JP4702154B2 - Autonomous mobile object and information display system - Google Patents

Description

  The present invention relates to an autonomous mobile body that moves with a specific person and an information display system including the autonomous mobile body.

In recent years, research and development of robots that perform various operations by moving autonomously by a moving device such as a traveling device and a walking device have been actively conducted, and various autonomous moving bodies have been proposed. As such an autonomous mobile body, for example, there is a guide robot disclosed in Patent Document 1 (Japanese Patent Laid-Open No. 2001-287183). This guidance robot generates a route to the guidance destination, detects the walking state of the guided person to be guided, and changes the traveling speed according to the walking state of the guided person, It is to guide you.
JP 2001-287183 A

  However, the guidance robot disclosed in Patent Document 1 merely has a function of guiding the guided person to the guidance destination. For this reason, there has been a problem that a new utilization of an autonomous mobile body that moves while maintaining a positional relationship with a specific person has been desired.

  Then, the subject of this invention is providing the autonomous mobile body which can perform new utilization, utilizing the function to move, maintaining a positional relationship with a specific person.

  The autonomous mobile body according to the present invention that has solved the above problems includes a surrounding situation detection unit that detects a surrounding situation including the particular person, and a specific positional relationship with the specific person based on the surrounding situation detected by the surrounding situation detection unit. Moving means that moves while maintaining information, information display means for displaying predetermined information, self-position detecting means for detecting self-position, transmitting means for transmitting self-position information detected by the self-position detecting means, autonomous Based on the partial display information received by the receiving means, the receiving means for receiving the partial display information determined by the display information determining means for determining the partial display information including the position information and display mode information of the mobile object, the position information Control means for controlling the moving means so as to move to a given position, and determining information for displaying the display mode given by the display mode information on the information display unit. It is.

  The autonomous mobile body according to the present invention includes a moving unit that moves based on the surrounding situation and an information display unit that displays predetermined information. In addition, the moving unit is controlled to move to the position given by the position information determined by the display information determining unit, and the display mode given by the display mode information is displayed on the information display unit. For this reason, when a plurality of autonomous mobile bodies are gathered, the partial display information determined by the display information determining means can be displayed, and when the plurality of autonomous mobile bodies are gathered, collective information can be displayed. In this way, new utilization can be performed while utilizing the function of moving while maintaining the positional relationship with the specific person.

  Moreover, the information display system according to the present invention that has solved the above problems receives a plurality of autonomous mobile bodies and self-location information transmitted from the plurality of autonomous mobile bodies, and transmits partial display information to the plurality of autonomous mobile bodies. Display information determining means, and the display information determining means is based on display information input means for inputting predetermined display information, self-positions of a plurality of autonomous mobile bodies, and display information input from the display information input means. And partial display information determination means for determining partial display information including position information and display mode information for each of the plurality of autonomous mobile bodies.

  Since the information display system according to the present invention determines partial display information to be displayed on each autonomous mobile body when a plurality of autonomous mobile bodies are collected, information collected when a plurality of autonomous mobile bodies are gathered. Can be displayed.

  Here, the display information determining means may be included in a part of the plurality of autonomous mobile bodies. In this way, by including a part of the autonomous mobile body in the display information determining means, if a plurality of autonomous mobile bodies are gathered, the display information can be determined and displayed even in a place where there is no separate display information determining means. Can do.

  According to the autonomous mobile body according to the present invention, new utilization can be performed while utilizing the function of moving while maintaining the positional relationship with the specific person.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of an autonomous mobile body and an information display system according to the present invention will be described with reference to the drawings. The description of the same members and elements may be omitted.

  FIG. 1 is a plan view schematically showing a mobile robot as an autonomous mobile body and a specific person as its master according to the first embodiment of the present invention, FIG. 2 is a side view showing the structure of the mobile robot, and FIG. Is a schematic diagram showing the relationship between the mobile robot and the base station, FIG. 4 is a block diagram showing the configuration of the control device in the mobile robot, FIG. 5 is a block diagram showing the configuration of the display display information creation unit in the control device, and FIG. It is a block diagram which shows the structure of a base station.

  As shown in FIG. 1, the mobile robot R is configured to move while maintaining a predetermined positional relationship with a specific person M as a master. The mobile robot R leads the specific person M or follows the specific person M based on the observation information while observing the specific person M and its surroundings in the vicinity of the specific person M.

