JP2022039769A - Self-propelled mobile device, its control method, image generation device, and step traveling system - Google Patents

Abstract

To provide a self-propelled mobile device that travels without avoiding a step that the device can climb over.SOLUTION: A self-propelled mobile device (1) includes: a step detection unit (45) that detects a step; a photographing unit (41) that photographs an image around the self-propelled mobile device (1); a determination unit (42) that determines whether a predetermined image is included in the photographed image or not; and a travel control unit (44) that controls travel of the self-propelled mobile device (1) so as to climb over the step while traveling in a step climb-over section specified according to a result of the determination.SELECTED DRAWING: Figure 2

Description

The present invention relates to a self-propelled mobile device or the like traveling on a floor surface.

Patent Document 1 discloses a self-propelled vacuum cleaner provided with two step detection sensors arranged side by side on the left end of the bottom surface of the main body. When the self-propelled vacuum cleaner detects a step, the floor surface is detected by the left inner step detection sensor, and the main body is driven while detecting the step by the left outer step detection sensor, so that the main body becomes a step. Run the main body along the floor surface on the front side of the step so that it will not fall.

Japanese Unexamined Patent Publication No. 2006-87507

In the place where the self-propelled vacuum cleaner travels, there may be a step that can actually be traveled, for example, a groove between the elevator landing and the car. However, the self-propelled vacuum cleaner disclosed in Patent Document 1 cannot travel over such a step.

One aspect of the present invention is to realize a self-propelled mobile device or the like that travels without avoiding a step that can be overcome.

In order to solve the above problems, the self-propelled mobile device according to one aspect of the present invention is a self-propelled mobile device that travels on the floor surface, and has a step detection unit that detects a step on the floor surface. A photographing unit that captures an image of the surroundings of the self-propelled mobile device, a determination unit that determines whether or not the captured image includes a predetermined image, and a step crossing section specified according to the result of the determination. It is provided with a travel control unit that controls the travel of the self-propelled mobile device so as to get over the step while traveling inside.

Further, the control method of the self-propelled mobile device according to one aspect of the present invention is a control method of the self-propelled mobile device traveling on the floor surface, and includes a step detection step for detecting a step on the floor surface and the above-mentioned step detection step. A shooting step for capturing an image of the surroundings of a self-propelled mobile device, a determination step for determining whether or not the captured image includes a predetermined image, and a step crossing section specified according to the result of the determination. Includes a travel control step that controls the travel of the self-propelled mobile device so as to overcome the step while traveling.

According to the self-propelled mobile device and the control method thereof according to one aspect of the present invention, it is possible to realize a self-propelled mobile device that travels without avoiding a step that can be overcome.

It is a schematic diagram which shows the appearance of the self-propelled mobile device which concerns on Embodiment 1. FIG. It is a block diagram which shows the structure of the main part of the self-propelled mobile device which concerns on Embodiment 1. FIG. It is a figure which shows an example of the traveling area and the marker arrangement location of the self-propelled mobile device which concerns on Embodiment 1. FIG. It is a figure which shows another example of the marker arrangement place. It is a figure which shows another example of the marker arrangement place. It is a figure which shows another example of the marker arrangement place. It is a flowchart which shows an example of the processing flow in the self-propelled mobile device which concerns on Embodiment 1. FIG. It is a figure which shows the application example of the traveling area and the marker arrangement location of the self-propelled mobile device which concerns on Embodiment 1. FIG. It is a figure which shows the application example of the traveling area and the marker arrangement location of the self-propelled mobile device which concerns on Embodiment 1. FIG. It is a figure which shows the detailed example of a marker arrangement place. It is a flowchart which shows an example of the flow of the process which the self-propelled mobile device which concerns on Embodiment 1 moves on a floor by riding an elevator. It is a block diagram which shows the structure of the main part of the self-propelled mobile device which concerns on Embodiment 2. It is a flowchart which shows an example of the processing flow in the self-propelled mobile device which concerns on Embodiment 2.

[Embodiment 1]
Hereinafter, one embodiment of the present invention will be described in detail.

(Configuration of self-propelled mobile device 1)
The self-propelled mobile device 1 according to the present embodiment will be described. A typical example of the self-propelled mobile device 1 is a robot vacuum cleaner that cleans the floor surface, but is not limited to this. The traveling place of the self-propelled mobile device 1 is a floor surface having a step that the self-propelled mobile device 1 can overcome. A typical example of a step is the gap between the elevator landing and the elevator car.

FIG. 1 is a schematic view showing the appearance of the self-propelled mobile device 1. In FIG. 1, the side view of the self-propelled mobile device 1 is shown by reference numeral 1001, and the bottom view is shown by reference numeral 1002. As shown in FIG. 1, the self-propelled mobile device 1 includes a camera 10, a distance sensor 20, a cliff sensor 30, a control unit 40, a communication unit 50, wheels 60, and training wheels 65. In addition, when the self-propelled mobile device 1 is a robot vacuum cleaner, the self-propelled mobile device 1 has a cleaning function. Further, the self-propelled mobile device 1 has a position specifying function such as GPS (Global Positioning System), SLAM (Simultaneus Localization And Mapping), or odometry (encoder provided on the wheel 60) in order to specify the position of the own machine. It is preferable to provide.

