JP4933364B2 - Mobile object, monitoring system and control program - Google Patents

Description

  The present invention relates to a mobile object capable of autonomous movement, a monitoring system for monitoring the mobile object, and a control program for the mobile object.

  2. Description of the Related Art Conventionally, an autonomous mobile body that patrols in a security area, an autonomous mobile body that patrols for the purpose of entertaining a visitor in a department store, and the like are known. A bumper sensor for detecting a contact object such as an obstacle is provided in the bumper of these autonomous moving bodies. When the bumper sensor detects an obstacle contact, safety measures are taken by stopping the movement of the autonomous mobile body.

  For example, Patent Document 1 discloses an automatic guided vehicle that stops when it touches an obstacle. This automatic guided vehicle improves safety by adjusting the protruding length of the bumper according to the traveling speed.

JP-A-62-293322

  However, for example, when the autonomous mobile body stops moving when it comes into contact with an obstacle and the operator is allowed to resume running after performing safety confirmation and recovery operations, There was a problem that the operation efficiency was reduced because a recovery operation by the operator was required for each contact. In particular, in an autonomous mobile body that visits department stores and the like, frequent contact with children, strollers, shopping carts, and the like is expected, and a decrease in operational efficiency becomes a particular problem.

  On the other hand, when an obstacle is touched, the movement of the autonomous mobile body is temporarily stopped. However, if safety is confirmed such that there is no contact within a certain period of time, autonomous movement is performed regardless of the operator. It is also possible for the body to automatically resume running. However, if, for example, the bumper sensor is faulty or the position of the vehicle is misrecognized due to error accumulation, the vehicle cannot travel on the circuit route again normally even after automatic recovery. For this reason, there is a problem in automatically restarting traveling. In addition, it may be possible to resume running while a person is caught in a wheel, and a problem remains in terms of safety.

  The present invention has been made in view of the above, and a mobile body, a monitoring system, and a control program capable of safely restarting traveling while preventing a decrease in operational efficiency even when touching an obstacle The purpose is to provide.

  In order to solve the above-described problems and achieve the object, the invention according to claim 1 is a movable body capable of autonomous movement, the sensor detecting that an obstacle has contacted the movable body, and the sensor In accordance with the degree of contact of the obstacle detected by the movement object, the moving body is in a suspended state in which the movement is stopped and the operation can be resumed by a recovery operation by the moving body, and the movement is stopped. A state management unit that sets one of the emergency stop states in which the moving body is incapable of restarting the operation, and the state management unit sets the temporary stop state or the emergency stop state. In this case, only when the movement control means for stopping the movement of the moving body and the state management means are set to the emergency stop state, the recovery operation is performed on the monitoring device that monitors the moving body. Characterized by comprising a transmitting means for transmitting the request information for requesting.

  The invention according to claim 2 is the mobile body according to claim 1, wherein the state management means is configured such that the number of times of contact of the obstacle by the sensor within a predetermined time is equal to or greater than a preset first threshold value. In this case, the emergency stop state is set as the operation state.

  The invention according to claim 3 is the mobile body according to claim 2, wherein the state management means is a threshold in which the number of times of contact of the obstacle by the sensor within a predetermined time is set in advance. The suspension state is set as the operation state when the value is equal to or greater than a second threshold value that is smaller than the first threshold value and less than the first threshold value.

  The invention according to claim 4 is the mobile body according to claim 1, wherein the state management means is configured such that the contact time of the obstacle by the sensor is equal to or greater than a preset third threshold value. The emergency stop state is set as the operation state.

  The invention according to claim 5 is the mobile body according to claim 4, wherein the state management means is a threshold value in which the contact time of the obstacle by the sensor is set in advance, The temporary stop state is set as the operation state when the value is equal to or greater than a fourth threshold value that is smaller than the threshold value and less than the third threshold value.

  The invention according to claim 6 is the mobile body according to any one of claims 1 to 5, wherein the contact condition relating to the degree of contact of the obstacle and the operation state are associated with each other and held. A condition holding unit that responds to the contact condition that satisfies the degree of contact detected by the sensor in the condition holding unit when the sensor detects contact with the obstacle. The operation state attached is specified.

  The invention according to claim 7 is the mobile body according to claim 6, wherein the condition holding unit holds the contact condition, the operation state, and a date and time condition related to date and time in association with each other. The state management means, when the sensor detects contact with the obstacle, in the condition holding means, the contact condition that satisfies the degree of contact detected by the sensor, and the date and time condition that satisfies the current date and time. The operation state associated with is specified.

