably attached to the balancing wheel support 32 at the upper part of the balancing wheel support 32 with the direction orthogonal to the rotation axis of the balancing wheel 30 as the axial direction. The upper end of the caster support shaft 34 is connected to the lower part of the floor reaction force detector 28.

The telescopic actuator 26 is an actuator that moves the caster 24 up and down to expand and contract the caster device 16. The telescopic actuator 26 has a linear motion shaft 36 that linearly moves and is supported by a caster frame 38. Therefore, the caster 24 is interposed between the base body 2 and the balancing wheel 30 and forms an expansion / contraction part that expands and contracts in a direction perpendicular to the rotation axis of the balancing wheel 30.
The caster frame 38 is formed by forming a metal plate in an inverted U-shaped cross section, and has flanges 40 extending horizontally from both sides of the U-shaped opening end. The flange 40 is attached to the inner bottom surface of the base 2. A through hole (not shown) is formed on the upper surface of the caster frame 38.

The telescopic actuator 26 is installed above the caster frame 38 with the output shaft surface 42 facing downward and the linear motion shaft 36 inserted through the through hole of the caster frame 38. The output shaft surface 42 is fixed to the upper surface of the caster frame 38 by bolts 44.
The floor reaction force detector 28 is installed below the base 2 and is connected to the telescopic actuator 26 via a highly rigid needle guide 46. The floor reaction force detection unit 28 detects the floor reaction force received by the caster 24 and outputs an information signal including the detected floor reaction force to the sensor signal input I / F.

The high-rigidity needle guide 46 has a shaft 48. Then, the shaft 48 of the high-rigidity needle guide 46 is inserted into a through hole 50 formed in the bottom surface of the base body 2 just below the opening of the caster frame 38, whereby the high-rigidity needle guide 46 is casted. It is fixed to the frame 38.
The upper end of the shaft 48 is connected to the linear motion shaft 36, and the lower end of the shaft 48 is connected to the upper part of the floor reaction force detection unit 28.
Here, in general, the telescopic actuator 26 has a property that it has a strong thrust but is weak against a bending moment orthogonal to the axial direction.
On the other hand, in this embodiment, it is possible to improve the strength against the bending moment by adopting a configuration that receives the bending moment with the high-rigidity needle guide 46.

Next, a control system for the guiding robot 1 will be described with reference to FIGS. 1 to 3 and FIG.
FIG. 4 is a block diagram showing a control system of the guidance robot 1.
As shown in FIG. 4, the control system for the guidance robot 1 includes a movement control mechanism 52, a balance control mechanism 54, a map storage unit 56, a self-position specifying unit 58, and a CPU 60.
The movement control mechanism 52 includes a movement actuator 62, a movement encoder 64, and a movement driver 66.

The moving actuator 62 is formed of a motor that can rotationally drive the moving wheel 4, and is connected to the left moving wheel 4L and the right moving wheel 4R, respectively. In FIG. 4, the moving actuator 62 connected to the left moving wheel 4L is referred to as a moving actuator 62L, and the moving actuator 62 connected to the right moving wheel 4R is referred to as the moving actuator 62R. It shows.
The movement encoder 64 is provided in the movement actuator 62, detects the rotation angle position of the movement actuator 62, and sends an information signal including the detected rotation angle position to the movement driver 66 and a rotation angle position described later. Output to the input I / F 68. In FIG. 4, the moving encoder 64 provided in the moving actuator 62L is indicated as a moving encoder 64L, and the moving encoder 64 provided in the moving actuator 62R is indicated as a moving encoder 64R. .

  The movement driver 66 is provided in the movement actuator 62 and is based on a motor command signal output from the CPU 60 via a movement command signal output I / F 70 described later and an information signal output from the movement encoder 64. The drive of the moving actuator 62 is controlled. In FIG. 4, the movement driver 66 provided in the movement actuator 62L is indicated as a movement driver 66L, and the movement driver 66 provided in the movement actuator 62R is indicated as a movement driver 66R. . Moreover, the description regarding a motor command signal is mentioned later.

The balance control mechanism 54 includes an expansion / contraction actuator 26, an expansion / contraction encoder 72, and an expansion / contraction driver 74.
The expansion / contraction encoder 72 is provided in the expansion / contraction actuator 26, detects the linear movement position of the expansion / contraction actuator 26, and sends an information signal including the detected linear movement position to the expansion / contraction driver 74 and a linear movement position described later. Output to the input I / F 76. In FIG. 4, the expansion / contraction encoder 72 provided in the expansion / contraction actuator 26F is indicated as an expansion / contraction encoder 72F, and the expansion / contraction encoder 72 provided in the expansion / contraction actuator 26R is indicated as an expansion / contraction encoder 72R. .

  The expansion / contraction driver 74 is provided in the expansion / contraction actuator 26 and is based on a linear motion command signal output from the CPU 60 via an expansion / contraction command signal output I / F 78 described later and an information signal output by the expansion / contraction encoder 72. Thus, the drive of the expansion / contraction actuator 26 is controlled. In FIG. 4, the expansion / contraction driver 74 provided in the expansion / contraction actuator 26F is referred to as an expansion / contraction driver 74F, and the expansion / contraction driver 74 provided in the expansion / contraction actuator 26R is referred to as an expansion / contraction driver 74R. . Moreover, the description regarding a linear motion command signal is mentioned later.

The map storage unit 56 stores map data of a facility where the guidance robot 1 is placed in advance. The facility where the guidance robot 1 is arranged is, for example, a museum or a natural park.
The self-position specifying unit 58 is formed by using, for example, GPS (Global Positioning System). The self-position specifying unit 58 specifies the current position of the guidance robot 1 and outputs an information signal including the specified position to the CPU 60 via a route generation data input I / F 80 described later.

The CPU 60 includes a rotation angle position input I / F 68, a movement command signal output I / F 70, a linear motion position input I / F 76, an expansion / contraction command signal output I / F 78, a sensor signal input I / F 82, and a video output I. / F84, audio output I / F86, and route generation data input I / F80. In addition to this, the CPU 60 includes detection input value permission means 88, movement path generation means 90, movement actuator control means 92, and expansion / contraction actuator control means 94.
When the rotation angle position input I / F 68 receives the information signal output from the movement encoder 64, the rotation angle position input I / F 68 outputs the rotation angle position of the movement actuator 62 included in the information signal to the movement actuator control means 92.

The movement command signal output I / F 70 outputs the motor command signal generated by the movement actuator control means 92 to the movement driver 66. In addition, the description regarding the production | generation of the motor command signal which the movement actuator control means 92 performs is mentioned later.
When the linear motion position input I / F 76 receives the input of the information signal output from the expansion / contraction encoder 72, the linear motion position input I / F 76 outputs the linear movement position of the expansion / contraction actuator 26 included in the information signal to the expansion / contraction actuator control means 94.
The expansion / contraction command signal output I / F 78 outputs the linear motion command signal generated by the expansion / contraction actuator control means 94 to the expansion / contraction driver 74. The generation of the linear motion command signal performed by the expansion / contraction actuator control means 94 will be described later.
The sensor signal input I / F 82 outputs the floor reaction force included in the information signal output from the floor reaction force detection unit 28 to the expansion / contraction actuator control means 94.

The sensor signal input I / F 82 outputs the distance to the object included in the information signal output by the obstacle detection unit 6 to the movement actuator control unit 92.
Further, the sensor signal input I / F 82 outputs the force applied in the three axis directions and the moment about the three axis axes included in the information signal output from the input value detecting unit 10 to the detected input value permitting unit 88. To do.
Further, the sensor signal input I / F 82 outputs an information signal indicating the movement mode switched by the operation of the guided person, included in the information signal output from the movement mode switching operation unit 12, to the movement route generation unit 90.

The video output I / F 84 outputs, for example, an information signal including an image to be displayed on the operation surface of the movement mode switching operation unit 12 to the movement mode switching operation unit 12 based on the information signal output from the movement route generation unit 90. . Here, the image displayed on the operation surface of the movement mode switching operation unit 12 is, for example, an image indicating whether the movement mode of the guidance robot 1 is the guidance movement mode or the free movement mode.
For example, the audio output I / F 86 outputs an information signal including audio output from the speaker 14 to the speaker 14 based on the information signal output by the obstacle detection unit 6. Here, the sound output from the speaker 14 is, for example, an alarm message indicating the content that the guidance robot 1 detects on the movement path of the guidance robot 1 and moves to avoid the detected object. It is.

  By the way, when the guiding robot 1 is used, it is preferable to determine whether or not the guided person who uses the guiding robot 1 is holding the holding portion 8. That is, as described later, when Fz is equal to or smaller than Ta by the detected input value permitting means 88, it is determined that the guided person is not gripping the grip portion 8, and the force applied in the directions of the three axes and the three It is preferable to invalidate the input to the grip portion 8 by not outputting the moment around the axis to the moving actuator control means 92 and the expansion / contraction actuator control means 94.

