JP4658892B2 - Mobile robot, mobile robot control device, mobile robot control method, and mobile robot control program - Google Patents

Description

  The present invention relates to a mobile robot that moves autonomously based on a task command transmitted from a parent device by wireless communication, a mobile robot control device, a mobile robot control method, and a mobile robot control program.

In recent years, various techniques for remotely operating a mobile robot by wireless communication have been proposed. A mobile robot that is remotely operated by such wireless communication is in a state where it cannot be remotely operated when it moves to a place where wireless radio waves do not reach. In this case, in order to restore the remote operation, it has been necessary to return the mobile robot to a place where radio waves reach through human hands.
Therefore, conventionally, in order to solve such a problem, when the mobile robot moves to a place where radio waves do not reach, the mobile robot refers to the radio wave intensity map created based on the radio wave intensity acquired in advance while moving. A technique for autonomously moving to a point where wireless communication is possible is disclosed (for example, see Patent Document 1).
In addition, a technique for expanding a communicable area by a mobile robot relaying radio waves via another mobile robot is also disclosed (see, for example, Patent Document 2).
JP 2004-260769 A (paragraphs 0008 to 0012, FIGS. 4 to 6) JP 2005-25516 A (paragraph 0016, FIG. 9)

In the above-described conventional technique, the technique disclosed in Patent Document 1 selects a movement path for restoration based only on the radio wave intensity. However, wireless communication may be disconnected due to other factors such as noise other than the radio wave intensity, so even if you move to a place where the radio wave intensity is strong, the radio communication may not be restored depending on the radio environment. There is a problem.
In addition, since the technology disclosed in Patent Document 2 expands the communicable area by relaying radio waves via other mobile robots, when a single mobile robot is operated, the mobile robot can receive radio waves. When moving to a place where there is no wireless communication, there is a problem that wireless communication is not restored.

  The present invention has been made in view of the above problems, and even when moving to a place where wireless communication is disconnected, it is possible to move to a place where wireless communication can be restored autonomously. An object of the present invention is to provide a mobile robot, a mobile robot control device, a mobile robot control method, and a mobile robot control program.

  The present invention was devised to achieve the above object. First, the mobile robot according to claim 1 has a movement control means based on a task command transmitted from a wireless master unit by wireless communication. In a mobile robot that moves autonomously by driving and controlling a leg or a moving mechanism corresponding to the leg, it is composed of map data of the moving area and a plurality of wireless environment data related to the wireless environment in the moving area. Wireless environment map storage means for storing a wireless environment map associated with the integrated wireless environment data, position recognition means for recognizing a self-position in the moving area, monitoring means for monitoring the state of the wireless environment, When the state of the wireless environment monitored by the monitoring unit becomes a state where the wireless communication is disconnected, the wireless communication can be connected based on the wireless environment map. A search means for searching for a recovery position, and a self-position movement instruction means for instructing the movement control means to move from the recognized self-position to the recovery position searched by the search means. .

According to such a configuration, the mobile robot stores a wireless environment map in which the map data and the comprehensive wireless environment data configured by a plurality of wireless environment data related to the wireless environment are associated with each other in the wireless environment map storage unit. Keep it. As a result, the mobile robot can grasp the wireless environment in the moving area. In addition, by using a plurality of wireless environment data (for example, wireless strength, noise floor, number of errors, number of retransmissions, etc.) as comprehensive wireless environment data, the position that can be connected to the wireless master unit by wireless communication is expressed more accurately. be able to.
Then, the mobile robot recognizes the current position (self position) by the position recognition means. For example, the position recognition means recognizes the current position of the mobile robot itself by using a gyro sensor, a GPS (Global Positioning System) receiver, or the like.

Further, the mobile robot monitors the state of the wireless environment by the monitoring unit. Here, the wireless environment refers to a radio wave state or a communication state when performing communication using radio waves. For example, the radio wave state is radio intensity, noise floor, and the like, and the communication state is error number, retransmission number, and the like. With these wireless environments, it is possible to determine whether the wireless state during wireless communication is good (for example, whether wireless communication is disconnected).
This wireless state pass / fail determination is performed by, for example, quantifying each state such as when the wireless strength falls below a predetermined reference, or when the number of retransmissions exceeds a predetermined number, and using a weighted numerical value.

The mobile robot then connects the wireless communication by referring to the wireless environment data included in the wireless environment map by the searching means when the wireless environment is disconnected. Search for possible positions (recovery positions).
The mobile robot instructs the movement control means to move to the recovery position by the self-position movement instruction means, so that the movement mechanism is driven and can move to a position where wireless communication can be connected.

Further, in the mobile robot, wherein the radio environment map, further, the position information of the plurality of the wireless master unit, which is correlated with the overall radio environment data corresponding to each of the wireless master unit, the search Means for searching for a wireless parent device located within a predetermined distance from the self-position based on the wireless environment map; and for the parent device searching means based on the wireless environment map. Among the searched wireless master devices, in the order of the wireless master device closest to the self location, a search is made for a location that satisfies a predetermined standard in the comprehensive wireless environment data corresponding to the wireless master device and that is closest to the self location. And a recovery position search means for setting the recovery position.

According to such a configuration, the mobile robot stores, as a wireless environment map, the position information of the plurality of wireless parent devices and the comprehensive wireless environment data corresponding to each wireless parent device in the wireless environment map storage unit. . When the search means searches for a position where wireless communication is possible, the mobile robot searches for a wireless master station located within a predetermined distance by the master search means. As a result, wireless master devices that are not communication targets can be excluded from search targets.
Then, the mobile robot is predetermined by the restoration position search means in the comprehensive wireless environment data corresponding to the wireless parent device in the order of the wireless parent devices closer to the self position among the wireless parent devices searched by the parent device searching means. Search for a position that satisfies the specified criteria and is closest to the self-position.

The mobile robot according to claim 2 is the mobile robot according to claim 1 , wherein the movement control means controls an operation by controlling a drive structure including the movement mechanism, An antenna unit movement instructing unit for instructing the movement control unit to perform a predetermined operation so as to change the position or direction of the antenna unit for transmitting and receiving wireless radio waves when the search unit cannot search for the restoration position; It was set as the structure provided.

  According to such a configuration, the mobile robot can change the reception environment of the antenna unit by changing the position or direction of the antenna unit when the search unit cannot search the recovery position by the antenna unit movement instruction unit. It becomes possible, and it becomes possible to search for the position or direction of the antenna unit capable of wireless communication.

According to a third aspect of the present invention, there is provided the mobile robot according to the first aspect , wherein the mobile robot according to the first aspect searches for the restoration position using a movement history storage unit that stores a movement history indicating a movement path of the mobile robot. In the case where it is not possible, based on the movement history, there is further provided a retrograde instruction means for instructing the movement control means to reversely return the movement route by a predetermined movement amount.

  According to this configuration, the mobile robot stores the movement history indicating the movement path of the mobile robot in the movement history storage unit. For this movement history, for example, position information corresponding to map data can be used. The mobile robot can increase the connection probability of wireless communication by returning the movement path by a predetermined amount of movement in response to an instruction from the retrograde instruction means when the search means cannot search the recovery position.

Furthermore, in the mobile robot according to claim 4 , in the mobile robot according to claim 1 , when the search unit cannot search the recovery position, the mobile control unit is configured to stop the movement of the self-position. The apparatus further includes movement stop instruction means for instructing.

  According to this configuration, the mobile robot is unnecessary when wireless communication cannot be performed by stopping the movement of its own position according to an instruction from the movement stop instruction unit when the search unit cannot search for the recovery position. The operation can be restricted.

According to a fifth aspect of the present invention , in the mobile robot according to the first aspect, when the state of the wireless environment monitored by the monitoring unit is deteriorated from a predetermined reference, the moving speed is reduced. As described above, the apparatus further includes deceleration instruction means for instructing the movement control means.

  According to this configuration, when the state of the wireless environment monitored by the monitoring unit deteriorates from a predetermined state, the mobile robot performs wireless communication by decelerating the moving speed according to an instruction from the deceleration instruction unit. Connection time for connection can be ensured.

Furthermore, the mobile robot control device according to claim 6 is a wireless that associates map data of a moving area with comprehensive wireless environment data configured by a plurality of wireless environment data related to the wireless environment in the moving area. A wireless environment map storage means storing an environment map is provided, and based on a task command transmitted from the wireless master unit by wireless communication, the movement control means drives and controls a leg or a movement mechanism corresponding to the leg, A control device for controlling a mobile robot that moves autonomously, the position recognition means for recognizing its own position in the moving area, the monitoring means for monitoring the state of the wireless environment, and monitored by the monitoring means Search means for searching for a recovery position where connection of the wireless communication is possible based on the wireless environment map when the state is a state where the wireless communication is disconnected; From the recognized self-position, and configured to include a self position movement instruction means for instructing said movement control means moves to the searched recovery position by said search means.