  The invention according to claim 8 is the moving body according to claim 6, wherein the condition holding means includes the contact condition, the operation state, and a moving place condition relating to a moving place of the moving body. It further comprises an instruction receiving means for holding and associating and receiving an instruction of a moving location of the moving body from an administrator, wherein the state management means is configured to receive the condition holding means when the sensor detects contact with an obstacle. The operation condition associated with the contact condition satisfying the degree of contact detected by the sensor and the travel location condition satisfying the travel location for which the instruction receiving unit has received the instruction. Features.

  The invention according to claim 9 is the mobile body according to any one of claims 1 to 8, wherein the sensor further detects a contact strength with the obstacle, and the state management means is The emergency stop state is set as the operation state when the contact strength of the sensor with the obstacle is equal to or higher than a preset fifth threshold value.

  The invention according to claim 10 is the mobile body according to any one of claims 1 to 8, wherein the sensor further detects a contact strength with the obstacle, and the state management means is The operation when the contact strength of the sensor with the obstacle is less than a preset fifth threshold value and the number of contact times of the obstacle with the sensor within a predetermined time is not less than the first threshold value. The emergency stop state is set as a state.

  The invention according to claim 11 is the mobile body according to any one of claims 1 to 8, wherein the sensor further detects a contact strength with the obstacle, and the state management means is The emergency stop state is set as the operation state when the contact strength of the sensor with the obstacle is less than a preset fifth threshold and the contact time of the obstacle is not less than the third threshold. It is characterized by doing.

  The invention according to claim 12 is the mobile body according to any one of claims 1 to 11, wherein the degree of contact of the obstacle detected by the sensor corresponds to a message related to contact. Message holding means for attaching and message output for outputting the message associated with the degree of contact detected by the sensor in the message holding means when the obstacle is detected by the sensor And a means.

  The invention according to claim 13 is the mobile body according to claim 12, wherein the message holding means holds the degree of contact, the message, and the output destination of the message in association with each other. The message output means is associated with the degree of contact detected by the sensor in the message holding means when the obstacle is detected by the sensor, and the message output means is set as the output destination. When the obstacle is detected by the sensor, the transmission means is associated with the degree of the obstacle detected by the sensor in the message holding means, and the monitoring device Is sent to the monitoring device.

  The invention according to claim 14 is the moving body according to any one of claims 1 to 11, wherein the degree of contact of the obstacle detected by the sensor corresponds to a message related to contact. The message holding means further includes a message holding means for holding, and when the obstacle is detected by the sensor, the transmission means corresponds to the degree of contact of the obstacle detected by the sensor in the message holding means. The attached message is transmitted to the management device.

  The invention according to claim 15 is a monitoring system comprising a mobile body capable of autonomous movement and a monitoring device for monitoring the mobile body, wherein the mobile body is in contact with an obstacle. In accordance with the degree of contact between the sensor for detecting this and the obstacle detected by the sensor, the movement state of the moving body is a state in which the movement is stopped and the operation can be resumed by the recovery operation by the moving body A state management unit that sets one of a temporary stop state that is a movement stop and an emergency stop state that is a state in which an operation cannot be resumed by the moving body; and the state management unit Only when the movement control means for stopping the movement of the moving body and the state management means are set to the emergency stop state when the stop state or the emergency stop state is set, the monitoring device On the other hand, the monitoring apparatus includes a transmission unit that transmits request information for requesting a recovery operation, and the monitoring device receives the request information when the request unit receives the request information. Output means for outputting the fact that the message is received.

  According to a sixteenth aspect of the present invention, there is provided a control program for causing a computer to execute a control process for controlling a movable body capable of autonomous movement, wherein the sensor detects when the sensor of the movable body contacts an obstacle. According to the degree of contact of the obstacle, the moving body is in a suspended state in which the movement is stopped and the operation can be resumed by a recovery operation by the moving body, and the movement is stopped. There is a state management step for setting one of the emergency stop states that are present and the operation cannot be resumed by the moving body, and the state management step is set to the temporary stop state or the emergency stop state. Only when the emergency stop state is set in the movement control step for stopping the movement of the moving body and the state management step. To monitor device for monitoring a moving body, and having a transmission step of transmitting the request information for requesting a recovery operation.

  According to the present invention, when stopping and contacting an obstacle, the state is set to either a temporary stop or an emergency stop according to the degree of the obstacle contact, and the guard is notified only in the case of an emergency stop. As a result, traveling can be resumed safely while preventing a decrease in the operational efficiency of the moving object.

  Exemplary embodiments of a moving object, a monitoring system, and a control program according to the present invention will be explained below in detail with reference to the accompanying drawings.