The detected input value permitting unit 88 includes two preset force Fz applied in the z-axis direction among the forces applied in the triaxial directions included in the information signal output by the input value detecting unit 10. Compare with thresholds Ta and Tb (Ta <Tb).
When Fz is equal to or less than Ta (Fz ≦ Ta), the force applied in the three-axis directions and the moment about the three-axis axes included in the information signal output from the input value detection means 10 are converted into the actuator for movement. No output is made to the control means 92 and the expansion / contraction actuator control means 94.

  Thus, when Fz is equal to or less than Ta, even if a force or the like applied in a direction other than the z-axis is input to the gripping unit 8, the guiding robot 1 is prevented from moving in response to the input. Is possible. Therefore, in the present embodiment, the detected input value allowing means 88 functions as a deadman switch of the guiding robot 1. The force applied in the direction other than the z-axis is, for example, that a ball or the like used around the guiding robot 1 in a state where the guided person is not gripping the gripping portion 8, This is the force input to the gripping part 8 when it collides.

On the other hand, when Fz is equal to or greater than Tb (Tb ≦ Fz), the force applied in the three-axis directions and the moment about the three-axis axes included in the information signal output from the input value detection means 10 are used as information signals. And output to the moving actuator control means 92 and the expansion / contraction actuator control means 94.
Further, when Fz exceeds Ta and is less than Tb (Ta <Fz <Tb), the information signal output from the input value detection means 10 includes the force applied in the three-axis directions and the three-axis directions. Reduce the moment. Then, an information signal including the force applied in the direction of the three axes corrected by the reduction and the moment about the axes of the three axes is output to the movement actuator control means 92 and the expansion / contraction actuator control means 94. Here, the decrease correction is a correction that decreases the decrease degree as Fz is large, and the decrease degree is continuously changed according to the continuous change of Fz.

The movement route generation means 90 uses the information signal indicating the movement mode output from the sensor signal input I / F 82, the map data stored in the map storage unit 56, and the information signal output from the self-position specifying unit 58. Then, a movement route from the current position of the guidance robot 1 to the destination is generated. Then, an information signal including the generated movement path is output to the movement actuator control means 92.
Specifically, when the movement mode output from the sensor signal input I / F 82 is the guidance movement mode, a movement route from the current position of the guidance robot 1 to the destination is generated.
The movement actuator control means 92 is based on the information signal output from the detection input value permission means 88 and the rotation angle position of the movement actuator 62 input via the rotation angle position input I / F 68. A motor command signal for controlling driving is generated.

  In addition, the movement actuator control means 92 includes an information signal indicating the distance to the object input via the sensor signal input I / F 82 and the movement mode switched by the operation of the guided person, and a movement route. Based on the information signal output by the generating means 90, a motor command signal for controlling the driving of the moving actuator 62 is generated. The generated motor command signal is output to the movement driver 66 via the movement command signal output I / F 70.

Hereinafter, an example of a process for generating a motor command signal performed by the moving actuator control unit 92 will be described with reference to FIGS. 1 to 4 and FIG.
FIG. 5 is a flowchart showing processing performed by the movement actuator control means 92 in generating the motor command signal.
The flowchart shown in FIG. 5 starts (“START”) in a state where the guided person who is the user of the guiding robot 1 holds the grip part 20 of the holding part 8. At this time, it is preferable to determine whether or not the force Fz applied in the z-axis direction exceeds a preset threshold Ta (Ta <Fz?).

Next, in step S10, based on the information signal output from the detected input value permission means 88, the input of the force applied in the three-axis directions and the moment about the three-axis axes detected by the input value detection means 10 ( "Sensor signal input from six-axis force sensor") shown in step S10 is received. After receiving the input of the force applied in the direction of the three axes in step S10 and the moment about the axis of the three axes, the processing performed by the actuator controller 92 for movement proceeds to step S12.
In step S12, the force Fy applied in the y-axis direction reflecting the force in the front-rear direction of the guidance robot 1 among the forces applied in the three-axis directions is calculated (the “force Fy calculated in step S12” is calculated). )). After calculating the force Fy in step S12, the processing performed by the moving actuator control unit 92 proceeds to step S14.

In step S14, among the moments around the three axes, a moment Mz around the z axis that reflects the desired turning direction of the guidance robot 1 of the guided person is calculated ("calculate moment Mz" shown in step S14). To do. After calculating the moment Mz in step S14, the process performed by the moving actuator control means 92 proceeds to step S16.
In step S16, the moving speed of the guiding robot 1 is determined based on the force Fy calculated in step S12 and formulas (1) and (2) described later ("determining the moving speed V of the guiding robot shown in step S16"). )).
Here, the moving speed of the guidance robot 1 is calculated so as to increase as the input detected by the input value detecting means 10 increases.

Further, regarding the moving speed of the guiding robot 1, when the forward direction is positive, the moving speed of the guiding robot 1 is V [m / s], and the wheel peripheral speed of the left moving wheel is Vl [m / s]. When the wheel peripheral speed of the right moving wheel is Vr [m / s], it is calculated by the following equation (1).
V = (Vr + Vl) / 2 (1)
Then, the virtual mass of the guiding robot 1 is set to M, and the moving speed V of the guiding robot 1 is set to the target speed (target moving speed) calculated by the following equation (2) using the force Fy. decide. Thereby, the input to the holding part 8 by the guided person is reflected in the behavior of the guiding robot 1.

After the movement speed V of the guidance robot 1 is determined in step S16, the processing performed by the movement actuator control means 92 proceeds to step S18.
In step S18, the turning speed of the guiding robot 1 is determined based on the moment Mz calculated in step S14 and equations (3) and (4) to be described later (“turning speed R of the guiding robot is determined in step S18). )).
Specifically, when the moment Mz is larger than “0”, the turning speed of the guiding robot 1 when the guiding robot 1 is turned to the right is calculated. The moment Mz is larger than “0” when the moment Mz is a moment in the right turning direction of the guiding robot 1.

On the other hand, when the moment Mz is less than “0”, the turning speed of the guiding robot 1 when the guiding robot 1 is turned left is calculated. The moment Mz is less than “0” when the moment Mz is a moment in the left turning direction of the guiding robot 1.
Here, the turning speed of the guidance robot 1 is generated so as to increase as the input (moment Mz) detected by the input value detecting means 10 increases.

In addition, when the right turn is positive, the turning speed of the guiding robot 1 is R [rad / s], and the wheel peripheral speed of the left moving wheel is Vl [m / s]. ], When the wheel peripheral speed of the right moving wheel is Vr [m / s] and the distance between the left moving wheel and the right moving wheel is Lw [m], it is calculated by the following equation (3).
R = (Vl−Vr) / Lw (3)
The virtual mass of the guiding robot 1 is set to M, the virtual moment about the z-axis is set to Irz, and the turning speed R of the guiding robot 1 is calculated by the following equation (4) using the moment Mz. The target speed (target turning speed) is determined. Thereby, the input to the holding part 8 by the guided person is reflected in the behavior of the guiding robot 1.

After the turning speed R of the guiding robot 1 is determined in step S18, the processing performed by the moving actuator control unit 92 proceeds to step S20.
In step S20, first, the wheel peripheral speed Vl of the left moving wheel and the wheel peripheral speed Vr of the right moving wheel are determined based on the moving speed V determined in step S16 and the turning speed R determined in step S18.

The wheel peripheral speed Vl is calculated by the following formula (5), and the wheel peripheral speed Vr is calculated and determined by the following formula (6). Here, the moving speed of the guiding robot 1 is V [m / s], the distance between the left moving wheel and the right moving wheel is Lw [m], and the turning speed of the guiding robot 1 is R [rad]. / S]. The moving speed V of the guiding robot 1 is positive in the forward direction, and the turning speed R of the guiding robot 1 is positive in the right turn.
Vl = V + LwR / 2 (5)
Vr = V−LwR / 2 (6)

Next, based on the wheel peripheral speed Vl and the wheel peripheral speed Vr calculated and determined by the above formulas (5) and (6), motor command signals for driving the right moving wheel and the left moving wheel are generated. Further, the generated motor command signal is output to the movement driver 66 via the movement command signal output I / F 70. As a result, motor command signals for realizing the wheel circumferential speed Vl and the wheel circumferential speed Vr are output to the movement actuator 62 that forms the drive motor for the right movement wheel and the left movement wheel ("V and R shown in step S20"). Thus, Vl and Vr are determined and output to the drive motor ").
After the motor command signal is output in step S20, the process for generating the motor command signal among the processes performed by the movement actuator control means 92 is terminated, and the process returns to the original process ("RETURN").

In the above processing, the motor command signal is corrected with reference to the rotation angle position of the moving actuator 62 input via the rotation angle position input I / F 68. Here, “refer to the rotational angle position of the moving actuator 62” refers to feedback control based on the rotational angle position of the moving actuator 62, for example.
In the above processing, the motor command signal is corrected according to the distance to the object input via the sensor signal input I / F 82.
More specifically, the movement actuator 62 is driven so as to avoid contact between the guidance robot 1 and the object according to the distance between the guidance robot 1 and the object and the moving speed of the guidance robot 1. A motor command signal that reflects the calculated drive is generated.

