JP2015084129A - Guidance robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a guidance robot capable of safely guiding a pedestrian having difficulty in autonomous walking.SOLUTION: A distance image sensor 25 is included for detecting an obstacle (upper obstacle) existing in front of a self-propelled body 2 and above an upper end part of the self-propelled body 2 up to the height equivalent to the stature of a pedestrian. When the upper obstacle is detected, obstacle avoidance control is performed for avoiding contact with the obstacle. As the obstacle avoidance control, control for correcting a travel direction of the self-propelled body 2 to a direction for avoiding the obstacle, control for stopping travel off the self-propelled body 2, control for guiding by voice that the obstacle is close to the self-propelled body 2, and the like are performed.

Description

  The present invention relates to a guidance robot that supports the traveling of a pedestrian who is difficult to autonomously walk.

As a conventional guidance robot, for example, there is a technique described in Patent Document 1. This technology moves while detecting a safety confirmation mark installed on the ceiling or wall using a camera installed on the head of the robot, and stops moving when the mark is no longer detected.
As another guidance robot, there is a technique described in Patent Document 2. This technique moves so as to avoid an obstacle when a front obstacle is detected.

JP 2010-176203 A JP 2006-155039 A

  However, in the technique described in Patent Document 1, it is not possible to detect an obstacle at a height near the operator's head only by detecting a mark with a specific shape installed near the ceiling. Can not. Also, with the technique described in Patent Document 2, it is not possible to detect an obstacle at a height in the vicinity of the operator's head only by detecting an obstacle in front.

As described above, the technology described in each patent document cannot detect an obstacle above the upper end of the robot. Therefore, when there is an obstacle near the operator's head, the robot moves under the obstacle. Although it can pass, the operator may not be able to pass and may touch an obstacle. In particular, when the visually impaired person is an operator, it is necessary to take measures against this upward obstacle.
Therefore, an object of the present invention is to provide a guidance robot that can safely guide a pedestrian who is difficult to autonomously walk.

  In order to solve the above problems, an aspect of the guidance robot according to the present invention includes an operation input unit that a pedestrian holds and inputs a moving direction, a self-propelled body that can travel in any direction by wheels, Based on the movement direction input by the operation input unit, a traveling control unit that controls the traveling of the self-propelled vehicle, and the pedestrian in front of the self-propelled vehicle and above the upper end of the self-propelled vehicle. An obstacle detection unit for detecting an obstacle existing up to a height equal to the height of the vehicle, and obstacle avoidance for avoiding contact with the obstacle when the obstacle detection unit detects the obstacle And an obstacle avoidance control unit that performs control.

  In this way, since obstacles that exist up to the height of the pedestrian in front of the self-propelled body and above the upper end of the self-propelled body are detected and obstacle avoidance control is performed, Contact with an obstacle at a height near the head can be avoided. Therefore, for example, even when there are obstacles that can pass the guidance robot but the pedestrian cannot touch the pedestrian, the contact between the obstacle and the pedestrian can be avoided. Can be guided.

In the above guidance robot, the obstacle avoidance control unit performs control for correcting the traveling direction of the self-propelled body by the travel control unit in the direction of avoiding the obstacle as the obstacle avoidance control. Preferably it is done. Thereby, the traveling of the self-propelled body can be continued while avoiding contact with the obstacle.
Furthermore, in the above-described guidance robot, it is preferable that the obstacle avoidance control unit performs control for stopping the traveling of the self-propelled body as the obstacle avoidance control. Thereby, contact with an obstacle can be avoided reliably.

  In the above guiding robot, it is preferable that the obstacle avoidance control unit performs, as the obstacle avoidance control, voice guidance that the obstacle is approaching the self-propelled body. Thereby, it is possible to alert the pedestrian and to prompt the pedestrian to avoid contact with the obstacle.

  The guidance robot according to the present invention can detect obstacles in front of and above the self-propelled body, so it detects obstacles at a height near the operator's head and avoids contact with the obstacles. Can be controlled. Therefore, even when a visually impaired person is an operator, guidance can be performed safely.