According to this configuration, the control device recognizes the current position (self-position) by the position recognition unit. For example, the position recognition means recognizes the current position of the mobile robot itself by using a gyro sensor, a GPS receiver, or the like.
Further, the control device monitors the state of the wireless environment by the monitoring unit. For this wireless environment, wireless strength, the number of data transmission / reception errors, the number of retransmissions, and the like can be used, and it is possible to determine whether the wireless state is good or bad when performing wireless communication.
Then, the control device refers to the wireless communication data by referring to the wireless environment data included in the wireless environment map when the wireless communication state is cut off by the searching means. Search for possible positions (recovery positions).
Then, the control device instructs the movement control means to move to the recovery position by the self-position movement instructing means, so that the moving mechanism is driven and the mobile robot can be moved to a position where wireless communication can be connected. it can.

According to a seventh aspect of the present invention, there is provided a method for controlling a mobile robot, wherein radio data in which map data of a moving area is associated with comprehensive wireless environment data composed of a plurality of wireless environment data related to the wireless environment in the moving area. A wireless environment map storage means storing an environment map is provided, and based on a task command transmitted from the wireless master unit by wireless communication, the movement control means drives and controls a leg or a movement mechanism corresponding to the leg, A control method for a mobile robot that moves autonomously, wherein a position recognition step for recognizing a self-position within the moving area by a position recognition means, and a search means when the wireless communication is disconnected Based on the wireless environment map, a search step for searching for a recovery position where the wireless communication can be connected and a movement instruction means From the position, characterized in that it contains a self-position movement instruction step of instructing said movement control means moves to the searched recovery position by said search means.

Furthermore, the mobile robot control program according to claim 8 is a radio in which map data of a moving area is associated with comprehensive wireless environment data composed of a plurality of wireless environment data related to the wireless environment in the moving area. A wireless environment map storage means storing an environment map is provided, and based on a task command transmitted from the wireless master unit by wireless communication, the movement control means drives and controls a leg or a movement mechanism corresponding to the leg, In order to control a mobile robot that moves autonomously, the computer has position recognition means for recognizing its own position in the movement area, monitoring means for monitoring the state of the wireless environment, and a state monitored by the monitoring means. When the wireless communication is disconnected, a search for searching for a recovery position where the wireless communication can be connected is made based on the wireless environment map. It means, wherein the recognized self-position, characterized in that to function moves to the searched recovery position by said search means as a movement instruction means, for instructing said movement control means.

The present invention has the following excellent effects.
According to the invention of claim 1, claim 6 , claim 7 or claim 8 , the mobile robot is autonomous by the radio environment map even when communication with the radio master unit is disconnected. It is possible to move to a place where wireless communication can be restored. In addition, according to the present invention, since the state of the wireless environment can be grasped from a plurality of wireless environment data, a more accurate recovery position than when a recovery position is selected with a single wireless environment data. Can be selected.

According to the invention of claim 1, claim 6, claim 7 or claim 8 , the mobile robot is a case where a plurality of wireless master units exist when the wireless communication is disconnected. However, it is possible to move by searching for a good position in the wireless environment at the shortest distance. Further, according to the present invention, when there are a plurality of wireless master devices, the mobile robot limits the wireless master devices to be searched based on the distance in advance, so that it is possible to shorten the time for searching for the recovery position.

According to the invention described in claim 2 or claim 3 , since the mobile robot can grasp the surrounding wireless environment even when the search means cannot search for a place where wireless communication can be recovered, Communication connection probability can be increased.

According to the fourth aspect of the present invention, when the mobile robot cannot search for a place where the wireless communication can be recovered by the search means, the mobile robot can facilitate the recovery work by stopping the movement.

According to the fifth aspect of the present invention, when the state of the wireless environment deteriorates, the mobile robot decelerates the moving speed, so that the connection time for connecting the wireless communication can be secured. It is possible to avoid in advance a state in which is disconnected.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[Mobile robot control system]
First, a mobile robot control system according to an embodiment of the present invention will be described. FIG. 1 is a system configuration diagram showing a configuration of a mobile robot control system according to an embodiment of the present invention.
As shown in FIG. 1, the mobile robot control system A includes a mobile robot R arranged in a movement area for executing a task, a wireless master device 1 connected to the mobile robot R by wireless communication, and a wireless master device 1. A management computer 3, a storage unit 5 and a terminal 7 connected to each other via a network 4. Note that the number of the mobile robot R and the wireless master device 1 that are arranged in the movement area for executing the task is not limited to the present embodiment.

The mobile robot R is arranged in a movement area where a task is executed. The mobile robot R autonomously moves in the movement area, and based on an execution command signal (task command), for example, article transportation, visitor route guidance, and the like. The task is executed.
Note that wireless communication between the mobile robot R and the wireless master device 1 may be disconnected depending on the wireless environment such as wireless strength. Therefore, when the wireless communication is disconnected, the mobile robot R moves autonomously to a position where communication can be recovered.

The wireless master device 1 (1A, 1B) is a communication means for the management computer 3 to communicate with the mobile robot R. For example, the wireless master device 1 (1A, 1B) is a wireless device that conforms to standards such as IEEE802.11b, IEEE802.11g, or IEEE802.11a. A LAN base station can be used.
The management computer 3 generates an execution command signal including the contents of the task and outputs it to the mobile robot R in order to cause the mobile robot R to execute the task based on task data input from the terminal 7 described later. It is. This task data is data related to a task to be executed by the mobile robot R, and includes, for example, information on a request source and a delivery destination of articles to be transported, information on a visitor destination and a visitor of a route guide, and the like. .
As the management computer 3, for example, a general-purpose PC (Personal Computer) can be used.

The storage unit 5 is a wireless environment map including map data (for example, a floor map for each floor of a building) where the mobile robot R moves and a plurality of wireless environment data related to the wireless environment in the moving area. Is a storage device. The wireless environment map is stored in advance in the storage unit 5, read by the management computer 3, and transmitted to the mobile robot R. The contents of this wireless environment map will be described later.
As the storage unit 5, for example, a hard disk device, an optical disk device, a semiconductor memory device, or the like can be used.

The terminal 7 is an input device for inputting task data to the management computer 3, and a notebook computer, a PHS (Personal Handyphone System) terminal, or the like can be used. The terminal 7 is also a display device for converting and displaying the wireless environment map transmitted from the mobile robot R into a format that is easy to view.
The wireless master device 1, the management computer 3, the storage unit 5, and the terminal 7 are not connected via the network 4 but may be configured such that all or part of them are integrated.

[Appearance of mobile robot]
Next, with reference to FIG. 2, the external appearance of the mobile robot R according to the embodiment of the present invention will be described. In the following description, the mobile robot R has an X axis in the front-rear direction, a Y axis in the left-right direction, and a Z axis in the up-down direction.
The mobile robot R according to the embodiment of the present invention is an autonomous mobile biped mobile robot. The mobile robot R executes a task based on an execution command signal (task command) transmitted from the management computer 3.

  FIG. 2 is a side view schematically showing the appearance of the mobile robot R. As shown in FIG. As shown in FIG. 2, the mobile robot R rises and moves (walks, runs, etc.) by two legs (moving mechanism) R1 (only one is shown) like a human being, and the torso R2, 2 It has an arm R3 (only one is shown) and a head R4 and moves autonomously. Further, the mobile robot R is provided on the back (rear part of the torso R2) so as to carry a control device mounting part R5 for controlling the operations of the leg R1, the torso R2, the arm R3 and the head R4. In the head R4, an antenna unit (not shown) that transmits and receives radio waves for wireless communication is provided.

[Mobile robot drive structure]
Next, the driving structure of the mobile robot R will be described. FIG. 3 is a perspective view schematically showing the drive structure of the mobile robot of FIG. In addition, the joint part in FIG. 3 is shown by the electric motor which drives the said joint part.

(Leg R1)
As shown in FIG. 3, the left and right leg portions R1 include six joint portions 11R (L) to 16R (L). The twelve left and right joints are hip joint portions 11R and 11L (R on the right side and L on the left side) for leg rotation (around the Z axis) of the crotch portion (the connecting portion between the leg portion R1 and the trunk portion R2). , R, and L. The same applies hereinafter.), Hip joints 12R and 12L around the pitch axis (Y axis) of the crotch, and hip joints 13R and 13L around the roll axis (X axis) of the crotch Knee joints 14R, 14L around the knee pitch axis (Y axis), ankle joints 15R, 15L around the ankle pitch axis (Y axis), and ankle joints around the ankle roll axis (X axis) It consists of parts 16R and 16L. And foot 17R, 17L is attached under leg R1.