Further, in the above processing, a motor command signal is generated based on the information signal indicating the movement mode switched by the operation of the guided person and the information signal output by the movement route generation means 90. Description on generation of the motor command signal based on the information signal indicating the movement mode and the information signal output by the movement path generation unit 90 will be described later.
Therefore, the control method of the guidance robot 1 according to the present embodiment calculates the target speed of the base 2 in accordance with the input detected by the input value detection means 10 and moves the base 2 at the calculated target speed. This is a control method for controlling the driving of the moving actuator 62.

Further, the control method of the guidance robot 1 of the present embodiment is a control method in which the driving force generated by the moving actuator 62 is increased as the input detected by the input value detection means 10 is larger.
The expansion / contraction actuator control means 94 expands / contracts based on the floor reaction force input via the sensor signal input I / F 82 and the linear motion position of the expansion / contraction actuator 26 input via the linear motion position input I / F 76. The linear motion command signal for controlling the drive of the actuator 26 for the motor is generated.
In addition, the expansion / contraction actuator control means 94 generates a linear motion command signal for controlling the driving of the expansion / contraction actuator 26 based on the information signal output from the detection input value permission means 88. The generated linear motion command signal is output to the expansion / contraction driver 74 via the expansion / contraction command signal output I / F 78.

Hereinafter, an example of the process of generating the linear motion command signal performed by the expansion / contraction actuator control means 94 will be described with reference to FIGS. 1 to 4 and FIG.
FIG. 6 is a flowchart showing processing performed by the expansion / contraction actuator control means 94 in generating the linear motion command signal.
The flowchart shown in FIG. 6 starts (“START”) in a state where the guided person who is the user of the guiding robot 1 holds the grip part 20 of the holding part 8. At this time, it is preferable to determine whether or not the force Fz applied in the z-axis direction exceeds a preset threshold Ta (Ta <Fz?).

Next, in step S100, the floor received by the caster 24 included in the caster device 16F detected by the floor reaction force detection unit 28 included in the caster device 16F based on the information signal input via the sensor signal input I / F 82. The input of the reaction force is received ("input a sensor signal from the front floor reaction force detector" shown in step S100). After receiving the input of the floor reaction force received by the caster 24 included in the caster device 16F in step S100, the process performed by the expansion / contraction actuator control means 94 proceeds to step S102.
In step S102, the floor reaction force FF received by the caster 24 included in the caster device 16F is calculated using the input received in step S100 ("calculate front floor reaction force FF" shown in step S102). After calculating the floor reaction force FF in step S102, the process performed by the expansion / contraction actuator control means 94 proceeds to step S104.

In step S104, the floor reaction force detected by the floor reaction force detection unit 28 included in the caster device 16B and received by the caster 24 included in the caster device 16B is detected based on the information signal input via the sensor signal input I / F 82. Input (“input sensor signal from rear floor reaction force detection unit” shown in step S104) is received. After receiving the input of the floor reaction force received by the caster 24 included in the caster device 16B in step S104, the process performed by the expansion / contraction actuator control means 94 proceeds to step S106.
In step S106, using the input received in step S104, the floor reaction force FB received by the caster 24 included in the caster device 16B is calculated ("calculate the rear floor reaction force FB" shown in step S106). After calculating the floor reaction force FB in step S106, the process performed by the expansion / contraction actuator control means 94 proceeds to step S108.

In step S108, it is determined whether or not the floor reaction force FF calculated in step S102 and the floor reaction force FB calculated in step S106 are larger than a preset standard floor reaction force FN (“FF, FB> FN? ”). The “standard floor reaction force FN” is a standard floor reaction force that the caster 24 receives. For example, the caster device 16F and the caster device 16B are set to standard lengths, and the guide robot 1 is set to a flat surface. The floor reaction force that the caster 24 receives when installed. The standard floor reaction force FN is stored in advance in the expansion / contraction actuator control means 94.
If it is determined in step S108 that the floor reaction force FF and the floor reaction force FB are larger than the standard floor reaction force FN (Yes), the process performed by the expansion / contraction actuator control means 94 proceeds to step S110.

On the other hand, if it is determined in step S108 that the floor reaction force FF and the floor reaction force FB are equal to or less than the standard floor reaction force FN (No), the process performed by the expansion / contraction actuator control means 94 proceeds to step S112.
In step S110, a linear motion command signal for shortening the caster device 16F and the caster 24 included in the caster device 16B is generated so that the difference between the floor reaction force FF and the floor reaction force FB and the standard floor reaction force FN is reduced. Then, the generated linear motion command signal is output to the expansion / contraction driver 74 via the expansion / contraction command signal output I / F 78 ("shortening both caster devices" shown in step S110). This corresponds to the determination that the floor reaction force FF and the floor reaction force FB are larger than the standard floor reaction force FN, that the caster 24 included in the caster device 16F and the caster device 16B is overloaded. Because.

After the linear motion command signal is output in step S110, the process of shortening the caster 24 included in the caster device 16F and the caster device 16B among the processes performed by the expansion / contraction actuator control means 94 is terminated, and the process returns to the original process (" RETURN ").
In step S112, it is determined whether or not the floor reaction force FF calculated in step S102 and the floor reaction force FB calculated in step S106 are less than the standard floor reaction force FN (“FF, FB <FN shown in step S112). ?)).
If it is determined in step S112 that the floor reaction force FF and the floor reaction force FB are less than the standard floor reaction force FN (Yes), the process performed by the expansion / contraction actuator control means 94 proceeds to step S114.

On the other hand, if it is determined in step S112 that the floor reaction force FF and the floor reaction force FB are greater than or equal to the standard floor reaction force FN (No), the process performed by the expansion / contraction actuator control means 94 proceeds to step S116.
In step S114, a linear motion command signal for extending the caster device 16F and the caster 24 included in the caster device 16B is generated so that the difference between the floor reaction force FF and the floor reaction force FB and the standard floor reaction force FN is reduced. Then, the generated linear motion command signal is output to the expansion / contraction driver 74 via the expansion / contraction command signal output I / F 78 ("extends both caster devices" shown in step S114). This is because the determination that the floor reaction force FF and the floor reaction force FB are less than the standard floor reaction force FN corresponds to the determination that the caster device 16F and the caster 24 included in the caster device 16B are floating. .

After the linear motion command signal is output in step S114, the process of extending the caster 24 included in the caster device 16F and the caster device 16B in the process performed by the expansion / contraction actuator control unit 94 is terminated, and the process returns to the original process (" RETURN ").
In step S116, it is determined whether or not the floor reaction force FF calculated in step S102 exceeds the floor reaction force FB calculated in step S106 (“FF> FB?” Shown in step S116).
If it is determined in step S116 that the floor reaction force FF exceeds the floor reaction force FB (Yes), the process performed by the expansion / contraction actuator control means 94 proceeds to step S118.

On the other hand, if it is determined in step S116 that the floor reaction force FF is equal to or less than the floor reaction force FB (No), the process performed by the expansion / contraction actuator control means 94 proceeds to step S120.
In step S118, a linear motion command signal for extending the caster 24 included in the caster device 16F is generated so that the floor reaction force FF and the difference between the floor reaction force FB and the standard floor reaction force FN are reduced. The generated linear motion command signal is output to the expansion / contraction driver 74 via the expansion / contraction command signal output I / F 78 ("extend the front caster device" shown in step S118). This is because the determination that the floor reaction force FF exceeds the floor reaction force FB corresponds to the determination that the guidance robot 1 is traveling forward or downhill.

After outputting the linear motion command signal in step S118, the process of extending the caster 24 included in the caster device 16F among the processes performed by the expansion / contraction actuator control means 94 is terminated and the process returns to the original process ("RETURN"). .
In step S120, it is determined whether or not the floor reaction force FF calculated in step S102 is less than the floor reaction force FB calculated in step S106 (“FF <FB?” Shown in step S120).
If it is determined in step S120 that the floor reaction force FF is less than the floor reaction force FB (Yes), the process performed by the expansion / contraction actuator control means 94 proceeds to step S122.

On the other hand, if it is determined in step S120 that the floor reaction force FF is greater than or equal to the floor reaction force FB (No), the process performed by the expansion / contraction actuator control means 94 is terminated, and the process returns to the original process ("RETURN").
In step S122, a linear motion command signal for extending the caster 24 included in the caster device 16B is generated so that the floor reaction force FF and the difference between the floor reaction force FB and the standard floor reaction force FN are reduced. Then, the generated linear motion command signal is output to the expansion / contraction driver 74 via the expansion / contraction command signal output I / F 78 ("extend the rear caster device" shown in step S122). This is because the determination that the floor reaction force FF is less than the floor reaction force FB corresponds to the determination that the guiding robot 1 is traveling in a backward tilt posture or an uphill.

After outputting the linear motion command signal in step S122, the process of extending the caster 24 included in the caster device 16B in the process performed by the expansion / contraction actuator control means 94 is terminated, and the process returns to the original process ("RETURN"). .
In the above processing, the linear motion command signal is corrected with reference to the linear motion position of the expansion / contraction actuator 26 input via the linear motion position input I / F 76. Here, “refer to the linear movement position of the expansion / contraction actuator 26” is, for example, feedback control based on the linear movement position of the expansion / contraction actuator 26.

