JP2014164315A - Self-propelled transporting device and system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-propelled transporting device without fear of theft and without need for a user to look backward and confirm safety.SOLUTION: A self-propelled transporting device 100 detects motion of a user in a state non-contacting with the user in the front of the user, and propels at the front of the user according to walking of the user on the basis of detected output.

Description

  The present invention relates to a self-propelled transport device and system that stores articles and is self-propelled.

  There is known a user tracking type mobile robot apparatus that tracks and moves after a walking user. For example, Patent Document 1 describes a robot apparatus of this type that includes a storage unit for a container that functions as a luggage carrier, a cart, or the like.

JP-A-8-166822

  However, in the case of following the user like the device of Patent Document 1, the device does not enter the field of view of the user walking forward. For this reason, there is a possibility that the device may be stolen when the device is used in a public place, and it is necessary for the user to look back frequently to check whether the device is following or not, which hinders walking. .

A self-propelled transport device according to the present invention includes a storage unit that stores a transport target and a traveling unit that travels integrally with the storage unit by an electric actuator, and in front of the user, the user's movement is not compared with the user. A detection unit that detects in a contact state, and a control unit that controls the traveling unit so that the self-propelled transport device travels in front of the user according to the user's walking based on the detection output of the detection unit. It is characterized by that.
A self-propelled transport system according to the present invention includes a storage unit that stores a target to be transported, a self-propelled transport device that includes a traveling unit that travels integrally with the storage unit by an electric actuator, and a portable device that a user carries. In addition, the portable device has a transmission unit that transmits a radio signal to a self-propelled transport device located in front of the user, and the self-propelled transport device receives a signal from the transmission unit and detects a user's movement The self-propelled transport device has a control unit that controls the traveling unit to travel in front of the user according to the user's walking based on the detection output of the detecting unit.

  According to the present invention, since the device always enters the field of view of the walking user, there is no fear of theft and there is no need to look back.

The figure which shows the self-propelled conveyance system in one Embodiment of this invention. The figure seen from the upper part of FIG. It is a figure which shows the suitcase which comprises a self-propelled conveyance system, (a) is a top view, (b) is a front view, (c) is a side view, (d) is a rear view. The control block diagram of the mechanism with which the suitcase was equipped. Schematic of a remote controller worn by a user. The figure which shows the variation of the light reception state of a line sensor. The main flowchart which shows the process sequence of the self-propelled control by CPU of the suitcase side. The flowchart which shows the detail of the safety process of FIG. The flowchart which shows the detail of the driving | running | working process of FIG.

An embodiment of the present invention will be described with reference to the drawings.
1 and 2, the self-propelled transport system according to the present embodiment includes a self-propelled suitcase (hereinafter simply referred to as a suitcase) 100 as a self-propelled transport device and a remote controller 200 carried by the user. The suitcase 100 has wheels 121 that are driven by an electric actuator, and travels in front of the walking user in the direction in which the user proceeds. By using such a self-propelled suitcase 100, the physical burden on the user can be greatly reduced.

  As shown in FIG. 3, the suitcase 100 includes a baggage storage unit 110 for storing a baggage (transport object) such as clothes, and a mechanical storage unit disposed below the baggage storage unit 110 (a lower part when the wheel 121 is grounded). 120 and integrated. As shown in FIG. 3D, a line sensor 111 and an infrared light receiving unit 112 are provided on the rear surface 110 </ b> A (surface facing the user) of the luggage storage unit 110. The line sensor 111 is a photoelectric conversion element in which pixels are arranged in the left-right direction as viewed from the user, and constitutes a mechanism for detecting the user's movement together with the light projecting unit 201 of the remote controller 200 (details will be described later).

  As shown in FIGS. 3B and 3C, the front surface 120A of the mechanical housing unit 120 is provided with an obstacle / gradient sensor 122, and the bottom surface 120B is provided with a step / gradient sensor 123. The obstacle / gradient sensor 122 measures the distance to an object located in front of the suitcase 100, and for example, a known infrared distance sensor or ultrasonic distance sensor can be used. The obstacle / gradient sensor 122 can also detect a slope (uphill). The step / gradient sensor 123 measures the distance between the foremost part of the bottom surface 120B and the surface (mostly the ground and floor) facing the bottom 120B, and has the same configuration as the obstacle / gradient sensor 122 described above. Can be used. The step / gradient sensor 123 can also detect a slope (downhill).

