JP3940687B2 - Robot system and robot - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a robot system and a robot.
[0002]
[Prior art]
In recent years, autonomous robot systems have been used to perform work in various environments. Such a robot system is desired to be used not only in a special environment maintained like a factory but also in a more general environment. However, conventionally, it has been difficult for a robot to autonomously work in a general environment having various structures.
[0003]
As a prior art in which a robot autonomously works, there is a system in which an IDC (Intelligent Data Carrier) and a tag are arranged in an environment of a wall or an object (see Non-Patent Document 1).
[0004]
[Non-Patent Document 1]
Kurahashi et al. “Communication between Autonomous Robots and Environments by Intelligent Data Carriers” Vol. 17 NO. 5 (pp 633-636), 1999
[0005]
[Problems to be solved by the invention]
The IDC described in Non-Patent Document 1 has a CPU and a memory. However, the IDC did not actively provide the robot with information about the walls on which it was placed and the object itself. That is, the working environment has been passive or passive.
[0006]
Therefore, an object of the present invention is to provide a robot system in which objects such as various devices and furnishings in the robot work environment actively supply data to the robot, thereby supporting the robot work. Is to provide.
[0007]
[Means for Solving the Problems]
A robot system according to an embodiment of the present invention includes a robot and an object that can communicate with the robot.
The object requests the first position data , the first position data indicating the position of the object itself, the first storage unit storing the first image data indicating the image of the object itself, and the first position data. A first interface for receiving a request signal and transmitting the first position data and the first image data in response thereto;
The robot has a camera that captures an environment around the robot, a second storage unit that stores map data of a range where the object and the robot can exist, and second position data indicating a position of the robot itself A second interface for transmitting the request signal or receiving the first position data and the first image data , and comparing the first position data and the second position data A comparator that outputs a comparison result, compares the second image data captured by the camera with the first image data, and outputs an image comparison result ; the position comparison result ; the image comparison result; and A moving mechanism for moving the robot based on map data ;
When the distance between the first position data and the second position data is equal to or less than a predetermined value, the camera captures an image of the object to generate the second image data, and the image comparison The object is specified based on a result.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings. These embodiments do not limit the present invention.
[0011]
In the robot system according to the embodiment of the present invention, both the robot and the object have their respective position data and communicate bidirectionally. Thus, the object can actively provide data to the robot and support the robot.
[0012]
FIG. 1 is a conceptual diagram of a robot system 100 according to the first embodiment of the present invention. The robot system 100 includes a robot 110 and objects 120, 130 and 140. The robot 110 and the objects 120, 130, and 140 are connected to each other via a wireless or wired network 150.
[0013]
In the present embodiment, the object 120 is a refrigerator, the object 130 is a chest, and the object 140 is a microwave oven. The object is not limited to these, and may be other furniture or office equipment. The objects 120, 130, and 140 are all disposed within a work environment range (hereinafter referred to as a work range) in which the robot 110 can move and work. The objects 120, 130, and 140 include memories 122, 132, and 142, interfaces 124, 134, and 144, and CPUs 126, 136, and 146, respectively. As described above, the object is an object that is provided within the work range and can communicate with the robot, and is, for example, furniture including a memory, an interface, and a CPU, or office supplies.
[0014]
The memory 122 stores position data indicating the position of the object 120 and image data indicating the appearance thereof, the memory 132 stores position data indicating the position of the object 130 and image data indicating the appearance thereof, and the memory 142 stores the data of the object 140. Stores position data indicating the position and image data indicating the appearance thereof.
[0015]
The CPUs 126, 136, and 146 control the components of the objects 120, 130, and 140, respectively.
[0016]
The robot 110 is configured to move and work autonomously within the work range. The robot 110 includes a memory 112, an interface 114, a camera 116, a CPU 117, a comparator 118, and a moving mechanism 119. The memory 112 stores map data of a work range in which the objects 120, 130, and 140 and the robot 110 can exist, and position data indicating the position of the robot 110. The camera 116 can image the environment around the robot 110. The comparator 116 can compare the position data as well as the image data. The CPU 117 controls each component of the robot 110.
[0017]
The interfaces 114, 124, 134 and 144 are connected to each other via a network 150 so as to be able to communicate with each other.
[0018]
FIG. 2 is a flowchart showing the operation of the robot system 100. The robot 110 receives a command from the user to “take beer from the refrigerator” (S10). At this time, for example, the user may input by voice toward a microphone arranged in the robot 110. Alternatively, the user may send a command from the mobile phone to the robot 110 via the network 150 and the interface 114.
