JP2017033450A - Moving robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a moving robot capable of more easily determining a floor on which the robot gets off an elevator car without the need to attach equipment for determining a stop floor to a building.SOLUTION: A height position estimation unit 52h estimates a height position of a moving body 2 on the basis of a vertical acceleration of the moving body. Further, if it is determined that an elevator car on which the moving body gets is stopped, a stop floor estimation unit 52i compares the estimated height position with a height position of each floor and estimates a stop floor on which the elevator car is stopped. Moreover, if the estimated stop floor is a moving destination floor in moving among floors including a target route by an elevator, a moving control unit controls movement of the moving body such that the moving body gets off the elevator car.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a mobile robot.

  Conventionally, as a mobile robot, for example, there is a technique described in Patent Document 1. In the technique described in Patent Document 1, when the elevator car stops during movement by the elevator, the identification tag of the number of floors attached to the door of each floor of the elevator is read. And when it determines with the number of floors read from the identification tag being a getting-off floor, it gets off from the elevator car.

JP 2011-068453 A

However, in the prior art described in Patent Document 1, it is necessary to attach an identification tag for the number of floors, that is, a device for determining a stop floor, to each elevator door. Therefore, there is a problem that it takes time to install the equipment for determining the stop floor, and the installation cost increases.
An object of the present invention is to provide a mobile robot capable of more easily determining a getting-off floor without attaching a device for determining a stop floor to the building side, paying attention to the above points.

  In order to solve the above-described problem, according to one embodiment of the present invention, a mobile object that can move in a building and a target of the mobile object up to a set destination based on map information in the building in which the mobile object moves Based on the target route generation unit that generates a route, the current position estimation unit that estimates the current position of the moving object, the current position estimated by the current position estimation unit, and the target route generated by the target route generation unit, A movement control unit that controls movement and an acceleration detection unit that detects vertical acceleration acting on the moving body, and the target route generation unit includes an elevator including a car in which the building moves between a plurality of floors. If so, the target position including the movement between the floors by the elevator is generated, and the current position estimation unit estimates the height position of the moving body based on the acceleration detected by the acceleration detection unit. And the moving body is on board A stop that estimates the stop floor of an elevator car by comparing the height position estimated by the height position estimation unit with the height position of each floor of the building when it is determined that the beta car is stopped The movement control unit includes an elevator car when the stop floor estimated by the stop floor estimation unit is a destination floor in the movement between the floors by an elevator included in the target route. The movement of the moving body is controlled so as to get off the vehicle.

  According to one aspect of the present invention, a stop floor can be determined by a single mobile robot. Therefore, it is not necessary to attach a stop floor determination device to the building side, and the getting-off floor can be determined more easily.

It is a perspective view showing the robot for guidance concerning an embodiment. It is a front view of the robot for guidance of FIG. It is a side view of the guidance robot of FIG. It is a bottom view of the guidance robot of FIG. It is a block diagram showing a traveling control apparatus. It is a figure showing the detection state by a ceiling marker detection sensor. It is a functional block diagram of a movement control part. It is a functional block diagram of a general control part. It is a figure showing an elevator block. It is a flowchart showing a stop floor estimation process. It is a functional block diagram of the integrated control part which concerns on a modification. It is a functional block diagram of the integrated control part which concerns on a modification.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
This embodiment is applied to a mobile robot (hereinafter also referred to as “guidance robot”) 1 that guides a guided person such as a visually impaired person to a set destination in a building having a plurality of floors. It is. In the present embodiment, the axis extending in the vertical direction of the guiding robot 1 will be described as the Z axis, the axis extending in the front-rear direction as the Y axis, and the axis extending in the horizontal direction as the X axis.
The following embodiments exemplify apparatuses and methods for embodying the technical idea of the present invention, and the technical idea of the present invention includes the shape, structure, arrangement, etc. of components. It is not specified to the following. The technical idea of the present invention can be variously modified within the technical scope defined by the claims described in the claims.

(Constitution)
As shown in FIGS. 1 to 4, the guidance robot 1 includes a moving body 2 that can move in a building. The moving body 2 includes a base 3 that is formed in a wedge shape having a narrow front side and a rear side wider than the shoulder width of the guided person. On the rear side of the base 3, a recess 4 having a recessed center is provided.
On the bottom surface of the base 3, a caster 5 is pivotably disposed on the front end side, and driving wheels 6L and 6R are rotatably supported at left and right positions on the rear end side. Pulleys 8L and 8R are fixed to the drive wheels 6L and 6R via axles 7L and 7R, respectively. Further, endless timing belts 11L and 11R are wound around pulleys 8L and 8R, respectively, between pulleys 10L and 10R fixed to the rotation shafts of electric motors 9L and 9R. Then, the drive wheels 6L and 6R are rotationally driven at the same rotational speed as the rotational speeds of the rotary shafts of the electric motors 9L and 9R. Each electric motor 9L, 9R is provided with a gear head 12L, 12R.

At that time, if the rotation speeds of the left and right electric motors 9L and 9R are equalized, the base 3 moves forward or backward depending on the rotation direction of the rotation shaft. Moreover, if the rotational speeds of the rotation shafts of the left and right electric motors 9L and 9R are varied, the base 3 turns leftward or rightward.
Further, if only the right electric motor 9R is driven to rotate in the forward direction with the left electric motor 9L stopped, a left-handed turning state is established. The forward rotation drive is a drive state of the electric motors 9L and 9R that move the drive wheels 6L and 6R in the forward direction. Further, when the left electric motor 9L is driven to rotate in the forward direction while the right electric motor 9R is stopped, the right turn state is established.

