JP2019145046A - Mobile robot - Google Patents

Abstract

To provide a mobile robot capable of registering an external apparatus and operating the external apparatus without troubling a user.SOLUTION: A mobile robot 110, capable of making an autonomous travel, includes: a map retaining section 112 for retaining an environment map; an external apparatus recognition section 113 for recognizing an external apparatus 200 during an autonomous travel; an external apparatus registration section 114 for registering, in the environment map, positional information concerning an installation position of an external apparatus 200 on the basis of a position of the mobile robot 110 in recognizing the external apparatus; and remote operation means 160 for transmitting an operation signal of remote operation of the external apparatus 200 after running until an area of possible remote operation on the basis of the positional information relative to the registered external apparatus 200.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a mobile robot that autonomously travels, moves to a predetermined location, and operates an external device.

  Conventionally, a self-propelled control device that inquires of the user whether or not the external device can be controlled based on the weather information acquired by itself and, if controllable, self-runs to a position where the external device can be controlled and then transmits a control signal. (See, for example, Patent Document 1).

JP 2014-59764 A

  However, in the prior art, it is necessary for the user to register the position information and the like of the external device in advance, and the registration work of the position information and the management of the position information are complicated.

  The present invention solves the above-described problems, and an object of the present invention is to provide a mobile robot in which the mobile robot itself can recognize the position of an external device.

  In order to achieve the above object, a mobile robot according to one aspect of the present invention is a mobile robot capable of autonomous travel, and recognizes an external device during autonomous travel, a map holding unit that holds an environmental map of a predetermined area An external device recognizing unit that registers the position information regarding the installation position of the external device in the environmental map based on the position of the mobile robot when the external device recognizing unit recognizes the external device. Remote operation means for driving the external device to an area where remote operation is possible based on the position information and transmitting an operation signal for remotely operating the external device.

  It should be noted that execution of a program for causing a computer to execute each process of the mobile robot also corresponds to the implementation of the present invention. Of course, the implementation of the recording medium in which the program is recorded also corresponds to the implementation of the present invention.

  According to the present invention, a mobile robot can remotely control an external device without a user performing registration work of location information or managing location information.

It is a top view which shows the external appearance of the mobile robot in embodiment from upper direction. It is a bottom view which shows the external appearance of the mobile robot in embodiment from the downward direction. It is a perspective view which shows the external appearance of the mobile robot in embodiment from upper direction. It is a figure which shows the mobile robot of the state of tilting from the side. It is a block diagram which shows the apparatus structure and functional structure of the mobile robot in embodiment. It is a flowchart which shows the registration operation | movement of the external apparatus of a mobile robot. It is a flowchart which shows operation operation | movement of the external apparatus of a mobile robot. It is a figure which shows the other aspect which changes the elevation angle of a transmission direction from the side of a mobile robot.

  Next, an embodiment of a mobile robot according to the present invention will be described with reference to the drawings. The following embodiment is merely an example of the mobile robot in the present invention. Therefore, the scope of the present invention is defined by the wording of the claims with reference to the following embodiments, and is not limited to the following embodiments. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept of the present invention are not necessarily required to achieve the object of the present invention. It will be described as constituting a preferred form.

  In addition, the drawings are schematic diagrams in which emphasis, omission, and ratio adjustment are appropriately performed to show the present invention, and may differ from actual shapes, positional relationships, and ratios.

  FIG. 1 is a plan view showing an external appearance of a mobile robot according to an embodiment from above. FIG. 2 is a bottom view showing the external appearance of the mobile robot in the embodiment from below. FIG. 3 is a perspective view showing an external appearance of the mobile robot in the embodiment from above. The mobile robot 110 is an apparatus that can autonomously move on the floor surface and execute work. The type of the mobile robot 110 is not particularly limited, and examples thereof include a care robot that moves to a predetermined place and provides care, and a transfer robot that conveys people and objects. In the case of the present embodiment, a cleaning robot that can perform cleaning while running autonomously, for example, work other than remote operation of the external device 200 will be described as an example of the mobile robot 110.