It is a perspective view which shows the robot for guidance which concerns on this embodiment. It is a front view of FIG. It is a right view of FIG. It is a bottom view of FIG. It is a figure which shows the detection range of a distance image sensor (upper obstacle sensor). It is a figure which shows the detection range of a distance image sensor (upper obstacle sensor). It is a block diagram which shows a traveling control apparatus. It is a functional block diagram of a travel control part.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(Constitution)
1 is a perspective view showing a guidance robot according to this embodiment, FIG. 2 is a front view, FIG. 3 is a right side view, and FIG. 4 is a bottom view.
The guidance robot 1 has a self-propelled body 2 that travels in an arbitrary direction. This self-propelled body 2 includes a base 3 that is formed in a streamline shape with a sharp front end when viewed from the bottom and has a height that is about the knee of an operator (pedestrian) of the guiding robot 1, for example. Yes. The base 3 is formed with a width on the rear end face larger than the shoulder width of the operator, and a recess 4 is formed on the rear end face for accommodating the lower leg of the operator recessed forward.

On the bottom surface of the base 3, a caster 5 is pivotably disposed on the front end side, and driving wheels (wheels) 6L and 6R are rotatably supported at left and right positions on the rear end side. In these drive wheels 6L and 6R, pulleys 8L and 8R are fixed inside the axles 7L and 7R, respectively.
Endless timing belts 11L and 11R are wound between the pulleys 8L and 8R and the pulleys 10L and 10R fixed to the rotation shafts of the electric motors 9L and 9R disposed on the front side of the drive wheels 6L and 6R. Thus, the drive wheels 6L and 6R are rotationally driven at the same rotational speed as the rotational speeds of the rotating shafts of the electric motors 9L and 9R. Here, each of the electric motors 9L and 9R is provided with non-excitation actuating brakes 12L and 12R that operate the brake in a non-excited state.

At this time, if the rotation speeds of the rotating shafts of the electric motors 9L and 9R are made equal, the base 3 moves in the front-rear direction according to the rotation direction of the rotating shaft, and the rotation speed of the left driving wheel 6L is changed to the right driving wheel 6R. When driven at a rotational acceleration (or faster rotational speed) slower than the rotational speed of the base 3, the base 3 turns left (or turns right).
In addition, when the right driving wheel 6R (or the left driving wheel 6L) is driven to rotate in the forward direction with the left driving wheel 6L (or the right driving wheel 6R) stopped, the left (or right) turning state is established. Become.

Further, the left driving wheel 6L (or the right driving wheel 6R) is reversely driven, and the right driving wheel 6R (or the left driving wheel 6L) is driven to rotate forward. Become.
Thus, the base 3 can be made to travel in an arbitrary direction by controlling the rotational speeds of the left and right drive wheels 6L and 6R.
A support arm 15 that is inclined and extended from the front end side to the rear side on the upper surface thereof is fixed to the base 3. A horizontal arm 16 is formed at the upper end of the support arm 15 so as to extend rearward in parallel with the base 3 to a position near the recess 4 of the base 3.

On the rear end side of the upper surface of the horizontal arm 16, an operation input unit 17 for inputting the traveling direction is disposed. The operation input unit 17 includes a grip 18 that an operator can hold with one finger, and a six-axis force sensor that detects the input in the XYZ axial directions applied to the grip 18 by connecting and supporting the grip 18. 19.
On the side surface on the front end side of the base 3, for example, a band-shaped opening 21 is formed over an angle range of 300 degrees. A scanner range sensor 22 as an obstacle detection sensor is provided on the inner side corresponding to the tip of the opening 21. This scanner-type range sensor 22 uses a laser beam in an angle range of 270 degrees excluding a 90-degree angle range on the rear side in the horizontal direction, and is an obstacle below (on the floor) (hereinafter referred to as a downward obstacle). It measures the distance up to.

A scanner range sensor 23 as an obstacle sensor is provided on the front end side of the horizontal arm 16. Similarly to the scanner range sensor 22, the scanner range sensor 23 also measures the distance to the obstacle below by using laser light in an angle range of 270 degrees excluding the 90 degree angle range on the rear side in the horizontal direction. To do.
A scanner-type range sensor 24 as an obstacle sensor is provided on the back side of the upper end side of the support arm 15. This scanner-type range sensor 24 measures the distance to the obstacle on the diagonally lower side, for example, in an angular range of 240 degrees excluding the angular range of 120 degrees on the upper side.

  Further, a distance image sensor 25 as an upper obstacle sensor is provided on the front side of the lower end portion of the support arm 15 that is near the center portion of the guiding robot 1. The distance image sensor 25 is a so-called depth camera that projects a specific pattern in a space above and above by an infrared laser and measures the position and distance of an object by photographing the pattern with a camera. The distance image sensor 25 detects an obstacle in front and above the guidance robot 1 (hereinafter referred to as an upper obstacle).