The control unit 40 controls the operation of the self-propelled mobile device 1. The specific configuration of the control unit 40 will be described later.

The communication unit 50 is a communication module for transmitting and receiving information between the self-propelled mobile device 1 and an external device (not shown). The communication unit 50 is used for communication with the elevator in order to perform control such as calling the elevator when, for example, the self-propelled mobile device 1 tries to move on the floor by riding on the elevator.

The camera 10 is a photographing device that captures an image of the surroundings of the self-propelled mobile device 1. The camera 10 preferably captures the forward direction of the self-propelled mobile device 1. The camera 10 includes, for example, a plurality of CCDs (Charge Coupled Devices) as pixels. The main object to be photographed by the camera 10 is a marker M provided in the area where the self-propelled mobile device 1 travels. In order to make it easier for the marker M to fit in the angle of view, it is preferable to use a camera 10 having a wide angle of view, and for example, a camera having a horizontal angle of view of 150 ° or more can be used.

The marker M is an image as a sign indicating that there is a step that the self-propelled mobile device 1 can overcome. The marker M is provided at a position where the camera 10 can take a picture. Further, it is preferable that the marker M is provided in the vicinity of a step on which the self-propelled mobile device 1 can get over. Further, the marker M may be an image on which a predetermined pattern is drawn, but is preferably a one-dimensional code such as a barcode or a two-dimensional code such as a QR code (registered trademark). When the marker M is these codes, the information indicating the section in which the self-propelled mobile device 1 has a step that can be overcome (hereinafter referred to as "step passing section") can be read in the marker M. It is preferably embedded. The step crossing section may be determined according to the position where the step exists (absolute position represented by latitude, longitude, etc., or the position relative to the marker M), the size of the step, and the like. It should be noted that the step and the marker M do not have to have a one-to-one relationship. That is, a plurality of markers M may be associated with one step, or one marker M may be associated with a plurality of steps.

The distance sensor 20 is a sensor that measures the distance to an object existing in the forward direction of the self-propelled mobile device 1. The distance sensor 20 includes, for example, a light emitting unit that irradiates infrared rays and a light receiving unit that receives infrared rays reflected by an object existing in the forward direction of the self-propelled mobile device 1. The distance sensor 20 measures, but is not limited to, a distance to an object in a range of 180 ° centered on the forward direction, as typified by, for example, LIDAR (Laser Image Detection And Ringing).

The wheels 60 are drive wheels that are controlled and driven by the control unit 40. In the example shown in FIG. 1, the self-propelled mobile device 1 includes two wheels 60. The training wheels 65 are auxiliary ground contact portions for stabilizing the running of the self-propelled mobile device 1. In the example shown in FIG. 1, the self-propelled mobile device 1 includes one training wheel 65. However, the number of wheels 60 and training wheels 65 included in the self-propelled mobile device 1 is not limited to this.

The cliff sensor 30 is a sensor arranged at the bottom of the self-propelled mobile device 1 and detects a step on the floor on which the self-propelled mobile device 1 travels by using infrared rays, a laser, ultrasonic waves, or the like. The cliff sensor 30 has the same configuration as the distance sensor 20, for example. The cliff sensor 30 is arranged on the forward side of the wheel 60. Further, the self-propelled mobile device 1 may be provided with more cliff sensors 30. Further, the cliff sensor 30 may be provided on the lower surface side of the protruding portion protruding from the side surface of the self-propelled mobile device 1.

In addition, in FIG. 2 and later, the illustration of each part described with reference to FIG. 1 may be omitted.

FIG. 2 is a block diagram showing a configuration of a main part of the self-propelled mobile device 1. FIG. 2 also shows a block diagram showing a configuration of a main part of the image generation device 2 described later.

As shown in FIG. 2, the self-propelled mobile device 1 includes a storage unit 70 in addition to the members described with reference to FIG. The storage unit 70 is a storage medium that stores information necessary for controlling the self-propelled mobile device 1 by the control unit 40. The storage unit 70 does not necessarily have to be included in the self-propelled mobile device 1, and may exist as an external storage device that can be connected via the communication unit 50.

The control unit 40 of the self-propelled mobile device 1 includes a photographing unit 41, a determination unit 42, a specific unit 43, a traveling control unit 44, and a step detection unit 45.

The photographing unit 41 photographs an image around the self-propelled mobile device 1 (particularly, an image in the forward direction) by the camera 10. The image to be captured may be a still image or a moving image. The photographing unit 41 outputs the captured image to the determination unit 42.

The determination unit 42 determines whether or not the image captured by the imaging unit 41 includes the image of the marker M (predetermined image). It is assumed that the image of the marker M as the determination standard is stored in the storage unit 70 in advance. The determination unit 42 outputs the determination result to the specific unit 43.

The specific unit 43 specifies a step overpass section according to the determination result of the determination unit 42. Specifically, when the determination unit 42 determines that the image captured by the photographing unit 41 includes the image of the marker M, the specifying unit 43 specifies the step passing section. When the determination unit 42 determines that the image captured by the photographing unit 41 does not include the image of the marker M, the specifying unit 43 does not specify the step passing section. The method of specifying the step crossing section will be described later. The specific unit 43 outputs the specified step overpass section to the travel control unit 44.