Further, when the left electric motor 9L is driven to rotate in the reverse direction and the right electric motor 9R is driven to rotate in the forward direction, a super-left turn state is established. The reverse rotation drive is a drive state of the electric motors 9L and 9R that move the drive wheels 6L and 6R in the reverse direction. Further, when the right electric motor 9R is driven to rotate in the reverse direction and the left electric motor 9L is driven to rotate in the forward direction, a super-right turn state is established.
Thus, the traveling direction of the moving body 2 can be controlled by controlling the rotation state of the left and right electric motors 9L and 9R and controlling the rotation state of the left and right drive wheels 6L and 6R.

In this embodiment, the caster 5 is provided on the front end side of the movable body 2 and the drive wheels 6L and 6R are provided on the left and right positions on the rear end side. However, other configurations may be employed. For example, drive wheels may be provided at the left and right positions on the front end side, and casters may be provided on the rear end side.
Further, in the present embodiment, the example in which the traveling direction of the moving body 2 is controlled by controlling the rotation state of the left and right drive wheels 6L and 6R has been described, but other configurations may be employed. For example, two wheels are arranged on each of the front side and the rear side as in an automobile, and at least one of the two front wheels and the two rear wheels is a steered wheel, so that the traveling direction of the moving body 2 can be changed. It is good also as a structure to control.

  The electric motors 9L and 9R are further provided with motor drivers 67L and 67R and encoders 68L and 68R (see FIG. 5). The motor drivers 67L and 67R drive the electric motors 9L and 9R according to a speed command value output from the travel control device 30 described later. The encoders 68L and 68R detect the rotation angles of the electric motors 9L and 9R, and output the detection results (hereinafter also referred to as “rotation angle information”) to the travel control device 30.

  On the front side of the upper surface of the base 3, a support arm 15 that is inclined and extends rearward is fixed. Further, a horizontal arm 16 extending rearward is formed on the upper portion of the support arm 15. Further, on the rear side of the upper surface of the horizontal arm 16, an operation input unit 17 that is held by the guided person and that inputs the forward / reverse speed of the moving body 2 is disposed. The operation input unit 17 includes a grip 17a that a guided person can hold with one finger, a force sensor 17b that supports the grip 17a and detects a biaxial force applied to the grip 17a. Is provided. In the present embodiment, one of the two axes is the Y-axis, and the other is the axis that is inclined and extended to the rear side in the same manner as the support arm 15 (hereinafter also referred to as “Z′-axis”) (see FIG. 3). ). The force sensor 17 b then outputs the detection results (biaxial forces Fy, Fz ′; hereinafter also referred to as “operation input information”) to the travel control device 30.

In the present embodiment, an example in which the force sensor 17b detects a force in the Y-axis direction and a force in the Z′-axis direction has been described, but other configurations may be employed. For example, the force sensor 17b may be configured to detect the moment Mx about the X axis and the force Fz ′ in the Z ′ axis direction.
In addition, although an example in which the Z ′ axis is an axis that is inclined and extends rearward has been described, other configurations may be employed. For example, the Z ′ axis may be an axis extending in the same direction as the Z axis.

  Furthermore, a destination selection unit 18 for selecting a destination for guiding the guided person is arranged at the center of the upper surface of the horizontal arm 16. The destination selection unit 18 includes a selection button 18a that the guided person can press with one finger, and a push button switch 18b that connects and supports the selection button 18a and detects the pressing of the selection button 18a. . Then, the push button switch 18 b outputs a detection result (hereinafter also referred to as “selection information”) to the travel control device 30.

  A band-shaped opening 19 is formed on a side surface on the front end side of the base 3 over a predetermined relatively wide angle range (for example, 300 degrees). A scanner range sensor 20 is provided inside the opening 19. The scanner-type range sensor 20 detects a distance and a scan angle to an obstacle existing below (hereinafter also referred to as “downward obstacle”) using laser light. In addition, a scanner range sensor 21 is provided on the front side of the horizontal arm 16. The scanner range sensor 21 uses laser light to measure the distance to the obstacle and the scan angle that are present at the sensor mounting height. A scanner range sensor 22 is provided on the back side of the support arm 15. The scanner-type range sensor 22 detects the distance and the scan angle to an obstacle existing obliquely below using laser light.

  A distance image sensor 23 is provided on the front side of the lower end portion of the support arm 15. The distance image sensor 23 is a depth camera that projects a specific pattern onto the space on the upper front side with an infrared laser and detects the position and distance of the obstacle by photographing the projected pattern with a camera. The distance image sensor 23 detects a distance and an angle to an obstacle (hereinafter also referred to as “upper obstacle”) existing on the upper front side of the guidance robot 1. The scanner range sensors 20, 21, 22 and the distance image sensor 23 output detection results (distance to the obstacle and scan angle; hereinafter also referred to as “obstacle position information”) to the travel control device 30. .