Further, in the above processing, based on the information signal output from the detected input value permitting means 88, the information signal output from the input value detecting means 10 includes the force applied in the three-axis directions and the rotation around the three axes. Refer to the moment to correct the linear motion command signal.
As a specific example, the linear motion command signal is corrected with reference to the moment My around the y-axis.
Accordingly, the expansion / contraction actuator control means 94 drives the expansion / contraction actuator 26 according to at least one of the force applied in the three-axis direction detected by the six-axis force sensor and the moment about the three-axis axis. To control.

(Operation)
Next, the operation of this embodiment will be described with reference to FIGS. 1 to 6 and FIGS. 7 and 8. FIG.
Guidance Movement Mode First, in the facility where the guidance robot 1 of the present embodiment is arranged, the operation of the guidance robot 1 in the guidance movement mode in which the base body 2, that is, the guidance robot 1 is moved to the determined destination. Will be described. In the following description, as an example, a case where the facility where the guidance robot 1 is arranged is an art museum will be described.

FIG. 7 is a flowchart showing the operation of the guidance robot 1 in the guidance movement mode.
The flowchart shown in FIG. 7 starts when the guided person touches a position on the operation surface of the movement mode switching operation unit 12 where the information related to the switching to the guidance movement mode is displayed (“ Start guide movement mode ”). In this case, as a precondition, as described above, whether the force Fz applied in the z-axis direction exceeds the preset threshold Ta in a state where the guided person grips the grip part 20 of the grip part 8. It is preferable to determine whether or not (Ta <Fz?).
Here, the switching to the guide movement mode is performed by the movement route generation means 90 receiving an information signal output from the movement mode switching operation unit 12 via the sensor signal input I / F 82.

Next, in step S200, when the guided person or the like touches a portion displaying information indicating the destination on the operation surface of the movement mode switching operation unit 12, the input of the destination in the guidance movement mode (step "Destination input" shown in S200). For example, if there is a museum clerk other than the guided person, the clerk displays information indicating the destination on the operation surface of the movement mode switching operation unit 12. You may touch.
Here, the destination input in the guidance movement mode is performed by the movement route generation means 90 receiving the information signal output from the movement mode switching operation unit 12 via the sensor signal input I / F 82.

After receiving the destination input in the guidance movement mode in step S200, the operation of the guidance robot 1 in the guidance movement mode moves to step S202.
In step S202, a movement route from the current position of the guidance robot 1 to the destination is generated based on the destination received in step S200 and the current position of the guidance robot 1 ("route generation" shown in step S202). )
Here, the generation of the movement route from the current position of the guidance robot 1 to the destination is performed by the movement route generation means 90 by using the map data stored in the map storage unit 56 to determine the position (coordinates) of the destination. Further, the current position of the guidance robot 1 is acquired from the information signal output from the self-position specifying unit 58.

When a movement route from the current position of the guidance robot 1 to the destination is generated, an information signal indicating the content of the generation of the movement route is output to the speaker 14 via the audio output I / F 86. As a result, the speaker 14 outputs a sound indicating the content of the generation of the movement route.
Similarly, when a movement route from the current position of the guidance robot 1 to the destination is generated, an information signal indicating the content of the generation of the movement route is sent to the movement mode switching operation unit 12 via the video output I / F 84. Output. As a result, an image indicating the content of the generation of the movement route is displayed on the operation surface of the movement mode switching operation unit 12. Note that, on the operation surface of the movement mode switching operation unit 12, in addition to the image showing the content of the generation of the movement route, the movement route from the current position of the guidance robot 1 to the destination may be displayed.

After generating the movement route from the current position of the guidance robot 1 to the destination in step S202, the operation of the guidance robot 1 in the guidance movement mode proceeds to step S204.
In step S204, it is determined whether or not the guidance robot 1 has arrived at the destination input in step S200 ("Did it arrive at the destination?" Shown in step S204).
Here, whether or not the guidance robot 1 has arrived at the destination is determined based on the position of the destination acquired by the movement route generation means 90 and the current position of the guidance robot 1.
If it is determined in step S204 that the guidance robot 1 has arrived at the destination (Yes), the operation of the guidance robot 1 in the guidance movement mode is terminated (“Guidance movement mode end” shown in FIG. 7).

On the other hand, if it is determined in step S204 that the guidance robot 1 has not arrived at the destination (No), the operation of the guidance robot 1 in the guidance movement mode proceeds to step S206.
In step S206, among the inputs to the gripper 8 by the guided person, the input in the forward direction of the guiding robot 1 (the left direction of the guiding robot 1 in FIG. 1) (“force input” shown in step S206). Receive.
Here, the input to the gripping part 8 by the guided person is an information signal output from the input value detection means 10 by the moving actuator control means 92 via the sensor signal input I / F 82 and the detection input value permission means 88. This is done by receiving the input.

After receiving the input to the gripper 8 by the guided person in step S206, the operation of the guidance robot 1 in the guidance movement mode proceeds to step S208.
In step S208, the forward speed of the guidance robot 1 is calculated based on the input detected by the input value detection means 10 ("forward speed calculation" shown in step S208).
Here, when calculating the forward speed of the guiding robot 1, the driving force generated by the moving actuator 62 is increased as the input detected by the input value detection means 10 increases, and the forward movement of the guiding robot 1 is increased. Calculate so that the speed increases.

After calculating the forward speed of the guidance robot 1 in step S208, the operation of the guidance robot 1 in the guidance movement mode proceeds to step S210.
In step S210, the turning speed of the guidance robot 1 moving from the current position to the destination is calculated based on the movement route generated in step S202 ("turning speed calculation according to route" shown in step S210).
Here, when calculating the turning speed of the guiding robot 1, the driving force generated by the moving actuator 62 is controlled according to the moving speed of the guiding robot 1, and the turning speed of the guiding robot 1 is set appropriately. It calculates so that it may become a speed. For example, when the moving speed of the guiding robot 1 is fast, the turning speed of the guiding robot 1 is calculated to be low.

After calculating the turning speed of the guidance robot 1 in step S210, the operation of the guidance robot 1 in the guidance movement mode proceeds to step S212.
In step S212, the driving of the moving actuator 62 is determined based on the forward speed of the guiding robot 1 calculated in step S208 and the turning speed of the guiding robot 1 calculated in step S210. That is, in step S212, the rotational speed of the motor forming the moving actuator 62 is determined ("motor speed is determined from forward speed and turning speed" shown in step S212).

After the drive of the movement actuator 62 is determined in step S212, the operation of the guidance robot 1 in the guidance movement mode proceeds to step S214.
In step S214, the moving actuator 62 is driven based on the driving of the moving actuator 62 determined in step S212. That is, in step S214, the motor forming the moving actuator 62 is driven ("motor drive" shown in step S214). Thereby, the guidance robot 1 is moved from the current position toward the destination.

Here, when the guiding robot 1 moves, the traveling direction of the guiding robot 1 changes greatly at a position where the guiding robot 1 turns to change the traveling direction greatly, for example, when it passes a corner on the moving path. An information signal indicating the content to be output is output to the speaker 14 via the audio output I / F 86. This is preferably performed, for example, several [m] before the position where the traveling direction of the guiding robot 1 changes greatly.
Further, when an object (obstacle) is detected on the movement route of the guiding robot 1 based on the information signal output by the obstacle detecting means 6 during the movement of the guiding robot 1, the detected object The movement route of the guidance robot 1 is changed so as to avoid the above. At this time, an object (obstacle) is detected on the moving path of the guiding robot 1 and an information signal indicating the content of changing the moving path of the guiding robot 1 is sent to the speaker 14 via the audio output I / F 86. Output. This is preferably performed, for example, several [m] before the position where the movement route of the guidance robot 1 is changed.

After the movement actuator 62 is driven in step S214, the operation of the guidance robot 1 in the guidance movement mode returns to step S204. The processing from step S206 to step S214 continues to loop until it is determined in step S204 that the guidance robot 1 has arrived at the destination.
When the guidance robot 1 arrives at the destination, an information signal indicating the content of the arrival of the guidance robot 1 at the destination is output to the speaker 14 via the audio output I / F 86. As a result, a voice indicating the content of the arrival of the guidance robot 1 at the destination is output from the speaker 14 and transmitted to the guided person.

-Free movement mode Next, operation | movement of the guidance robot 1 in the free movement mode which moves the base | substrate 2, ie, the guidance robot 1, in the direction according to the input to the holding part 8 is demonstrated.
FIG. 8 is a flowchart showing the operation of the guidance robot 1 in the free movement mode.
The flowchart shown in FIG. 8 starts when the guided person touches a position on the operation surface of the movement mode switching operation unit 12 that displays information related to switching to the free movement mode (see “ Start free movement mode ”). In this case, as a precondition, the force Fz applied in the z-axis direction in a state where the guided person grips the grip part 20 of the gripping part 8 has a preset threshold Ta as in the guide movement mode described above. It is preferable to determine whether or not it exceeds (Ta <Fz?).
Here, the switching to the free movement mode is performed by the movement path generation means 90 receiving the information signal output from the movement mode switching operation unit 12 via the sensor signal input I / F 82.