(First embodiment)
FIG. 1 is a diagram illustrating an overall configuration of a monitoring system 1 according to the first embodiment. The monitoring system 1 includes a monitoring device 10 and a mobile robot 20. The monitoring device 10 is installed in the monitoring center. The monitoring device 10 and the mobile robot 20 are connected via a network such as a wireless LAN (Local Area Network). The monitoring device 10 controls the mobile robot 20 by transmitting / receiving information to / from the mobile robot 20.

  The mobile robot 20 is a mobile body that can move autonomously and circulates in a predetermined area such as a department store or an office. The mobile robot 20 includes a bumper sensor 200 that detects contact with an obstacle. The bumper sensor 200 is provided in the bumper portion of the mobile robot 20. The mobile robot 20 includes various sensors such as a distance measuring sensor in addition to the bumper sensor 200.

  When the bumper sensor 200 detects a contact with an obstacle, the mobile robot 20 continues or stops moving according to the degree of the contact. Furthermore, when the safety check by the security guard is necessary, in addition to stopping the movement, the monitoring device 10 is requested to perform a recovery operation. When the monitoring device 10 receives the request for the recovery operation, the security robot in the security center performs the recovery operation of the mobile robot 20 via the monitoring device 10. Further, the security guard moves to the stop position of the mobile robot 20 as necessary, and performs a recovery operation of the mobile robot 20.

  FIG. 2 is a block diagram showing the main functional configuration of the mobile robot 20. In addition to the bumper sensor 200, the mobile robot 20 includes a communication unit 202, an instruction receiving unit 204, a display unit 206, a speaker 208, a movement control unit 210, a condition table holding unit 220, an operation state management unit 222, A message specifying unit 224.

  The communication unit 202 transmits and receives various types of information to and from the monitoring device 10. Specifically, an instruction to start and stop the patrol route is received from the monitoring device 10. Further, when an abnormality is detected by various sensors, the fact is notified to the monitoring device 10.

  The instruction reception unit 204 is a user interface such as a mouse or a keyboard, for example, and receives input from an administrator or a guard. Specifically, when starting the patrol of the mobile robot 20, the selection of the patrol route to be patrol from now on and the input of the current date and time are accepted. As another example, these pieces of information may be received from the monitoring device 10 via the communication unit 202.

  The display unit 206 displays various information such as contents to be notified to people around the mobile robot 20. Similarly to the display unit 206, the speaker 208 outputs various information such as contents to be notified to surrounding people. The movement control unit 210 controls the movement of the mobile robot 20. Specifically, the motor driver drives the wheel motor of the mobile robot 20.

  The condition table holding unit 220 holds a contact condition table in which operation states and contact conditions are associated with each other. Here, the operation state is an operation state of the mobile robot 20, and includes a travel continuation state, a temporary stop state, and an emergency stop state. The traveling continuation state is a state in which traveling is performed according to an instruction from the monitoring device 10. The temporary stop state is a state in which, even when traveling is instructed from the monitoring device 10, the traveling is stopped and the traveling can be resumed by the recovery operation by the mobile robot 20 itself after a predetermined time has elapsed. It is. The emergency stop state is a state in which traveling is stopped even when traveling is instructed from the monitoring device 10, and it is impossible to resume traveling by the recovery operation by the mobile robot 20 itself. The vehicle can be restarted by the recovery operation.

  The condition table holding unit 220 holds different contact condition tables for each patrol place and patrol time zone. FIG. 3 is a diagram schematically illustrating a data configuration of four contact condition tables in which the complex facility is a traveling place. The complex facility contact condition tables are for four time zones: open on weekdays, closed on weekdays, open on public holidays, and closed on public holidays. FIG. 4 is a diagram schematically showing the data structure of four contact condition tables in which the office is a traveling place. There are office contact condition tables for four time zones: working hours on weekdays, non-working hours on weekdays, daytime on public holidays, and nights on public holidays. The daytime and nighttime on public holidays correspond to working hours during working hours and outside working hours on weekdays, respectively.

  As described above, when there are a plurality of places where the mobile robot 20 is traveling, the condition table holding unit 220 holds a contact condition table for each place. Furthermore, when the contact conditions differ depending on the traveling time period, the condition table holding unit 220 holds a contact condition table for each traveling time period.

  Each contact condition table holds an operation state of the mobile robot 20 and a contact condition in association with each other. The contact condition is a condition related to the degree of contact detected by the bumper sensor 200. For example, the contact condition is a condition related to the contact time and the number of times of contact such as “from contact for less than 3 seconds to less than 2 contacts for less than 3 seconds within 30 seconds”. Furthermore, it is a condition regarding the relationship between the previous contact and the current contact.