The step detection unit 45 detects a step on the floor surface by the cliff sensor 30. The step detection unit 45 outputs the step detection result to the travel control unit 44. As described above, since the cliff sensor 30 is arranged on the forward direction side of the wheel 60, the step can be detected before the wheel 60 reaches the step.

The travel control unit 44 controls the travel of the self-propelled mobile device 1. Specifically, the travel control unit 44 controls the rotation and direction of the wheels 60. The travel control unit 44 normally controls the travel of the self-propelled mobile device 1 so as to avoid the step detected by the step detection unit 45.

However, the traveling control unit 44 controls the traveling of the self-propelled mobile device 1 so as to overcome the step while traveling in the step-passing section. Therefore, the self-propelled mobile device 1 can get over the step and travel without avoiding the step that can be overcome in the step overpass section.

In the present embodiment, the travel control unit 44 ignores the detection result of the step detection unit 45 in the step overpass section specified by the specific unit 43, and controls the travel of the self-propelled mobile device 1. That is, in the present embodiment, the step passing section specified by the specific unit 43 is a section in which the traveling control unit 44 ignores the detection result by the step detection unit 45. Therefore, the self-propelled mobile device 1 travels over the step detected by the step detecting unit 45 in the step passing section. Of course, when the vehicle deviates from the step passing section, the travel control unit 44 controls the travel of the self-propelled mobile device 1 so as to avoid the step detected by the step detection unit 45 as usual. In other words, even if the self-propelled mobile device 1 has a step that can be overcome, (i) the step detection unit 45 detects the step by the cliff sensor 30, and (ii) the image taken by the photographing unit 41. When the determination unit 42 determines that the image of the marker M is not included, the travel control unit 44 controls the travel of the self-propelled mobile device 1 so as to avoid the step.

The image generation device 2 is a device that generates a marker M. The image generation device 2 includes an input unit 80 and a generation unit 90. The input unit 80 receives input of information indicating a step crossing section. The input unit 80 is, for example, a keyboard or a touch panel. The generation unit 90 generates a marker M in which the information received by the input unit 80 is readablely embedded. Therefore, the image generation device 2 can generate the marker M in which the information indicating the step crossing section is readablely embedded. The image generation device 2 outputs the marker M via an output unit (not shown). The output unit is, for example, a printing device.

According to the step traveling system 100 including the self-propelled mobile device 1 and the image generation device 2, the marker M generated by the image generation device 2 is arranged in the vicinity of the step that the self-propelled mobile device 1 can overcome. As a result, the self-propelled mobile device 1 can travel over the step.

(Traveling area of self-propelled mobile device 1 and marker placement location)
FIG. 3 is a diagram showing an example of a traveling area of the self-propelled mobile device 1 and a marker arrangement location. The area in which the self-propelled mobile device 1 is traveling is referred to as "area R1" (traveling area). The area existing in the forward direction of the area R1 and to be entered by the self-propelled mobile device 1 is referred to as "area R2" (area to be entered). There is a step C on the floor surface between the area R1 and the area R2. In the example of FIG. 3, a marker M is provided in the region R2 near the entrance of the region R2. In this situation, since the conventional self-propelled mobile device having a normal step avoidance function travels so as to avoid the step C, it cannot get over the step C from the area R1 and enter the area R2.

On the other hand, in the self-propelled mobile device 1, since the photographing unit 41 photographs the forward direction (that is, the direction of the region R2), the marker M is photographed. Then, when the determination unit 42 determines that the image captured by the photographing unit 41 includes the image of the marker M, the specifying unit 43 specifies the step overpass section.

Examples of the method for specifying the step crossing section by the specific unit 43 include the following (1) to (3). (1) The section from the point where the determination unit 42 determines that the image of the marker M is included to the point where the approach to the area R2 is completed is specified as the step overpass section. (2) The step crossing section is specified based on the information read from the marker M. (3) A predetermined range (for example, several meters) is specified as a step overpass section starting from a point determined by the determination unit 42 to include the image of the marker M. If the position of the self-propelled mobile device 1 is required to perform these (1) to (3), the position specifying function such as GPS, SLAM, or odometry described above may be used.

Then, the traveling control unit 44 ignores the detection result of the step detecting unit 45 while traveling in the step passing section specified by the specific unit 43. Therefore, the self-propelled mobile device 1 can get over the step C from the area R1 and enter the area R2.

FIG. 3 shows an example in which the marker M is provided in the region R2 near the entrance of the region R2, but the location where the marker M is arranged is not limited to this. 4 to 6 are views showing another example of the arrangement location of the marker M. FIG. 4 shows an example in which the marker M is provided in the region R2 at a position deeper than the entrance. FIG. 5 shows an example in which the marker M is provided in the region R1 in the vicinity of the exit of the region R1. FIG. 6 shows an example in which the marker M is provided in the passage R3 from the region R1 to the region R2. In any of the cases of FIGS. 3 to 6, the location where the marker M is arranged is a location where the marker M can be photographed by the photographing unit 41 before the self-propelled mobile device 1 reaches the step C.