  The mobile robot 110 is a robot cleaner that autonomously travels in a predetermined area based on an environmental map and sucks in dust in the area, and is present in a drive unit 130 (see FIG. 2) and a cleaning area. A cleaning unit 140 (see FIG. 2) for sucking dust from the suction port 178, various sensors, a remote control means 160, a processor 111 (see FIG. 5), and the like are provided. In the case of this embodiment, the mobile robot 110 includes a lifting means 131.

  In the case of the present embodiment, drive unit 130 includes a wheel that travels on the floor, a travel motor that applies torque to the wheel, a housing that houses the travel motor, and the like. Each wheel is accommodated in a recess formed in the lower surface of the body and is attached so as to be rotatable with respect to the body. The mobile robot 110 is a two-wheeled type equipped with casters 179 as auxiliary wheels. The mobile robot 110 can freely move, such as going straight, retreating, turning left, turning right, by independently controlling the rotation of the two wheels. Can be run.

  The drive unit 130 causes the mobile robot 110 to travel based on an instruction from the processor 111. In the present embodiment, one drive unit 130 is arranged on each of the left side and the right side with respect to the center in the width direction of the mobile robot 110 in plan view. The number of drive units 130 is not limited to two, and may be one or three or more.

  The cleaning unit 140 is a unit that collects and sucks dust, and includes a main brush disposed in the suction port 178, a brush drive motor that rotates the main brush, and the like. The suction device that sucks dust from the suction port 178 is disposed inside the body, and includes a fan case and an electric fan disposed inside the fan case.

  Examples of the various sensors included in the mobile robot 110 include the following sensors.

  The obstacle sensor 173 is a sensor that detects an obstacle present in front of the body. In the present embodiment, the obstacle sensor 173 is an ultrasonic sensor. The obstacle sensor 173 includes a transmitter 171 disposed in the center of the front of the body, and receivers 172 disposed on both sides of the transmitter 171. The obstacle sensor 173 is transmitted from the transmitter 171 and reflected by the obstacle. When the receiving unit 172 receives the ultrasonic waves that have returned, the distance and position of the obstacle can be detected.

  The distance measuring sensor 174 is a sensor that detects a distance between an object such as an obstacle existing around the mobile robot 110 and the mobile robot 110. In the case of the present embodiment, the distance measuring sensor 174 is a so-called laser range scanner that measures a distance based on light reflected by an obstacle by scanning laser light.

  The collision sensor (not shown) is a switch contact displacement sensor that is turned on when a bumper attached around the mobile robot 110 comes into contact with an obstacle and is pushed into the mobile robot 110.

  The camera 175 is a device that images the upper space of the mobile robot 110. The image captured by the camera 175 is subjected to image processing, and the current position of the mobile robot 110 can be grasped from the position of the feature point in the image.

  The floor surface sensors 176 are arranged at a plurality of locations on the bottom surface of the mobile robot 110 and detect whether or not there is a floor surface as a cleaning area. In the case of the present embodiment, the floor sensor 176 is an infrared sensor having a light emitting part and a light receiving part. When infrared light radiated from the light emitting part returns, there is a floor surface and only light below a threshold value is returned. In the case, it is detected that there is no floor.

  The encoder (not shown) is provided in the drive unit 130 and detects the rotation angle of each of the pair of wheels rotated by the traveling motor. The travel amount, turning angle, speed, acceleration, angular speed, etc. of the mobile robot 110 can be calculated from information from the encoder.

  The acceleration sensor (not shown) detects the acceleration when the mobile robot 110 travels, and the angular velocity sensor detects the angular velocity when the mobile robot 110 turns. Information detected by the acceleration sensor and the angular velocity sensor is used as information for correcting an error caused by the idling of the wheel.

  The obstacle sensor 173, the distance measuring sensor 174, the collision sensor, the camera 175, the floor sensor 176, and the encoder described above are examples, and the mobile robot 110 may include other types of sensors.

  For example, as shown in FIG. 4, the remote operation means 160 is a device that can transmit an operation signal that can be remotely operated to each external device 200 such as a ceiling light, a cooler, and a television. The method by which the remote operation means 160 transmits the operation signal is not particularly limited, and for example, it may be transmitted using radio waves. In the case of the present embodiment, the remote operation means 160 transmits an operation signal by infrared rays that are widely used in home appliances.

  In the case of the present embodiment, as shown in FIG. 5, the remote operation unit 160 includes an operation signal transmission device 161 including an infrared light emitting element and a transmission device control unit 162 that controls the operation signal transmission device 161. ing.