[0019]
The robot 110 initially does not have the position or image of the refrigerator 120. Therefore, when the robot 110 recognizes this command, it transmits the identifier of the refrigerator and the request signal to all objects connected to the network 150 (S20). This request signal is a signal for requesting position data of the refrigerator 120.
[0020]
The refrigerator 120 recognizes the identifier from the robot 110, receives the request signal, and transmits the position data stored in the memory 122 in response to this (S30). This position data is transmitted to the robot 110 via the network 150.
[0021]
The robot 110 receives the position data of the refrigerator 120 and stores it in the memory 120. The comparator 118 compares the position data of the refrigerator 120 with the position data of the robot 110 itself, and determines a route from the robot 110 to the refrigerator 120 (S40). At this time, the comparator 118 compares these position data on the map data of the work range, and searches all routes from the robot 110 to the refrigerator 120. Further, the comparator 118 selects an appropriate route from the search result. For example, the comparator 118 selects the shortest path. The comparator 118 may select a path that can be most easily passed or a path that can reach the refrigerator 120 in the shortest time. When selecting an appropriate route, the CPU 117 is used for calculation. In this way, the robot 110 selects an appropriate route. In order for the robot 110 to select an appropriate route, environment data within the work range is input in advance to the map data. The environmental data is data related to, for example, a narrow passage that the robot 110 cannot pass or a stair that takes time for the robot 110 to pass.
[0022]
The comparator 118 outputs the path selected by the comparator 118 to the moving mechanism 119 as a position comparison result (S50). The moving mechanism 119 moves the robot 110 along the position comparison result (S60).
[0023]
When the robot 110 approaches a predetermined distance from the refrigerator 120, the camera 116 images the environment around the robot 110 with the camera 116 (S70). The distance between the robot 110 and the refrigerator 120 may be measured using a detection signal. The detection signal is a signal that can be propagated in the work environment of the robot 110, and is, for example, an electromagnetic wave or an acoustic wave. In this case, the refrigerator 120 is provided with a signal generator (not shown) that generates a detection signal, and the robot 110 is provided with a signal detector (not shown) that detects the detection signal. The detection signal is transmitted directly from the refrigerator 120 to the robot 110 without passing through the network 150. The robot 110 can recognize the position and direction of the refrigerator 120 by detecting the detection signal.
[0024]
Next, the robot 110 transmits a request signal for requesting image data of the refrigerator 120 to the refrigerator 120 (S80). The refrigerator 120 receives the request signal, and transmits the image data stored in the memory 122 to the robot 110 in response to the request signal (S90). The robot 110 receives this image data and stores it in the memory 120. The image data transmitted by the refrigerator 120 is preferably plural. For example, image data obtained by photographing the refrigerator 120 from various angles, image data in a state where the door of the refrigerator 120 is closed, and an open state are transmitted.
[0025]
The comparator 118 compares the image data transmitted from the refrigerator 120 with the image data captured by the camera 116, and performs a matching process (S100). When there is image data obtained by photographing the refrigerator 120 from various angles, each of these image data and the image data taken by the camera 116 are compared. This facilitates the determination of whether the object photographed by the camera 116 is the refrigerator 120. When it is determined that the object photographed by the camera 116 is the same as the refrigerator 120, a signal indicating the identity is output as an image comparison result. On the other hand, when the comparator 118 recognizes that they are different, the comparator 118 outputs a signal indicating non-identity as an image comparison result. Note that the distance between the robot 110 and the refrigerator 120 may be calculated by this matching process.
[0026]
When the object photographed by the camera 116 is the same as that of the refrigerator 120, the robot 110 further transmits a request signal to the refrigerator 120 (S110).
[0027]
The memory 122 of the refrigerator 120 further stores characteristic data indicating the characteristics of the refrigerator 120. The characteristic data is, for example, data indicating the characteristics of an object such as the shape and size of the refrigerator 120, the position of the handle, the mechanism of the handle, and an object stored inside. The refrigerator 120 transmits this characteristic data to the robot 110 in response to the request signal (S120).
[0028]
While imaging the refrigerator 120 with the camera 116, the robot 110 opens the door of the refrigerator 120 based on the image data from the camera 116, the image data received from the refrigerator 120, and the characteristic data, and takes out beer from the door (S130). ).
[0029]
Further, the robot 110 returns to the reverse route to the refrigerator 120 and takes beer to the user (S140).