  In the mechanical housing 120, a drive mechanism 124 for driving the wheels 121, a control circuit board 125 for controlling the drive mechanism 124, a battery chamber (not shown) in which a battery is inserted and removed, and the like are provided. ing. The drive mechanism 124 includes a travel motor for rotationally driving the wheels 121 (either front wheels or rear wheels), an actuator for steering the wheels 121, a power transmission mechanism, and the like. These motors and actuators and the circuit components on the board 125 are powered and operated by a battery in the battery chamber. Each of the sensors 111, 122, 123 is connected to the control circuit board 125 via a wiring member (not shown), and operates by receiving power from the battery.

  FIG. 4 shows a control system of the mechanism accommodated in the mechanical accommodating portion 120. The detection output of each sensor 111, 122, 123 is input to the CPU 126 on the substrate 125 via the wiring member. The infrared light receiving unit 112 receives infrared light transmitted from the remote controller 200 and inputs a light reception signal to the CPU 126. The CPU 126 controls the travel motor and the steering actuator of the drive mechanism 124 based on the signals from the sensors 111, 122, 123 and the infrared light receiving unit 112, and travel control of the suitcase 100, that is, travel start, stop, speed change. , Steer (left turn, right turn).

  FIG. 5 shows a schematic configuration of the remote controller 200. As shown in FIG. 1, the remote controller 200 can be attached to a user's belt. Alternatively, the user may wear a belt to which the remote controller 200 is attached in advance. The remote controller 200 includes two light projecting units 201 and 202 for projecting light toward the suitcase 100 in front of the user, and a power button 203. The light projecting units 201 and 202 are operated by receiving power from a battery (not shown) attached to the remote controller 200.

  The light projecting unit 201 includes a light source and a light projecting lens, and the irradiated light is received by the line sensor 111 on the suitcase 100 side. The irradiation angle α (FIG. 2) in the left-right direction of the irradiation light is adjusted according to the length of the line sensor 111, and the light collecting property is further increased in the vertical direction, thereby increasing the intensity of the irradiation light. For example, these characteristics can be realized by using a toroidal lens as a projection lens.

  The other light projecting unit 202 is an infrared light projecting unit corresponding to the infrared light receiving unit 112 on the suitcase 100 side, and performs light projection according to the operation of the power button 203. The irradiated infrared light functions as a signal for instructing power on or off (start or end of self-running control of the suitcase 100).

  FIGS. 6A to 6E show the light receiving states in the line sensor 111, respectively. As described above, the received light is the emitted light (optical wireless signal) from the light projecting unit 201, and Edl and Edr indicate the left and right edges of the emitted light, respectively. The hatched portion indicates a non-light receiving portion. Here, the line sensor 111 is provided so as to cover almost the entire width of the suitcase 100. In the figure, the line sensor 111 is divided into left and right considering the opening and closing of the suitcase 100, but in practice, only one line sensor may be used.

  In FIG. 6A, both the left and right edges Edl and Edr of the irradiated light are within the line sensor 111, and the interval between the left and right edges is maintained at the reference value. This is referred to as a first state (normal state). Call. The first state is realized when the user (more precisely, the remote controller 200) faces the rear surface 110A of the suitcase 100 and the distance between the user and the suitcase 100 is maintained at an appropriate distance. The appropriate distance is determined by the irradiation angle α in the left-right direction of the light emitted from the light projecting unit 201 of the remote controller 200.

  In FIG. 6B, both the left and right edges Edl and Edr are outside the line sensor 111, which is referred to as a second state. The second state can occur when the distance between the user and the suitcase 100 is longer than the appropriate distance.

  In FIG. 6C, the left and right edges Edl and Edr of the irradiated light are within the line sensor 111, but the distance between the left and right edges is shorter than the reference value, which is referred to as a third state. The third state can occur when the distance between the user and the suitcase 100 is shorter than the appropriate distance.

  FIG. 6D shows an example in which only the left edge Edl protrudes outward, and this is called a fourth state. The fourth state can occur when the angle of the optical axis of the irradiation light from the remote controller 200 changes to the left side, that is, when the user turns slightly to the left side.

  FIG. 6 (e) shows an example in which only the right edge Edr protrudes to the outside, and this is called a fifth state. The fifth state can occur when the angle of the optical axis of the irradiation light from the remote controller 200 changes to the right side, that is, when the user turns slightly to the right side.

  FIG. 6F shows a state in which the irradiation light from the light projecting unit 201 is completely deviated from the line sensor 111.

  7 to 9 are flowcharts for realizing the self-running control of the suitcase 100. FIG. This program is stored in advance in the memory 127 on the suitcase 100 side. When the user operates the power button 203 of the remote controller 200 in the power-off state and the light receiving unit 112 receives the infrared light emitted from the infrared light projecting unit 202, the CPU 126 reads and executes this program. In response to the operation of the power button 203, the light projecting unit 201 of the remote controller 200 starts light projection.