  The lifting means 131 is a device that lifts at least a part of the mobile robot body 101. In the present embodiment, the lifting means 131 includes a lifting device 132 and a lifting control unit 133 as shown in FIG. 5, and the lifting device 132 is incorporated in the drive unit 130. Specifically, for example, the lifting means 131 includes an arm that rotatably holds a wheel included in the drive unit 130. The lifting means 131 lifts a part of the mobile robot body 101 by rotating the mobile robot body 101 in a direction in which the arm protrudes, and tilts the mobile robot 110. Thereby, the remote control means 160 can be directed diagonally upward, and it becomes possible to irradiate directional infrared light toward a ceiling light or a cooler.

  In the case of the present embodiment, the lifting means 131 not only changes the transmission direction of the operation signal of the remote operation means 160 but also causes the mobile robot 110 to rub against the bottom of the mobile robot body 101 with a carpet with long hairs. When it becomes impossible to move, the mobile robot body 101 can be lifted to escape.

  The processor 111 is a device that implements each processing unit by executing a program. As illustrated in FIG. 5, the processor 111 implements a map holding unit 112, an external device recognition unit 113, and an external device registration unit 114. Yes. In the present embodiment, the processor 111 implements an obstacle recognition unit 115 and a map creation unit 116. Moreover, the processor 111 is implement | achieved as a process part which controls the apparatus corresponding to the driving | running | working control part 134, the transmission apparatus control part 162, and the lifting control part 133. FIG.

  In addition, although the processor 111 is described as one, the processing unit may be realized by a plurality of processors.

  The map holding unit 112 is a processing unit that temporarily holds an environment map of a predetermined area where the mobile robot 110 moves and performs operations such as cleaning. Although the environment map may be acquired from the outside of the mobile robot 110, in the case of the present embodiment, the mobile robot 110 itself is created by the obstacle recognition unit 115 and the map creation unit 116.

  The obstacle recognition unit 115 is a processing unit that calculates the positional relationship between the position of the mobile robot 110 and the obstacle based on information from sensors such as an encoder and a distance measuring sensor 174. The obstacle recognizing unit 115 accumulates information indicating the relationship between the obstacle and the self position at a plurality of locations by the mobile robot 110 that travels autonomously.

  The map creation unit 116 is a processing unit that creates an environmental map by integrating the data calculated and accumulated by the obstacle recognition unit 115. A method for generating the environment map is not particularly limited, and examples thereof include SLAM (Simultaneous Localization and Mapping).

  The map creation unit 116 generates, as an environmental map, information indicating the outline of the area actually traveled based on the travel performance of the mobile robot 110 and the obstacles that impede travel. The environment map generated by the map creation unit 116 is realized as, for example, two-dimensional array data. The traveling performance may be divided into squares of a predetermined size, for example, 10 cm in length and width, and each square may be regarded as an element area of an array constituting the environment map and processed as array data.

  The external device recognition unit 113 is a processing unit that recognizes the external device 200 during the autonomous traveling of the mobile robot 110 including a temporary stop state. Although the method by which the external device recognition unit 113 recognizes the external device 200 is not particularly limited, in the case of the present embodiment, an image captured by the camera 175 while the mobile robot 110 is creating an environmental map or cleaning. On the basis of the above, by separately processing using information obtained by deep learning, the type of the external device 200 such as a ceiling light, a cooler, or a television is distinguished and recognized. Note that the external device recognition unit 113 may recognize the external device 200 in more detail. For example, the manufacturer and model of the external device 200 may be recognized. Accordingly, an operation signal suitable for each external device 200 can be transmitted to the transmission device control unit 162.

  In the case of the present embodiment, the external device recognition unit 113 also acquires the height (distance in the vertical direction) from the traveling surface, which is the surface on which the mobile robot 110 travels, to the external device 200. The method for obtaining the height is not particularly limited. For example, a table in which the correspondence between the type and height of the external device 200 is stored and the type of the external device 200 recognized based on the table is used. The height may be acquired. Corresponding relationships such as Acm for the ceiling light, Bcm for the cooler, and Ccm for the television are preset in the table. In addition, the external device recognition unit 113 is based on the distance from the mobile robot 110 to the wall to which the external device 200 is attached and the image acquired from the camera 175 by a sensor other than the camera 175, such as the distance measuring sensor 174. The height may be calculated using the elevation angle of the external device 200 with respect to the calculated traveling surface.