  As shown in FIG. 2, the mobile robot R includes a body R1 that can be moved by the traveling device 1 and a head R2 that is rotatably connected to the body R1. A display 2 capable of displaying various messages such as alarms and guidance with images and characters is installed. The body R1 includes a battery 3 as a power source, a head drive motor 4 for rotationally driving the head R2, and a control device 5 for controlling the travel device 1, the display 2, the head drive motor 4, and the like. Built in.

  On the other hand, in the head R2 of the mobile robot R, in order to observe a surrounding situation including a specific person M and obstacles (another person, animal, structure, installation, vehicle, etc.) existing around it as a stereo image. A pair of left and right CCD cameras (or infrared cameras) 6A and 6B and a speaker 7 capable of producing voices of various messages such as notifications, warnings, and guidance are installed. The head R2 is provided with an antenna 8 for performing transmission / reception with other mobile robots and base stations. Further, the body R1 is provided with a position sensor 9 serving as self-position detecting means for detecting the self-position of the mobile robot R. The position sensor 9 is composed of a GPS device, for example, and detects its own position by communicating with a satellite.

  In addition, as shown in FIG. 3, signals can be transmitted and received between the mobile robots R and between the mobile robot R and the base station B. The base station B is provided in a stadium or the like, and includes a center control device B1, a monitor B2, a keyboard B3, a transmission / reception antenna B4, and the like. The plurality of mobile robots and the base station B constitute an information display system.

  As shown in FIGS. 1 and 2, the traveling device 1 includes, for example, a pair of left and right drive wheels 1C and 1D whose rotation direction and rotation speed are independently controlled by wheel-in motors 1A and 1B, and a 360-degree turn. Caster wheels 1E capable of

  The traveling device 1 moves the mobile robot R forward or backward by driving the pair of left and right drive wheels 1C and 1D forward or backward in the same direction. At that time, if the rotational speeds of the pair of left and right drive wheels 1C, 1D are the same, the mobile robot R moves straight, and if there is a difference between the rotational speeds of the pair of left and right drive wheels 1C, 1D, The mobile robot R is turned to the slow rotation side. When the pair of left and right drive wheels 1C and 1D are driven to rotate in the opposite directions at the same speed, the traveling device 1 rotates the mobile robot R to the left or right on the spot.

  Here, the control device 5 is configured by using microcomputer hardware and software such as an ECU (Electric Control Unit). The control device 5 includes a drive circuit for the wheel-in motors 1A and 1B and the head drive motor 4, an input / output interface I / O between the display 2, the CCD cameras 6A and 6B, the speaker 7, and the A / D converter. A ROM (Read Only Memory) that stores programs and data, a RAM (Random Access Memory) that temporarily stores input data and the like, a CPU (Central Processing Unit) that executes programs, and the like are provided as hardware.

  As shown in FIG. 4, the control device 5 includes an image generation unit 11, a specific person detection unit 12, a head drive motor control unit 13, a traveling obstacle detection unit 14, a wheel-in motor control unit 15, and notification information. The creation unit 16 and the display display information creation unit 17 are configured as software.

  The CCD cameras 6A and 6B capture the surrounding situation including the specific person M, and output the captured data together with the measurement time information to the image generation unit 11 at predetermined time intervals. The image generation unit 11 sequentially generates a stereo image at each measurement time based on the left and right photographing data output from the left and right CCD cameras 6A and 6B and the measurement time information, and detects the specific person along with the measurement time information. Output repeatedly to the unit 12 and the traveling obstacle detection unit 14 every predetermined time.

  The specific person detection unit 12 performs edge processing of the captured image based on the image data sequentially output from the image generation unit 11, and detects the specific person M by matching processing with a contour model of the specific person M stored in advance. To do. The specific person detection unit 12 performs a stereo matching process on the detected stereo image of the specific person M, thereby estimating the three-dimensional position of the specific person M every predetermined time based on the principle of triangulation, and Detect data. The specific person detection unit 12 outputs the detected three-dimensional position data of the specific person M to the head drive motor control unit 13 and the wheel-in motor control unit 15.

  The head drive motor control unit 13 controls the rotation of the head drive motor 4 so that the specific person M is positioned at the center of the image, for example, based on the output three-dimensional position data of the specific person M, and the head R2 of the mobile robot R. Rotate.