  For example, since there is traffic during the opening of a complex facility, contact with people is assumed. In such a case, if all the contacts are regarded as abnormal and stopped, stop processing may occur frequently, which may hinder the patrol operation. Therefore, as shown in FIG. 3, the contact condition for performing a temporary stop or emergency stop may be set loosely as compared to when the store is closed without traffic.

  In addition, in the complex facilities, it is expected that traffic will increase on public holidays compared to weekdays. Therefore, as shown in FIG. 3, the contact condition for performing a temporary stop or emergency stop may be set more loosely during the opening of a holiday than during the opening of a weekday.

  Note that the eight contact condition tables shown in FIGS. 3 and 4 are examples, and the contact condition table held by the condition table holding unit 220 can be freely selected by an administrator or the like according to the location and time for the mobile robot 20 to go around. Can be set.

  In addition to the contact conditions shown in FIGS. 3 and 4, for example, a contact condition that the contact time is equal to or greater than a preset first threshold value may be associated with an emergency stop operation state. Furthermore, the contact condition that the contact time is less than the first threshold value and greater than or equal to the second threshold value that is smaller than the first threshold value may be associated with the operation state of pause. Here, for example, the first threshold is 3 seconds, and the second threshold is 0.5 seconds.

  Moreover, you may determine a contact condition according to the frequency | count of contact. For example, the contact condition that the number of times of contact is equal to or greater than a preset third threshold value may be associated with the emergency stop operation state. Furthermore, the contact condition that the contact time is less than the third threshold value and greater than or equal to the fourth threshold value that is smaller than the third threshold value may be associated with the operation state of pause. Here, for example, the third threshold value is 5 times, and the second threshold value is 1 time.

  The condition table holding unit 220 further holds a different message table for each patrol place and patrol time zone. FIG. 5 is a diagram schematically showing the data structure of the message table during the opening of weekdays and public holidays of the complex facility. The message table holds stop conditions, output destinations, and messages in association with each other. The stop condition is a condition related to an operation state such as a temporary stop or an emergency stop. In addition, there are conditions relating to the number of occurrences of a pause until immediately before, such as frequent pauses, conditions relating to the elapsed time since the immediately preceding pause.

  Output destinations include a monitoring center and surroundings. The message associated with the monitoring center is transmitted to the monitoring device 10 via the communication unit 202. Thereby, a message can be notified to a guard. That is, the message whose output destination is the monitoring center is a message for a guard. In addition, messages associated with the surroundings are output to the display unit 206 or the speaker 208. As a result, the message can be notified to a person traveling around. In other words, the message having the surroundings as the output destination is a message for surrounding people.

  For example, if the suspension frequently occurs, a message “There is a possibility that the patrol may not be continued due to being surrounded by children or strollers” is sent to the monitoring center. Thereby, the guard can face the place where the mobile robot 20 stops as needed. In addition, the message “Because it is patrol, please clear the path.” Is output around. Thereby, it is possible to urge surrounding people to avoid contact with the mobile robot 20. In this way, by associating messages according to the degree of contact, an appropriate message can be notified to the monitoring center and surrounding people.

  Although the message table during opening of the complex facility on weekdays and public holidays has been described, the condition table holding unit 220 similarly holds message tables for other places and times.

  The operation state management unit 222 of FIG. 2 selects from the condition table holding unit 220 a contact condition table corresponding to the tour location and tour time zone received by the instruction receiving unit 204. When contact with an obstacle is detected by the bumper sensor 200, the selected contact condition table is referred to, and the operation state associated with the contact condition to which the detected contact level applies is specified. The operation state management unit 222 instructs the movement control unit 210 to continue or stop the movement according to the specified operation state.

  The message specifying unit 224 selects from the condition table holding unit 220 a message table corresponding to the traveling place and the traveling time period received by the instruction receiving unit 204. When the contact state with the obstacle is detected by the bumper sensor 200, the selected message table is referred to, the detected contact level, and the message corresponding to the operation state set by the operation state management unit 222, Specify the output destination. The message specifying unit 224 instructs the communication unit 202, the display unit 206, or the speaker 208 to output the specified message according to the specified output destination.

  FIG. 6 is a flowchart showing processing of the mobile robot 20. First, before starting the tour by the mobile robot 20, the instruction receiving unit 204 receives an input of a tour location and a tour time zone by a guard or the like. The operation state management unit 222 selects a contact condition table and a message table corresponding to the traveling place and the traveling time zone from the condition table holding unit 220 according to the contents received by the instruction receiving unit 204 (step S100). Next, the mobile robot 20 starts patrol of the patrol route. That is, the travel is started (step S102), and the travel is continued to the final point of the patrol route (No in step S104).