  The external device registration unit 114 indicates position information regarding the position where the external device 200 is installed based on the position of the mobile robot 110 when the external device recognition unit 113 recognizes the external device 200, the type of the external device 200, and the like. It is a processing unit that registers information and the like in the environmental map. Specifically, the external device registration unit 114 registers the position information of the external device 200, the type and model of the external device 200, and the installation height of the external device 200 in the environment map created by the map creation unit 116. Here, the position information of the external device 200 is information on the installation position of the external device 200 on the environment map, information on a position where the mobile robot 110 can operate the external device 200, and the like. The position where the mobile robot 110 can operate the external device 200 will be described as an example. When the external device 200 is a ceiling light, the mobile robot 110 is moved by a lifting means 131 or the like at a predetermined distance from directly below the installation position of the ceiling light. This is a position where the ceiling light can be operated with infrared rays when the robot body 101 is lifted.

  Next, one aspect of the registration operation of the external device 200 among the operations of the mobile robot 110 will be described. FIG. 6 is a flowchart showing the registration operation of the external device of the mobile robot. As shown in the figure, the mobile robot 110 autonomously travels and starts cleaning, which is one of the functions of the mobile robot 110, when an instruction from the user or a predetermined time comes (S101). In the case of the present embodiment, whether the environmental map is held in the map holding unit 112 or not, the self-position estimation and the environmental map creation are performed simultaneously during autonomous driving (S102). ).

  When the external device recognition unit 113 recognizes the external device 200 based on the image from the camera 175 during autonomous traveling (S103: Yes), the external device registration unit 114 receives information corresponding to the same external device 200. It is determined whether it is already registered in the environmental map (S014). If the information corresponding to the recognized external device 200 is not existing (S104: No), the position information regarding the position where the external device 200 is installed is registered in the environmental map based on the estimated position (self-position) of the mobile robot. (S105). Furthermore, information on the type, model, installation height, etc. of the external device 200 is also registered.

  During cleaning, each process of S102 to S105 is repeatedly performed (S106: No). When cleaning is completed (S106: Yes), creation of the environmental map and registration of the external device 200 are completed.

  As described above, the user recognizes and registers the external device 200 while performing cleaning, which is one of the functions of the mobile robot 110, so that the user registers the position information and the like of the external device 200 in advance. This eliminates the need for the user and frees the user from the complexity of registration and management.

  Moreover, since the information regarding the external device 200 in an environmental map is updated by the cleaning performed regularly, even when the external device 200 is replaced, it is possible to cope with it sufficiently. Note that the external device 200 may be recognized when the environment map is created for the first time.

  Next, one aspect of the operation of operating the external device 200 among the operations of the mobile robot 110 will be described. FIG. 7 is a flowchart showing the operation of the external device of the mobile robot. As shown in the figure, the mobile robot 110 acquires an instruction from the user. The instruction acquisition method is not particularly limited. For example, when the mobile terminal held by the user and the mobile robot 110 can communicate with each other via a wireless LAN (local area network) or the like, the mobile robot 110 can be accessed from the user's mobile terminal. Instruction information indicating an instruction is acquired. Further, when the mobile robot 110 has a voice recognition function, an instruction may be acquired by a user's voice. Further, when the mobile robot 110 and the smart speaker can communicate with each other via a wireless LAN or the like, the user gives an instruction to the smart speaker based on voice, so that the mobile robot 110 acquires instruction information via the smart speaker. It doesn't matter.

  The mobile robot 110 that has acquired the instruction information has the driving control unit 134 drive unit based on the environment map until it reaches an area where the remote operation means 160 can operate the external device 200 included in the instruction information (S203: Yes). The vehicle travels while controlling 130 (S202). Here, reaching the area means not only that the mobile robot 110 is located in the area corresponding to the external device 200 but also the state in which the mobile robot 110 faces in a direction in which the external device 200 can be operated.