  The traveling obstacle detection unit 14 performs an edge process on the captured image based on the image data sequentially output from the image generation unit 11 every predetermined time, whereby an obstacle (another person or animal existing in the captured image) is detected. , Structures, installations, vehicles, etc.). The traveling obstacle detection unit 14 performs stereo matching processing on the stereo image of the detected obstacle, thereby estimating the three-dimensional position of the obstacle every predetermined time based on the principle of triangulation, and obtaining the three-dimensional data of the obstacle. To detect. The traveling obstacle detection unit 14 outputs the detected three-dimensional position data of the obstacle to the wheel-in motor control unit 15 and the notification information creation unit 16.

  The wheel-in motor control unit 15 guides or identifies the specific person M while avoiding the obstacle in the vicinity of the specific person M by the mobile robot R based on the output three-dimensional position data of the specific person M and the obstacle. In order to follow the person M, the rotation of the wheel-in motors 1A and 1B is individually controlled to individually control the rotation direction and the rotation speed of the drive wheels 1C and 1D of the traveling device 1.

  The notification information creation unit 16 detects that the mobile robot R is in the vicinity of the specific person M based on the three-dimensional position data of the specific person M output from the specific person detection unit 12 and the obstacle output from the traveling obstacle detection unit 14. Detect whether there is an obstacle. If an obstacle is detected, the speaker 7 is informed that there is an obstacle and is displayed on the display 2 to notify the specific person M of the presence of the obstacle.

  As shown in FIG. 5, the display display information creation unit 17 includes a self-position detection unit 21, a self-ID storage memory 22, a communication unit 23, a time synchronization unit 24, a display content reception unit 25, an operation list storage memory 26, and a display. A control unit 27 is provided.

  The self-position detecting unit 21 outputs GPS position information from the position sensor 9 every predetermined time, and performs map matching based on the image information output from the image generating unit 11 to perform the self-position (mobile robot). R position) is detected. The self position detection unit 21 outputs the detected self position to the communication unit 23. The self ID storage memory 22 stores a predetermined self ID and outputs the self ID to the communication unit 23 as needed.

  The communication unit 23 transmits the self-position output from the self-position detection unit 21 and the self-ID output from the self-ID storage memory 22 to the base station B illustrated in FIG. In addition, the communication unit 23 receives the partial display content information transmitted from the center control device B1 of the base station B, and outputs the received partial display content information to the display content receiving unit 25. This partial display content information includes position information that gives the position of the mobile robot R and display mode information that gives the display mode displayed on the display 2.

  The time synchronization unit 24 creates time synchronization information such as a time stamp and outputs the time synchronization information to the communication unit 23. The communication unit 23 transmits the output time synchronization information to the center control device B1. Further, the communication unit 23 receives the time synchronization information transmitted from the center control apparatus B1 and outputs it to the time synchronization unit 24. The time synchronization unit 24 performs time synchronization based on the time synchronization information output from the communication unit 23 and generates synchronization time information. The communication unit 23 outputs the generated synchronization time information to the display control unit 27.

  The display content receiving unit 25 determines the position of the mobile robot R and the display content to be displayed on the display 2 based on the partial display content information output from the communication unit 23. The display content receiving unit 25 outputs the determined display content information to the operation list storage memory 26 and the display control unit 27.

  The operation list storage memory 26 stores the display content information output from the display content receiving unit 25 one by one. The operation list storage memory 26 outputs the stored display content information to the display control unit 27 in response to a request from the display control unit 27.

  The display control unit 27 moves to the position of the mobile robot R given by the position information included in the display content information output from the display content receiving unit 25, and the display content output from the display content receiving unit 25. Based on the display mode information included in the information, display control for causing the display 2 to display the display mode given by the display mode information is performed. When performing display control, based on the synchronization time information output from the time synchronization unit 24, time synchronization with the center control apparatus B1 is performed. Further, when performing display control, the operation list storage memory 26 is requested to output the stored display content information. Then, when it is determined that the display content information output from the action list storage memory 26 has been used in the past, display control is performed according to the past display content information. Further, the display control unit 27 causes the wheel-in motor control 15 to control the wheel-in motor 4 based on the position information output from the display content receiving unit 25 and moves the mobile robot R to the position given by the position information. .