Next, in step S300, an input to the gripper 8 by the guided person ("force input" shown in step S300) is received.
Here, the input to the gripping part 8 by the guided person is an information signal output from the input value detection means 10 by the moving actuator control means 92 via the sensor signal input I / F 82 and the detection input value permission means 88. This is done by receiving the input.
After receiving the input to the gripping part 8 by the guided person in step S300, the operation of the guiding robot 1 in the free movement mode proceeds to step S302.

In step S302, based on the input detected by the input value detection means 10, the forward speed and the turning speed of the guiding robot 1 are calculated ("forward speed and turning speed calculation" shown in step S302).
Here, when calculating the forward speed of the guiding robot 1, the driving force generated by the moving actuator 62 is increased as the input detected by the input value detection means 10 increases, and the forward movement of the guiding robot 1 is increased. Calculate so that the speed increases.
In this embodiment, when calculating the forward speed of the guiding robot 1, the force Fy applied in the y-axis direction is referred to among the forces applied in the three-axis directions.

Further, when calculating the turning speed of the guiding robot 1, the driving force generated by the moving actuator 62 is controlled in accordance with the moving speed of the guiding robot 1, so that the turning speed of the guiding robot 1 is appropriate. Calculate to be speed.
In the present embodiment, when calculating the turning speed of the guiding robot 1, the moment Mz around the z-axis is referred to among the moments around the three axes.
After calculating the forward speed and the turning speed of the guiding robot 1 in step S302, the operation of the guiding robot 1 in the free movement mode proceeds to step S304.

In step S304, the driving of the moving actuator 62 is determined based on the forward speed and the turning speed of the guidance robot 1 calculated in step S302. That is, in step S304, the rotational speed of the motor forming the moving actuator 62 is determined ("motor speed is determined from forward speed and turning speed" shown in step S304).
After the drive of the movement actuator 62 is determined in step S304, the operation of the guidance robot 1 in the guidance movement mode proceeds to step S306.
In step S306, the moving actuator 62 is driven based on the driving of the moving actuator 62 determined in step S304. That is, in step S306, the motor forming the moving actuator 62 is driven ("motor drive" shown in step S306). As a result, the guiding robot 1 is moved in a direction corresponding to the input to the grip portion 8 by the guided person.

  Here, when an object (obstacle) is detected on the movement path of the guiding robot 1 based on the information signal output by the obstacle detecting means 6 when the guiding robot 1 moves, the guiding robot 1 Decrease the movement speed. In addition to this, an information signal indicating the content of detecting an object (obstacle) on the moving route of the guidance robot 1 is output to the speaker 14 via the audio output I / F 86. This is preferably performed, for example, several [m] before the position where the moving speed of the guiding robot 1 is decreased.

After driving the moving actuator 62 in step S306, the operation of the guiding robot 1 in the free movement mode proceeds to step S308.
In step S308, it is determined whether or not the input to the gripping unit 8 by the guided person is an input of the strength with which the guidance robot 1 is desired to move (“is there a movement request input?” Shown in step S308). )
Here, whether or not the input to the gripper 8 by the guided person is an input of the strength desired to move the guiding robot 1 is determined by the moving actuator control means 92 using the sensor signal input I / I. This is performed by receiving the input of the information signal output by the input value detecting means 10 via F82 and the detected input value allowing means 88.

  In addition, whether or not the input to the gripper 8 by the guided person is an input of the strength desired to move the guidance robot 1 exceeds, for example, the threshold Ta when the free movement mode is started. When the force Fz that has been reduced is less than or equal to the threshold value Ta, it is determined that the input to the grasping unit 8 by the guided person is not the input of the strength desired to move the guiding robot 1. Further, even when the force Fz exceeds the threshold Ta, for example, the force Fy referred to when calculating the forward speed of the guiding robot 1 and the reference when calculating the turning speed of the guiding robot 1 are referred to. When the force Fx to be performed is “0” or substantially “0”, it is determined that the input to the gripping unit 8 by the guided person is not the input of the strength desired to move the guiding robot 1.

In step S308, if it is determined that the input to the gripper 8 by the guided person is an input of the strength for which the guidance robot 1 is desired to move (Yes), the operation of the guidance robot 1 in the free movement mode is as follows. The process returns to step S300.
On the other hand, if it is determined in step S308 that the input to the gripping part 8 by the guided person is not an input of the strength desired to move the guiding robot 1 (No), the operation of the guiding robot 1 in the free movement mode. Is terminated (“free movement mode end” shown in FIG. 8).

Switching between guided movement mode and free movement mode Next, with reference to FIGS. 1 to 8, the movement mode of the guiding robot 1 in the facility where the guiding robot 1 of the present embodiment is arranged is described above. The operation of the guiding robot 1 when switching to the guide movement mode or the free movement mode will be described.
First, the operation of the guidance robot 1 when the movement mode of the guidance robot 1 is switched from the guidance movement mode to the free movement mode will be described. This is because, for example, while the guide robot 1 moves from the position where the movement mode of the guidance robot 1 is switched to the guide movement mode to the destination, the guided person can display other exhibits displayed in the museum other than the destination. This is the case for a tour.
In the state where the movement mode of the guidance robot 1 is switched to the guidance movement mode, as described above, the guidance robot 1 moves from the current position to the destination according to the flowchart shown in FIG. 7).

Then, for the guidance robot 1 moving to the destination, the guided person holding the holding unit 8 displays information on switching to the free movement mode on the operation surface of the movement mode switching operation unit 12. When the touching position is touched, the movement mode of the guidance robot 1 is switched from the guidance movement mode to the free movement mode.
At this time, the operation of the guidance robot 1 is forcibly switched to the flowchart shown in FIG. 8 regardless of which step (S200 to S214) in the flowchart shown in FIG. The operation in the free movement mode is started from S300.
In the state where the movement mode of the guidance robot 1 is switched to the free movement mode, as described above, the guidance robot 1 moves in the direction corresponding to the input of the guided person, following the flowchart shown in FIG. (See FIGS. 1 to 6 and FIG. 8).

Then, for the guidance robot 1 that moves in the direction according to the input of the guided person, the guided person holding the holding part 8 enters the guided movement mode on the operation surface of the movement mode switching operation part 12. When the position where the information regarding the switching is displayed is touched, the movement mode of the guiding robot 1 is switched from the free movement mode to the guidance movement mode.
At this time, the operation of the guidance robot 1 is forcibly switched to the flowchart shown in FIG. 7 regardless of which step (S300 to S308) in the flowchart shown in FIG. The operation in the guidance movement mode is started from S200.

(Effects of the first embodiment)
The effects of this embodiment are listed below.
(1) In the guidance robot 1 of the present embodiment, the movement actuator control means 92 calculates the target speed of the base 2 in accordance with the input to the gripping part 8 by the guided person detected by the input value detection means 10. Then, the driving of the moving actuator 62 is controlled so that the base 2 moves at the calculated target speed.
For this reason, it is possible to move the guiding robot 1 by moving the base 2 in accordance with an input to the gripping portion 8 by a guided person holding a part of the guiding robot 1.

As a result, it is possible to prevent the guided person and the guiding robot 1 from separating from each other, and the guided person holding a part of the guiding robot can be moved to the destination according to the input to the holding unit 8. It is possible to reliably guide to.
In addition, since the guiding robot 1 is moved while the guided person is holding the gripping portion 8, even if the guided person is a visually impaired person or a hearing impaired person, the guided person is moved to the destination. It is possible to guide with certainty.
Further, since the guided person moves through the position where the guiding robot 1 has moved, the guided person can be safely guided to the destination.

(2) In the guidance robot 1 of the present embodiment, the movement actuator control unit 92 increases the driving force generated by the movement actuator 62 as the input detected by the input value detection unit 10 increases.
For this reason, as the input to the gripping part 8 by the guided person is larger, the driving force generated by the moving actuator 62 can be increased, and the moving speed of the guiding robot 1 can be increased.
As a result, the moving speed of the guiding robot 1 can be controlled in accordance with the strength of the input from the gripper 8, that is, the guided person holding a part of the guiding robot 1. Therefore, the moving speed of the guiding robot 1 can be controlled to a speed according to the moving speed of the guided person, and the guided person can be efficiently guided to the destination.

(3) In the guidance robot 1 of the present embodiment, the input value detection means 10 can detect the force applied in the directions of the three axes orthogonal to each other and the moment about the three axes, respectively. And
For this reason, one six-axis force sensor detects the input to the gripper 8 by the guided person as a force applied in the directions of three axes orthogonal to each other and a moment around the three axes. Is possible.
As a result, the force applied in the direction of three axes perpendicular to each other and the moment about the three axes are detected by one six-axis force sensor. It becomes possible to do.

Further, since the force applied in the direction of the three axes and the moment about the axis of the three axes can be detected by the six-axis force sensor, the movement actuator 62 is driven as compared with the three-axis sensor. There are many degrees of freedom of the input to detect, such as the input used when controlling.
For this reason, as described above, it is possible to cause the detected input value allowing means 88 to function as a deadman switch of the guiding robot 1 by using one six-axis force sensor.