In the present embodiment, an example in which the scanner range sensors 20, 21, and 22 that use laser light are used is shown, but other configurations may be employed. For example, other ranging sensors that use ultrasonic waves or the like may be used. Further, instead of the scanner-type range sensor, a range-finding sensor that emits laser light in one direction may be rotated in the Z-axis direction for scanning.
Further, an acceleration detector 24 is provided inside the base 3 (see FIG. 3). The acceleration detector 24 detects the vertical acceleration az acting on the moving body 2. In the acceleration az, an upward acceleration is a positive value, and a downward acceleration is a negative value. Then, the acceleration detection unit 24 outputs a detection result (hereinafter also referred to as “acceleration information”) to the travel control device 30.

  A ceiling marker detection sensor 25 is fixed on the front side of the horizontal arm 16. As shown in FIG. 6, the ceiling marker detection sensor 25 detects the position (hereinafter also referred to as “marker position information”) of the installation location of the marker 100 provided on the ceiling of the building or elevator car. One marker 100 is installed in one block (described later), and the position (marker position information) of the installation location is printed. For example, a two-dimensional code can be adopted. Then, the ceiling marker detection sensor 25 outputs the detected marker position information to the travel control device 30.

The guidance robot 1 further includes a travel control device 30.
The travel control device 30 includes an arithmetic processing device 31 that is driven by a battery. As the arithmetic processing unit 31, for example, a microcomputer can be employed. The arithmetic processing unit 31 includes a sensor signal input I / F 61, a speed command value output I / F 62, a rotation angle input I / F 63, and an audio output I / F 64. The arithmetic processing device 31 further includes a movement control unit 51 and an overall control unit 52.

  The sensor signal input I / F 61 includes operation input information output from the force sensor 17b, selection information output from the push button switch 18b, and obstacles output from the scanner range sensors 20, 21, 22, and the distance image sensor 23. The position information, the acceleration information output by the acceleration detection unit 24, and the marker position information output by the ceiling marker detection sensor 25 are read. Then, the read various information is output to the movement control unit 51 and the overall control unit 52.

Further, the speed command value output I / F 62 outputs the speed command value output from the movement control unit 51 to the motor drivers 67L and 67R. The rotation angle input I / F 63 reads the rotation angle information output from the encoders 68L and 68R. Then, the speed command value output I / F 62 outputs the read rotation angle information to the movement control unit 51 and the overall control unit 52.
The voice output I / F 64 reads voice guidance information output from the movement control unit 51 and the overall control unit 52. Then, the audio output I / F 64 causes the speaker 69 to output the read audio guidance information. The voice guidance information includes, for example, the direction in which the guided person is advanced, the current position of the moving body 2 or the location information or environmental information of the area to be advanced, information for notifying the possibility of contact with an obstacle, and the like.

(Configuration of the movement control unit 51)
Next, the movement control unit 51 will be described with reference to FIG.
As shown in FIG. 7, the movement control unit 51 includes a traveling direction calculation unit 51a, an obstacle detection unit 51b, a traveling direction correction unit 51c, and a motor drive control unit 51d.
The traveling direction calculation unit 51a acquires the operation input information (forces Fy, Fz ′) output from the sensor signal input I / F 61 and the target route information and self-location information output from the overall control unit 52. The target route information includes location information (described later) and environment information (described later) in addition to the target route on which the guidance robot 1 (moving body 2) travels. As the target route, for example, there is a route including movement of a floor by an elevator. The self-position information is information representing the current position of the guidance robot 1 (moving body 2). A command for getting the guidance robot 1 (moving body 2) out of the elevator car (hereinafter, also referred to as “get-off command”) can be added to the self-location information.

  In addition, the traveling direction calculation unit 51a presses the grip 17a until it is determined that the acquired Z′-axis direction force Fz ′ is larger than a predetermined threshold (Fz ′> threshold). It will be in a standby state until it is determined that it has been. When it is determined that Fz ′> threshold and it is determined that the guided person has pressed the grip 17a, the forward / backward direction of the moving body 2 is based on the force Fy in the Y-axis direction, the self-position information, and the target route information. The forward / reverse speed V0 [m / s] and the turning speed ω0 [rad / s], which are the traveling speeds of Then, the travel direction calculation unit 51a outputs the calculated forward / reverse speed V0 and the turning speed ω0 to the obstacle detection unit 51b and the travel direction correction unit 51c.

Here, the traveling direction calculation unit 51a calculates the forward / reverse speed V0 according to the following equation (1) based on the force Fy in the Y-axis direction and the virtual mass M of the moving body 2.
V0 = ∫ (Fy / M) dt (1)
Subsequently, the traveling direction calculation unit 51a determines the turning angle θ based on the self position information and the target route information. Subsequently, the traveling direction calculation unit 51a calculates the turning radius r based on the determined turning angle θ and data representing the relationship between the turning angle and the turning radius obtained through experiments or the like.

Subsequently, the traveling direction calculation unit 51a calculates the turning speed ω0 according to the following equation (2) based on the calculated forward / reverse speed V0 and the turning radius r.
ω0 = r / V0 (2)
At that time, the traveling direction calculation unit 51a determines whether or not the guidance robot 1 (the moving body 2) is in the elevator car based on the self-position information. When the traveling direction calculation unit 51a determines that the vehicle is in the car, the traveling direction calculation unit 51a waits until it is determined that the getting-off command is added to the self-position information, and outputs the forward / reverse speed V0 and the turning speed ω0. Stop. As a result, the guiding robot 1 (moving body 2) remains in the elevator car.