  That is, the leg portion R1 includes hip joint portions 11R (L), 12R (L), 13R (L), a knee joint portion 14R (L), and ankle joint portions 15R (L), 16R (L). The hip joint portions 11R (L) to 13R (L) and the knee joint portion 14R (L) are thigh links 51R and 51L, and the knee joint portion 14R (L) and the ankle joint portions 15R (L) and 16R (L). The lower leg links 52R and 52L are connected.

(Body R2)
As shown in FIG. 3, the torso R2 is a base portion of the mobile robot R, and is connected to the leg R1, the arm R3, and the head R4. That is, the trunk portion R2 (upper body link 53) is connected to the leg portion R1 via the hip joint portions 11R (L) to 13R (L). Moreover, trunk | drum R2 is connected with arm part R3 via shoulder joint part 31R (L) -33R (L) mentioned later. Moreover, the trunk | drum R2 is connected with head R4 via the neck joint parts 41 and 42 mentioned later.
The trunk portion R2 includes a joint portion 21 for upper body rotation (around the Z axis).

(Arm R3)
As shown in FIG. 3, each of the left and right arm portions R3 includes seven joint portions 31R (L) to 37R (L). The 14 joints on the left and right are shoulder joints 31R and 31L around the pitch axis (Y axis) of the shoulder (the connecting part between the arm R3 and the torso R2), and around the roll axis (X axis) of the shoulder. Shoulder joints 32R, 32L, shoulder joints 33R, 33L for arm rotation (around Z axis), elbow joints 34R, 34L around the pitch axis (Y axis) of the elbow, wrist rotation (around Z axis) Arm joint portions 35R and 35L, wrist joint portions 36R and 36L around the wrist pitch axis (Y axis), and wrist joint portions 37R and 37L around the wrist roll axis (X axis). And grip part (hand) 71R, 71L is attached to the front-end | tip of arm part R3.

  That is, the arm portion R3 includes the shoulder joint portions 31R (L), 32R (L), 33R (L), the elbow joint portion 34R (L), the arm joint portion 35R (L), and the wrist joint portions 36R (L), 37R. (L). The shoulder joint portions 31R (L) to 33R (L) and the elbow joint portion 34R (L) are upper arm links 54R (L), the elbow joint portion 34R (L) and the wrist joint portions 36R (L), 37R (L). ) Is connected by a forearm link 55R (L).

(Head R4)
As shown in FIG. 3, the head R4 includes a neck joint portion 41 around the Y axis of the neck portion (the connecting portion between the head portion R4 and the trunk portion R2), and a neck joint portion 42 around the Z axis of the neck portion. I have. The neck joint 41 is for setting the tilt angle of the head R4, and the neck joint 42 is for setting the pan of the head R4.

  With such a configuration, the left and right leg portions R1 are given a total of 12 degrees of freedom, and the 12 joint portions 11R (L) to 16R (L) are driven at an appropriate angle during movement, so that the leg portions A desired movement can be given to R1, and the mobile robot R can arbitrarily move in the three-dimensional space. The left and right arm portions R3 are given a total of 14 degrees of freedom, and the mobile robot R performs a desired work by driving the 14 joint portions 31R (L) to 37R (L) at appropriate angles. be able to.

  A known 6-axis force sensor 61R (L) is provided between the ankle joint portions 15R (L), 16R (L) and the foot portion 17R (L). The six-axis force sensor 61R (L) detects the three-direction components Fx, Fy, Fz of the floor reaction force acting on the mobile robot R from the floor surface and the three-direction components Mx, My, Mz of the moment.

  Further, a known six-axis force sensor 62R (L) is provided between the wrist joint portions 36R (L), 37R (L) and the grip portion 71R (L). The six-axis force sensor 62R (L) detects the three-direction components Fx, Fy, Fz of the reaction force acting on the gripping portion 71R (L) of the mobile robot R and the three-direction components Mx, My, Mz of the moment. To do.

In addition, an inclination sensor 63 is provided in the trunk portion R2. The inclination sensor 63 detects the inclination of the trunk portion R2 with respect to the gravity axis (Z axis) and the angular velocity thereof.
The electric motors at the joints relatively displace the thigh link 51R (L), the lower thigh link 52R (L), and the like via a reduction gear (not shown) that decelerates and increases the output. The angles of these joint portions are detected by a joint angle detection means (for example, a rotary encoder).

  The control device mounting unit R5 houses a movement control unit 130, a wireless communication unit 150, a main control unit 200, a battery (not shown), and the like which will be described later. The detection data of each sensor 61-63 etc. is sent to each control part in control apparatus mounting part R5. Each electric motor is driven by a drive instruction signal from each control unit.

  Details of this biped walking control are disclosed in, for example, Japanese Patent No. 3672102.

[Configuration of mobile robot]
Next, the configuration of the mobile robot will be described with reference to FIG. FIG. 4 is a block diagram showing the configuration of the mobile robot according to the embodiment of the present invention.
As shown in FIG. 4, the mobile robot R includes cameras C, C, a speaker S, a microphone MC, an image processing unit 110, a voice, in addition to the leg R1, the trunk R2, the arm R3, and the head R4. A processing unit 120, a movement control unit 130, a storage unit 140, a wireless communication unit 150, and a main control unit 200 are provided.
Furthermore, the mobile robot R includes a gyro sensor SR1 for recognizing a direction and a GPS receiver SR2 for recognizing coordinates as position detecting means for detecting its own position.

(camera)
Cameras C and C capture video as digital data. For example, a color CCD (Charge Coupled Device) camera is used. The cameras C and C are arranged in parallel on the left and right, and the captured image is output to the image processing unit 110. The cameras C and C are disposed inside the head R4.

(Speaker)
The speaker S outputs the sound generated by the speech synthesis unit 121 described later. The speaker S is disposed inside the head R4.

(Image processing unit)
The image processing unit 110 processes the images taken by the cameras C and C, and recognizes surrounding obstacles and persons in order to grasp the situation around the mobile robot R from the taken images. The image processing unit 110 includes a stereo processing unit 111, a moving body extraction unit 112, and a face recognition unit 113.

  The stereo processing unit 111 performs pattern matching on the basis of one of the two images taken by the left and right cameras C and C, and calculates the parallax of each corresponding pixel in the left and right images to generate a parallax image It is. The generated parallax image and the original image (original image) are output to the moving object extraction unit 112. This parallax image represents the distance from the mobile robot R to the photographed object.

The moving body extraction unit 112 extracts a moving body in the captured image based on the data output from the stereo processing unit 111. The reason why the moving object (moving body) is extracted is to recognize the person by estimating that the moving object is a person.
In order to extract a moving object, the moving object extraction unit 112 stores images of several past frames (frames), and compares the latest frame (image) with a past frame (image). Pattern matching is performed and the amount of movement of each pixel is calculated. Then, the moving body extraction unit 112 estimates that there is a person in an area including pixels with a large amount of movement within a predetermined distance range from the cameras C and C in the parallax image, and selects an area only in the predetermined distance range. The moving image is extracted from the original image (original image) and output to the face recognition unit 113.

The face recognition unit 113 extracts a skin color region from the extracted moving object, and recognizes the position of the face from the size, shape, and the like. Similarly, the position of the hand can be recognized from the skin color region, size, shape, and the like.
The recognized face position is output to the main control unit 200 as information when the mobile robot R moves and as information for communicating with the person. Further, the fact that the person is recognized or the position (face position) of the person is output to the wireless communication unit 150 and transmitted to the management computer 3 via the wireless master unit 1.

(Microphone)
The microphone MC collects sounds around the mobile robot R. The collected sound is output as a voice signal to the voice recognition unit 122 described later.

(Audio processing unit)
The voice processing unit 120 includes a voice synthesis unit 121 and a voice recognition unit 122.
The voice synthesizer 121 determines the voice data from the character information based on the correspondence relationship between the voice data stored in advance and the character information according to the utterance command including the character information determined and output by the main control unit 200. It produces | generates and outputs to the speaker S.
The voice recognition unit 122 receives voice data from the microphone MC, generates character information from the voice data based on the correspondence between the voice data stored in advance and the character information, and outputs the character information to the main control unit 200. It is.

(Movement control unit)
The movement control unit 130 drives and controls the leg R1, the trunk R2, the arm R3, and the head R4, which are structures (drive structures) constituting the mobile robot R. A head control unit 132, an arm control unit 133, and a head control unit 134.
The leg control unit 131 drives the leg R1 according to the instruction of the main control unit 200, the torso control unit 132 drives the torso R2 according to the instruction of the main control unit 200, and the arm control unit 133 The arm R3 is driven according to the instruction of the control unit 200, and the head control unit 134 drives the head R4 according to the instruction of the main control unit 200.

(Memory part)
The storage unit (wireless environment map storage means, movement history storage means) 140 is a storage device such as a hard disk or a semiconductor memory, and relates to map data of a moving area where the mobile robot R moves and the wireless environment in the moving area. A wireless environment map including a plurality of wireless environment data to be stored is stored. The storage unit 140 also stores a movement history (for example, position coordinates on map data) indicating the movement route of the mobile robot R.