  The CPU 126 performs a predetermined power-on process in step S1. As a result, the travel motor and the steering actuator are operable.

Next, the CPU 126 performs a safety process in step S2.
FIG. 8 shows details of the safety process. In step S21, it is determined whether or not a step is detected by the step / gradient sensor 123, that is, whether or not the output distance of the step / gradient sensor 123 is greater than or equal to a predetermined value. If a step or a slope (downhill) is detected, step S21 is affirmed and the process proceeds to step S22, and the suitcase 100 is stopped to prevent it from falling (if stopped, the stopped state is maintained). The suitcase 100 is stopped by stopping the traveling motor constituting the drive mechanism 124. Note that a brake device may be provided and operated as necessary.
In the event that the suitcase 100 rolls down a slope (downhill), the wheel 121 may be stopped and reversely rotated so as to approach the user.

  If step S21 is negative, the process proceeds to step S23, where it is determined whether there is an obstacle ahead of the suitcase 100, that is, whether the output distance of the obstacle / gradient sensor 122 is equal to or less than a predetermined value. If an obstacle or a hill (uphill) is detected, step S23 is affirmed and the process proceeds to step S22, and the suitcase 100 is stopped to prevent collision (if the vehicle is stopped, the stopped state is maintained). Then return. If step S23 is negative, the process returns.

  In FIG. 7, after the safety process, in step S3, it is determined whether or not safety is ensured. When both of the above steps S21 and S23 are denied, it is determined that safety is ensured, and the process proceeds to the traveling process of step S4. On the other hand, if one of steps SS21 and S23 is affirmed (the suitcase 100 is stopped at this time), it is determined that safety is not ensured, and step S4 is skipped and the process proceeds to step S5. .

  FIG. 9 shows the details of the traveling process (step S4). Steps S401 to S405 are steps for confirming the light receiving state of the line sensor 111. If it is confirmed that the state is the first state (normal state) shown in FIG. 6A, the suitcase 100 is running or stopped at an appropriate distance from the user, and step S401 is affirmed. . In this case, the current state is maintained and the process returns.

  If step S401 is negative, the process proceeds to step S402, and the CPU 126 confirms whether or not the second state (FIG. 6B) is reached. The second state is when the distance between the user and the suitcase 100 is longer than the appropriate distance. For example, when the user performs a power-on operation at a position farther from the suitcase 100 than the appropriate distance. Alternatively, this may occur when the user has reduced walking speed or stopped while traveling in a suitcase. When the second state is confirmed, the CPU 126 stops the suitcase 100 in step S406 so that the distance between the user and the suitcase 100 is not further opened, that is, the distance between the two is an appropriate distance. (If stopped, keep stopped). Then return.

  If step S402 is negative, the process proceeds to step S403, and the CPU 126 confirms whether or not the state is the third state (FIG. 6C). The third state is when the distance between the user and the suitcase 100 is shorter than the appropriate distance, and the user has increased the walking speed or stopped while the suitcase 100 is running. This may occur when the user approaches the suitcase 100. When the state of FIG. 3 is confirmed, the CPU 126 determines whether the suitcase 100 is currently stopped or traveling in step S407, and if it is stopped, the suitcase 100 starts traveling in step S408. In the case of traveling, the traveling speed of the suitcase 100 is increased in step S409 so that the distance between the user and the suitcase 100 is not further blocked, that is, the distance between the two is an appropriate distance. Then return.

  If step S403 is negative, the process proceeds to step S404, and the CPU 126 confirms whether or not the state is the fourth state (FIG. 6D). When the user turns to the left and turns to the left, step S404 is affirmed, and the CPU 126 turns the suitcase 100 counterclockwise in step S410 and returns.

  If step S404 is negative, the process proceeds to step S405, and the CPU 126 confirms whether or not the state is the fifth state (FIG. 6E). If the user turns to the right and turns to the right, step S405 is affirmed, and the CPU 126 turns the suitcase 100 clockwise in step S411 and returns.

  If step S405 is negative, the suitcase 100 is stopped in step S412, and the process returns. For example, if the user greatly changes the direction in either the left or right direction, the sixth state (FIG. 6 (f)) may occur, and step S405 is denied at this time.

  After the traveling process, the CPU 126 confirms whether or not a power-off signal is received in step S5 of FIG. When the user operates the power button 203 of the remote controller 200 and the light receiving unit 112 receives the infrared light emitted from the infrared light projecting unit 202, the CPU 126 determines that the power off signal has been received, and the suitcase 100 is removed in step S6. Stop. Thereafter, in step S7, a predetermined power-off process is performed and the process is terminated. If step S5 is negative, the process returns to step S2. In response to the operation of the power button 203, the light projecting unit 201 of the remote controller 200 stops the light projection.