  As shown in FIG. 5, the distance image sensor 25 has a detection range of θ1 (for example, 30 °) to θ2 (for example, 80 °) upward with respect to the horizontal plane in a side view of the guiding robot 1, and It is set as area | region A1 from the floor surface to the height of H1 (for example, 2000 mm). That is, in the projection range of the distance image sensor 25, the region A2 from the floor surface to the height from the height H1 to the ceiling (the height from the floor surface to H (for example, 2400 mm)) is outside the detection range.

However, θ2 is not limited to 80 °, and may be as large as possible within a range where the region A1 does not overlap the upper portion of the guiding robot 1. In that case, an obstacle closer to the operator can be detected.
Further, as shown in FIG. 6, the detection range of the distance image sensor 25 is an area A3 where the maximum width is W1 (for example, 2000 mm) in the top view of the guidance robot. In FIG. 6, an area A <b> 4 is a detection range of the scanner range sensors 22 and 23.

Since there are not many operators having a height of 2 m or more, in this embodiment, the detection range (height H1) of the distance image sensor 25 is set to 2000 mm from the floor. However, this height H1 should just be the height equivalent to an operator's height, and can be changed according to an operator's height.
The electric motors 9L and 9R are drive-controlled by the travel control device 30, as shown in FIG.

  As shown in FIG. 7, the travel control device 30 includes an arithmetic processing device 31 such as a microcomputer that is driven by a battery built in the self-propelled body 2. The arithmetic processing unit 31 includes a sensor signal input I / F 61, a speed command value output I / F 62, a rotation angle position input I / F 63, and an audio output I / F 64. Further, the arithmetic processing device 31 includes a travel control unit 51.

  The sensor signal input I / F 61 is connected to the six-axis force sensor 19 of the operation input unit 17, the scanner type range sensors 22 to 24, and the distance image sensor 25. The sensor signal input I / F 61 includes forces Fx, Fy, and Fz that are applied from the six-axis force sensor 19 in the three-axis directions of the X, Y, and Z axes, and three axes of the X, Y, and Z axes. Read around moments Mx, My and Mz. The sensor signal input I / F 61 reads the obstacle position information output from the scanner range sensors 22 to 24 and the obstacle position information output from the distance image sensor 25. The sensor signal input I / F 61 outputs the read various information to the travel control unit 51.

The speed command value output I / F 62 outputs the speed command value generated by the travel control unit 51 to the motor drivers 65L and 65R. Here, the motor drivers 65L and 65R are for supplying electric power from a battery built in the self-propelled body 2 and driving the electric motors 9L and 9R.
The rotation angle position input I / F 63 reads the rotation angle position information output from the encoders 66L and 66R that detect the rotation angle positions of the electric motors 9L and 9R, and outputs the information to the travel control unit 51.
The voice output I / F 64 outputs the voice guidance information generated by the travel control unit 51 to the speaker 67. Here, the voice guidance information includes information that informs the approach of an obstacle.
Hereinafter, the traveling control unit 51 will be specifically described.

(Configuration of traveling control unit 51)
FIG. 8 is a functional block diagram of the travel control unit 51.
As shown in FIG. 8, the travel control unit 51 includes a travel direction calculation unit 51a, an obstacle detection unit 51b, a travel direction correction unit 51c, and a motor drive control unit 51d.
The travel control unit 51 generates a speed command value for the electric motors 9L and 9R based on the operation of the operation input unit 17 by an operator, and outputs this to control the traveling of the self-propelled body 2. In addition, the traveling control unit 51 constantly detects the presence or absence of surrounding obstacles in the course of movement of the self-propelled body 2, and when an obstacle is detected, a voice or alarm indicates that the obstacle is approaching the operator. In addition to notifying, an obstacle avoidance function for correcting the movement direction designated by the operator from the operation input unit 17 to a direction to avoid the obstacle is provided.

First, the traveling direction calculation unit 51a outputs forces Fx, Fy, and Fz applied to the X, Y, and Z axes output from the six-axis force sensor 19 of the operation input unit 17, and moments about the X, Y, and Z axes. Mx, My and Mz are read as operation input information.
Next, the traveling direction calculation unit 51a detects whether or not the operator has pressed the grip 18 by comparing the force Fz in the Z-axis direction with a preset threshold value. At this time, if the operator does not press down the grip 18 (Fz ≦ threshold), the operation waits as it is, and if the operator presses the grip 18 (Fz> threshold), the force Fy in the Y-axis direction and the Z axis around Based on the moment Mz, the forward / reverse speed V ₀ [m / s] and the turning speed ω ₀ [rad / s] of the self-propelled body 2 are calculated.