(4) In the guiding robot 1 of the present embodiment, the expansion / contraction actuator control means 94 has at least one of the force applied in the triaxial direction detected by the six-axis force sensor and the moment about the triaxial axis. Accordingly, the drive of the telescopic actuator 26 is controlled.
For this reason, the expansion / contraction part formed by the caster 24 is expanded and contracted according to at least one of the force applied in the triaxial direction and the moment about the triaxial axis detected by the six-axis force sensor, 2 and the balance wheel 30 can be changed. This is because the six-axis force sensor has a greater degree of freedom of detectable input (force applied in the direction of the axis and moment about the axis of the axis) than the three-axis sensor.
As a result, since the tilt of the guiding robot 1 can be suppressed according to the value detected by the six-axis force sensor, the stability of the guiding robot 1 is improved and the safety of the guiding robot 1 is improved. Can be improved.
(5) In the guiding robot 1 of the present embodiment, the expansion / contraction actuator control means 94 controls the driving of the expansion / contraction actuator 26 according to the floor reaction force detected by the floor reaction force detection unit 28.
Therefore, the drive of the telescopic actuator 26 is controlled according to the floor reaction force received by the caster device 16. Accordingly, the distance between the base 2 and the balancing wheel 30 can be changed by expanding and contracting the expansion / contraction portion formed by the caster 24 according to the floor reaction force received by the caster device 16.
As a result, the inclination of the guiding robot 1 can be suppressed according to the floor reaction force received by the caster device 16, so that the stability of the guiding robot 1 can be improved.

(6) In the guidance robot 1 according to the present embodiment, the movement mode switching operation unit 12 for switching between the guidance movement mode and the free movement mode is set so that the guided person's hand grasps the grasping part 8 and guide movement mode or free. Place it in a position where you can switch to move mode.
For this reason, the guided person can perform an operation of switching the movement mode in which the guiding robot 1 is moved together with the input to the grip unit 8.

As a result, the guided person can perform the switching operation of the movement mode without gripping the movement mode switching operation unit 12, so that the guided person can input the movement mode and switch the movement mode. The information displayed on the operation surface of the operation unit 12 can be confirmed simultaneously. As a result, the operation surface of the movement mode switching operation unit 12 is not hidden by the guided person's hand or the like, so that the information displayed on the operation surface of the movement mode switching operation unit 12 need not be stored.
In addition, since it is possible to perform a switching operation of the movement mode in which the guided robot 1 is moved while the guided person grips the gripping part 8, the guided person can hold the gripping part during guidance to the destination. It is possible to change the destination temporarily or to move freely without setting the destination while holding 8.

(7) In the guiding robot 1 of the present embodiment, the moving actuator 62 is a motor, and the configuration of the guiding robot 1 is such that the moving wheel 4 that supports the base 2 and rotates by the driving force generated by the motor. It is set as the structure provided.
For this reason, it is possible to form the guiding robot 1 that can move the base 2 by rotating the moving wheel 4 by the driving force generated by the motor in accordance with the input to the gripping portion 8 by the guided person. Become.
As a result, it is possible to easily form the guidance robot 1 that moves on the ground in the facility using the motor and wheels, which are general configuration requirements, in accordance with the input to the gripping unit 8 by the guided person. It becomes possible.

(8) In the control method of the guiding robot 1 according to the present embodiment, the driving actuator 62 for generating a driving force capable of moving the base 2 is detected, and the input to the gripping portion 8 attached to the base 2 is detected. The target speed of the base 2 is calculated according to the input detected by the input value detection means 10, and the base 2 is controlled to move at the calculated target speed.
For this reason, it is possible to move the guiding robot 1 by moving the base 2 in accordance with an input to the gripping portion 8 by a guided person holding a part of the guiding robot 1.
As a result, it is possible to prevent the guided person and the guiding robot 1 from separating from each other, and the guided person holding a part of the guiding robot can be moved to the destination according to the input to the holding unit 8. It is possible to reliably guide to.

In addition, since the guiding robot 1 is moved while the guided person is holding the gripping portion 8, even if the guided person is a visually impaired person or a hearing impaired person, the guided person is moved to the destination. It is possible to guide with certainty.
Further, since the guided person moves through the position where the guiding robot 1 has moved, the guided person can be safely guided to the destination.

(9) In the control method of the guidance robot 1 of the present embodiment, the driving force generated by the moving actuator 62 is increased as the input detected by the input value detection means 10 is increased.
For this reason, as the input to the gripping part 8 by the guided person is larger, the driving force generated by the moving actuator 62 can be increased, and the moving speed of the guiding robot 1 can be increased.
As a result, the moving speed of the guiding robot 1 can be controlled in accordance with the strength of the input from the gripper 8, that is, the guided person holding a part of the guiding robot 1. Therefore, the moving speed of the guiding robot 1 can be controlled to a speed according to the moving speed of the guided person, and the guided person can be efficiently guided to the destination.

(Application examples)
Hereinafter, application examples of this embodiment will be listed.
(1) In the guidance robot 1 of the present embodiment, the movement actuator control unit 92 increases the driving force generated by the movement actuator 62 as the input detected by the input value detection unit 10 increases. It is not limited to. That is, the movement actuator control means 92 controls the driving force generated by the movement actuator 62 by referring only to the presence / absence and direction of the input regardless of the magnitude of the input detected by the input value detection means 10. May be.

(2) In the guidance robot 1 of the present embodiment, the input value detection means 10 is a six-axis force sensor, but the present invention is not limited to this, and the input value detection means 10 may be a three-axis sensor.
(3) The guidance robot 1 of the present embodiment is configured to include the caster device 16, but is not limited thereto, and may be configured to not include the caster device 16. In this case, the telescopic actuator 26 and the telescopic actuator control means 94 are not provided.
(4) Although the guidance robot 1 of the present embodiment includes the movement mode switching operation unit 12 that switches between the guidance movement mode and the free movement mode, the present invention is not limited to this, and the movement mode switching operation unit 12 is not limited thereto. It is good also as a structure which is not provided. In this case, the movement mode of the guidance robot 1 is fixed to the guidance movement mode or the free movement mode.

(5) In the guidance robot 1 of the present embodiment, the guide movement mode and the free movement mode are switched by operating the movement mode switching operation unit 12, but the present invention is not limited to this. That is, for example, by providing the base body 2 with a microphone capable of acquiring the voice of the guided person and the CPU 60 with a calculation unit capable of voice recognition, guidance is provided according to the voice generated by the guided person. It may be configured to switch between the movement mode and the free movement mode and to set the destination.

(6) In the guiding robot 1 of the present embodiment, the force Fy applied in the y-axis direction is referred to when calculating the forward speed of the guiding robot 1 in the free movement mode. However, the present invention is not limited to this. Absent. That is, in addition to the force Fy applied in the y-axis direction, the forward speed of the guiding robot 1 may be calculated by referring to the moment Mx around the x axis among the moments around the three axes.
In this case, for example, when the guided person has an obstacle in the arm and the operation of pushing the grip portion 8 is difficult, but the operation of twisting the grip portion 8 is easy, the forward speed of the guiding robot 1 is grasped. It becomes possible to control to the speed according to the force which twists the part 8. FIG.

(7) In the guiding robot 1 of the present embodiment, the moment Mz about the z axis is referred to when calculating the turning speed of the guiding robot 1 in the free movement mode, but the present invention is not limited to this. That is, in addition to the moment Mz about the z axis, the force Fx applied in the x axis direction among the forces applied in the three axis directions, and the moment My about the y axis among the moments about the three axis axes. , The turning speed of the guidance robot 1 may be calculated.
In this case, for example, when the guided person has an obstacle in the arm and the operation of pushing the grip portion 8 is difficult, but the operation of twisting the grip portion 8 is easy, the turning speed of the guiding robot 1 is grasped. It becomes possible to control to the speed according to the force which twists the part 8. FIG.

(8) The guidance robot 1 according to the present embodiment is configured to include the two caster devices 16 disposed on the lower surface of the base body 2 in front and rear of the moving wheel 4 in a side view. It is not limited to. That is, on the lower surface of the base body 2, in addition to the two caster devices 16 disposed forward and rearward from the moving wheel 4 in a side view, the left moving wheel and the right moving wheel forming the moving wheel 4, respectively. In addition, the caster device 16 may be provided.
(9) In the control method of the guidance robot 1 of the present embodiment, the driving force generated by the moving actuator 62 is increased as the input detected by the input value detecting means 10 is increased. However, the present invention is not limited to this. Absent. That is, the driving force generated by the moving actuator 62 may be controlled by referring only to the presence and direction of the input, regardless of the magnitude of the input detected by the input value detection means 10.

(Second embodiment)
Next, a second embodiment of the present invention (hereinafter referred to as “the present embodiment”) will be described with reference to the drawings.
(Constitution)
First, with reference to FIGS. 1 to 5, the configuration of the guidance robot of the present embodiment will be described.
The guiding robot 1 according to the present embodiment has the same configuration as that of the first embodiment described above except for the process of generating the motor command signal performed by the moving actuator control unit 92. For this reason, the following description will focus on the process of generating the motor command signal performed by the moving actuator control means 92.