  As shown in FIG. 6, the center control device B1 includes a center ID storage memory 31, a time synchronization unit 32, a communication unit 33, a mobile unit arrangement recognition unit 34, a display content determination unit 35, a mobile unit instruction determination unit 36, and a display. A content storage memory 37 is provided. The center control device B1 is connected to a monitor B2, a display content input unit B3, and an antenna B4.

  The center ID storage memory 31 stores a predetermined center ID and outputs it to the communication unit 33. The time synchronization unit 32 creates time synchronization information such as a time stamp and outputs the time synchronization information to the communication unit 23. The communication unit 33 transmits the center ID output from the center ID storage memory 31 and the time synchronization information output from the time synchronization unit 32 to the mobile robot R.

  Further, when receiving the time synchronization information from the mobile robot R, the communication unit 33 outputs the received time synchronization information to the time synchronization unit 32. The time synchronization unit 32 performs time synchronization based on the time synchronization information output from the communication unit 33 and generates synchronization time information. The time synchronization unit 32 outputs the generated synchronization time information to the display content determination unit 35.

  Further, when the communication unit 33 receives the self ID and the self position information transmitted from the mobile robot R, the communication unit 33 outputs the received self ID and the self position information to the moving body arrangement recognition unit 34 and the display content determination unit 35. Further, the communication unit 33 transmits the partial display content information output from the moving body instruction determination unit 36 to the mobile robot R.

  Based on the self ID and the self position information output from the communication unit 33, the mobile body arrangement recognizing unit 34 specifies the mobile robot R that has transmitted these, and detects the position of the mobile robot R. The moving body arrangement recognition unit 34 detects these positions for the plurality of mobile robots R. The moving body arrangement recognizing unit 34 outputs the detected self-position information of the mobile robot R to the moving body instruction determining unit 36.

  A display content input unit B3 is connected to the display content determination unit 35. In the display content input part B3, the display content desired by the display content input person is input. For example, when a plurality of mobile robots R are moved to a predetermined arrangement position, a predetermined color is displayed on each display 2, and the advertisement display contents when the advertisement display is displayed as an information display in the manner of so-called human characters. Enter as display content.

  The display content determination unit 35 determines the display content based on the display content output from the display content input unit B3 and the mobile robot R's own ID and location information output from the communication unit 33. The display content determination unit 35 outputs the determined display content to the mobile object instruction determination unit 36 and the display content storage memory 37.

  Based on the mobile robot R's own ID and self-position information output from the mobile body arrangement recognition unit 34 and the display content output from the display content determination unit 35, the mobile body instruction determination unit 36 includes a plurality of mobile robots R. The partial display content information is determined for each. This partial display content information is output to the communication unit 33. This partial display content includes position information for giving a position to each mobile robot R and display mode information displayed on the display 2 of each mobile robot R. The display content storage memory 37 stores the display content determined and output by the display content determination unit 35. When the display content input by the display content input unit B3 is the same display content as the past, the display content determination unit 35 determines the display content stored in the display content storage memory as the display content as it is.

  A control procedure of the information display system according to the present embodiment having the above configuration will be described. The mobile robot R detects a specific person M by the specific person detection unit 12 in the control device 5 and travels along with the specific person M in a place where a plurality of mobile robots R do not gather, such as a stadium. When the obstacle is detected by the traveling obstacle detector 14, the specific person M is guided so as to avoid the obstacle, or the presence of the obstacle is notified to the specific person M. In addition, when a plurality of mobile robots such as a stadium are assembled, the following procedure is controlled.

  First, the control procedure in the mobile robot R will be described. FIG. 7 is a flowchart showing a control procedure of the control device in the mobile robot.

  As shown in FIG. 7, the control device 5 in the mobile robot R first determines the mobile robot R's own position based on the GPS position information output from the position sensor 9 and the image information output from the image generation unit 11. Obtain (S1). Next, the communication unit 23 acquires the center ID transmitted from the center control device B1 (S2). Then, it is determined whether the center ID has been acquired (S3).

  As a result, when the communication unit 23 determines that the center ID has not been acquired, no information is displayed and the process is terminated. On the other hand, when the communication unit 23 determines that the center ID has been acquired, the communication unit 23 transmits the self-location information and the self ID to the center control device B1 (S4). In the center control device B1, the display content information or the non-displayable information is transmitted to the mobile robot R through the process shown in FIG.