  When it is determined that the getting-off command is added to the self-position information, the standby state is canceled and the output of the forward / reverse speed V0 and the turning speed ω0 is stopped. Here, when it is determined that the stop floor estimated by the stop floor estimation unit 52i (described later) is the destination floor in the movement between the floors by the elevator included in the target route, It is added to the self-location information. Subsequently, the traveling direction calculation unit 51a generates voice guidance information that prompts the guided person to get off the elevator. Subsequently, the traveling direction calculation unit 51a outputs the generated voice guidance information to the speaker 69 via the voice output I / F 64, and causes the guided person to press the grip 17a. Thus, the movement of the moving body 2 is controlled so that the robot 1 (moving body 2) moves along the target route in response to the pressing of the grip 17a and gets off from the elevator car.

In addition, the traveling direction calculation unit 51a outputs the acquired self-position information and the determined turning angle θ, that is, location information and environmental information in the traveling direction, to the traveling direction correction unit 51c.
The obstacle detection unit 51b acquires the obstacle position information output from the sensor signal input I / F 61. Subsequently, the obstacle detection unit 51b calculates the position of the obstacle (lower obstacle, upper obstacle) and the distance to the obstacle based on the acquired obstacle position information. Here, when there are a plurality of obstacles, the position and the distance to the obstacle are calculated for each obstacle.

  Subsequently, the obstacle detection unit 51b determines that the moving body 2 is an obstacle based on the calculated position of the obstacle and the distance to the obstacle, and the forward / reverse speed V0 and the turning speed ω0 output by the traveling direction calculation unit 51a. It is determined whether or not there is a possibility of contact with (downward obstacle, upward obstacle). Then, the obstacle detection unit 51b outputs the determination result to the traveling direction correction unit 51c. In addition, when the obstacle detection unit 51b determines that there is a possibility that the moving body 2 is in contact with the obstacle, the obstacle detection unit 51b generates voice guidance information for notifying the possibility of contact with the obstacle. Subsequently, the obstacle detection unit 51b causes the speaker 69 to output the generated voice guidance information via the voice output I / F 64.

  When the traveling direction correction unit 51c determines that the obstacle detection unit 51b may contact an obstacle (downward obstacle, upward obstacle), the forward / reverse speed V0 output by the traveling direction calculation unit 51a. And the turning speed ω0 are corrected so as to avoid contact with the obstacle. On the other hand, when the traveling direction correction unit 51c determines that the obstacle detection unit 51b has no possibility of contacting the obstacle, the traveling direction correction unit 51c uses the forward / reverse speed V0 and the turning speed ω0 output by the traveling direction calculation unit 51a as the location. Correct based on information and environmental information. For example, when it is determined that the place or environment where the walking load of the guided person is relatively large, the forward / reverse speed V0 and the turning speed ω0 are compared to when it is determined that the place or environment where the walking load is relatively small. And correct to a smaller speed. Examples of places with a relatively large walking load include intersections and down slopes. In addition, examples of the environment with a relatively large walking load include a slippery environment and an environment with a lot of traffic. Then, the traveling direction correction unit 51c outputs the corrected forward / reverse speed V and turning speed ω to the motor drive control unit 51d.

In addition, even when the traveling direction correction unit 51c determines that there is no possibility of contact with the obstacle by the obstacle detection unit 51b, if the traveling direction correction unit 51c determines that the correction based on the location information and the environment information is not necessary, the traveling direction correction unit 51c The forward / reverse speed V0 and the turning speed ω0 output by the direction calculation unit 51a are output to the motor drive control part 51d as they are as the corrected forward / backward speed V and the turning speed ω.
The motor drive control unit 51d performs left and right according to the following equation (3) based on the forward / reverse speed V and the turning speed ω output from the travel direction correction unit 51c and the wheel distance Lw [m] between the left and right drive wheels 6L and 6R. Target values of the wheel peripheral speeds VL and VR [m / s] of the drive wheels 6L and 6R are calculated.

Target value of VL = V + Lw · ω / 2
Target value of VR = V−Lw · ω / 2 (3)
Subsequently, the motor drive control unit 51d calculates a speed command value for realizing the target values of the calculated wheel peripheral speeds VL and VR. Then, the motor drive control unit 51d outputs the calculated speed command value to the motor drivers 67L and 67R via the speed command value output I / F 62. Thereby, the navigation which guides the guidance robot 1 to the destination is possible.

(Configuration of general control unit 52)
Next, the overall control unit 52 will be described with reference to FIG.
As shown in FIG. 8, the overall control unit 52 includes a destination setting unit 52a, each floor height storage unit 52b, a current position estimation unit 52c, a current position correction unit 52d, a target route generation unit 52f, a map, An information storage unit 52e and an audio output unit 52g are provided.

  The destination setting unit 52a acquires the selection information output from the sensor signal input I / F 61. If the destination setting unit 52a determines that the selection button 18a has been pressed based on the acquired selection information, the destination setting unit 52a selects the next candidate next to the candidate selected immediately before from the list of predetermined destination candidates. . When the destination setting unit 52a determines that the selection button 18a is pressed for the first time after the start switch is turned on, the destination setting unit 52a selects the first candidate from the list of destination candidates. When the destination candidate reaches the last candidate in the list, the destination setting unit 52a returns to the first candidate in the destination candidate list and selects the candidate. Subsequently, the destination setting unit 52a generates voice guidance information for notifying the selected destination candidate. Subsequently, the destination setting unit 52a outputs the generated voice guidance information to the voice output unit 52g.