  In the guidance robot 1 of the present embodiment, the target speed (target movement speed, target turning speed) of the guidance robot 1 is determined by the movement of the guidance robot 1 in the generation of the motor command signal performed by the movement actuator control means 92. Correction is made using the viscosity term corresponding to the speed. As a result, the movement actuator control means 92 corrects the target speed using the viscosity term corresponding to the movement speed of the guidance robot 1 and moves the movement actuator 62 so that the base body 2 moves at the corrected target speed. Control the drive.

  That is, in the guidance robot 1 of this embodiment, when the forward direction is positive, the speed of the guidance robot 1 is set to V [m / s], the virtual mass of the guidance robot 1 is set to M, and guidance is performed. The forward viscosity coefficient of the robot 1 is set as Sy [N / (m / s)]. In addition, the velocity V of the guiding robot 1 is corrected by the following equation (7) using the force Fy (see step S12 in FIG. 5) applied in the y-axis direction. As a result, the behavior of the guiding robot 1 reflects the viscosity term corresponding to the moving speed of the guiding robot 1 and the input to the gripper 8 by the guided person.

  Further, in the guiding robot 1 of the present embodiment, when the right turn is positive, the turning speed of the guiding robot 1 is R [rad / s], and the virtual mass of the guiding robot 1 is M and z axes. The virtual moment of rotation is set as Irz, and the viscosity coefficient in the turning direction of the guiding robot 1 is set as Srz [Nm / (rad / s)]. In addition, the turning speed R of the guiding robot 1 is corrected by the following equation (8) using the moment Mz about the z axis (see step S14 in FIG. 5). As a result, the behavior of the guiding robot 1 reflects the viscosity term corresponding to the moving speed of the guiding robot 1 and the input to the gripper 8 by the guided person.

Therefore, the control method of the guiding robot 1 according to the present embodiment corrects the target speed using the viscosity term corresponding to the moving speed of the base body 2, that is, the guiding robot 1, and the base body 2 uses the corrected target speed. In this control method, the drive of the moving actuator 62 is controlled so as to move.
Other configurations are the same as those of the first embodiment described above.

(Operation)
Next, the operation of this embodiment will be described with reference to FIGS. 1 to 5 and FIGS. 7 and 8. FIG.
Regardless of the guide movement mode of the guidance robot 1, the operation of the guidance robot 1 in this embodiment corrects the target speed using a viscosity term corresponding to the movement speed of the guidance robot 1, and this corrected target speed. The difference from the operation of the first embodiment described above is only that the driving of the moving actuator 62 is controlled so that the base body 2 moves.
In other words, the guiding robot 1 according to the present embodiment allows the guided person to hold the gripping portion 8 from the state where the guided person grips the gripping portion 8, such as when the guided person slides his / her hand from the gripping portion 8. When shifting to a state where the robot is not gripped, the moving speed and the turning speed of the guiding robot 1 are corrected by the above-described equations (7) and (8).

  Therefore, in the present embodiment, it is possible to suppress a sudden change in the moving speed of the guiding robot 1 when the guiding robot 1 moves. Further, in a state where there is no input to the gripping portion 8 by the guided person, the moving speed and the turning speed of the guiding robot 1 gradually decrease according to the viscosity term, and the operation of the guiding robot 1 does not stop. Occurrence can be prevented.

(Effect of the second embodiment)
Hereinafter, effects of the guidance robot 1 of the present embodiment will be listed.
(1) In the guiding robot 1 of the present embodiment, the moving actuator control means 92 corrects the target speed using the viscosity term corresponding to the moving speed of the base body 2, and the base body 2 moves at the corrected target speed. Thus, the drive of the moving actuator 62 is controlled.
For this reason, it is possible to suppress a sudden change in the moving speed of the guiding robot 1 when the base body 2, that is, the guiding robot 1 is moved.

Further, in the state where there is no input to the gripping part 8 by the guided person, the moving speed of the guiding robot 1 can be gradually decreased according to the viscosity term. It is possible to prevent a situation in which the operation of the guidance robot 1 does not stop in the state where there is no input.
As a result, it is possible to improve safety when the guiding robot 1 is used.

(2) In the control method of the guiding robot 1 according to the present embodiment, the target speed is corrected using the viscosity term corresponding to the moving speed of the base body 2, and the base body 2 moves so as to move at the corrected target speed. The driving of the actuator 62 is controlled.
For this reason, it is possible to suppress a sudden change in the moving speed of the guiding robot 1 when the base body 2, that is, the guiding robot 1 is moved.
Further, in the state where there is no input to the gripping part 8 by the guided person, the moving speed of the guiding robot 1 can be gradually decreased according to the viscosity term. It is possible to prevent a situation in which the operation of the guidance robot 1 does not stop in the state where there is no input.
As a result, it is possible to improve safety when the guiding robot 1 is used.

(Application examples)
Hereinafter, application examples of this embodiment will be described.
(1) In the guidance robot 1 of the present embodiment, the movement speed and the turning speed of the guidance robot 1 are corrected using the viscosity term corresponding to the movement speed of the base body 2 in the generation of the motor command signal. It is not limited to. That is, in generating the motor command signal, only one of the moving speed and the turning speed of the guiding robot 1 may be corrected using a viscosity term corresponding to the moving speed of the base body 2.

(Third embodiment)
Next, a third embodiment of the present invention (hereinafter referred to as “the present embodiment”) will be described with reference to the drawings.
(Constitution)
First, with reference to FIGS. 1 to 5, the configuration of the guidance robot of the present embodiment will be described.
Although not specifically shown, the guiding robot 1 of the present embodiment is different from the first and second embodiments described above, and in addition to the movement and turning of the guiding robot 1 in the front-rear direction, the guiding robot 1 moves in the left-right direction. It is possible to move. This is formed using, for example, an omnidirectional mobile carriage having a configuration in which four driving wheels respectively arranged at the vertices of a quadrilateral can turn independently. In the following description, the case where the guiding robot 1 is formed using the above-described omnidirectional carriage is described.

That is, the guiding robot 1 of this embodiment is not a two-degree-of-freedom movement of the forward speed and the turning speed as in the first and second embodiments described above, but the three speeds of the forward speed, the turning speed, and the left-right speed. Move in degrees of freedom.
Accordingly, the guidance robot 1 of the present embodiment is different from the first and second embodiments described above in the process of generating the motor command signal performed by the moving actuator control unit 92.

Hereinafter, processing for generating a motor command signal performed by the moving actuator control means 92 will be described.
In the guidance robot 1 of the present embodiment, in the process of generating a motor command signal performed by the movement actuator control unit 92, guidance is performed using the input F to the gripping unit 8 and the virtual inertia I of the guidance robot 1. The moving speed V [m / s] of the robot 1 is calculated. And the process which produces | generates a motor command signal is performed so that this calculated moving speed V may be implement | achieved.

Here, the input F to the gripping unit 8 is defined by the following equation (9).
F = [Fx Fy Fz Mx My Mz] ^T (9)
Further, the virtual inertia I of the guiding robot 1 is defined by the following equation (10).
I = [IxIyIzIrxIryIrz] ^T (10)
The moving speed V of the guiding robot 1 is defined by the following equation (11).
V = [Vx Vy Vz Rx Ry Rz] ^T (11)
As described above, when the input F to the gripping unit 8, the virtual inertia I of the guiding robot 1, and the moving speed V of the guiding robot 1 are defined, the moving speed V of the guiding robot 1 is expressed by the following equation (12). Is calculated by

Other configurations are the same as those of the first embodiment described above.
(Operation)
Next, the operation of this embodiment will be described with reference to FIGS. 1 to 5 and FIGS. 7 and 8. FIG.
Regardless of the guidance movement mode of the guidance robot 1, the operation of the guidance robot 1 in this embodiment calculates the forward speed, the turning speed, and the left / right speed of the guidance robot 1 and drives the movement actuator 62. Only the control is different from the operations of the first and second embodiments described above.

(Effect of the third embodiment)
Hereinafter, effects of the guidance robot 1 of the present embodiment will be described.
(1) In the guiding robot 1 of the present embodiment, the forward speed and the turning speed of the guiding robot 1 with respect to the guiding robot 1 configured to be able to move in the left-right direction in addition to moving in the front-rear direction and turning. And the left-right speed is calculated, and the drive of the moving actuator 62 is controlled.
This is because the six-axis force sensor is used to detect the force applied in the directions of the three axes orthogonal to each other and the moment around the axis of the three axes, thereby allowing the guided person to input the grip portion 8. This is for use in the three-dimensional operation of the guidance robot 1.
As a result, the degree of freedom of operation is improved and smooth movement is possible as compared with the guidance robot 1 of the first and second embodiments described above, and therefore two degrees of freedom in the front-rear direction and the turning direction. The use conditions of the guidance robot 1 can be expanded without being limited to this movement.