  7 to 9, the suitcase 100 travels in front of the user while maintaining a substantially appropriate distance from the user, and the suitcase 100 also stops as the user stops. In addition, when the user turns left and right, the suitcase 100 turns right and left accordingly. Regarding the direction change, the direction of the suitcase 100 can be smoothly changed to a desired direction (without stopping halfway) by devising how the user walks.

  Thus, by making the suitcase 100 travel in front of the user according to the user's walking, the suitcase 100 always enters the user's field of view and there is no risk of theft, and there is no need to look back and confirm. Become.

  In addition, although the example which mounts | wears with the remote control 200 to the belt was shown, you may make it mount | wear to a hat and other clothing, for example. Alternatively, the user may hold the remote control 200 in his hand and keep the remote control 200 facing the suitcase 100 while the suitcase 100 is running.

  Moreover, although the user's movement was detected by the light projection part 201 and the line sensor 111, you may detect by another method. For example, an electronic camera that captures the user's feet may be provided in the suitcase 100, and the CPU 126 may analyze the captured image (moving image) to determine the user's movement. For example, by analyzing the movement of the shoes, the direction in which the user is heading can be detected, and the distance between the user and the suitcase 100 can be estimated from the size of the shoes in the image, and the same running control as described above is performed. be able to. Further, when a predetermined way of moving the foot is performed, the CPU 126 that detects the movement can start or stop running. In this case, a user-side device (for example, the remote controller 200) is not necessary. If an image of a shoe worn by the user is registered in the memory 127 in advance and the movement of the equivalent shoe is detected, the movement of a person other than the user is not mistaken for the movement of the user.

Further, the configuration of the traveling unit is not limited to the above, and may be a crawler type traveling unit, for example. Furthermore, the present invention can be similarly applied to a transport device other than a suitcase (for example, a shopping cart or a cart).
Note that if the user's device has a navigation function, the suitcase 100 can be caused to self-run toward the destination by designating the destination in advance by the user. In this case, the suitcase 100 will need to be provided with a receiver and a drive control mechanism that work together with the navigation function described above. That is, drive control (right turn, left turn, etc.) of the suitcase 100 is performed according to a map (airport guide map etc.) aiming at the destination designated by the user. For this, a known navigation technique may be applied.

DESCRIPTION OF SYMBOLS 100 Self-propelled suitcase 110 Luggage storage part 111 Line sensor 112 Infrared light receiving part 120 Mechanical storage part 121 Wheel 122 Obstacle / gradient sensor 123 Step / gradient sensor 124 Drive mechanism 126 CPU
200 Remote control 201 Light projecting unit 202 Infrared light projecting unit

Claims (6)

A storage section for storing the object to be transported;
A self-propelled transport device that includes an electric actuator and a traveling unit that travels integrally with the storage unit,
A detection unit that detects the movement of the user in a non-contact state with the user in front of the user;
Based on the detection output of the detection unit, the self-propelled transport device includes a control unit that controls the traveling unit so as to travel in front of the user according to the user's walking. Conveying device.   The detection unit detects a user's walking, stop, walking speed, and walking direction, and the control unit is based on a detection output of the detection unit, and the self-propelled transport device advances by the user in front of the user. The self-propelled type according to claim 1, wherein the self-propelled transport device is controlled such that the self-propelled transport device stops with a stop of the user while traveling with a predetermined distance from the user in the direction. Conveying device.   The self-propelled according to claim 1 or 2, wherein the detection unit receives a radio signal emitted from a device owned by the user in front of the user, and detects a user's movement based on the received signal. Type transporter.   The self-propelled according to claim 3, wherein the detection unit includes a line sensor that receives an optical wireless signal emitted from the device possessed by the user, and detects a user's movement from an output signal of the line sensor. Type transporter.   The said detection part contains the imaging part which images a user's foot in front of a user, and detects a user's movement based on the image obtained in the imaging part. Self-propelled transport device. A self-propelled transport device including a storage unit that stores a transport object, and a traveling unit that travels integrally with the storage unit by an electric actuator;
Including a portable device carried by the user,
The portable device has a transmission unit that transmits a radio signal to the self-propelled transport device located in front of the user,
The self-propelled transport device receives a signal from the transmission unit and detects a user's movement, and the self-propelled transport device is based on the detection output of the detection unit. And a control unit that controls the traveling unit so that the vehicle travels according to the user's walking.

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