The map data is information that specifies a map of the moving area of the mobile robot R, and is information that specifies, for example, the positions of receptions, entrances, conference rooms, and the like existing in the floor that is the moving area by coordinates.
The wireless environment map is obtained by associating map data with comprehensive wireless environment data composed of a plurality of wireless environment data related to the wireless environment. The comprehensive wireless environment data is information indicating the degree of connection environment in wireless communication.

Here, the general wireless environment data will be described with reference to FIG. FIG. 5 is an explanatory diagram for explaining the contents of the comprehensive wireless environment data.
As shown in FIG. 5, in this embodiment, in order to comprehensively evaluate the radio environment goodness, as radio environment data, radio intensity, noise floor, number of errors, number of retransmissions, communication speed, Is used to weight each wireless environment data to obtain comprehensive wireless environment data.

First, as the data that best represents the wireless environment, the wireless strength is weighted by 80%. In this embodiment, the wireless intensity data is not used as it is, but the ratio with the noise floor is used. That is, the radio intensity received by the mobile robot R and the noise floor received from the radio wave transmitted from the radio base unit 1 are digitized to 1 to 100% according to the respective intensities. However, 100% shows the strongest strength.
When (radio intensity / noise floor)> 1, (radio intensity / noise floor) × 0.8 is set as a contribution to the overall radio environment data. That is, the case where the wireless strength is 100% and the noise floor is 1% is when the wireless environment is the best, which is 100/1 × 0.8 = 80 (%).
When (radio intensity / noise floor) ≦ 1, the noise level is larger than the radio intensity (signal level), and the radio environment is extremely bad, and the contribution to the comprehensive radio environment data is “0” ( %).

  The number of errors is 5%, the maximum number of errors per second is 1028, and (1− (number of errors / 1028)) × 5 (%) is the contribution to the overall wireless environment data. That is, the closer the number of errors is to 0, the closer the contribution is to 5% (the wireless environment is better), and the closer the number of errors is to 1028, the closer the contribution is to 0% (the wireless environment is bad).

  Similar to the number of errors, the number of retransmissions is weighted at 5%, the maximum number of retransmissions per second is 1028, and (1- (number of retransmissions / 1028)) × 5 (%) is added to the total radio environment data. Contribute. That is, the closer the number of retransmissions is to 0, the closer the contribution is to 5% (the wireless environment is better), and the closer the number of retransmissions is to 1028, the closer the contribution is to 0% (the wireless environment is bad).

The communication speed is 10% weighted, and the contribution to the total wireless environment data is calculated using a conversion table determined in advance according to the communication speed selected by the wireless LAN adapter used in the wireless communication.
In FIG. 5, the item “communication speed” has a numerical range of {1, 2, 5.5, 11} [Mbps] and a numerical range of {6, 9, 12, 18, 24, 36, 48, 54} [Mbps] conversion table is defined. The former is a conversion table when a wireless LAN adapter of a standard compliant with IEEE802.11b is used, and the latter is a conversion table when a wireless LAN adapter of a standard compliant with IEEE802.11g or IEEE802.11a is used. is there.
That is, the higher the communication speed can be established, the better the wireless environment and the higher the numerical value is assigned.
When using communication means of other standards and methods, a conversion formula corresponding to the communication speed may be determined as appropriate.

The total radio environment data normalized from 100% to 0% is calculated by weighting and adding the four radio environment data converted as described above.
As described above, the wireless environment can be more appropriately represented by using the total wireless environment data calculated by weighting the wireless environment data including the data related to the wireless environment other than the wireless strength. In particular, since the number of errors and the number of retransmissions can be evaluated when the communication is established and the state of the wireless environment at that time can be evaluated, it is possible to accurately determine the state where communication cannot be established.

  Next, a wireless environment map in which the comprehensive wireless environment data is associated with map data will be described with reference to FIG. 6A and 6B are explanatory diagrams for explaining the contents of the wireless environment map, where FIG. 6A is a floor map visually showing an example of map data, and FIG. 6B is a map of the map data and the comprehensive wireless environment data. It is a figure which shows the example of the radio | wireless environment map matched.

In the example shown in FIG. 6A, as the map data in the moving area of the mobile robot R, the coordinates of the reception, entrance / exit, conference rooms A to C, the base station wireless base station 1 and the like are determined in advance. Mapping to the system.
In the example of the wireless environment map shown in FIG. 6B, a grid with a predetermined interval is set in the map data (floor map) shown in FIG. The overall wireless environment data described in (1) is associated.
By associating the comprehensive wireless environment data with the map data in this way, the mobile robot R can recognize which location has the good wireless environment.

In addition, when there are a plurality of wireless master devices 1, a wireless environment map for each wireless master device 1 may be selected as a map in which the value of the comprehensive wireless environment data is large and a plurality of wireless environment maps are integrated. .
For example, as shown in FIG. 7, when two wireless master devices 1 are arranged, the wireless environment map of the wireless master device 1A shown in FIG. 7A and the wireless parent device shown in FIG. The wireless environment map of the device 1B is a map (wireless master device map [FIG. 7C]) in which the wireless master device 1 having a large value of the total wireless environment data is associated with each grid point of the grid. Further, the wireless master device map is stored in the storage unit 140 in the same manner as the wireless environment map.
When there are a plurality of wireless master devices 1, the plurality of wireless environment maps and the wireless master device map are collectively referred to as a wireless environment map.
As described above, when there are a plurality of wireless master devices 1, the mobile robot R can select the wireless master device 1 having a good communication state.
Returning to FIG. 4, the description of the configuration of the mobile robot R will be continued.

(Wireless communication part)
The wireless communication unit 150 transmits and receives data (task commands and the like) to and from the management computer 3 via the wireless master device 1.
Here, the configuration of the wireless communication unit 150 will be described with reference to FIG. FIG. 8 is a configuration diagram illustrating a configuration of the wireless communication unit.
As illustrated in FIG. 8, the wireless communication unit 150 includes a wireless interface unit 151, a protocol control unit 152, a wireless environment detection unit 153, and an antenna unit T. The antenna portion T is disposed inside the head portion R4.

The radio interface unit 151 performs physical conversion between radio waves and data transmitted / received from the management computer 3 via the radio master unit 1 by the antenna unit T. When receiving, the wireless interface unit 151 converts the radio wave received by the antenna unit T into data and outputs the data to the protocol control unit 152. Also, the received radio wave is output to the radio intensity detection unit 153a of the radio environment detection unit 153.
At the time of transmission, the wireless interface unit 151 receives data from the protocol control unit 152, converts the data into a radio wave, and transmits the radio wave to the wireless master device 1 via the antenna unit T.

  The protocol control unit 152 performs, for example, data framing and negotiation for data communication between the management computer 3 and the main control unit 200 of the mobile robot R based on LAN regulations such as IEEE802.3. is there. At the time of reception, the protocol control unit 152 selects data addressed to the address assigned to the mobile robot R from transmission data transmitted from the management computer 3 converted by the wireless interface unit 151. For example, TCP / IP Based on a predetermined communication protocol method such as a (Transmission Control Protocol / Internet Protocol) protocol, data is extracted from a frame such as a TCP / IP packet and output to the main control unit 200.

At the time of transmission, the protocol control unit 152 generates a frame such as a TCP / IP packet from the data input from the main control unit 200 based on the above-described predetermined communication protocol method, and outputs the frame to the wireless interface unit 151. To do.
Further, the number of errors at the time of reception, the number of retransmissions at the time of transmission, and the communication speed at the time of transmission / reception in the protocol control unit 152 are respectively the error number detection unit 153c, the retransmission number detection unit 153d, and the communication speed detection unit 153b of the wireless environment detection unit 153. Measured by.
The wireless interface unit 151 and the protocol control unit 152 can use a general wireless LAN adapter.

The wireless environment detection unit 153 detects the wireless (radio wave) intensity and noise floor of the frequency of the radio wave converted by the wireless interface unit 151 by the wireless intensity detection unit 153a, and detects the wireless base unit 1 by the communication speed detection unit 153b. Is used to detect the communication speed. Further, the error count detection unit 153c measures the number of errors in the protocol control unit 152 at the time of reception, and measures the number of data retransmissions in the protocol control unit 152 at the time of transmission. Then, using these measured values, comprehensive wireless environment data indicating the goodness of the wireless environment is calculated and output to the main control unit 200.
By configuring the wireless communication unit 150 in this way, the wireless environment map stored in the storage unit 140 can be updated. In the mobile robot R, when the wireless environment map is not updated, the wireless environment detection unit 153 can be omitted from the configuration.
Returning to FIG. 4, the description of the configuration of the mobile robot will be continued.