  When the bumper sensor 200 detects an obstacle contact during the patrol of the mobile robot 20 (step S106, Yes), the operation state management unit 222 determines the degree of contact detected by the bumper sensor 200 in the contact condition table selected in step S100. The associated operation state is specified (step S108). The movement control unit 210 controls movement according to the specified operation state.

  Specifically, when the identified operation state is running continuation (step S110, running continuation), the process returns to step S104 and the running is continued until contact is detected. When the identified operation state is an emergency stop (step S110, emergency stop), the operation state management unit 222 sets the operation state to an emergency stop (step S130), and instructs the movement control unit 210 to stop the movement. To do. Thereby, the mobile robot 20 stops. When the identified operation state is pause (step S110, pause), the operation state management unit 222 sets the operation state to pause (step S120), and instructs the movement control unit 210 to stop movement. To do.

  When the operation state is set to pause (step S120), the operation state management unit 222 counts the number of pauses so far (step S122). Specifically, the number of pauses during the past 30 seconds until the current time is counted. It is assumed that the history of temporary stop and emergency stop is held by the operation state management unit 222.

  When the counted number is equal to or greater than a preset reference value (step S124, Yes), the operation state management unit 222 sets the operation state to emergency stop (step S130). Here, the reference value is a predetermined number of times such as 3 times.

  Next, the message specifying unit 224 specifies a stop condition that the current situation satisfies among the stop conditions in the message table selected in Step S100 (Step S132). Then, the message associated with the specified stop condition is output to the associated output destination (step S134). Specifically, when the output destination is the monitoring center, the message specifying unit 224 instructs the communication unit 202 to transmit a message to the monitoring device 10. Further, when the output destination is the surroundings, the message specifying unit 224 instructs the output of the message to one or both of the display unit 206 and the speaker 208.

  The mobile robot 20 stops until a recovery operation is performed by a guard and a restart instruction is received via the instruction receiving unit 204 (No in step S136). And if a restart instruction | indication is received (step S136, Yes), driving | running | working will be restarted (step S138) and it will return to step S104. As another example, when a security guard performs a recovery operation via the monitoring device 10, a restart instruction is received via the communication unit 202 (step S136, Yes), and traveling is resumed.

  For example, in the patrol during the opening of the complex facility, when the emergency stop is set in step S130, and there is no temporary stop for 30 seconds immediately before the emergency stop, the message specifying unit 224, as shown in FIG. With reference to the message table, the communication unit 202 is instructed to transmit a message “There may be a collision with an event wagon or a display. Please confirm.” The security guard at the monitoring center knows that the emergency stop has occurred by this message, and can perform an appropriate recovery operation. And after completion | finish of recovery operation, the patrol by the mobile robot 20 is restarted by giving the restart instruction | indication directly from the monitoring apparatus 10 or with respect to the mobile robot 20 (step S136, Yes).

  On the other hand, when the number of pauses is less than the predetermined reference value in step S124 (step S124, No), the message identification unit 224 identifies the message (step S140), the communication unit 202, the display unit 206 or the speaker 208 outputs the specified message (step S142). Furthermore, when the fixed time continues from the temporary stop (Step S144, No) and the fixed time has elapsed (Step S144, Yes), the movement control unit 210 resumes the traveling of the mobile robot 20 (Step S138). Return to step S104.

  For example, in a patrol during opening of a complex facility, if the temporary stop is set in step S120, the message table shown in FIG. 5 is selected. Furthermore, when the frequent suspension state of the suspension shown in the message table shown in FIG. 5 is applicable, the message identification unit 224 identifies the associated message and the output destination (step S140). Then, a message “There is a possibility that the patrol cannot be continued due to being surrounded by children or strollers” is sent to the monitoring device 10 via the communication unit 202, and “Because the patrol is in progress, please leave a course. Is output to one or both of the display unit 206 and the speaker 208 (step S142).

  As described above, when a temporary stop or an emergency stop is performed, a message corresponding to the stopped state can be appropriately notified to the security staff of the disaster prevention center. Thereby, the guard can take an appropriate countermeasure quickly. Furthermore, since a message can be notified to surrounding people, it is possible to call attention when safety cannot be ensured.

  FIG. 7 is a diagram illustrating a hardware configuration of the mobile robot 20 according to the embodiment. The mobile robot 20 includes, as a hardware configuration, a ROM 52 that stores a control program for executing control processing in the mobile robot 20, a CPU 51 that controls each part of the mobile robot 20 according to the program in the ROM 52, A RAM 53 that stores various data necessary for control, a communication I / F 57 that communicates by connecting to a network, and a bus 62 that connects each unit are provided. The movement control unit 210, the condition table holding unit 220, the operation state management unit 222, and the message specifying unit 224 are realized by cooperation of these hardware.