  In the mobile robot R, it is determined whether or not the communication unit 23 has received display content information transmitted from the center control device B1 (S5). The display content information here is partial display content information. As a result, when it is determined that the communication unit 23 has not received the display content, it is determined whether or not the communication unit 23 has received display disable information transmitted from the center control device B1 (S6). If the communication unit 23 determines that the display impossibility information is received, the control is terminated. On the other hand, if it is determined that the communication unit 23 has not received the display disable information, the process returns to step S4 until the display content information or the display disable information is received. It transmits to control apparatus B1.

  If it is determined in step S5 that the communication unit 23 has received display content, time synchronization is performed (S7). In time synchronization, based on the synchronization time information transmitted from the center control device B1 received by the communication unit 23, the time synchronization unit 24 performs time synchronization with the center control device B1, and generates synchronization time information. The data is output to the display control unit 27. The display control unit 27 adjusts the time when content is displayed based on the synchronization time information.

  Subsequently, the display contents are displayed (S8). When displaying the display content, the wheel-in motor 4 is driven by the wheel-in motor control unit 15 based on the position information included in the partial display content information while referring to the synchronization time information output from the time synchronization unit 24. The mobile robot R is moved to the position given by the position information. Moreover, the display mode given by the display mode information is displayed on the display 2 based on the display mode information included in the partial display content information.

  Next, a control procedure in the center control device B1 will be described. FIG. 8 is a flowchart showing a control procedure in the center control apparatus.

  As shown in FIG. 8, in the center control apparatus B1, first, the communication unit 33 transmits the position of the mobile robot R (mobile body position) and the mobile robot R's own ID (mobile body ID) transmitted from the mobile robot R. Is determined (S11). As a result, when the movement position and the moving body ID are not received, the process is terminated. Next, it is determined whether or not the display content to be displayed on each mobile robot R has been determined (S12).

  As a result, if the display contents have been determined, the process proceeds to the next step S14 as it is. On the other hand, if the display content has not been determined, the display content is input (S13), and the display content is determined. The display content is input by operating the display content input unit B3. Examples of the display contents here include predetermined advertisements and support contents.

  When the display content is already input, it is determined whether the input display content can be displayed (S13). Whether the display content can be displayed is determined by determining whether the number and performance of the mobile robot R can display the display content with respect to the display content. For example, when the number of mobile robots R is small, or when the display 2 of the mobile robot R cannot display the color or shape indicating the display content, it is determined that the display content cannot be displayed.

  As a result of the determination in step S13, when it is determined that display contents can be displayed, the position and display contents of each mobile robot R are determined (S15). The position and display content of each mobile robot R are determined based on the current position of each mobile robot R, the display performance of each mobile robot R, and the display content that has been determined.

  When the display contents are determined in this way, the partial display contents to be transmitted to each mobile robot R are determined based on the determined display contents, and the display contents including these partial display contents are transmitted to each mobile robot R (S16). . In this way, the control is terminated. If it is determined in step S14 that the display is not possible, display impossible information is transmitted to each mobile robot R (S17). Thus, the control is finished.

  In the mobile robot R and the base station B in which the above control is performed, the control is performed in a place where a large number of mobile robots R such as a stadium and the specific person M who is the master gather. For example, when a game such as a ball game is performed in a stadium, and a mobile robot that moves while maintaining a predetermined positional relationship with the mobile robot R gathers in a large number of spectator seats in the stadium, the display of a large number of mobile robots R You can send support in the same way as one character using 2.

  For example, as shown in FIG. 9, when a human character consisting of the characters “FIGHT” is displayed as the display content from the display content input unit B3 on the spectator seat A, as the partial display information, first, a large number of mobiles in the spectator seat A are displayed. Each of the robots R is moved to a predetermined position. Next, as shown in FIG. 9, for a plurality of mobile robots RA arranged at positions constituting the characters “FIGH”, partial display information for displaying the same color is transmitted from the base station B to the display 2. . On the other hand, for the mobile robot RB arranged at a position that does not constitute the characters “FIGHT”, the base station B transmits partial display information that is not displayed on the display 2. In this way, the characters “FIGHT” as human characters can be formed in the audience seat A.