(Application examples)
Hereinafter, application examples of this embodiment will be listed.
(1) In the guiding robot 1 of the present embodiment, the guiding robot 1 is formed by using an omnidirectional mobile carriage having a configuration in which four driving wheels respectively arranged at the vertices of a quadrilateral can turn independently. However, the configuration of the guidance robot 1 is not limited to this.
That is, the guiding robot 1 may be configured to include, for example, a screw or a hydrojet device that can generate thrust in directions of three axes orthogonal to each other and capable of moving in water with six degrees of freedom.
In addition, the guidance robot 1 may be configured to include, for example, a hover spray device that can generate thrust in directions of three axes orthogonal to each other and capable of moving in the air with six degrees of freedom.

(2) In the guiding robot 1 of the present embodiment, the moving speed V of the guiding robot 1 is calculated by the above equation (12) using the input F to the gripping unit 8 and the virtual inertia I of the guiding robot 1. However, the present invention is not limited to this. That is, the moving speed V of the guiding robot 1 may be corrected using a viscosity term corresponding to the moving speed of the guiding robot 1.
In this case, the viscosity coefficient S is defined by the following equation (13).
S = [Sx Sy Sz Srx Sry Srz] (13)
Then, the moving speed V of the guiding robot 1 is calculated by the following equation (14).

  In this way, by correcting the moving speed V of the guiding robot 1 using the viscosity term corresponding to the moving speed of the guiding robot 1, it is possible to suppress a sudden change in the moving speed of the guiding robot 1. It becomes possible. In addition, it is possible to prevent a situation in which the operation of the guiding robot 1 does not stop when there is no input to the gripping portion 8 by the guided person. For this reason, it becomes possible to improve the safety | security at the time of use of the guidance robot 1. FIG.

(Fourth embodiment)
Next, a fourth embodiment of the present invention (hereinafter referred to as “the present embodiment”) will be described with reference to the drawings.
(Constitution)
First, with reference to FIGS. 1 to 5, the configuration of the guidance robot of the present embodiment will be described.
The guiding robot 1 of this embodiment has the same configuration as that of the third embodiment described above, except for the process of generating a motor command signal performed by the moving actuator control means 92. For this reason, the following description will focus on the process of generating the motor command signal performed by the moving actuator control means 92.

  In the guidance robot 1 of the present embodiment, the target speed (target movement speed, target turning speed) of the guidance robot 1 is determined by the movement of the guidance robot 1 in the generation of the motor command signal performed by the movement actuator control means 92. Correction is made using a friction term corresponding to the speed. As a result, the movement actuator control means 92 corrects the target speed using the friction term corresponding to the movement speed of the guidance robot 1, and moves the movement actuator 62 so that the base body 2 moves at the corrected target speed. Control the drive.

Hereinafter, processing for generating a motor command signal performed by the moving actuator control means 92 will be described.
In the guidance robot 1 of the present embodiment, in the process of generating the motor command signal performed by the movement actuator control means 92, the input F to the gripping unit 8, the virtual inertia I of the guidance robot 1, and the guidance robot. The moving speed V of the guiding robot 1 is calculated using the viscosity coefficient S in the forward direction 1, the virtual mass M of the guiding robot 1, and the friction coefficient μ of the guiding robot 1. And the process which produces | generates a motor command signal is performed so that this calculated moving speed V may be implement | achieved.

Here, the friction coefficient μ of the guiding robot 1 is defined by the following equation (15).
μ = [μx (Vx) μy (Vy) μz (Vz) μrx (Rx) μry (Ry) μrz (Rz)] ^T (15)
The friction coefficient μ of the guiding robot 1 is switched between static friction generated when the guiding robot 1 is stopped and dynamic friction generated when the guiding robot 1 is moved, depending on the speed of the guiding robot 1.
As described above, when the friction coefficient μ of the guiding robot 1 is defined, the moving speed V of the guiding robot 1 is calculated by the following equation (16).

Therefore, the control method of the guiding robot 1 according to the present embodiment corrects the target speed by using the friction term corresponding to the moving speed of the base body 2, that is, the guiding robot 1, and the base body 2 moves at the corrected target speed. In this control method, the drive of the moving actuator 62 is controlled so as to move.
Other configurations are the same as those of the first embodiment described above.

(Operation)
Next, the operation of this embodiment will be described with reference to FIGS. 1 to 5 and FIGS. 7 and 8. FIG.
Regardless of the guidance movement mode of the guidance robot 1, the operation of the guidance robot 1 in this embodiment corrects the target speed using the friction term corresponding to the movement speed in the guidance robot 1, and this corrected target speed. The difference from the operation of the first embodiment described above is only that the driving of the moving actuator 62 is controlled so that the base body 2 moves.

In other words, the guiding robot 1 according to the present embodiment allows the guided person to hold the gripping portion 8 from the state where the guided person grips the gripping portion 8, such as when the guided person slides his / her hand from the gripping portion 8. When moving to a state where the robot is not gripped, the moving speed of the guiding robot 1 is corrected by the above-described equations (15) and (16).
Therefore, in the present embodiment, it is possible to suppress a sudden change in the moving speed of the guiding robot 1 when the guiding robot 1 moves. Further, in the state where there is no input to the gripping portion 8 by the guided person, the moving speed of the guiding robot 1 gradually decreases according to the friction term, thereby preventing the state where the operation of the guiding robot 1 does not stop. It becomes possible to do.

(Effect of the fourth embodiment)
Hereinafter, effects of the guidance robot 1 of the present embodiment will be listed.
(1) In the guiding robot 1 of the present embodiment, the moving actuator control means 92 corrects the target speed using the friction term corresponding to the moving speed of the base body 2, and the base body 2 moves at the corrected target speed. Thus, the drive of the moving actuator 62 is controlled.
For this reason, it is possible to suppress a sudden change in the moving speed of the guiding robot 1 when the base body 2, that is, the guiding robot 1 is moved.
Further, in the state where there is no input to the gripping part 8 by the guided person, the moving speed of the guiding robot 1 can be gradually reduced according to the friction term. It is possible to prevent a situation in which the operation of the guidance robot 1 does not stop in the state where there is no input.
As a result, it is possible to improve safety when the guiding robot 1 is used.

(2) In the control method of the guiding robot 1 according to the present embodiment, the target speed is corrected using the friction term corresponding to the moving speed of the base body 2, and the base body 2 moves so as to move at the corrected target speed. The driving of the actuator 62 is controlled.
For this reason, it is possible to suppress a sudden change in the moving speed of the guiding robot 1 when the base body 2, that is, the guiding robot 1 is moved.
Further, in the state where there is no input to the gripping part 8 by the guided person, the moving speed of the guiding robot 1 can be gradually reduced according to the friction term. It is possible to prevent a situation in which the operation of the guidance robot 1 does not stop in the state where there is no input.
As a result, it is possible to improve safety when the guiding robot 1 is used.

DESCRIPTION OF SYMBOLS 1 Guide robot 2 Base | substrate 4 Moving wheel 6 Obstacle detection means 8 Grip part 10 Input value detection means 12 Movement mode switching operation part 14 Speaker 16 Caster device 18 Frame part 20 Grip part 24 Caster 26 Telescopic actuator 28 Floor reaction force Detection unit 30 Equilibrium wheel 34 Caster support shaft 52 Movement control mechanism 54 Equilibrium control mechanism 56 Map storage unit 58 Self-position specifying unit 60 CPU
62 Actuator for Movement 64 Encoder for Movement 66 Driver for Movement 68 Rotation Angle Position Input I / F
70 Movement command signal output I / F
72 Encoder for expansion / contraction 74 Driver for expansion / contraction 76 Linear motion input I / F
78 Expansion command signal output I / F
80 Route generation data input I / F
82 Sensor signal input I / F
84 Video output I / F
86 Audio output I / F
88 Detection input value permitting means 90 Movement path generating means 92 Moving actuator control means 94 Telescopic actuator control means

Claims (2)

A base, a moving actuator that is provided on the base and generates a driving force for moving the base, a moving actuator control means for controlling the driving of the moving actuator, and a grip attached to the base A guidance robot comprising: a portion; and an input value detecting means for detecting an input to the gripping portion,
A balancing wheel that supports the base body, a telescopic part that is interposed between the base body and the balancing wheel, and stretches in a direction perpendicular to the rotation axis of the balancing wheel, and the telescopic part can be stretched. A caster device having a telescopic actuator that generates a driving force and a telescopic actuator control unit that controls driving of the telescopic actuator;
The movement actuator control means calculates a target speed of the base in accordance with the input detected by the input value detection means, and drives the movement actuator so that the base moves at the calculated target speed. Control
The input value detecting means is a six-axis force sensor capable of detecting a force applied in directions of three axes orthogonal to each other and a moment around the axis of the three axes,
The expansion / contraction actuator control unit drives the expansion / contraction actuator according to at least one of a force applied in the direction of the three axes detected by the six-axis force sensor and a moment about the axis of the three axes. A guiding robot characterized by controlling the motor. A floor reaction force detection unit for detecting a floor reaction force received by the caster device;
The guidance robot according to claim 1, wherein the expansion / contraction actuator control unit controls driving of the expansion / contraction actuator according to the floor reaction force detected by the floor reaction force detection unit.

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