  The control program of the mobile robot 20 is provided in a form that can be installed or executed and recorded on a computer-readable recording medium such as a CD-ROM, a floppy (registered trademark) disk (FD), or a DVD. May be.

  In this case, the control program is loaded onto the main storage device by being read from the recording medium and executed by the mobile robot 20, and each unit described in the software configuration is generated on the main storage device. ing.

  Further, the control program of the present embodiment may be provided by being stored on a computer connected to a network such as the Internet and downloaded via the network.

  As described above, the present invention has been described using the embodiment, but various changes or improvements can be added to the above embodiment.

  As an example of such a change, in the present embodiment, when a temporary stop or emergency stop is performed, a message corresponding to the situation in which the monitoring device 10 is stopped is output, but instead of outputting the message, In the case of an emergency stop, an alarm or the like for notifying the guard may be output.

(Second Embodiment)
FIG. 8 is a diagram illustrating a configuration of the bumper sensor 200 of the mobile robot 20 according to the second embodiment. The bumper sensor 200 includes a first sensor 310 that detects a relatively shallow contact and a second sensor 320 that detects a relatively deep contact.

  The bumper 400 is connected to the robot main body 410 of the mobile robot 20 by a spring 420, and the bumper 400 is provided with a first protrusion 401 and a second protrusion 402.

  The first sensor 310 includes a switch 312 that switches on and off depending on whether or not the first protrusion 401 is in contact, and a detection circuit 314 that detects contact and disconnection of the circuit. When detecting the disconnection of the circuit, the detection circuit 314 instructs the motor driver as the movement control unit 210 to stop moving. Thereby, the movement of the mobile robot 20 stops.

  Similar to the first sensor 310, the second sensor 320 includes a switch 322 that switches on and off depending on whether or not the second protrusion 402 is in contact, and a detection circuit 324 that detects contact and disconnection of the circuit. When detecting the disconnection of the circuit, the detection circuit 324 stops the power supply from the power source 230 to the movement control unit 210. Thereby, the movement of the mobile robot 20 stops.

  The second protrusion 402 is a protrusion that is shorter than the first protrusion 401. Therefore, the second sensor 320 detects only a strong contact compared to the first sensor 310. That is, the second sensor 320 detects contact only when the contact strength is equal to or greater than a predetermined threshold. As described above, the mobile robot 20 according to the second embodiment can detect not only the presence / absence of contact but also the degree of contact based on the detection results of the first sensor 310 and the second sensor 320.

  The operation state management unit 222 of the mobile robot 20 according to the second embodiment sets the operation state to be paused when only the first sensor 310 detects contact. When the second sensor 320 detects contact, that is, when both the first sensor 310 and the second sensor 320 detect contact, the operation state is set to emergency stop. Since the mobile robot 20 according to the second embodiment thus specifies the operation state according to the contact strength, the condition table holding unit 220 may not hold the contact condition table.

  FIG. 9 is a flowchart illustrating processing of the mobile robot 20 according to the second embodiment. After the mobile robot 20 starts traveling (step S102), when the first sensor 310 detects contact and the second sensor 320 detects contact, that is, when the contact strength is greater than or equal to a predetermined threshold value. (Step S150, Yes, Step S152, Yes), the operation state management unit 222 determines that an emergency stop has occurred regardless of the contact condition table (Step S130), and the second sensor 320 sends a relay control to the movement control unit 210. The movement of the mobile robot 20 is stopped by stopping the power supply.

  On the other hand, when the first sensor 310 detects contact and the second sensor 320 does not detect contact, that is, when the contact strength is less than the threshold value (step S150, Yes, step S152, No), the operation state The management unit 222 determines that the operation is temporarily stopped regardless of the contact condition table (step S120), and the first sensor 310 instructs the movement control unit 210 to stop moving. The movement control unit 210 stops the movement of the mobile robot 20 according to this instruction.

  As described above, the monitoring system 1 according to the second embodiment can make a judgment of temporary stop and emergency stop by a mechanical configuration. As a result, stop control can be performed even when a problem occurs in the software.

  The remaining configuration and processing of the monitoring system 1 according to the second embodiment are the same as the configuration and processing of the monitoring system 1 according to the first embodiment.

(Third embodiment)
FIG. 10 is a diagram illustrating a configuration of the bumper sensor 200 of the mobile robot 20 according to the third embodiment. The bumper sensor 200 according to the third embodiment includes a first sensor 310 and a second sensor 320 as in the bumper sensor 200 according to the second embodiment.

  Note that the detection circuit 314 of the first sensor 310 according to the third embodiment inputs a signal indicating that the disconnection is detected to the operation state management unit 222 when the disconnection of the circuit is detected.