As described above, when the self-propelled mobile device 1 enters the area R2 from the area R1 when the step C exists between the area R1 and the area R2, the marker M is inside the area R2 and the entrance of the area R2. , The exit of the region R1 and the passage R3 from the region R1 to the region R2. By providing the marker M in these places, the image of the marker M is included in the image taken by the photographing unit 41 while the self-propelled mobile device 1 is traveling from the area R1 to the area R2. As a result, the self-propelled mobile device 1 can get over the step C and enter the region R2.

FIG. 7 is a flowchart showing an example of the processing flow in the self-propelled mobile device 1. A processing flow in the self-propelled mobile device 1 will be described with reference to FIG. 7. In FIG. 7, it is assumed that the self-propelled mobile device 1 has already started traveling. First, the photographing unit 41 photographs an image (particularly, an image in the forward direction) around the self-propelled mobile device 1 by the camera 10 (SA1, shooting step). Next, the determination unit 42 determines whether or not the image captured by the imaging unit 41 includes the image of the marker M (SA2, determination step). When the image of the marker M is included (YES in SA2), the specific unit 43 specifies the step crossing section (SA3, specific step). When the image of the marker M is not included (NO in SA2), the specific unit 43 does not specify the step crossing section. The control unit 40 repeatedly executes the processes of steps SA1 to SA3.

On the other hand, the step detection unit 45 executes step detection by the cliff sensor 30 (SB1, step detection step). Then, when the step is detected (YES in SB2), the travel control unit 44 determines whether the self-propelled mobile device 1 is traveling in the step-passing section (SB3). When traveling in the step passing section (YES in SB3), the traveling control unit 44 ignores the step detected by the step detecting unit 45 (SB4) and controls the traveling of the self-propelled mobile device 1 (SB6). , Driving control step). On the other hand, when the vehicle is not traveling in the step passing section (NO in SB3), the travel control unit 44 avoids the step detected by the step detection unit 45 (SB5) and controls the travel of the self-propelled mobile device 1 (SB5). SB6). When the step detection unit 45 does not detect the step (NO in SB2), the travel control unit 44 performs the normal travel control (SB6). The control unit 40 repeatedly executes the processes of steps SB1 to SB6.

The control unit 40 executes the processes of steps SA1 to SA3 and the processes of steps SB1 to SB6 in parallel.

(Application example of the traveling area of the self-propelled mobile device 1 and the marker placement location)
8 and 9 are views showing an application example of a traveling region and a marker disposing location of the self-propelled mobile device 1. FIG. 10 is a diagram showing a detailed example of the marker arrangement location.

In the example shown in FIG. 8, the self-propelled mobile device 1 tries to get into the elevator car 210 from the elevator landing 230. In this case, the area R1 is an area including the elevator landing 230, and the area R2 is an area in the elevator car 210. In the example shown in FIG. 9, the self-propelled mobile device 1 tries to get off from the car 210 to the landing 230. In this case, the area R1 is an area in the elevator car 210, and the area R2 is an area including the elevator landing 230.

There is a step C between the landing 230 and the car 210. The step C is a general term for (i) a gap in which the door 240 that opens and closes the entrance / exit of the car 210 moves, and (ii) a gap between the car 210 and the landing 230. Further, the door 240 is a general term for the door provided on the landing 230 side and the door provided on the car 210 side. A marker M1 is arranged near the entrance / exit of the car 210 in the car 210. Further, the marker M2 is arranged on the wall surface 220 located near the entrance / exit of the landing 230 in the landing 230. Both the marker M1 and the marker M2 indicate the existence of a step C between the landing 230 and the car 210, and based on this, the self-propelled mobile device 1 can specify the step passing section. do. A detailed example of the arrangement location of the marker M1 and the marker M2 is as shown in FIG. FIG. 10 is a view of the car 210 viewed from the landing 230 side in the lower left direction when the door 240 is in the open state. As shown in FIG. 10, it is preferable that the markers M1 and the markers M2 are arranged in close proximity to each other. This makes it easier to shoot both at the same time.

In the example shown in FIGS. 8 to 10, when the determination unit 42 determines that the image captured by the imaging unit 41 includes at least one of the marker M1 and the marker M2, the specific unit 43 determines the step transit section including the step C. The traveling control unit 44 ignores the detection result of the step detection unit 45 in the step passing section. Therefore, the self-propelled mobile device 1 can get on and off between the landing 230 and the car 210 over the step C.

The reason for disposing the two markers (marker M1 and marker M2) is to consider the existence of the door 240. When the self-propelled mobile device 1 is present at the landing 230, only the marker M2 can be photographed when the door 240 is closed, and the marker M1 can also be photographed when the door 240 is open. Therefore, when the self-propelled mobile device 1 is present at the landing 230, the traveling control unit 44 controls the traveling so as to get into the car 210 when the marker M1 is included in the image captured by the photographing unit 41. You may. On the other hand, when the self-propelled mobile device 1 is present in the car 210, only the marker M1 can be photographed when the door 240 is closed, and the marker M2 can also be photographed when the door 240 is open. .. Therefore, when the self-propelled mobile device 1 is present in the car 210, the traveling control unit 44 travels so as to get off the car 210, triggered by the inclusion of the marker M2 in the image taken by the photographing unit 41. You may control it.