Here, the forward / reverse speed V ₀ is calculated based on the following equation, for example, where M is the virtual mass of the self-propelled body 2.
V ₀ = ∫ (Fy / M) dt (1)
Further, the turning speed ω ₀ is calculated based on the following equation, for example, when Irz is the virtual moment of inertia of the self-propelled body 2 around the Z axis.

ω ₀ = ∫ (Mz / Irz) dt (2)
The traveling direction calculation unit 51a stores the calculated forward / reverse speed V ₀ and the turning speed ω ₀ in a RAM or the like, and outputs them to the obstacle detection unit 51b and the traveling direction correction unit 51c.
The obstacle detection unit 51b reads the scan angle and the distance detection value measured by the scan range sensors 22 and 23 as the obstacle position information, and calculates the position of the lower obstacle and the distance to the lower obstacle. Also, the obstacle detection unit 51b reads the image data captured by the distance image sensor 25 as the obstacle position information, and calculates the position of the upper obstacle and the distance to the upper obstacle. Here, when there are a plurality of obstacles, the position and the distance to the obstacle are calculated for each obstacle.

Then, the obstacle detection unit 51b determines that the self-propelled vehicle 2 is a lower obstacle based on the forward / reverse speed V ₀ and the turning speed ω ₀ stored in the traveling direction calculation unit 51a and the detected position and distance of the obstacle. Alternatively, it is determined whether or not there is a possibility of contact with an upper obstacle. This determination result is output to the traveling direction correction unit 51c.
When the obstacle detection unit 51b determines that the self-propelled body 2 may contact the obstacle, the obstacle detection unit 51b determines that the obstacle is approaching the operator for the purpose of avoiding contact with the obstacle. Voice guidance information for notification is generated, and voice is output from the speaker 67 based on the voice guidance information.

When the obstacle detection unit 51b determines that there is a possibility of contact with the obstacle, the traveling direction correction unit 51c corrects the forward / reverse speed V ₀ and the turning speed ω ₀ in the direction to avoid the obstacle, and corrects the correction. The subsequent forward / reverse speed V and turning speed ω are output to the motor drive controller 51d. When the obstacle detection unit 51d determines that there is no possibility of contact with the obstacle, the traveling direction correction unit 51c uses the forward / reverse speed V ₀ and the turning speed ω _{0 as} they are. It outputs to the motor drive control part 51d as (omega).

The motor drive control unit 51d calculates the wheel peripheral speeds V _L [m / s] and V _R [m / s] of the drive wheels 6L and 6R based on the forward / reverse speed V and the turning speed ω.
V _L = V + Lw · ω / 2 (3)
V _R = V−Lw · ω / 2 (4)

Here, Lw is the distance [m] between the left and right drive wheels 6L and 6R. The motor drive control unit 51d, the above (3) and (4) a based on the wheel peripheral velocity _{V L} and _{V R} of the drive wheels 6L and 6R calculated based, electric motors 9L and 9R of the speed command value V _ML and V _MR are calculated and output to the motor drivers 65L and 65R via the speed command value output I / F 62.

  In addition, although the case where control for correcting the traveling direction of the self-propelled body 2 in the direction to avoid contact with the obstacle was described as the obstacle avoidance control of the traveling control unit 51, the obstacle was detected. When the self-propelled body 2 is stopped, contact with an obstacle may be avoided. Further, when an obstacle is detected, a traveling direction that can avoid contact with the obstacle may be guided to the pedestrian by voice.

As described above, the guiding robot 1 is configured to be able to detect an upper obstacle in addition to a lower obstacle. When a lower obstacle or an upper obstacle is detected, the obstacle for avoiding contact with the obstacle Perform avoidance control.
The distance image sensor 25 corresponds to the upper obstacle detection unit, and the travel control unit 51 corresponds to the obstacle avoidance control unit.

(Operation)
Next, the operation and effect of this embodiment will be described.
When a pedestrian who is difficult to walk autonomously stands in the rear of the self-propelled body 2 so that the lower limb is stored in the recess 4 on the back side of the self-propelled body 2, and the start switch (not shown) is turned on, the pedestrian is built in the self-propelled body 2 The electric power of the battery to be supplied is supplied to the travel control device 30 and the motor drivers 65L and 65R, and the self-propelled body 2 becomes ready to travel. At this time, when the pedestrian (operator) does not hold the grip 18 of the operation input unit 17, the self-propelled body 2 maintains the stopped state.