(Main control unit [control device])
The main control unit 200 controls the operation of the entire mobile robot R, and is a computer including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like.
The main control unit 200 analyzes a task command transmitted from the management computer 3 and instructs the movement control unit 130 to perform an operation based on the task command, thereby autonomously executing a series of tasks. Note that the main control unit 200 stores the position moved by executing the task in the storage unit 140 as a movement history.
Further, the main control unit 200 monitors the wireless state output from the wireless communication unit 150, and also performs control for performing a recovery operation when the wireless state deteriorates.

Here, the configuration of the main control unit 200 will be described with reference to FIG. FIG. 9 is a functional block diagram showing a functional configuration of the main control unit. Here, a configuration for realizing a function of performing recovery mainly when wireless communication is disconnected will be described.
As shown in FIG. 9, the main control unit 200 includes a position recognition unit 201, a monitoring unit 202, a search unit 203, and an operation instruction unit 204.

  The position recognition unit (position recognition means) 201 recognizes its own position in the movement area. Here, the position recognition unit 201 recognizes the current position and orientation by acquiring the direction and coordinates output from the gyro sensor SR1 and the GPS receiver SR2 and corresponding to the map data. Position information indicating the self position recognized by the position recognition unit is output to the search unit 203.

The monitoring unit (monitoring means) 202 monitors the wireless environment in the wireless communication unit 150. Here, based on the value of the comprehensive wireless environment data output from the wireless communication unit 150, the monitoring unit 202 determines that the wireless environment has deteriorated or communication has been disabled (disconnected state). For example, if the value of the total wireless environment data is 70% or more, the state is “good”, 50% or more and less than 70% is a “decreased” state in which the wireless environment has deteriorated, and less than 50% is the possibility of wireless communication being disconnected It is determined that there is a certain “disconnected” state. This monitoring result is output to the search unit 203.
Note that the reference (the value of the comprehensive wireless environment data) is an example. For example, when the accuracy of wireless communication is desired to be increased, the reference value is increased.
Further, when the wireless communication unit 150 does not calculate the total wireless environment data, the monitoring unit 202 may determine the state of wireless communication based on the wireless strength, the number of data errors, the number of retransmissions, and the like.

  When the monitoring unit 202 determines that the wireless communication is disconnected, the searching unit (searching unit) 203 can connect wireless communication based on the wireless environment map stored in the storage unit 140. It searches for a recovery position. Here, the search unit 203 includes a parent device search unit 203a and a recovery position search unit 203b.

  Base unit search unit (base unit search means) 203a searches for a wireless base unit located within a predetermined distance from the position of mobile robot R based on the wireless environment map. Specifically, the base unit search unit 203a refers to the wireless environment map (more specifically, the wireless base unit map [see FIG. 7C)] stored in the storage unit 140, and the position recognition unit 201. The base station 1 is searched for within a predetermined distance (for example, 20 m) from the self-position recognized in step S2. The type (1A, 1B) of the searched wireless master device is output to the recovery position search unit 203b. When there are a plurality of wireless master devices within a predetermined distance, the information is output as a master device list to the recovery position search unit 203b.

  The recovery position search unit (recovery position search means) 203b is arranged in the general wireless environment data corresponding to the wireless parent device in the order of the wireless parent device closest to the own position among the wireless parent devices searched by the parent device searching unit 203a. A position that satisfies a predetermined criterion and that is closest to the self position is searched. Specifically, the recovery position search unit 203b refers to the wireless environment map stored in the storage unit 140, and the value of the comprehensive wireless environment data (see FIG. 5) is predetermined in order from the wireless base station closer to the own position. A position that is equal to or greater than the value (for example, 70% or more) and closer to the self-position recognized by the position recognition unit 201 is searched. The recovery position searched by the recovery position search unit 203b is output to the operation instruction unit 204.

The operation instruction unit 204 notifies the movement control unit 130 of an instruction to execute a predetermined operation. Note that the operation instruction unit 204 may cause the speech synthesis unit 121 of the speech processing unit 120 to utter the operation content when executing a predetermined operation.
Here, the operation instruction unit 204 includes a self-position movement instruction unit 204a, an antenna unit movement instruction unit 204b, a retrograde instruction unit 204c, a movement stop instruction unit 204d, a deceleration instruction unit 204e, and a guidance operation instruction unit 204f.

  The self position movement instructing section (self position movement instructing means) 204 a instructs the movement control section 130 to move to the recovery position searched by the searching section 203. Based on the instruction from the self-position movement instruction unit 204a, the movement control unit 130 drives the leg R1 and the like, and the mobile robot R moves to the restoration position. As described above, the self-position movement instruction unit 204a can restore the wireless communication by moving the position of the mobile robot R to the restoration position searched by the wireless environment map.

  The antenna unit movement instruction unit (antenna unit movement instruction unit) 204b instructs the movement control unit 130 to perform a predetermined operation so as to change the position or direction of the antenna unit T. The antenna unit movement instruction unit 204b changes the radio environment such as the radio intensity by changing the position and direction of the antenna unit T. As described above, the antenna unit movement instruction unit 204b is one means for attempting recovery when the wireless communication is disconnected. Here, the main control unit 200 activates the antenna unit movement instruction unit 204b when the search unit 203 cannot search the restoration position.

  Here, a specific example in which the position or direction of the antenna unit T is changed will be described with reference to FIG. FIG. 10 is a schematic diagram illustrating an example of an operation in which the mobile robot changes the position and direction of the antenna unit. In FIG. 10, in order to visualize the state of the antenna unit T, the antenna unit T is provided on the top of the head of the mobile robot R. However, the antenna unit T is configured to be incorporated inside the head. Alternatively, it may be configured to be provided at another position.

For example, as shown in FIG. 10A, the mobile robot R searches for a place with a good wireless environment in the left-right direction of the mobile robot R by shaking the head (or the entire body) left and right, and performs wireless communication. Try to recover. Further, for example, as shown in FIG. 10B, the mobile robot R searches for a place with a good wireless environment in the front-rear direction of the mobile robot R by shaking the head up and down (or the whole body back and forth). And attempt to restore wireless communication.
Further, for example, as shown in FIG. 10C, the mobile robot R searches for a place with a good wireless environment in the direction of the antenna unit T by rotating 360 ° (degrees) on the spot, and performs wireless communication. Try to recover. Further, for example, as shown in FIG. 10 (d), the mobile robot R moves one step at a time in the front / rear / left / right or diagonally front / rear directions, so that the wireless environment is located around the mobile robot R. Search for a good location and try to restore wireless communication.
Returning to FIG. 9, the description of the configuration of the main control unit 200 will be continued.

  The reverse instruction unit (reverse instruction means) 204c instructs the movement control unit 130 to reverse the movement route by a predetermined amount of movement based on the movement history stored in the storage unit 140. The retrograde instruction unit 204c refers to the movement history that the mobile robot R has moved, and returns the mobile robot R from the current position to the original position by, for example, 1 m. In this way, the retrograde instruction unit 204c can increase the probability of recovery of wireless communication by moving in the direction of movement when wireless communication is disconnected.

  The movement stop instruction unit (movement stop instruction means) 204d instructs the movement control unit 130 to stop the movement when the search unit 203 cannot search the recovery position. Here, the main control unit 200 activates the movement stop instruction unit 204d when disconnection / recovery is not performed by the antenna unit movement instruction unit 204b and the retrograde instruction unit 204c.

  The deceleration instruction unit (deceleration instruction means) 204e instructs the movement control unit 130 to decelerate the movement speed when the wireless environment state deteriorates from a predetermined reference in the connection state monitored by the monitoring unit 202. Is.

  Here, referring to FIG. 11 (refer to FIG. 9 as appropriate), an example of movement speed deceleration performed by the deceleration instruction unit 204e will be described. FIG. 11 is a graph showing the relationship between the distance from the wireless master device and the value of the comprehensive wireless environment data. In FIG. 11, the horizontal axis indicates the distance [m] from the wireless master device, and the vertical axis indicates the value [%] of the comprehensive wireless environment data. This graph is an example, and differs depending on the type of wireless master device used.

  As shown in FIG. 11, here, the deceleration instruction unit 204e manages the wireless environment in three states: “good”, “decreased”, and “disconnected (possible)”. Here, “good” indicates a stable state in which wireless communication operates normally. “Decrease” indicates a state in which the wireless communication can be normally performed but the value of the comprehensive wireless environment data is deteriorated. Further, “disconnected (possibly)” indicates a state in which the value of the comprehensive wireless environment data is deteriorated and wireless communication may be disconnected.

  Here, for example, when the mobile robot R moves in a direction away from the wireless master device, there is a possibility of sequentially shifting to “good”, “decreasing”, and “possible disconnection” states. In this case, if the wireless environment can be reconnected before the wireless environment becomes “disconnected (possible)”, the management computer 3 can be notified to that effect. Become. In order to realize this, it is sufficient to secure the time required for reconnection until the state is changed from the “decreased” state to the “possible disconnection” state.