On the other hand, the destination setting unit 52a determines that the destination selection operation has been performed when it is determined that the selection button 18a has not been pressed for a predetermined time, and has been selected immediately before. Set destination candidates as destinations. Then, the destination setting unit 52a outputs the set destination (hereinafter also referred to as “destination information”) to the target route generation unit 52f.
Each floor height storage unit 52b stores the height position of each floor of the building. Specifically, the floor and the height position of the floor are stored in association with each other. As the height position of each floor, a height from a predetermined reference plane (for example, the floor surface of the first floor of the building) to the floor surface of each floor is adopted.

  The current position estimation unit 52c acquires marker position information output from the sensor signal input I / F 61. Then, the current position estimation unit 52c estimates the current position of the moving body 2 (hereinafter also referred to as “self-position information”) based on the acquired marker position information. Specifically, the current position estimation unit 52c outputs the marker position information (the position of the marker 100 installation location) to the current position correction unit 52d as self-position information.

  The current position estimation unit 52c includes a height position estimation unit 52h, a stop floor estimation unit 52i, and a movement speed estimation unit 52j. The height position estimating unit 52h, the stop floor estimating unit 52i, and the moving speed estimating unit 52j are based on the estimated current position (self-position information) of the moving body 2, and the guidance robot 1 (moving body 2) is an elevator car. It is determined whether or not the vehicle is on. If it is determined that the vehicle is in the elevator car, based on the acceleration information output from the sensor signal input I / F 61, the elevator car is estimated to be at a stop floor, and an exit command is added to the self-position information. The stop floor estimation process is performed. Details of the stop floor estimation process will be described later.

  The current position correction unit 52d acquires the self-position information output from the current position estimation unit 52c and the obstacle position information output from the sensor signal input I / F 61. Subsequently, the current position correction unit 52d corrects the self-position information using a known particle filter based on the obstacle position information. Thereby, the current position correction unit 52d can improve the accuracy of the self-position information. Then, the current position correction unit 52d outputs the corrected self-position information to the target route generation unit 52f.

  The map information storage unit 52e stores map information of each floor in the building. As the map information, a floor shape diagram representing the passage and room shape of each floor is adopted. The floor shape diagram is divided into a plurality of small areas (hereinafter also referred to as “blocks”). Each block is assigned a block identifier that can uniquely identify the block. Here, a fixed block identifier, that is, the same block identifier is set to a block in which the same elevator car moves up and down (hereinafter also referred to as an “elevator block”) regardless of the rank. For example, in the example of FIG. 9, “16” is set as the block identifier in the elevator block.

  Further, adjacent block information, location information, and environment information are added to the floor shape diagram. As the adjacent block information, for example, there is information that is set for each block and represents a block identifier of a block that the mobile unit 2 can travel. For example, in the example of FIG. 9, identifiers “11”, “14”, “16”, and “19” are set for the block with the block identifier “15”. For the elevator block, a block identifier of the block facing the door on each floor of the elevator is set. For example, in the example of FIG. 9, identifiers “15” and “26” are set for the elevator block having the block identifier “16”. Moreover, as location information, there exists information regarding a location, such as an intersection and a slope, for example. Furthermore, as environmental information, there exists information regarding an environment, for example, it is easy to slip and there is much traffic.

  The target route generation unit 52f acquires the destination information output by the destination setting unit 52a and the corrected self-location information output by the current position correction unit 52d. Subsequently, the target route generation unit 52f is based on the acquired destination information, the corrected self-location information, and the map information (adjacent block information) stored in the map information storage unit 52e. A target route of the moving body 2 from the current position of the (moving body 2) to the destination is generated. As a method for generating the target route, for example, a known algorithm such as Dijkstra method can be adopted. Thereby, the target route generation unit 52f has a floor different from the floor at the current position of the guidance robot 1 (moving body 2) when the building has an elevator including a car that moves between a plurality of floors. When the destination is set, the target route including the movement between the floors by the elevator, that is, the movement of the destination to the floor is generated.

  At that time, as a target route, a block having a relatively large walking load on the person to be walked, such as an intersection or a descending slope, based on the map information (location information, environment information) stored in the map information storage unit 52e as much as possible. It is good also as a structure which produces | generates the path | route to avoid. Then, the target route generation unit 52f outputs the generated target route and target route information including the location information and environment information of each block to the current position estimation unit 52c and the movement control unit 51 (traveling direction calculation unit 51a). To do.

In addition, the target route generation unit 52f outputs to the voice output unit 52g voice guidance information for notifying the current position of the moving body 2 or the location information and the environment information of the area to be advanced.
The voice output unit 52g causes the speaker 69 to output the voice guidance information output from the destination setting unit 52a and the target route generation unit 52f. Thereby, the voice output unit 52g notifies the location information and the environment information.