  The operation state management unit 222 sets the operation state based on the number of times of contact by the first sensor 310 and the contact condition table. Similar to the mobile robot 20 according to the first embodiment, the mobile robot 20 according to the third embodiment holds a contact condition table.

  The mobile robot 20 according to the third embodiment specifies an operation state using a contact condition table like the mobile robot 20 according to the first embodiment, and the mobile robot 20 according to the second embodiment. The operation state identification according to the contact strength is used together.

  FIG. 11 is a flowchart illustrating processing of the mobile robot 20 according to the third embodiment. After the mobile robot 20 starts running (step S102), if the first sensor 310 detects contact and the second sensor 320 detects contact (step S150, Yes, step S152, Yes), the operation is performed. The state management unit 222 determines an emergency stop regardless of the contact condition table (step S130), and the second sensor 320 stops the movement of the mobile robot 20 by stopping the power supply to the movement control unit 210 by relay control. Stop.

  On the other hand, when the first sensor 310 detects contact and the second sensor 320 does not detect contact (step S150, Yes, step S152, No), the operation state management unit 222 determines that the first sensor 310 is in contact. The operation state is specified based on the number of times and the contact condition table (step S108).

  As described above, the mobile robot 20 according to the third embodiment sets the operation state to the emergency stop when the contact strength is high, and immediately stops moving by the relay control of the second sensor 320. When the contact strength is small, the stop state can be set according to the number of times of contact and the like, so that more flexible stop control can be performed.

  The remaining configuration and processing of the monitoring system 1 according to the third embodiment are the same as the configuration and processing of the monitoring system 1 according to the other embodiments.

It is a figure showing the whole surveillance system 1 composition concerning an embodiment. 2 is a block diagram illustrating a main functional configuration of a mobile robot 20. FIG. It is a figure which shows typically the data structure of four contact condition tables which use a complex facility as a patrol place. It is a figure which shows typically the data structure of four contact condition tables which make an office a visiting place. It is a figure which shows typically the data structure of the message table in the opening of the weekday and holiday of a complex facility. 4 is a flowchart showing processing of the mobile robot 20. 2 is a diagram illustrating a hardware configuration of a mobile robot 20. FIG. It is a figure which shows the structure of the bumper sensor 200 of the mobile robot 20 concerning 2nd Embodiment. It is a flowchart which shows the process of the mobile robot 20 concerning 2nd Embodiment. It is a figure which shows the structure of the bumper sensor 200 of the mobile robot 20 concerning 3rd Embodiment. It is a flowchart which shows the process of the mobile robot 20 concerning 3rd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Monitoring system 10 Monitoring apparatus 20 Mobile robot 51 CPU
52 ROM
53 RAM
57 Communication I / F
62 Bus 200 Bumper sensor 202 Communication unit 204 Instruction receiving unit 206 Display unit 208 Speaker 210 Movement control unit 220 Condition table holding unit 222 Operation state management unit 224 Message specifying unit 230 Power supply 310 First sensor 312 Switch 314 Detection circuit 320 Second sensor 322 Switch 324 Detection circuit 400 Bumper 401 First protrusion 402 Second protrusion 410 Robot body 420 Spring

Claims (16)