  In this stopped state, when the pedestrian pushes in the traveling direction while holding the grip 18 of the operation input unit 17, the travel control unit 51 displays the operation input information (forces Fx, Fy and Fz, moments Mx, My and Mz). Enter. Then, the traveling control unit 51 calculates the forward / reverse speed V and the turning speed ω based on the input operation input information, and based on these, the speed command value for driving the electric motors 9L and 9R is obtained as the motor driver 65L and To 64R.

Thereby, the self-propelled body 2 travels in the direction instructed by the pedestrian. That is, the guidance robot 1 travels only when there is an explicit operation by a pedestrian.
At this time, the scanning range sensor 22 detects a lower obstacle in a horizontal region close to the running surface (area A4 in FIG. 6), and the scanning range sensor 23 detects a horizontal obstacle close to the chest position of the pedestrian. A downward obstacle is detected in the area (area A4 in FIG. 6).

Further, in the distance image sensor 25, the upper obstacle is located in the front area (area A1 in FIG. 5 and area A3 in FIG. 6) that is above the chest position of the pedestrian and near the top of the pedestrian. Detect objects.
When the obstacle is detected by any of the scanning range sensors 22 and 23 and the distance image sensor 25, the traveling control unit 51 informs the pedestrian of the approach of the obstacle by voice. Further, the traveling control unit 51 corrects the forward / reverse speed V ₀ and the turning speed ω ₀ calculated based on the operation input information indicating the traveling direction instructed by the pedestrian so as to avoid the obstacle, and corrects it. The final forward / reverse speed V and the turning speed ω are calculated. Then, a speed command value for driving the electric motors 9L and 9R is calculated based on the calculated forward / reverse speed V and turning speed ω, and this is output to the motor drivers 65L and 64R. Thereby, the self-propelled body 2 travels by changing the traveling direction instructed by the pedestrian to a direction avoiding the obstacle.

Further, when the force Fz in the Z-axis direction on the grip 18 of the operation input unit 17 disappears during traveling (Fz ≦ threshold), the traveling control unit 51 determines that the pedestrian has released his hand from the grip 18, The self-propelled body 2 is stopped. As a result, the guidance robot 1 can always be within the reach of a pedestrian.
Thus, in the present embodiment, the lower obstacle on the floor around the self-propelled body 2 and the front of the self-propelled body 2 and above the upper end of the self-propelled body 2 are equivalent to the height of the pedestrian. An upper obstacle existing up to a height is detected. When an obstacle is detected, obstacle avoidance control for avoiding contact with the obstacle is performed.

  When there is an obstacle near the top of the pedestrian's head, the guiding robot 1 can pass under the obstacle, but the pedestrian cannot pass. Thus, the obstacle near the top of the pedestrian cannot be detected by the scanning range sensors 22 and 23 that detect the downward obstacle on the floor around the self-propelled body 2, so Unless a sensor (distance image sensor 25) for detecting an obstacle is installed, the obstacle avoidance control cannot be performed, and the obstacle and the pedestrian may come into contact with each other.

In contrast, in this embodiment, obstacle avoidance control for avoiding contact between the upper obstacle and the pedestrian is appropriately operated in order to detect the upper obstacle near the top of the pedestrian. can do. Therefore, a pedestrian can be guided more safely.
Here, the detection range of the upper obstacle is set to a height equivalent to the height of the pedestrian. Therefore, it is possible to prevent erroneous detection of unevenness in the vicinity of the ceiling as an obstacle, and it is possible to reduce obstacle data and reduce the calculation of obstacle avoidance.

In addition, as the obstacle avoidance control, control is performed to correct the traveling direction of the self-propelled body 2 in a direction to avoid the obstacle, so that the traveling of the self-propelled body can be continued while avoiding contact with the obstacle. it can. In addition, when an obstacle is detected, the pedestrian is informed by voice that the obstacle is approaching, so the pedestrian can be alerted and the pedestrian can avoid contact with the obstacle Can be promoted.
In addition, when the obstacle is detected, if the control for stopping the traveling of the self-propelled body 2 is performed, the contact with the obstacle can be surely avoided.

(Modification)
In the above-described embodiment, a floor shape map that is map information of the area where the self-propelled body 2 travels is stored in advance, and identification of the self-position within the floor and determination of the target traveling direction to the destination are automatically performed. While performing, you may provide the function which guides the target advancing direction to an operator (pedestrian) by an audio | voice.