(Stop floor estimation process)
Next, stop floor estimation processing executed by the height position estimation unit 52h, the stop floor estimation unit 52i, and the movement speed estimation unit 52j (current position estimation unit 52c) will be described with reference to FIG.
As shown in FIG. 10, first, the process proceeds to step S100, where the height position estimation unit 52h and the movement speed estimation unit 52j are based on acceleration information (vertical acceleration az) output from the sensor signal input I / F 61. The moving speed vz of the moving body 2 in the vertical direction is estimated. Specifically, according to the following equation (4), (az−g) is integrated to estimate the moving speed vz. The integration range is from the time when the guidance robot 1 gets into the elevator car, that is, from the time tstart when the stop floor estimation process is started to the current time tnow. Here, g is a gravitational acceleration.

その際、高さ位置推定部５２ｈ及び移動速度推定部５２ｊは、後述するステップＳ１０８で停止階が降車階ではないと判定され、このステップＳ１００に戻った場合に、戻った時刻までの積分結果を「０」で置換して、移動速度ｖzの推定を行う構成としてもよい。

At that time, the height position estimation unit 52h and the movement speed estimation unit 52j determine that the stop floor is not an unloading floor in step S108, which will be described later, and when returning to this step S100, the integration results up to the time of return are obtained. A configuration may be adopted in which the movement speed vz is estimated by replacing with “0”.

  Subsequently, the process proceeds to step S102, and the height position estimation unit 52h calculates the height position H of the moving body 2 based on the moving speed vz calculated in step S100. Specifically, the height position H is calculated by integrating vz according to the following equation (5). The integration range is from the time when the guidance robot 1 gets into the elevator car, that is, from the time tstart when the stop floor estimation process is started to the current time tnow. For calculation of the height position H when the elevator is stopped, a period from time tstart to time tstop when the elevator car stops is used as an integration range.

  The height position H of the moving body 2 is a height from a predetermined reference plane (for example, the floor surface on the first floor of the building) to a position where the driving wheels 6L and 6R of the moving body 2 are grounded. Is adopted. If the boarding floor on which the guiding robot 1 (moving body 2) gets in the elevator car is not the first floor, the height position from the reference plane to the floor of the boarding floor is the right side of the following equation (5) Further add to the side. As the elevator floor of the elevator car, the getting-off floor determined in step S108 when the previous stop floor estimation process is executed is adopted. In addition, when the power is turned on (at startup), the manager of the guidance robot 1 is made to input the floor on which the guidance robot 1 is located, and after the power is turned on (after startup), the first stop floor estimation process is performed. When is executed, the input floor is adopted.

  At that time, the height position estimation unit 52h, after estimating the elevator car stop floor in step S106, which will be described later, returns to this step S102 through step S108, the integration result up to the return time is obtained. The height position H of the moving body 2 may be estimated by replacing the height position corresponding to the stop floor. Specifically, the height position estimation unit 52h acquires the height position corresponding to the stop floor from each floor height stored in each floor height storage unit 52b. Then, the height position H is estimated using the acquired height position as an integration result up to the return time.

  Subsequently, the process proceeds to step S104, and the stop floor estimation unit 52i determines whether or not the elevator car on which the guidance robot 1 (moving body 2) is riding is stopped. Specifically, the stop floor estimation unit 52i determines whether or not the moving speed vz calculated in step S100 is “0”. At this time, the stop floor estimation unit 52i determines that the moving speed vz is “0” when it is determined that the absolute value of the moving speed vz is equal to or less than a predetermined sufficiently small set speed (≈0). It is good also as composition to do. Thus, even when the vertical movement speed vz estimated from the acceleration az includes an error due to the error included in the acceleration az, it is possible to appropriately determine whether the elevator car is stopped. If the stop floor estimation unit 52i determines that the moving speed vz is “0” (Yes), the stop floor estimation unit 52i determines that the elevator car is stopped and proceeds to step S106. On the other hand, when it is determined that the moving speed v is not “0” (No), the stop floor estimating unit 52i determines that the elevator is moving and returns to step S100.

  Subsequently, the process proceeds to step S106, and the stop floor estimation unit 52i compares the height position H calculated in step S102 with the height position of each floor of the building stored in each floor height storage unit 52b. Estimate the stop floor of the elevator car. Specifically, the stop floor estimation unit 52i determines which of the height positions H of the moving body 2 is closest to each floor of the building, and sets the height position determined to be closest. Estimate the corresponding floor as a stop floor. Thus, even if the error included in the acceleration az deviates from the height position of the stop floor where each floor height storage unit 52b is stored at the height position of the moving body 2 estimated from the acceleration az, the stop is stopped. The floor can be estimated appropriately.

  Here, it is assumed that the acceleration az includes an error of 1 [%], and an accumulation error accumulated at the height position H of the moving body 2 is evaluated. For example, consider a case in which an elevator with a speed of 0.75 [m / sec] moves 10 [m] (about 3 floors). In this case, since the moving time is 13 [sec], the calculation formula of the height position He of the moving body 2 in consideration of the accumulation error is expressed as the following formula (6).

As a result, it was confirmed that the accumulation error is about 1 [m] from H = 10 [m].
Subsequently, the process proceeds to step S108, and the stop floor estimation unit 52i determines the getting-off floor of the guidance robot 1 (moving body 2) based on the target route information (target route) output by the target route generation unit 52f. As the getting-off floor, the destination floor in the movement between the floors by the elevator included in the target route is detected. The destination floor is adopted as the destination floor. Subsequently, the stop floor estimation unit 52i determines whether or not the stop floor estimated in step S106 is the determined getting-off floor. If the stop floor estimation unit 52i determines that the estimated stop floor is the getting-off floor (Yes), the process proceeds to step S110. On the other hand, if the stop floor estimation unit 52i determines that the estimated stop floor is not the getting-off floor (No), the process returns to step S100.