  Next, when the external device 200 is at a high position and the mobile robot body 101 needs to be lifted (S204: Yes). The lifting control unit 133 controls the lifting device 132 according to the height information of the external device 200 acquired by the mobile robot 110 to lift a part of the mobile robot body 101 and tilt the mobile robot 110 (S205). When lifting is not necessary (S204: No), or when lifting is completed, the transmission device controller 162 controls the operation signal transmission device 161 to transmit an operation signal corresponding to the external device 200, and the external device 200 Remote control. The operation of the external device 200 is, for example, turning on the power or setting a target temperature.

  When the instruction information acquired by the mobile robot 110 includes operations of a plurality of external devices 200 (S207; Yes), the mobile robot 110 repeats the operations of S202 to S206. When all operations of the external device 200 corresponding to the instruction are completed (S207: No), the mobile robot 110 returns to a predetermined location such as a charging station (S208).

  According to the above, when there is no remote control for operating the external device 200 at the user's hand, or when it is desired to operate the external device 200 in a place away from the user where light or radio waves for transmitting an operation signal does not reach, cleaning is performed. It is possible to operate the mobile robot 110 in the air without using the mobile robot 110 or the mobile robot 110 being cleaned, thereby improving convenience. Specifically, for example, you can cool the bedroom without going into a very sultry bedroom before going to bed, or warm the dressing room with heating without going into a very cold dressing room before bathing Is possible.

  The present invention is not limited to the above embodiment. For example, another embodiment realized by arbitrarily combining the components described in this specification and excluding some of the components may be used as an embodiment of the present invention. In addition, the present invention includes modifications obtained by making various modifications conceivable by those skilled in the art without departing from the gist of the present invention, that is, the meaning of the words described in the claims. It is.

  For example, the mobile robot 110 is not limited to a robot cleaner, and may be a transport robot that transports drinks, medicines, and the like to a user, an assistance robot that assists the user's operation, and the like.

  In addition, in order to recognize the height of the external device 200, an image captured by the camera 175 and information from the laser range scanner are used in combination. You can get information about

  Further, although the elevation angle at which the operation signal is transmitted is changed by tilting the mobile robot body 101, the remote operation means 160 can change the elevation angle with respect to the mobile robot body 101 as shown in FIG. An operation signal transmission device 161 capable of transmitting the operation signal by changing the transmission direction according to the height information of the external device 200 may be used. Further, when the mobile robot 110 includes a work arm, the operation signal transmission device 161 is attached to the arm, and the operation signal is transmitted by changing the transmission direction according to the height information of the external device 200. It doesn't matter.

  The present invention is applicable to a robot capable of autonomous traveling.

101 Mobile Robot Body 110 Mobile Robot 111 Processor 112 Map Holding Unit 113 External Device Recognition Unit 114 External Device Registration Unit 115 Obstacle Recognition Unit 116 Map Creation Unit 130 Drive Unit 131 Means 132 Device 133 Control Unit 134 Travel Control Unit 140 Cleaning Unit 160 Remote control means 161 Operation signal transmitter 162 Transmitter controller 171 Transmitter 172 Receiver 173 Obstacle sensor 174 Distance sensor 175 Camera 176 Floor sensor 178 Suction port 179 Caster 200 External device

Claims (4)

A mobile robot that can travel autonomously,
A map holding unit for holding an environmental map of a predetermined area;
An external device recognition unit that recognizes an external device during autonomous driving;
An external device registration unit for registering position information regarding the installation position of the external device in the environmental map based on the position of the mobile robot when the external device recognition unit recognizes the external device;
A mobile robot comprising remote operation means that travels to a region where remote operation can be performed on the registered external device based on the position information and transmits an operation signal for remotely operating the external device. An obstacle recognition unit that calculates the positional relationship between the self-position and the obstacle based on information from the sensor;
A map creation unit that creates the environmental map by integrating the data calculated by the obstacle recognition unit,
The mobile robot according to claim 1, wherein the external device registration unit registers the external device in the environmental map created by the map creation unit. The external device registration unit
Register height information regarding the installation height of the external device,
The remote control means includes
The mobile robot according to claim 1, wherein an operation signal is transmitted by lifting at least a part of the mobile robot body using a lifting means in accordance with the height information. The external device registration unit
Register height information regarding the installation height of the external device,
The remote control means includes
The mobile robot according to claim 1, wherein an operation signal is transmitted by changing a transmission direction using a transmission direction changing unit according to the height information.

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