In FIG. 11, from the “good” state to the “decreased” state (total wireless environment data value is less than 70%) to the “disconnected (possible)” state (less than 50%). The distance is about 3 m. Here, assuming that the time required for reconnection with the wireless master unit is 10 seconds at the longest, the distance of 3 m may be moved in 10 seconds.
That is, the deceleration instruction unit 204e instructs the movement control unit 130 to move at a speed of 1.08 km / h.
As a result, it is possible to reduce the rate at which wireless communication is disconnected.
Returning to FIG. 9, the description of the configuration of the main control unit 200 will be continued.

The guidance operation instruction unit (guidance operation instruction means) 204f cooperates with the movement control unit 130 to move the mobile robot R in the direction in which the person is guided. Accordingly, the mobile robot R shifts to a “guide guidance mode” in which movement is performed by human guidance.
More specifically, as shown in FIG. 12, the hand movement operation instruction unit 204f guides the person H by pulling the hand of the mobile robot R (the gripping part (hand) 71R provided at the tip of the arm part R3). Thus, it is moved to a position where wireless communication is possible.

  As shown in FIG. 3, the mobile robot R in the present embodiment can walk or run by driving and controlling the electric motor of each joint of the leg R1. Further, by driving and controlling an electric motor provided at each joint portion of the arm portion R3, the hand of the person H who has put out his hand with respect to the person H can be gripped. Furthermore, the 6-axis force sensor 62R (L) provided between the gripping portion 71R (L) provided at the tip of the arm portion R3 and the wrist joint portions 36R (L), 37R (L) The three-direction components Fx, Fy, Fz of the reaction force acting on the gripping portion 71R (L) of R and the three-direction components Mx, My, Mz of the moment can be detected.

  The three-direction components Fx, Fy, Fz of the reaction force detected by the six-axis force sensor 62R are transmitted to the arm control unit 133 of the movement control unit 130, and the arm control unit 133 transmits the three-direction components Fx of these reaction forces. , Fy, Fz, as shown in FIG. 12, the direction in which the person H pulls the gripping portion 71R of the mobile robot R and the magnitude of the force are determined, and the hand movement operation instruction portion 204f of the main control portion 200 is determined. To communicate. The hand-drawing operation instruction unit 204f determines the moving direction and the moving speed of the mobile robot R based on the direction in which the person H pulls the gripping unit 71R of the mobile robot R and the magnitude of the pulling force. To the control unit 131. Then, the leg control unit 131 drives and controls each joint part of the leg R1 in accordance with the moving direction and speed commanded from the hand-drawing operation instruction unit 204f, and moves while being pulled by the person H. Can do.

Here, when the wireless communication is not restored even by the self-position movement instruction unit 204a, the antenna unit movement instruction unit 204b, and the retrograde instruction unit 204c, the main control unit 200 uses the movement stop instruction unit 204d to stop the movement, The guidance operation instruction unit 204f is activated to shift to the “guidance guidance mode”. Note that the operation instruction unit 204 may operate only the guide operation instruction unit 204f without performing the autonomous wireless restoration operation by a switching unit such as a switch (not shown).
Although the functional configuration of the main control unit 200 has been described above, the main control unit 200 can be operated by a control program that causes a computer to function as each of the above-described units.

[Operation of mobile robot]
Next, the operation of the mobile robot R will be described. Here, the operation of the mobile robot mainly monitoring the wireless environment and disconnecting and recovering the wireless communication will be described.

(Overall operation)
First, referring to FIG. 13 (refer to FIGS. 4 and 9 as appropriate), the overall operation of the mobile robot R accompanying a change in the wireless environment will be described. FIG. 13 is a flowchart showing the overall operation of the mobile robot according to the present invention as the wireless environment changes.

  First, the mobile robot R receives a task command transmitted from the management computer 3 via the wireless master device 1 by the wireless communication unit 150. Then, the main control unit 200 executes a series of tasks by driving the leg R1 and the like via the movement control unit 130 based on the task command. During the execution of this task, the mobile robot R recognizes its own position by the position recognition unit 201 of the main control unit 200 and stores the movement history in the storage unit 140 and also by the monitoring unit 202 by the wireless communication unit 150. The wireless environment at is monitored (step S1).

Then, the mobile robot R determines the state of wireless communication by the monitoring unit 202 (step S2), and when it is determined as “good” state, it determines whether the task operation has ended (step S3). Here, when the task is finished (Yes in step S3), the mobile robot R finishes the operation. When the task is not finished (No in step S3), the mobile robot R returns to step S1 and continues the operation.
On the other hand, if it is determined in step S2 that the state is “decreased”, the mobile robot R gives an instruction to the movement control unit 130 from the deceleration instruction unit 204e of the main control unit 200, thereby reducing the movement speed (step S4). ).

Here, the mobile robot R determines whether or not the value of the comprehensive wireless environment data calculated by the wireless communication unit 150 by the monitoring unit 202 is the same as the value of the comprehensive wireless environment data at the current position in the wireless environment map. If it is determined (step S5), and if it is different (No in step S5), the wireless environment map is updated (step S6).
At this time, the mobile robot R may notify the management computer 3 that deceleration has been performed.
After that, or when the value of the comprehensive wireless environment data calculated by the wireless communication unit 150 is the same as the value of the wireless environment map (Yes in Step S5), the mobile robot R executes the operation of Step S3.

If it is determined in step S2 that the state is “disconnected”, the mobile robot R speaks, for example, “stops due to wireless disconnection” by the speech synthesizer 121 (step S7), from the movement stop instruction unit 204d. The movement (walking) is stopped by giving a stop instruction to the movement control unit 130 (step S8).
Then, the mobile robot R performs a wireless disconnection recovery operation using the wireless environment map (step S9). The wireless disconnection recovery operation using this wireless environment map will be described later with reference to FIG.

Then, the mobile robot R utters, for example, “Wireless has been restored” by the speech synthesizer 121 (step S10).
At this time, the mobile robot R may notify the management computer 3 that the wireless disconnection has been restored. Thereafter, the mobile robot R proceeds to step S3.
With the above operation, the mobile robot R can appropriately move to a position where wireless communication can be performed even when it moves to a position where the wireless environment has deteriorated during execution of the task operation.

(Wireless disconnection recovery operation using the wireless environment map)
Next, with reference to FIG. 14, the wireless disconnection recovery operation performed by the mobile robot R using the wireless environment map will be described. FIG. 14 is a flowchart illustrating an operation for performing disconnection and restoration of wireless communication using a wireless environment map in the mobile robot according to the embodiment of the present invention. This operation corresponds to the operation in step S9 described in FIG.
First, the mobile robot R searches for a wireless master device located within a predetermined distance (for example, 20 m) from the position of the mobile robot R by the master search unit 203a of the search unit 203, and generates a master device list. (Step S20).

Then, the mobile robot R searches the nearest position as a restoration position by using the restoration position searching unit 203b in the wireless environment corresponding to the wireless parent device searched in step S20 and satisfying a predetermined criterion.
Specifically, the mobile robot R searches the base station list for the radio base station closest to the mobile robot R by using the recovery position search unit 203b (step S21). At this time, the recovery position search unit 203b deletes the corresponding wireless master device from the parent device list in order to exclude it from the subsequent search target.

  Thereafter, the mobile robot R refers to the wireless environment map corresponding to the wireless master device searched in step S21 by the restoration position search unit 203b, and the value of the comprehensive wireless environment data is equal to or greater than a predetermined value (for example, 70% or more). Thus, a position closest to the current position of the mobile robot R is searched (step S22).

Further, the mobile robot R determines whether or not the position searched in step S22 is within a predetermined distance (for example, 5 m) from the current position of the mobile robot R by the restoration position search unit 203b (step S23). ).
If the searched position is farther than a predetermined distance (No in step S23), the mobile robot R determines that wireless disconnection recovery using the wireless environment map is not possible, and proceeds to step S29.
On the other hand, when the searched position is within a predetermined distance (Yes in step S23), the mobile robot R determines the search position as a wireless communication recovery position (step S24).

Thereafter, the mobile robot R utters, for example, “I will move to recover wirelessly” by the speech synthesizer 121 (step S25), and from the self-position movement instructing unit 204a to the movement control unit 130 to the restoration position. By giving a movement instruction, the robot moves (walks) to the recovery position (step S26).
Then, the mobile robot R determines whether or not the wireless environment has been recovered from the disconnected state by the monitoring unit 202 (step S27). Here, when recovered from the disconnected state (Yes in step S27), the mobile robot R ends the wireless disconnection recovery operation and executes the operation of step S10 (see FIG. 13).