In step S110, the stop floor estimation unit 52i adds a getting-off command to the self-position information output from the current position estimation unit 52c to the movement control unit 51, and then ends the stop floor estimation process.
In the present embodiment, an example in which the processing of steps S108 and S110 is executed by the stop floor estimation unit 52i of the overall control unit 52 is shown, but other configurations may be employed. For example, it is good also as a structure which the movement control part 51 performs.

(Operation other)
Next, the operation of the guidance robot 1 will be described.
Assume that the guiding robot 1 (moving body 2) gets on the elevator car as the guided person presses the grip 17a during guidance of the guided person by the guiding robot 1 (moving body 2). Then, the ceiling marker detection sensor 25 detects marker position information of the marker 100 installed on the ceiling of the elevator car, and outputs the marker position information of the detected marker 100 to the overall control unit 52. Subsequently, the current position estimation unit 52c of the overall control unit 52 sets the output marker position information, that is, information on the position of the elevator block as self-position information.

At that time, in the current position estimation unit 52c, the moving speed vz of the moving body 2 in the vertical direction and the moving body based on the acceleration az (acceleration information) acting in the vertical direction of the moving body 2 detected by the acceleration detecting unit 24. The height position H of 2 is sequentially calculated (steps S100 and S102 in FIG. 10).
Here, it is assumed that the elevator stops at a different floor from the destination floor, that is, a floor different from the floor where the moving body 2 gets off. Then, the current position estimation unit 52c determines that the elevator car is stopped (step S104 “Yes” in FIG. 10), and the calculated height position H of the moving body 2 and the height position of each floor of the building. And the stop floor of the elevator car is estimated (step S106 in FIG. 10), and it is determined that the stop floor is not the getting-off floor (step S108 “No” in FIG. 10). Thereby, the getting-off command is not added to the self-position information output to the movement control unit 51.

  Subsequently, the current position correction unit 52d corrects the estimated self-position information. Subsequently, the traveling direction calculation unit 51a of the movement control unit 51 determines that the getting-off command is not added to the corrected self-position information, enters a standby state, and stops outputting the forward / reverse speed V0 and the turning speed ω0. Thereby, the guidance robot 1 (moving body 2) does not move and stays in the elevator. The guided person stops pressing the grip 17a because the moving body 2 stays in the elevator.

  After that, it is assumed that the elevator has stopped at the destination floor, that is, the exit floor of the moving body 2. Then, the current position estimating unit 52c determines that the stop floor is the getting-off floor (step S108 “Yes” in FIG. 10), and adds the getting-off command to the self-position information output to the movement control unit 51 (FIG. 10). Step S110). Therefore, the traveling direction calculation unit 51a of the movement control unit 51 determines that the getting-off command is added to the corrected self-position information, cancels the standby state, and outputs the forward / reverse speed V0 and the turning speed ω0. Release the stop. Subsequently, the traveling direction calculation unit 51a generates voice guidance information that prompts the guided person to get off the elevator, and outputs the generated voice guidance information to the speaker 69 via the voice output I / F 64. This causes the guided person to perform an operation of resuming the movement of the guiding robot 1 (moving body 2), that is, depressing the grip 17a.

  Here, it is assumed that the guided person resumes pressing the grip 17a. Then, the traveling direction calculation unit 51a restarts the output of the traveling direction correction unit 51c with the forward / reverse speed V0 and the turning speed ω0. Subsequently, the traveling direction correction unit 51c corrects the forward / reverse speed V0 and the turning speed ω0. Subsequently, the motor drive control unit 51d sends a speed command value for driving the electric motors 9L and 9R to the motor driver via the speed command value output I / F 62 based on the corrected forward / reverse speed V and turning speed ω. Output to 67L and 67R. As a result, the guidance robot 1 (moving body 2) moves along the target route in response to the pressing of the grip 17a and gets off the elevator car.

  Thus, in the present embodiment, the current position estimation unit 52c estimates the height position of the moving body 2 based on the acceleration az detected by the acceleration detection unit 24 (steps S101 and S102 in FIG. 10). When it is determined that the elevator car on which the moving body 2 is on is stopped, the estimated height position H is compared with the height position of each floor of the building to stop the elevator car. The floor is estimated (step S106 in FIG. 10). Furthermore, when the estimated stop floor is the destination floor in the movement between the elevators included in the target route, the movement control unit 51 causes the moving body 2 to get off from the elevator car. Control movement.

Thereby, according to this embodiment, a stop floor can be determined by the guidance robot 1 alone. Therefore, it is not necessary to attach a stop floor determination device to the building side, an existing elevator can be used, and an increase in installation cost can be suppressed. Thereby, alighting floor can be determined more easily.
By the way, for example, a method of installing a communication device in an elevator, communicating between the guidance robot 1 and the elevator, and determining the stop floor requires modification of the elevator, making it impossible to use the existing elevator and increasing the installation cost. Therefore, it is difficult to realize the function of determining the getting-off floor.
Further, for example, in the method of determining the stop floor by reading the identification tag of the number of floors attached to the doors of each floor of the elevator, it takes time to install the identification tag and the installation cost increases. In addition, a reading failure of the identification tag may occur and it may be difficult to determine the getting-off floor.