  Thus, in the autonomous mobile body and display system according to the present embodiment, the player can be supported in the manner of human characters in facilities such as a stadium where a large number of mobile robots gather. Also, if advertising characters or the like of a company or the like are displayed, an advertisement or the like can also be performed on a person who is located at the opposing spectator seat or a video taken of the stadium. As described above, the mobile robot R can be newly utilized while utilizing the function of moving while maintaining the positional relationship with the specific person M.

  Next, a second embodiment of the present invention will be described. In this embodiment, there is no base station, and any of a plurality of mobile robots functions as a base station. FIG. 10 is a block diagram illustrating a configuration of a display display information control unit in the mobile robot control apparatus according to the present embodiment.

  As shown in FIG. 10, the display display information creation unit 50 according to the present embodiment includes a self-detection unit 51, a self-ID storage memory 52, and a communication unit 53. Further, a time synchronization unit 54, a display content receiving unit 55, an operation list storage memory 56, and a display control unit 57 are provided. These elements have the same configuration as the display display information creation unit 17 in the first embodiment.

  In addition, the display display information creation unit 50 includes another mobile body ID reception unit 58 and a master determination unit 59. The other mobile body ID receiving unit 58 receives the self ID of the other mobile robot R received and output by the communication unit 53, and outputs it to the master determination unit 59 and the mobile body instruction determination unit 62.

  The master determination unit 59 compares the self ID output from the self ID storage memory 52 with the self ID output from the other mobile body ID reception unit 58 to determine whether or not to become a master. The master here means that it becomes a mobile robot that determines the entire display contents of a plurality of mobile robots, like the base station in the first embodiment.

  Here, for example, the self ID is a natural number. In addition, whether or not to become a master is compared with the self ID of one's own robot and the self ID of another mobile robot R. If it is smaller than the self ID of another mobile robot R, it becomes the master. It is done by judging that it should not be. When the master determination unit 59 determines that it is a master, the master determination unit 59 outputs a message to that effect to the display content reception unit 55, the moving object arrangement recognition unit 60, and the display content determination unit 61.

  Further, the display display information creation unit 50 includes a moving body arrangement recognition unit 60, a display content determination unit 61, a mobile body instruction determination unit 62, and a display content storage memory 63. These elements have the same configuration as the center control device B1 in the first embodiment. The display content stored in the display content storage memory 63 is output to the communication unit 53 via the display content determination unit 61 and the moving body instruction determination unit 62, and transmitted from the communication unit 53 to another mobile robot R. .

  Next, control of the control device in the mobile robot according to the present embodiment will be described. FIG. 11 is a flowchart showing a control procedure of the control device in the mobile robot.

  As shown in FIG. 11, in the mobile robot control device according to the present embodiment, first, the GPS position information output from the position sensor 9 and the image output from the image generation unit 11, as in the first embodiment. Based on the information, the mobile robot R's own position is acquired (S21). Next, the communication unit 23 acquires the self position and self ID of the other mobile robot R transmitted from the other mobile robot R, and the center ID transmitted from the center control device B1 (S22). Subsequently, it is determined whether or not a center ID has been received (S23). As a result, when the center ID is received, the processing at the time of receiving the center ID is performed which is the same processing as the steps S4 to S6 in FIG. 7 in the first embodiment (S31). Further, the center control device B1 performs the processing shown in FIG.

  On the other hand, if it is determined that the center ID has not been received, the self ID of the other mobile robot transmitted from the other mobile robot is compared with the self ID of the mobile robot. It is determined whether or not (S24). As a result, if it is determined that one's own ID is the smallest, the desired display content of another mobile robot is received (S25). Here, the desired display content is the display content stored in the display content storage memory 63 of each mobile robot R, and is transmitted from another mobile robot.

  Subsequently, an arrangement of a plurality of mobile robots R is configured (S26), and then the position and display contents of each mobile object are determined (S27). The display content is determined by comparing the desired display content transmitted from each mobile unit. Further, the position and display contents of each moving body are determined based on the current position of each moving body, the function of each moving body, and the like. In addition, the display content of the user is also determined in this step. When the position and display contents of each moving body are thus determined, the respective positions and display contents are transmitted to each moving body (S28).

  On the other hand, if it is determined in step S24 that the self ID is not the minimum, an appropriate display content is selected from the display content stored in the display content storage memory 63 and transmitted to the mobile robot R having the smallest self ID. (S29). Here, since the mobile robot with the smallest self ID transmits the display contents in the procedure of steps S25 to S28, the transmitted position and display contents are received (S30).