On the other hand, when the mobile robot R has not recovered from the disconnected state (No in step S27), the mobile robot R searches the recovery device search unit 203b for a wireless parent device to be searched from the parent device list (step S28). If there is a wireless parent device (the parent device list is not “empty”) (Yes in step S28), the process returns to step S21 to continue the operation.
On the other hand, if there is no wireless parent device to be searched (the parent device list is “empty”) (No in step S28), the mobile robot R determines that wireless disconnection recovery using the wireless environment map is not possible. Then, an operation of attempting recovery by changing the position or direction of the antenna unit (wireless disconnection recovery operation by moving the antenna unit) is performed (step S29). Note that the wireless disconnection recovery operation by moving the antenna unit will be described later with reference to FIG.

  As described above, the mobile robot R uses the wireless environment map to a position where wireless communication can be performed even when the wireless environment deteriorates and the task command from the management computer 3 is not notified. Can move autonomously.

(Wireless disconnection recovery operation by moving the antenna part)
Next, with reference to FIG. 15, a wireless disconnection recovery operation performed by the mobile robot R by moving the antenna unit T will be described. FIG. 15 is a flowchart illustrating an operation of performing disconnection restoration of wireless communication by moving the antenna unit in the mobile robot according to the embodiment of the present invention. This operation corresponds to the operation in step S29 described in FIG.

First, in order to notify the surroundings that the antenna unit T is to be moved, the mobile robot R utters, for example, “It moves to recover wirelessly” by the speech synthesizer 121 (step S40).
Then, the antenna unit movement instruction unit 204b instructs the movement control unit 130 to swing the head including the antenna unit T in the left-right direction, thereby causing the head of the mobile robot R to swing left and right (steps). S41). Then, the monitoring unit 202 determines whether or not the wireless environment has been recovered from the disconnected state (step S42). This restoration determination is performed in a state where the head is swung to the left and a state where the head is swung to the right.
At this stage, when the mobile robot R recovers from the disconnected state (Yes in step S42), the mobile robot R ends the wireless disconnection recovery operation.

On the other hand, when the disconnected state has not been recovered (No in step S42), the antenna unit movement instruction unit 204b instructs the movement control unit 130 to shake the head in the vertical direction, whereby the head of the mobile robot R. The part is shaken up and down (step S43). Then, the monitoring unit 202 determines whether or not the wireless environment has been recovered from the disconnected state (step S44). This restoration determination is made based on a state where the head is swung up and a state where the head is swung down.
At this stage, when recovered from the disconnected state (Yes in step S44), the mobile robot R ends the wireless disconnection recovery operation.

On the other hand, when the disconnected state has not been recovered (No in step S44), the antenna unit movement instruction unit 204b rotates the mobile robot R by instructing the movement control unit 130 to rotate 360 degrees on the spot. (Step S45). Then, the monitoring unit 202 determines whether or not the wireless environment has been recovered from the disconnected state (step S46). This restoration determination is performed at a predetermined time interval while the mobile robot R is rotating.
At this stage, when recovered from the disconnected state (Yes in step S46), the mobile robot R ends the wireless disconnection recovery operation.

On the other hand, when the disconnection state has not been recovered (No in step S46), the antenna unit movement instruction unit 204b indicates that the movement control unit 204b moves one step at a time in the eight directions of front and rear, left and right, or diagonally front and rear. By instructing 130, the mobile robot R is moved step by step in eight directions from the spot (step S47). Then, the monitoring unit 202 determines whether or not the wireless environment has been recovered from the disconnected state (step S48). This restoration determination is made for each stage where the mobile robot R has moved one step at a time.
At this stage, when recovered from the disconnected state (Yes in step S48), the mobile robot R ends the wireless disconnection recovery operation.

On the other hand, if the mobile robot R has not recovered from the disconnected state (No in step S48), the mobile robot R determines that the wireless disconnection cannot be recovered by moving the antenna unit T, and reverses the direction of movement based on the movement history. An operation to attempt recovery by returning (wireless disconnection recovery operation using movement history) is performed (step S49). Note that the wireless disconnection recovery operation using this movement history will be described later with reference to FIG.
When recovered by the above operation, the mobile robot R preferably notifies the management computer 3 and waits for the next task command.
As described above, the mobile robot R can attempt to recover the wireless communication by moving the antenna unit T, and can complement the wireless disconnection recovery using the wireless environment map.

(Wireless disconnection recovery operation using movement history)
Next, with reference to FIG. 16, the wireless disconnection recovery operation performed by the mobile robot R using the movement history will be described. FIG. 16 is a flowchart illustrating an operation of performing disconnection recovery of wireless communication using a movement history in the mobile robot according to the embodiment of the present invention. This operation corresponds to the operation in step S49 described in FIG.

First, the mobile robot R uses the retrograde instruction unit 204c to obtain a position that has returned the movement route by a predetermined amount of movement (for example, 1 m) based on the movement history stored in the storage unit 140 (Step 1). S60).
Then, the mobile robot R utters, for example, “I will back 1 m to recover wirelessly” by the speech synthesizer 121 in order to notify the surroundings of returning to the moving route (step S61).

Then, the retrograde instruction unit 204c instructs the movement control unit 130 to move to the position obtained in step S60, thereby moving the mobile robot R to a position that has returned the movement path (step S62).
Thereafter, the monitoring unit 202 determines whether or not the wireless environment has been recovered from the disconnected state (step S63).

When the disconnected state is recovered (Yes in step S63), the mobile robot R ends the wireless disconnection recovery operation. On the other hand, if the mobile robot R has not recovered from the disconnected state (No in step S63), the mobile robot R determines that the wireless disconnection cannot be recovered even if the mobile route returns using the movement history, and is guided to a person. The operation of returning to a position where the recovery can be performed by (wireless disconnection recovery operation in the guidance mode) is performed (step S64). Note that the wireless disconnection recovery operation in the guidance mode will be described later with reference to FIG.
When recovered by the above operation, the mobile robot R preferably notifies the management computer 3 and waits for the next task command.
As described above, the mobile robot R can attempt to recover the wireless communication by returning to the moving route, and can complement the wireless disconnection recovery using the wireless environment map.

(Wireless disconnection recovery operation using the guidance mode)
Next, with reference to FIG. 17, the operation of the mobile robot R returning to a recoverable position by being guided by a person will be described. FIG. 17 is a flowchart showing an operation of performing disconnection restoration of wireless communication by guidance in the mobile robot according to the embodiment of the present invention. This operation corresponds to the operation in step S64 described in FIG.

First, in order to notify the surroundings that the wireless recovery cannot be performed, the mobile robot R utters, for example, “Please pull your hand because wireless cannot be recovered” by the speech synthesizer 121 (step S80).
Then, the hand-drawing operation instruction unit 204f instructs the movement control unit 130 to push out the hand of the mobile robot R (the gripping part (hand) 71R provided at the tip of the arm part R3) to the front, whereby the mobile robot R R's hand is pushed forward (step S81).
Thereafter, the mobile robot R moves by determining the moving walk and the speed based on the direction of the hand and the magnitude of the force by the movement control unit 130 (step S82).
Thereafter, the monitoring unit 202 determines whether or not the wireless environment has been recovered from the disconnected state (step S83).
When the disconnected state is recovered (Yes in step S83), the mobile robot R ends the wireless disconnection recovery operation. On the other hand, if the disconnected state has not been recovered (No in step S83), the mobile robot R returns to step S80 and continues its operation.

  As described above, the mobile robot R can restore wireless communication by being assisted by movement by a person. As described above, since the mobile robot R can be moved through the moving means such as the legs of the mobile robot R itself, the mobile robot can be moved to a position where wireless communication can be performed with only one auxiliary operation. it can.

Note that the wireless disconnection recovery operation in this guidance guidance mode may be switched and operated in an arbitrary state by a switch (not shown) provided in the mobile robot R. In this case, the content of the utterance in step S80 at the stage of shifting to the guidance mode by the switch is, for example, “switch pressed, please pull your hand”. About subsequent operation | movement, it is the same as that of step S81-S83.
Thus, in an emergency, a person can move to an arbitrary position without waiting for the operation of the mobile robot R.

As described above, even when the mobile robot R moves to a place where wireless communication is disconnected, it can move to a place where the wireless communication can be properly recovered.
Note that the present invention is not limited to this embodiment. Here, when the mobile robot R is unable to connect wireless communication even if it moves to the recovery position with reference to the wireless environment map, each operation of moving in the antenna unit, going backward based on the movement history, and moving in the guidance mode is sequentially performed. However, this order can be changed or omitted.
In addition, here, a two-speed mobile robot that moves by leg is described as an example of the mobile robot. However, the moving mechanism is not limited to the leg, but a moving mechanism corresponding to the leg, for example, a wheel, an endless track. And so on.