  In this case, the current position of the self-propelled body 2 is estimated based on the rotation amount of the wheel of the self-propelled body 2 and the map information of the area where the self-propelled body travels. Thereby, a self position can be appropriately estimated indoors, without installing a beacon in a building or receiving a GPS signal. Therefore, navigation at a low cost is possible. Further, since the direction in which the pedestrian should travel is guided by voice, a pedestrian who is difficult to travel autonomously, such as a blind person, can be appropriately guided to the destination designated by the pedestrian.

Further, in this case, prior to the start of navigation, if a plurality of destination candidates are sequentially guided by voice one by one, even if the visually impaired pedestrian is a guided person, the walking The person can specify the destination appropriately.
At this time, after one destination candidate is voice-guided, the next destination candidate is voice-guided every time the guided person presses a predetermined button. Then, after voice guidance of one destination candidate, when a button is not pressed for a predetermined time, it is determined that a destination selection operation has been performed by the guided person, and the destination candidate voice-guided at that time is set as the destination. Set. Thereby, it is possible to instruct to start guidance for the next destination candidate and to confirm the destination with one button. That is, the number of buttons operated by the guided person can be reduced as much as possible, and a desirable structure can be obtained when a blind pedestrian is a guided person.

Moreover, although the case where the distance image sensor 25 is employed as the upper obstacle sensor has been described in the above embodiment, the height to the vicinity of the top of the operator above and in front of the upper end of the guidance robot 1. Any obstacle can be applied as long as it can detect the obstacle.
Furthermore, although the case where the scanning range sensors 22 and 23 are applied as the obstacle sensors has been described in the above embodiment, other distance measuring sensors such as an ultrasonic sensor can also be applied. Further, instead of the scanning range sensor, scanning may be performed by rotating a distance measuring sensor that emits laser light in one direction in the Z-axis direction.

Moreover, in the said embodiment, although the caster 5 was installed in the front side as the self-propelled body 2 and the drive wheels 6L and 6R were provided in the rear wheel side, the drive wheels are arranged in the front left and right positions, A caster may be arranged on the rear wheel side.
Furthermore, although the case where the self-propelled body 2 is driven by two wheels has been described in the above embodiment, the traveling direction is controlled by arranging two wheels at the front and rear as in an automobile and using one of the front and rear as a steered wheel. You may make it do. Even in this case, the travel locus can be calculated based on the turning amount and turning angle of the steered wheels.

  DESCRIPTION OF SYMBOLS 1 ... Robot for guidance, 2 ... Self-propelled body, 3 ... Base, 4 ... Recessed part, 5 ... Caster, 6L, 6R ... Drive wheel, 9L, 9R ... Electric motor, 11L, 11R ... Timing belt, 12L, 12R ... Non-excitation actuating brake, 15 ... support arm, 16 ... horizontal arm, 17 ... operation input unit, 18 ... grip, 19 ... six-axis force sensor, 22-24 ... scan range sensor, 25 ... distance image sensor, 30 ... Travel control device 51 ... Travel control unit 51a ... Obstacle detection unit 51b ... Travel direction calculation unit 51c ... Travel direction correction unit 51d ... Motor drive control unit 61 ... Sensor signal input I / F, 62 ... Speed Command value output I / F, 63 ... Rotational speed position input I / F, 64 ... Audio output I / F, 65L, 65R ... Motor driver, 66L, 66R ... Encoder, 67 ... Speaker

Claims (4)

An operation input unit that a pedestrian grips and inputs a moving direction;
A self-propelled body that can travel in any direction by wheels,
Based on the movement direction input by the operation input unit, a travel control unit that controls the travel of the self-propelled body,
An upper obstacle detection unit that detects an obstacle existing in front of the self-propelled body and above the upper end portion of the self-propelled body, up to a height equivalent to the height of the pedestrian,
An obstacle avoidance control unit that performs obstacle avoidance control for avoiding contact with an obstacle when the upper obstacle detection unit detects the obstacle.   The obstacle avoidance control unit performs control for correcting a traveling direction of the self-propelled body by the traveling control unit in a direction to avoid the obstacle as the obstacle avoidance control. Guide robot described in 1.   The guidance robot according to claim 1, wherein the obstacle avoidance control unit performs control for stopping the traveling of the self-propelled body as the obstacle avoidance control.   4. The obstacle avoidance control unit, as the obstacle avoidance control, performs control for guiding by voice that the obstacle is approaching the self-propelled vehicle. The guidance robot according to item 1.

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