(Effect of this embodiment)
The invention according to this embodiment has the following effects.
(1) In the guidance robot 1 according to the present embodiment, the height position estimation unit 52h estimates the height position of the moving body 2 based on the acceleration az detected by the acceleration detection unit 24. In addition, the stop floor estimation unit 52i compares the estimated height position H with the height position of each floor of the building when it is determined that the elevator car on which the moving body 2 is traveling is stopped. Estimate the stop floor of the elevator car. Furthermore, when the estimated stop floor is a destination floor (alighting floor) in the movement between floors by an elevator included in the target route, the movement control unit 51 gets off the elevator car. The movement of the moving body 2 is controlled.
According to such a configuration, the stop floor can be determined by a single mobile robot. Therefore, it is not necessary to attach a stop floor determination device to the building side, and the getting-off floor can be determined more easily.

(2) In the guidance robot 1 according to the present embodiment, the stop floor estimation unit 52i is closest to the height position H of each floor of the building, which is estimated by the height position estimation unit 52h. And the floor corresponding to the height position determined to be closest is estimated as the stop floor.
According to such a configuration, even if the height position H of the moving body 2 estimated from the acceleration az deviates from the height position of the stop floor due to an error included in the acceleration az, the stop floor can be estimated appropriately.

(3) In the guidance robot 1 according to the present embodiment, the moving speed estimation unit 52j estimates the moving speed vz of the moving body 2 in the vertical direction based on the acceleration az detected by the acceleration detecting unit 24, and stops the stop floor. When it is determined that the moving speed vz calculated by the moving speed estimating unit 52j is “0”, the estimating unit 52i determines that the elevator car on which the moving body 2 is on is stopped.
According to such a configuration, it is possible to easily determine whether the elevator is stopped.

(Modification)
(1) Furthermore, in this embodiment, although the example which estimates the present position of the mobile body 2 using the marker 100 was shown, another structure is also employable. For example, it is good also as a structure which estimates the present position of the mobile body 2 using a radio beacon. Specifically, as illustrated in FIG. 11, the guidance robot 1 further includes a wireless reception unit 26 that receives wireless beacons transmitted from wireless transmitters installed at a plurality of locations in a building. Then, the current position estimation unit 52 c estimates the current position of the mobile body 2 based on the radio wave intensity of the wireless beacon received by the wireless reception unit 26. Thereby, the present position of the mobile body 2 can be estimated comparatively easily.

(2) Moreover, it is good also as a structure which estimates the present position of the mobile body 2 using indoor GPS (Global Positioning System), for example. Specifically, as shown in FIG. 12, the guidance robot 1 further includes an indoor position information receiving unit 27 that receives indoor position information transmitted from an indoor GPS transmitter installed in a building. As the indoor position information, for example, there is information (for example, GPS signal) used for estimating the current position of the moving body 2 in the building. Then, the current position estimating unit 52 c estimates the current position of the mobile body 2 based on the indoor position information received by the indoor position information receiving unit 27. Thereby, the present position of the mobile body 2 can be estimated comparatively easily.
(3) Furthermore, in this embodiment, although the example applied to the guidance robot 1 which guides a to-be-guided person to the set destination was shown, another structure can also be employ | adopted. For example, the present invention may be applied to an automated guided vehicle or a wheelchair that controls (navigates) movement based on map information.

DESCRIPTION OF SYMBOLS 1 Guide robot 2 Mobile body 24 Acceleration detection part 51 Movement control part 52d Current position correction | amendment part 52f Target path | route production | generation part 52h Height position estimation part 52i Stop floor estimation part 52j Movement speed estimation part

Claims (3)

A movable body that can move in the building;
A target route generating unit that generates a target route of the moving body to a set destination based on map information in a building in which the moving body moves;
A current position estimating unit for estimating a current position of the moving body;
Based on the current position estimated by the current position estimation unit and the target route generated by the target route generation unit, a movement control unit that controls the movement of the moving body;
An acceleration detection unit that detects vertical acceleration acting on the moving body,
The target route generation unit generates a target route including movement between floors by an elevator when the building has an elevator including a car that moves between a plurality of floors.
The current position estimation unit includes a height position estimation unit that estimates a height position of the moving body based on the acceleration detected by the acceleration detection unit, and an elevator car on which the moving body is on the stop. A stop floor estimation unit that estimates the stop floor of the elevator car by comparing the height position estimated by the height position estimation unit with the height position of each floor of the building. Prepared,
When the stop floor estimated by the stop floor estimation unit is a destination floor in the movement between floors by an elevator included in the target route, the movement control unit may get off from the elevator car. A mobile robot for controlling the movement of the mobile body.   The stop floor estimation unit determines which height position estimated by the height position estimation unit is the closest to the height position of each floor of the building, and the height position determined to be the closest The mobile robot according to claim 1, wherein the corresponding floor is estimated as a stop floor. Based on the acceleration detected by the acceleration detection unit, further comprising a movement speed estimation unit that estimates the movement speed of the moving body in the vertical direction,
The said stop floor estimation part determines with the car of the elevator in which the said mobile body is boarding stopping, when it determines with the movement speed estimated in the said movement speed estimation part being "0". The mobile robot according to 1 or 2.

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