1 is a system configuration diagram showing a configuration of a mobile robot control system according to an embodiment of the present invention. It is a side view which shows typically the external appearance of the mobile robot which concerns on embodiment of this invention. It is a perspective view which shows typically the drive structure of the mobile robot which concerns on embodiment of this invention. It is the block diagram which showed the structure of the mobile robot which concerns on embodiment of this invention. It is explanatory drawing for demonstrating the content of comprehensive radio | wireless environment data. It is explanatory drawing for demonstrating the content of a wireless environment map, Comprising: (a) is the floor map which showed an example of map data visually, (b) is the wireless environment which matched map data and wireless environment information. It is a figure which shows the example of a map. It is a figure which shows the example of a radio | wireless environment map in case two wireless main | base stations are arrange | positioned. It is a block diagram which shows the structure of a radio | wireless communication part. It is a functional block diagram which shows the function structure of a main control part. It is the schematic diagram which showed an example of the operation | movement which a mobile robot changes the position and direction of an antenna part. It is a graph which shows the relationship between the distance from a wireless main | base station, and the value of comprehensive wireless environment data. It is a figure which shows a mode that a person pulls and guides a robot's hand. It is a flowchart which shows the whole operation | movement accompanying the change of the wireless environment of the mobile robot which concerns on embodiment of this invention. 7 is a flowchart illustrating an operation for performing disconnection and restoration of wireless communication using a wireless environment map in the mobile robot according to the embodiment of the present invention. It is a flowchart which shows the operation | movement which performs cutting | disconnection recovery | restoration of radio | wireless communication by moving the antenna part in the mobile robot which concerns on embodiment of this invention. 6 is a flowchart illustrating an operation for performing disconnection recovery of wireless communication using a movement history in the mobile robot according to the embodiment of the present invention. It is a flowchart which shows the operation | movement which performs cutting | disconnection restoration of radio | wireless communication by guide guidance in the mobile robot which concerns on embodiment of this invention.

Explanation of symbols

1, 1A, 1B Wireless master unit (radio base station)
3 management computer 5 storage unit 7 terminal 110 image processing unit 120 audio processing unit 130 movement control unit (movement control means)
140 Storage unit (wireless environment map storage means, movement history storage means)
150 wireless communication unit 200 main control unit (control device)
201 Position recognition unit (position recognition means)
202 Monitoring unit (monitoring means)
203 Search unit (search means)
203a Base unit search unit (base unit search means)
203b Recovery position search unit (recovery position search means)
204 Operation instruction section 204a Self-position movement instruction section (self-position movement instruction means)
204b Antenna unit movement instruction unit (antenna unit movement instruction means)
204c Retrograde instruction unit (retrograde instruction means)
204d Movement stop instruction section (movement stop instruction means)
204e Deceleration instruction unit (deceleration instruction means)
204f Guide action instruction section (guide action instruction means)
A Mobile robot control system R Mobile robot R1 Leg (moving mechanism)
T Antenna part

Claims (8)

Based on the task command transmitted from the wireless master device by wireless communication, the movement control means drives and controls the movement mechanism corresponding to the leg portion or the leg portion.
A wireless environment map storage unit that stores a wireless environment map in which map data of a moving area is associated with comprehensive wireless environment data configured by a plurality of wireless environment data related to the wireless environment in the moving area;
Position recognition means for recognizing a self-position in the moving area;
Monitoring means for monitoring the state of the wireless environment;
Search means for searching for a recovery position where connection of the wireless communication is possible based on the wireless environment map when the state of the wireless environment monitored by the monitoring means becomes a state where the wireless communication is disconnected When,
Self-position movement instruction means for instructing the movement control means to move from the recognized self-position to the recovery position searched by the search means ,
In the wireless environment map, the position information of the plurality of wireless parent devices and the integrated wireless environment data corresponding to each wireless parent device are associated with each other,
The search means
Based on the wireless environment map, a parent device searching means for searching for a wireless parent device located within a predetermined distance from the self position;
Based on the wireless environment map, among the wireless parent devices searched by the parent device searching means, in order of the wireless parent device that is closer to the self-position, a standard that is predetermined in the comprehensive wireless environment data corresponding to the wireless parent device And a recovery position search means that searches for a position closest to the self position and sets it as the recovery position;
A mobile robot characterized by comprising: The movement control means controls an operation by controlling a drive structure including the movement mechanism,
An antenna unit movement instruction unit for instructing the movement control unit to perform a predetermined operation so as to change the position or direction of the antenna unit that transmits and receives wireless radio waves when the search unit cannot search the restoration position; The mobile robot according to claim 1, further comprising: A movement history storage means for storing a movement history indicating a movement path of the mobile robot;
A reverse instruction means for instructing the movement control means to reversely return the movement route by a predetermined movement amount based on the movement history when the search means cannot search the recovery position;
The mobile robot according to claim 1, further comprising: 2. The apparatus according to claim 1, further comprising a movement stop instruction means for instructing the movement control means to stop the movement of the self position when the search means cannot search the recovery position. Mobile robot. The apparatus further comprises a deceleration instructing unit that instructs the movement control unit to decelerate the moving speed when the state of the wireless environment monitored by the monitoring unit deteriorates from a predetermined reference. The mobile robot according to claim 1 . Radio environment map storage means for storing a radio environment map storing a radio environment map in which map data of a movement area and general radio environment data composed of a plurality of radio environment data related to the radio environment in the movement area are associated with each other. A control device that controls a mobile robot that moves autonomously by driving control of a movement mechanism corresponding to a leg portion or a leg portion based on a task command transmitted from a wireless master device ,
Position recognition means for recognizing a self-position in the moving area;
Monitoring means for monitoring the state of the wireless environment;
When the state monitored by the monitoring unit becomes a state in which the wireless communication is disconnected, based on the wireless environment map, a search unit that searches for a recovery position where the wireless communication can be connected;
Self-position movement instruction means for instructing the movement control means to move from the recognized self-position to the recovery position searched by the search means ,
In the wireless environment map, the position information of the plurality of wireless parent devices and the integrated wireless environment data corresponding to each wireless parent device are associated with each other,
The search means
Based on the wireless environment map, a parent device searching means for searching for a wireless parent device located within a predetermined distance from the self position;
Based on the wireless environment map, among the wireless parent devices searched by the parent device searching means, in order of the wireless parent device that is closer to the self-position, a standard that is predetermined in the comprehensive wireless environment data corresponding to the wireless parent device And a recovery position search means that searches for a position closest to the self position and sets it as the recovery position;
A control apparatus for a mobile robot, comprising: Radio environment map storage means for storing a radio environment map storing a radio environment map in which map data of a movement area and general radio environment data composed of a plurality of radio environment data related to the radio environment in the movement area are associated with each other. Based on the task command transmitted from the wireless master unit, the movement control means controls the movement of the mobile robot autonomously by driving and controlling the movement mechanism corresponding to the leg or the leg,
A position recognizing step for recognizing a self position in the moving region by a position recognizing means;
When the wireless communication is in a disconnected state, a search step for searching for a recovery position where the wireless communication can be connected based on the wireless environment map by a search unit;
A self-position movement instructing step for instructing the movement control means to move from the recognized self-position by the movement instruction means to the recovery position searched by the search means ;
In the wireless environment map, the position information of the plurality of wireless parent devices and the integrated wireless environment data corresponding to each wireless parent device are associated with each other,
The searching step includes
Based on the wireless environment map, a parent device searching step for searching for a wireless parent device located within a predetermined distance from the self-position,
Based on the wireless environment map, among the wireless parent devices searched in the parent device search step, in the order of the wireless parent device that is closer to the self-position, the predetermined reference in the comprehensive wireless environment data corresponding to the wireless parent device And a search for a position closest to the self-position, and a recovery position search step as the recovery position;
A method for controlling a mobile robot, comprising: Radio environment map storage means for storing a radio environment map storing a radio environment map in which map data of a movement area and general radio environment data composed of a plurality of radio environment data related to the radio environment in the movement area are associated with each other. In order to control the mobile robot that moves autonomously, the movement control means drives and controls the movement mechanism corresponding to the leg or the leg based on the task command transmitted from the wireless master unit. ,
Position recognition means for recognizing a self-position in the moving region;
Monitoring means for monitoring the state of the wireless environment;
When the state monitored by the monitoring unit is a state in which the wireless communication is disconnected, a search unit that searches for a recovery position where the wireless communication can be connected based on the wireless environment map;
Function as movement instruction means for instructing the movement control means to move from the recognized self-position to the recovery position searched by the search means;
In the wireless environment map, the position information of the plurality of wireless parent devices and the integrated wireless environment data corresponding to each wireless parent device are associated with each other,
The search means
Based on the wireless environment map, search for a wireless master device located within a predetermined distance from the self-location, and based on the wireless environment map, from among the searched wireless master devices from the self-location A movement characterized in that, in order of the closest wireless master unit, a position that satisfies a predetermined standard in the comprehensive wireless environment data corresponding to the wireless master unit and that is closest to the self-location is searched for as the restoration position Robot control program.

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