  When the display contents are determined in this way, time synchronization is performed (S32). In the time synchronization, the time synchronization unit 24 performs time synchronization based on the synchronization time information transmitted from the center control device B1 received by the communication unit 23 or the synchronization time information transmitted from another mobile robot R. Information is generated and output to the display control unit 27. The display control unit 27 adjusts the time when content is displayed based on the synchronization time information.

  Subsequently, the display contents are displayed (S33). When displaying the display content, the display content is displayed on the display 2 based on the display content information received by the communication unit 23 while referring to the synchronization time information output from the time synchronization unit 24.

  Thus, in the display system according to the present embodiment, as in the first embodiment, the player can be supported in the manner of human characters in facilities such as a stadium where a large number of mobile robots gather. . In addition, if advertising characters or the like of a company or the like are displayed, an advertisement or the like can be performed for a person located at the opposing spectator seat. Thus, new utilization can be performed while utilizing the function of moving while maintaining the positional relationship with the specific person.

  Furthermore, in the display system according to the present embodiment, each mobile robot R also has a function as a base station. For this reason, the same advertisement or support can be performed in a facility where no base station exists.

It is a top view which shows typically the mobile robot as an autonomous movement type body which concerns on 1st embodiment, and the specific person as its master. It is a side view which shows the structure of a mobile robot. It is a schematic diagram which shows the relationship between a mobile robot and a base station. It is a block diagram which shows the structure of the control apparatus in a mobile robot. It is a block diagram which shows the structure of the display display information preparation part in a control apparatus. It is a block diagram which shows the structure of a base station. It is a flowchart which shows the control procedure of the control apparatus in a mobile robot. It is a flowchart which shows the control procedure in a center control apparatus. It is a schematic diagram which shows typically the scenery of the stadium where support in a some mobile robot is performed. It is a block diagram which shows the structure of the display display information control part in the control apparatus of the mobile robot which concerns on 2nd embodiment. It is a flowchart which shows the control procedure of the control apparatus in a mobile robot.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Traveling apparatus, 2 ... Display, 5 ... Control apparatus, 6A, 6B ... Camera, 7 ... Speaker, 8 ... Antenna, 9 ... Position sensor, 17 ... Display display information preparation part, 21 ... Self-position detection part, 22 ... Self ID storage memory, 23 ... communication unit, 24 ... time synchronization unit, 25 ... display content reception unit, 26 ... operation list storage memory, 27 ... display control unit, 31 ... center ID storage memory, 32 ... time synchronization unit, 33 ... Communication unit, 34 ... Moving object arrangement recognition unit, 35 ... Display content determination unit, 36 ... Moving object instruction determination unit, 37 ... Display content storage memory, A ... Audience seat, B ... Base station, B1 ... Center control device, B2 ... monitor, B3 ... display content input section (keyboard), B4 ... antenna, M ... specific person, R ... mobile robot.

Claims (3)

A surrounding situation detecting means for detecting a surrounding situation including a specific person;
Based on the surrounding situation detected by the surrounding situation detection means, a moving means that moves while maintaining a predetermined positional relationship with the specific person;
Information display means for displaying predetermined information;
Self-position detecting means for detecting the self-position;
Transmitting means for transmitting the self-position information detected by the self-position detecting means;
Receiving means for receiving the partial display information determined by the display information determining means for determining the partial display information including the position information and display mode information of the autonomous mobile body;
Based on the partial display information received by the receiving means, the moving means is controlled to move to the position given by the position information, and the display style given by the display style information is displayed on the information display means. Control means for determining information;
An autonomous mobile body characterized by comprising: A plurality of autonomous mobile bodies according to claim 1;
Display information determination means for receiving self-position information transmitted from the plurality of autonomous mobile bodies and transmitting partial display information to the plurality of autonomous mobile bodies,
The display information determining means includes display information input means for inputting predetermined display information,
Partial display for determining partial display information including position information and display mode information for each of the plurality of autonomous mobile bodies based on the self-positions of the plurality of autonomous mobile bodies and display information input from the display information input means Information determination means;
An information display system comprising:   The information display system according to claim 2, wherein the display information determination unit is included in a part of the plurality of autonomous mobile bodies.

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