[0030]
On the other hand, if it is determined that the object photographed by the camera 116 is not the same as the refrigerator 120, the process returns to step 20.
[0031]
As described above, according to the present embodiment, the robot 110 performs work while performing bidirectional communication with the objects 120 to 140. As a result, an object in the work environment of the robot can actively supply data to the robot, so that the robot can move accurately and easily to perform the work.
[0032]
According to the present embodiment, since the robot 110 determines an object based on a plurality of comparison results, that is, a position comparison result and an image comparison result, the robot 110 is less likely to misidentify the object.
[0033]
In the present embodiment, the robot 110 may transmit the request signal only once. In this case, the refrigerator 120 that has received the request signal transmits position data, image data, and characteristic data to the robot 110 at the same time.
[0034]
FIG. 3 is a conceptual diagram of a robot system 200 according to the second embodiment of the present invention. This embodiment is different from the first embodiment in that a data storage device 210 is provided. Further, the present embodiment is different from the first embodiment in that the robot 110 does not necessarily require a memory.
[0035]
The data storage device 210 is a home server, for example, and is connected to the network 150. The data storage device 210 can store all the data stored in the memory 112 in the first embodiment. For example, the data storage device 210 can store map data of a robot work range and position data where the robot 110 exists. The data storage device 210 may also store data stored in the memories 122, 132, and 142 included in the object. For example, the data storage device 210 may store position data, image data, and characteristic data of each object.
[0036]
According to the present embodiment, since the data storage device 210 stores various data, the robot 110 and the objects 120 to 140 do not need to have a large capacity memory.
[0037]
Furthermore, as a modification of the second embodiment, a computer (not shown) may be connected to the network 150. When the computer performs the comparison process between the position data and the image data, the robot 110 does not need to include the comparator 118. Further, by connecting the computer to the network 150, it is possible to efficiently distribute the computing capacity in consideration of the computing capacity of the entire system. That is, in the modified example of k, the CPUs 117, 126, 136, and 146 may be CPUs with low calculation capabilities.
[0038]
Although the camera 116 is provided in the robot 110, the camera may be installed in the work environment of the robot 110. In this case, the robot 110 is communicably connected to the camera and performs work based on image data captured by the camera.
[0039]
【The invention's effect】
In the robot system according to the present invention, an object in the robot work environment actively supplies its own data to the robot. Thereby, in this robot system, the environment can support the work of the robot.
[Brief description of the drawings]
FIG. 1 is a conceptual diagram of a robot system 100 according to a first embodiment of the present invention.
FIG. 2 is a flowchart showing the operation of the robot system 100.
FIG. 3 is a conceptual diagram of a robot system 200 according to a second embodiment of the present invention.
[Explanation of symbols]
100, 200 Robot system 110 Robot 112 Memory 114 Interface 116 Camera 118 Comparator 119 Moving mechanism 120, 130, 140 Object 122, 132, 142 Memory 124, 134, 144 Interface 150 Network 210 Data storage device

Claims (5)

In a robot system including a robot and an object capable of communicating with the robot,
The object requests the first position data , the first position data indicating the position of the object itself, the first storage unit storing the first image data indicating the image of the object itself, and the first position data. A first interface for receiving a request signal and transmitting the first position data and the first image data in response thereto;
The robot has a camera that captures an environment around the robot, a second storage unit that stores map data of a range where the object and the robot can exist, and second position data indicating a position of the robot itself A second interface for transmitting the request signal or receiving the first position data and the first image data , and comparing the first position data and the second position data A comparator that outputs a comparison result, compares the second image data captured by the camera with the first image data, and outputs an image comparison result ; the position comparison result ; the image comparison result; and A moving mechanism for moving the robot based on map data ;
When the distance between the first position data and the second position data is equal to or less than a predetermined value, the camera captures an image of the object to generate the second image data, and the image comparison A robot system that identifies the object based on a result . The robot system according to claim 1 , wherein the robot determines a route to the object according to the position comparison result and the map data, and approaches the object according to the image comparison result. The robot transmits the second position data to the plurality of objects together with the request signal;
2. The robot system according to claim 1, wherein an object having first position data that is closest to the second position data among the plurality of objects transmits the first position data. The object further comprises a signal generator that emits a detection signal indicating the position and direction of the object.
The robot system according to claim 1, further comprising a signal detector that detects the detection signal.   In the object, the first storage unit stores characteristic data indicating the characteristic of the object, and the first interface receives a request signal for requesting the characteristic data and transmits the characteristic data accordingly. The robot system according to claim 1.

Images