The marker M2 may serve as a sign indicating that the place is the landing 230. In this case, if the marker M2 is included in the image captured by the photographing unit 41, the self-propelled mobile device 1 determines that it has arrived at the landing 230 or will soon arrive at the landing 230, and determines that the communication unit 50 arrives. It may have a function of calling an elevator via. Of course, the self-propelled mobile device 1 may specify that the self-propelled machine is located at the landing 230 by using the position specifying function without relying on the marker M2.

Further, the locations where the markers M1 and M2 are arranged are not limited to the examples shown in FIGS. 8 to 10. For example, the marker M1 may be provided on the wall surface of the car 210 facing the door 240. In this case, the marker M1 may be hidden behind the user in the car 210 and cannot be seen from the landing 230 side. That is, the marker M1 may not be included in the image captured by the photographing unit 41 even when the door 240 is in the open state. In this case, the self-propelled mobile device 1 does not get into the car 210. As a result, it is possible to avoid forcibly boarding the self-propelled mobile device 1, and it is possible to improve the convenience of the elevator user.

FIG. 11 is a flowchart showing an example of a flow of processing in which the self-propelled mobile device 1 rides on an elevator and moves on the floor. For reference, FIG. 11 also shows the operation of the elevator. In FIG. 11, it is assumed that the self-propelled mobile device 1 has already started traveling.

First, the photographing unit 41 photographs an image (particularly, an image in the forward direction) around the self-propelled mobile device 1 by the camera 10 (SC1). Next, the determination unit 42 determines whether or not the marker M2 is included in the image captured by the imaging unit 41 (SC2). When the marker M2 is not included (NO in SC2), the control unit 40 executes the process of step SC1 again. When the marker M2 is included (YES in SC2), the control unit 40 transmits a call signal for calling the elevator to the elevator via the communication unit 50 (SC3).

When the elevator receives the call signal from the self-propelled mobile device 1 (SD1), the elevator moves the car 210 to the call floor (SD2). After the car 210 arrives at the calling floor, the elevator opens the door 240 (SD3).

On the other hand, in the self-propelled mobile device 1, after step SC3, the photographing unit 41 acquires an image in the direction of the door 240 (SC4). The determination unit 42 determines whether or not the marker M1 is included in the image captured by the imaging unit 41 (SC5). At this time, since the marker M1 is not included in the image taken by the photographing unit 41 until the car 210 arrives at the calling floor and the door 240 is opened (NO in SC5), the control unit 40 processes the step SC4. Is executed again.

When the car 210 arrives at the calling floor and the door 240 is opened, the marker M1 is included in the image taken by the photographing unit 41 (YES in SC5). Then, in the step passing section specified by the specific unit 43 by at least one of the marker M1 and the marker M2, the travel control unit 44 ignores the step C detected by the step detection unit 45 and causes the self-propelled mobile device 1 to move. After moving from the landing 230 to the inside of the car 210, the direction of the self-propelled mobile device 1 is reversed and the direction of the door 240 is turned (SC6). The conditions for completing boarding are, for example, that the distance between the self-propelled mobile device 1 and the wall surface on the back side of the car 210 is a predetermined value (for example, 10 cm) or less, and the moving distance from the landing 230 to the car 210 is predetermined. The length (for example, the depth of the car 210 + the total length of the self-propelled mobile device 1) has been reached, the predetermined time has passed since the image taken by the photographing unit 41 no longer includes the marker M2, and the like. ..

The elevator closes the door 240 when it detects that the self-propelled mobile device 1 has been boarded (SD4). For example, the self-propelled mobile device 1 transmits a signal indicating the completion of step SC6 to the elevator. Then, the elevator executes step SD4 on the occasion of receiving the signal. After that, the elevator moves the car 210 to the destination floor (SD5), and after arriving at the destination floor, opens the door 240 (SD6).

After step SC6, the photographing unit 41 captures an image in the direction of the elevator door 240 (SC7). The determination unit 42 determines whether the image captured by the imaging unit 41 includes the marker M2 arranged on the wall surface 220 located near the entrance / exit of the landing 230 on the destination floor (SC8). Since the marker M2 is not included in the image taken by the photographing unit 41 until the car 210 arrives at the destination floor and the door 240 is opened (NO in SC8), the control unit 40 executes the process of step SC7 again. do.

When the car 210 arrives at the destination floor and the door 240 is opened, the marker M2 is included in the image taken by the photographing unit 41 (YES in SC8). Then, in the step passing section specified by the specific unit 43 by at least one of the marker M1 and the marker M2, the travel control unit 44 ignores the step C detected by the step detection unit 45 and causes the self-propelled mobile device 1 to move. Move from the inside of the car 210 to the landing 230 (SC9). The conditions for completing the movement to the landing 230 are, for example, that the travel distance from the car 210 to the landing 230 has reached a predetermined length (for example, the depth of the car 210 + the total length of the self-propelled mobile device 1), and the photographing unit. A predetermined time has passed since the image taken by 41 does not include the marker M1, and it is detected that the marker M1 is located at the landing 230 by using the position specifying function.

As described above, the determination unit 42 determines whether or not the image captured by the imaging unit 41 includes the image of the marker M. When the image of the marker M is included, the specific unit 43 specifies the step crossing section. In the step passing section, the travel control unit 44 controls the travel of the self-propelled mobile device 1 by ignoring the detection result of the step detection unit 45. Therefore, by providing the marker M in the vicinity of the step C that the self-propelled mobile device 1 can get over, the self-propelled mobile device 1 can get over the step C.