A mobile object that can move autonomously,
A sensor that detects that an obstacle has come into contact with the moving body;
According to the degree of contact of the obstacle detected by the sensor, as the operating state of the moving body, a suspended state in which the movement is stopped and the operation can be resumed by a recovery operation by the moving body; State management means for setting one of the emergency stop states where the movement is stopped and the operation cannot be resumed by the moving body;
A movement control means for stopping movement of the moving body when the state management means is set to the temporary stop state or the emergency stop state;
A mobile unit comprising: a transmission unit that transmits request information for requesting a recovery operation to a monitoring device that monitors the mobile unit only when the state management unit sets the emergency stop state.   The said state management means sets the said emergency stop state as said operation state, when the frequency | count of contact in the fixed time by the said sensor is more than the preset 1st threshold value. Item 4. The moving body according to Item 1.   The state management means is a threshold value in which the number of touches of the obstacle by the sensor within a predetermined time is a preset threshold value that is equal to or greater than a second threshold value that is smaller than the first threshold value, and the first threshold value. The moving body according to claim 2, wherein the temporary stop state is set as the operation state when the number is less than the predetermined value.   The said state management means sets the said emergency stop state as the said operation state, when the contact time of the said obstruction by the said sensor is more than the preset 3rd threshold value. Moving body.   In the case where the state management means is a threshold value set in advance by the sensor and is less than or equal to a fourth threshold value that is smaller than the third threshold value and less than the third threshold value. The moving body according to claim 4, wherein the pause state is set as the operation state. A condition holding means for holding the contact condition relating to the degree of contact of the obstacle and the operation state in association with each other;
When the sensor detects contact with the obstacle, the state management unit is configured to change the operation state associated with the contact condition that satisfies the degree of contact detected by the sensor in the condition holding unit. The moving body according to claim 1, wherein the moving body is specified. The condition holding unit holds the contact condition, the operation state, and a date / time condition related to date / time in association with each other,
The state management means, when the sensor detects contact with the obstacle, in the condition holding means, the contact condition that satisfies the degree of contact detected by the sensor, and the date and time condition that satisfies the current date and time. The moving body according to claim 6, wherein the operation state associated with the moving state is specified. The condition holding means holds the contact condition, the operation state, and a moving place condition relating to a moving place of the moving body in association with each other,
Further comprising instruction accepting means for accepting an instruction of a moving location of the moving object from an administrator;
When the sensor detects contact with the obstacle, the state management means receives the contact condition that satisfies the degree of contact detected by the sensor in the condition holding means, and the instruction receiving means receives the instruction. The moving body according to claim 6, wherein the operation state associated with the moving place condition that satisfies the moving place is specified. The sensor further detects contact strength with the obstacle;
The said state management means sets the said emergency stop state as the said operation state, when the contact intensity | strength with the said obstacle by the said sensor is more than the preset 5th threshold value. The moving body according to any one of 8. The sensor further detects contact strength with the obstacle;
The state management means is such that the contact strength of the obstacle by the sensor is less than a preset fifth threshold, and the number of times of contact of the obstacle by the sensor within a certain time is not less than the first threshold. In this case, the emergency stop state is set as the operation state, and the moving body according to any one of claims 1 to 8. The sensor further detects contact strength with the obstacle;
When the contact strength of the sensor with the obstacle is less than a preset fifth threshold value and the contact time of the obstacle is not less than the third threshold value, the state management means is set as the operation state. The moving body according to any one of claims 1 to 8, wherein an emergency stop state is set. Message holding means for holding the degree of contact of the obstacle detected by the sensor and a message related to the contact in association with each other;
When the obstacle is detected by the sensor, the message holding means further comprises message output means for outputting the message associated with the degree of contact detected by the sensor. The moving body according to any one of claims 1 to 11. The message holding means holds the degree of contact, the message, and the output destination of the message in association with each other,
The message output means is associated with the degree of contact detected by the sensor in the message holding means when the obstacle is detected by the sensor, and the message output means is the output destination. Output the message,
When the obstacle is detected by the sensor, the transmission unit is associated with the degree of contact of the obstacle detected by the sensor in the message holding unit, and the monitoring device is set as the output destination. The mobile body according to claim 12, wherein the message to be transmitted is transmitted to the monitoring device. Message holding means for holding the degree of contact of the obstacle detected by the sensor and a message related to the contact in association with each other;
When the obstacle is detected by the sensor, the transmission means sends the message associated with the degree of contact of the obstacle detected by the sensor to the management device in the message holding means. The mobile body according to claim 1, wherein the mobile body transmits. A monitoring system comprising a mobile object that can move autonomously and a monitoring device that monitors the mobile object,
The moving body is
A sensor that detects that an obstacle has come into contact with the moving body;
According to the degree of contact of the obstacle detected by the sensor, as the operating state of the moving body, a suspended state in which the movement is stopped and the operation can be resumed by a recovery operation by the moving body; State management means for setting one of the emergency stop states where the movement is stopped and the operation cannot be resumed by the moving body;
A movement control means for stopping movement of the moving body when the state management means is set to the temporary stop state or the emergency stop state;
Only when the state management means is set to the emergency stop state, has a transmission means for transmitting request information for requesting a recovery operation to the monitoring device,
The monitoring device
Receiving means for receiving the request information;
When the receiving unit receives the request information, the monitoring system includes an output unit that outputs that the request information has been received. A control program for causing a computer to execute a control process for controlling a mobile object capable of autonomous movement,
When the sensor of the moving body comes into contact with an obstacle, the operation state of the moving body is stopped and the recovery operation by the moving body is performed according to the degree of contact of the obstacle detected by the sensor. A state management step for setting one of a temporary stop state in which the operation can be resumed by the state and an emergency stop state in which the movement is stopped and the operation cannot be resumed by the moving body;
A movement control step for stopping movement of the moving body when the state management step sets the temporary stop state or the emergency stop state;
A control program comprising: a transmission step of transmitting request information for requesting a recovery operation to a monitoring device that monitors the mobile object only when the emergency management state is set in the state management step.

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