The determination unit 42 further determines whether or not the image of the marker M included in the image captured by the imaging unit 41 is a predetermined size or larger, and only when the image is a predetermined size or larger, the determination unit 43 determines the determination result. It may be output. As a result, the self-propelled mobile device 1 can specify the step crossing section after the marker M approaches the marker M to some extent. This makes it possible to appropriately specify the step crossing section in the use case where the marker M is provided in the vicinity of the step. The predetermined size may be appropriately set according to the size of the marker M itself, the relative position of the marker M with respect to the step, and the like.

It is also conceivable that there is a step that the self-propelled mobile device 1 cannot overcome in the step passing section. For example, if the moving distance of the self-propelled mobile device 1 exceeds a predetermined distance while the step detecting unit 45 continuously detects the step in the step passing section, the self-propelled mobile device 1 cannot overcome the step. May exist. In this case, as an emergency measure, the travel control unit 44 may control the travel of the self-propelled mobile device 1 so as to avoid the step even within the step crossing section. The predetermined distance may be appropriately set according to the positional relationship between the cliff sensor 30 and the wheel 60, the size of the wheel 60, and the like.

[Embodiment 2]
Other embodiments of the present invention will be described below. In the first embodiment, the configuration of ignoring the detection result of the step detection unit 45 in the step overpass section has been described, but in the present embodiment, the configuration of stopping the detection by the step detection unit 45 in the step overpass section will be described. For convenience of explanation, the same reference numerals are given to the members having the same functions as the members described in the above embodiment, and the description thereof will not be repeated.

FIG. 12 is a block diagram showing a configuration of a main part of the self-propelled mobile device 1A according to the present embodiment. Note that FIG. 12 also shows a block diagram showing the configuration of the main part of the image generation device 2. As shown in FIG. 12, the self-propelled mobile device 1A differs from the self-propelled mobile device 1 in that the control unit 40A is provided instead of the control unit 40. The control unit 40A differs from the control unit 40 in that the specific unit 43A and the step detection unit 45A are provided in place of the specific unit 43 and the step detection unit 45.

The specific unit 43A specifies the step crossing section in the same manner as the specific unit 43. The specific unit 43A outputs information indicating the specified step overpass section to the step detection unit 45A.

The step detection unit 45A detects a step in the same manner as the step detection unit 45. However, the step detection unit 45A stops the step detection in the step passing section specified by the specific unit 43A. That is, in the present embodiment, the step passing section specified by the specific unit 43A is a section in which the step detection unit 45A stops the step detection. As a result, in the step passing section, the detection result of the step detection unit 45 is not output to the travel control unit 44, so that the travel control unit 44 does not control the travel of the self-propelled mobile device 1 so as to avoid the step. .. Therefore, the self-propelled mobile device 1A also has the same effect as the self-propelled mobile device 1.

According to the step traveling system 100A including the self-propelled mobile device 1A and the image generation device 2, the marker M generated by the image generation device 2 is provided in the vicinity of the step that the self-propelled mobile device 1A can overcome. , The self-propelled mobile device 1A can travel over a step.

FIG. 13 is a flowchart showing an example of the processing flow in the self-propelled mobile device 1A. A processing flow in the self-propelled mobile device 1A will be described with reference to FIG. In FIG. 13, it is assumed that the self-propelled mobile device 1A has already started traveling. First, the step detection unit 45A executes step detection (SE). After that, the control unit 40A executes the processes of steps SF1 to SF3, the processes of steps SG1 to SG4, and the processes of steps SH1 to SH2 in parallel.

The photographing unit 41 captures an image (particularly, an image in the forward direction) around the self-propelled mobile device 1 by the camera 10 (SF1, shooting step). The determination unit 42 determines whether or not the image captured by the imaging unit 41 includes the image of the marker M (SF2, determination step). When the image of the marker M is included (YES in SF2), the specific unit 43A specifies the step crossing section (SF3, specific step). When the image of the marker M is not included (NO in SF2), the specific unit 43A does not specify the step crossing section. The control unit 40A re-executes the processes of steps SF1 to SF3.

On the other hand, the travel control unit 44 determines whether or not the step detection unit 45A is executing step detection (SG1). When the step detection unit 45A is executing the step detection (YES in SG1), the travel control unit 44 determines whether the step detection unit 45A has detected the step (SG2). When a step is detected (YES in SG2), the travel control unit 44 determines the travel direction of the self-propelled mobile device 1 so as to avoid the step (SG3), and controls the travel (SG4, travel control step). .. Further, when the step detection unit 45A is not executing the step detection (NO in SG1) and when the step detection unit 45A does not detect the step (NO in SG2), the travel control unit 44 performs the normal travel control. (SG4). The travel control unit 44 re-executes the processes of steps SG1 to SG4.

On the other hand, the step detection unit 45A determines whether the self-propelled mobile device 1A is traveling in the step passing section (SH1). When traveling in the step crossing section (YES in SH1), the step detection unit 45A stops step detection (SH2). When the vehicle is not traveling in the step crossing section (NO in SH1), the step detection unit 45A executes step detection (SH3, step detection step). The step detection unit 45A re-executes the processes of SH1 to SH2.

[Other application examples]
A typical example of the self-propelled mobile device 1 is a cleaning robot, but the present invention is not limited to this. The self-propelled mobile device 1 may be a transfer robot, a guidance robot, a security robot, or the like. Further, the area in which the self-propelled mobile device 1 travels is not limited, and it does not matter whether it is indoors or outdoors.

Further, as described above, typical examples of steps that the self-propelled mobile device 1 can overcome are (i) a gap in which the door 240 that opens and closes the doorway of the car 210 moves, and (ii) the car 210 and the landing 230. It is a gap between and, but it is not limited to this. The step that the self-propelled mobile device 1 can overcome may be a gap between the entrance / exit of the train and the platform, or may be a grid-shaped groove lid (grating) provided in a waterway or the like. .. By arranging the markers M in the vicinity of these, the self-propelled mobile devices 1 and 1A can travel over the step.

[Example of implementation by software]
The control blocks of the self-propelled mobile devices 1, 1A, and the image generation device 2 (particularly, the photographing unit 41, the determination unit 42, the specific units 43, 43A, the traveling control unit 44, the step detection units 45, 45A, and the generation unit 90) are It may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be realized by software.

In the latter case, the self-propelled mobile devices 1, 1A, and the image generator 2 include a computer that executes a program instruction, which is software that realizes each function. This computer includes, for example, at least one processor (control device) and at least one computer-readable recording medium in which the program is stored. Then, in the computer, the processor reads the program from the recording medium and executes the program, thereby achieving the object of the present invention. As the processor, for example, a CPU (Central Processing Unit) can be used. As the recording medium, a "non-temporary tangible medium", for example, a ROM (Read Only Memory) or the like, a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. Further, a RAM (Random Access Memory) for expanding the above program may be further provided. Further, the program may be supplied to the computer via any transmission medium (communication network, broadcast wave, etc.) capable of transmitting the program. It should be noted that one aspect of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the above program is embodied by electronic transmission.

〔summary〕
The self-propelled mobile device according to the first aspect of the present invention is a self-propelled mobile device that travels on a floor surface, and has a step detection unit that detects a step on the floor surface and a periphery of the self-propelled mobile device. A shooting unit that captures an image, a determination unit that determines whether or not a predetermined image is included in the captured image, and a step overcoming section that is specified according to the result of the determination while traveling over the step. As described above, a traveling control unit for controlling the traveling of the self-propelled mobile device is provided.

According to the above configuration, when the self-propelled mobile device determines that the image captured by the photographing unit includes a predetermined image, the self-propelled mobile device travels over the step existing in the step-passing section. Therefore, the self-propelled mobile device can get over the step without avoiding the step that can be overcome in the step overpass section.

In the self-propelled mobile device according to the second aspect of the present invention, in the first aspect, the traveling control unit ignores the detection result of the step detecting unit in the step passing section and causes the self-propelled mobile device to travel. It is preferable to control it.

According to the above configuration, the travel control unit ignores the detection result of the step detection unit in the step overpass section. Therefore, the self-propelled mobile device can get over the step without avoiding the step that can be overcome in the step overpass section.

In the self-propelled mobile device according to the third aspect of the present invention, in the first aspect, it is preferable that the step detection unit stops the detection of the step in the step passing section.

According to the above configuration, the self-propelled mobile device stops the detection by the step detection unit in the step passing section. Therefore, the self-propelled mobile device can get over the step without avoiding the step that can be overcome in the step overpass section.

In any one of the above aspects 1 to 3, the self-propelled mobile device according to the fourth aspect of the present invention is described so that the traveling control unit enters the planned approach area from the traveling area of the self-propelled mobile device. It is preferable to provide a specific unit that controls the traveling of the self-propelled mobile device and specifies the point from the point where the determination unit determines that the predetermined image is included to the point where the approach is completed as the step overpass section.

According to the above configuration, the self-propelled mobile device can travel over the step existing in the section from the point determined to include the predetermined image to the point where the approach to the planned approach area is completed. ..

In the self-propelled mobile device according to the fifth aspect of the present invention, in any one of the first to third aspects, the predetermined image is an image in which information indicating the step crossing section is readable and embedded, and the determination unit. When it is determined that the predetermined image is included, it is preferable to include a specific portion for specifying the step overpass section based on the information read from the predetermined image.

According to the above configuration, the self-propelled mobile device identifies the step-passing section based on the information indicating the step-passing section embedded in the predetermined image. Therefore, it is possible to specify the step crossing section according to the predetermined image.

In any one of the above aspects 1 to 5, the self-propelled mobile device according to the sixth aspect of the present invention has the predetermined image in the planned entry area of the self-propelled mobile device, the entrance of the planned entry area, and the self. It is preferable that the traveling mobile device is provided at at least one of the exit of the traveling region and the passage from the traveling region to the planned approach region.

According to the above configuration, since the self-propelled mobile device captures an image including a predetermined image by capturing an image in the direction of the planned approach area, the step crossing section is specified based on the predetermined image. Can be done.

In the self-propelled mobile device according to the seventh aspect of the present invention, in the above aspect 4 or 6, the traveling area is an area including an elevator landing, and the planned approach area is an area in the elevator car. Is preferable.

According to the above configuration, the self-propelled mobile device travels over the step existing between the landing and the car when entering the car (that is, getting into the car) from the elevator landing. can.

In the self-propelled mobile device according to the eighth aspect of the present invention, in the above aspect 4 or 6, the traveling area is an area in the elevator car, and the planned approach area is an area including the elevator landing. Is preferable.

According to the above configuration, the self-propelled mobile device travels over the step existing between the car and the landing when entering the landing (that is, getting off the car) from the elevator car. can.

The image generation device according to the ninth aspect of the present invention has an input unit that accepts an input of information indicating the step crossing section on which the self-propelled mobile device according to any one of the above aspects 1 to 8 travels, and the information can be read. A generation unit for generating the embedded predetermined image is provided.

According to the above configuration, the image generator can generate an image in which information indicating the step crossing section is readablely embedded.

The step traveling system according to the tenth aspect of the present invention is an image generation that generates the predetermined image in which the self-propelled mobile device according to any one of the first to eighth aspects and the information indicating the step passing section are readablely embedded. Including the device.

According to the above configuration, in the step traveling system, the image generation device generates a predetermined image in which information indicating the step passing section is readablely embedded. The self-propelled mobile device reads information indicating a step-passing section from a predetermined image generated by the image generation device, and travels over the step in the step-passing section. Therefore, according to the step traveling system, the self-propelled mobile device can get over the step and travel in the step passing section.

The method for controlling a self-propelled mobile device according to aspect 11 of the present invention is a method for controlling a self-propelled mobile device traveling on a floor surface, which includes a step detection step for detecting a step on the floor surface and the self-propelled mobile device. A shooting step of capturing an image of the surroundings of the mobile device, a determination step of determining whether or not the captured image includes a predetermined image, and traveling within a step-passing section specified according to the result of the determination. The inside includes a traveling control step for controlling the traveling of the self-propelled mobile device so as to get over the step.

According to the above configuration, the same effect as that of the first aspect is obtained.

The self-propelled mobile device according to each aspect of the present invention may be realized by a computer. In this case, the self-propelled device is operated by operating the computer as each part (software element) included in the self-propelled mobile device. A control program for a self-propelled mobile device that realizes a mobile device with a computer, and a computer-readable recording medium that records the control program are also included in the scope of the present invention.

The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the embodiments obtained by appropriately combining the technical means disclosed in the different embodiments. Is also included in the technical scope of the present invention. Further, by combining the technical means disclosed in each embodiment, new technical features can be formed.

1, 1A Self-propelled mobile device 2 Image generator 41 Imaging unit 42 Judgment unit 43, 43A Specific unit 44 Travel control unit 45, 45A Step detection unit 80 Input unit 90 Generation unit 100, 100A Step travel system

Claims (11)

It is a self-propelled mobile device that runs on the floor.
The step detection unit that detects the step on the floor surface and
A shooting unit that captures an image of the surroundings of the self-propelled mobile device,
A determination unit for determining whether or not a predetermined image is included in the captured image, and a determination unit.
A traveling control unit that controls the traveling of the self-propelled mobile device so as to overcome the step while traveling in the step passing section specified according to the result of the determination.
Self-propelled mobile device equipped with. The self-propelled mobile device according to claim 1, wherein the traveling control unit ignores the detection result of the step detecting unit in the step passing section and controls the traveling of the self-propelled mobile device. The self-propelled mobile device according to claim 1, wherein the step detection unit stops detection of the step in the step passing section. The travel control unit controls the travel of the self-propelled mobile device so as to enter the planned approach area from the traveling region of the self-propelled mobile device.
The self-propelled vehicle according to any one of claims 1 to 3, further comprising a specific unit for specifying the point from the point where the determination unit determines that the predetermined image is included to the point where the approach is completed as the step crossing section. Self-propelled mobile device. The predetermined image is an image in which information indicating the step crossing section is readablely embedded.
6. Self-propelled mobile device. The predetermined image reaches the planned approach area of the self-propelled mobile device, the entrance of the planned approach area, the exit of the traveling area of the self-propelled mobile device, and the traveling area to the planned approach area. The self-propelled mobile device according to any one of claims 1 to 5, which is provided in at least one of the passages. The traveling area is an area including an elevator landing, and is an area including an elevator landing.
The self-propelled mobile device according to claim 4 or 6, wherein the planned approach area is an area within the car of the elevator. The traveling area is an area within the elevator car.
The self-propelled mobile device according to claim 4 or 6, wherein the planned approach area is an area including a landing of the elevator. An input unit that accepts input of information indicating the step crossing section on which the self-propelled mobile device according to any one of claims 1 to 8 travels.
A generation unit that generates the predetermined image in which the information is readablely embedded, and
An image generator equipped with. The self-propelled mobile device according to any one of claims 1 to 8.
An image generation device that generates the predetermined image in which information indicating the step crossing section is readablely embedded.
Step driving system including. It is a control method for self-propelled mobile equipment that runs on the floor.
The step detection step that detects the step on the floor surface and
A shooting step for taking an image of the surroundings of the self-propelled mobile device, and
A determination step for determining whether or not a predetermined image is included in the captured image, and
A traveling control step that controls the traveling of the self-propelled mobile device so as to overcome the step while traveling in the step passing section specified according to the result of the determination.
How to control self-propelled mobile equipment, including.

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