JP5096980B2 - Mobile object, mobile object direction control method, and mobile object direction control program - Google Patents

Description

  The present invention relates to a moving body, a moving body direction control method, and a moving body direction control program.

  2. Description of the Related Art Conventionally, a mobile robot that outputs a preset message when moving to a preset location during patrol or when a person is detected is generally known. Such mobile robots provide information such as store guidance and crime prevention by outputting messages. However, if the mobile robot is not facing the direction of the person, there is a problem that the person who wants to convey the message cannot attract attention, and the content of the message cannot be noticed.

  As a solution to such a problem, an unmanned guidance device that recognizes the behavior of a human body and starts explanation is disclosed (see Patent Document 1). In such an unattended guidance device, it is determined that the merchandise is being viewed when the speed of movement of the passerby is low. Further, the unmanned guidance device starts explanation when it is determined that the passerby stops and faces the salesperson when the salesperson displayed on the display speaks.

JP-A-4-301682

  However, the technique described in Patent Literature 1 is described when a product is displayed at a specific place and a passerby determines that he / she is interested in the displayed product. Therefore, there is a problem that when the subject to be explained moves like a mobile robot and the subject to be explained cannot be carried around like a store guide, a passerby's attention cannot be drawn.

  The present invention has been made in view of the above, and provides a moving body, a moving body direction control method, and a moving body direction control program that can attract a passerby's attention when outputting a voice message. Objective.

In order to solve the above-described problems and achieve the object, the present invention provides a mobile body capable of autonomous movement, an informing means, a storage means for storing a target position in a moving area of the mobile body, and the position. When the human body is detected by the rotation range storage means for storing the range in which the movable body can rotate from the direction facing, the detection means for detecting the human body existing in the detection area, and the detection means, the human body is A direction determining unit that determines whether or not the detected direction is within the range stored in the rotation range storage unit; and the moving body in a rotation direction that is a direction facing the position stored in the storage unit. When the direction in which the human body is detected is within the range stored in the rotation range storage means, the movable body is rotated in the rotational direction that is the direction in which the human body is detected, and the human body is Detect If the direction is not within the range stored in the rotation range storage means, the movement in the rotation direction that is the direction closest to the direction in which the human body is detected among the ranges stored in the rotation range storage means Rotating means for rotating a body, and message output means for outputting a predetermined message from the notifying means after the moving body has been rotated by the rotating means.

Further, the present invention provides the moving body according to claim 1 , wherein the rotating means rotates the moving body so that a front surface of the moving body is directed in the rotation direction.

Moreover, the present invention is characterized in that in the mobile body according to claim 1 or 2 , the notification means is installed on a front surface of the mobile body.

According to the present invention, in the moving body according to any one of claims 1 to 3 , an imaging unit that captures an image of a monitoring area, and whether or not a person exists in the image information captured by the imaging unit. And a person determination means for determining, wherein the rotation means further rotates the moving body in a direction imaged by the imaging means when it is determined by the person determination means that a person is present. To do.

Further, the present invention provides a mobile direction control method performed by the autonomous movable mobile, the moving body includes a notification means, storage means for storing the position of the target in the moving area of the movable body, wherein A rotation range storage means for storing a range in which the movable body can rotate from a direction facing the position, a detection step in which the detection means detects a human body existing in a detection area, and the direction determination section includes When the human body is detected by the detecting step, the direction determining step for determining whether or not the direction in which the human body is detected is within the range stored in the rotation range storage unit, and the rotation unit include the storage unit. When the moving body is rotated in a rotation direction that is a direction facing the position stored in the rotation direction and the direction in which the human body is detected is within the range stored in the rotation range storage means, the human body is Detected person Rotating the movable body in the direction of rotation is, when the direction of detecting the human body is not within the range stored in the rotation range storage means, out of the range stored in the rotation range storage means, A rotation step of rotating the moving body in a rotation direction that is the direction closest to the direction in which the human body is detected, and a message output means sends a predetermined message from the notification means after the moving body has rotated in the rotation step. And a message output step for outputting.

Further, the present invention provides a moving body direction control program to be executed by a computer capable of autonomous movement, wherein the computer is a notification means, a storage means for storing a position of a target in a moving area of the moving body, and the position Rotation range storage means for storing a range in which the movable body can rotate from the direction facing the direction, and when detecting the human body by the detection step, and detecting the human body in the detection region A direction determining step for determining whether or not a direction in which the human body is detected is within the range stored in the rotation range storage unit; and a rotation direction that is a direction facing the position stored in the storage unit When the moving body is rotated and the direction in which the human body is detected is within the range stored in the rotation range storage means, the rotation method is the direction in which the human body is detected. If the direction in which the moving body is rotated and the human body is detected is not within the range stored in the rotation range storage means, the human body is detected from the range stored in the rotation range storage means. A rotation step of rotating the moving body in a rotation direction that is the direction closest to the measured direction, a message output step of outputting a predetermined message from the notification means after the moving body is rotated by the rotation step, and the computer To run.

  According to the present invention, the mobile robot faces the direction of the target, and when a human body is detected, the mobile robot faces the direction of the human body and outputs a message, so that it is possible to attract the passerby's attention when outputting the message. There is an effect.

  Exemplary embodiments of a moving object, a moving object direction control method, and a moving object direction control program according to the present invention will be explained below in detail with reference to the accompanying drawings. In this embodiment, the description is given on the assumption that the notification is performed by a voice message. However, the present invention is not limited to these embodiments, and the notification is performed using a text message or an image message. Also good.

  First, the configuration of a mobile robot 100 that is an example of a mobile body to which the present invention is applied will be described. FIG. 1 is a block diagram showing a configuration of a mobile robot 100 according to the present embodiment. FIG. 2 is an explanatory diagram showing an example of the appearance of the mobile robot 100 according to the present embodiment.

  The mobile robot 100 according to the present embodiment includes a sensor 101, a detection information receiving unit 102, a monitoring camera 103, an image information receiving unit 104, an operation panel unit 105, an operation panel control unit 106, and a speaker 107. , Voice output control unit 108, human body determination unit 109, direction determination unit 110, movement control unit 111, rotation control unit 112, communication unit 113, position information storage unit 114, and rotation range storage unit 115 The route information storage unit 116 and the message information storage unit 117 are provided.

  The sensor 101 detects a human body in the detection area. The sensor 101 is, for example, various sensors such as a distance measuring sensor using ultrasonic waves, an infrared sensor that detects a human body based on a change in the amount of received infrared light. The sensor 101 is installed at the foot of the mobile robot 100 as shown in FIG. The detection information receiving unit 102 receives detection information when the sensor 101 detects a human body.

  The monitoring camera 103 images the monitoring area. The monitoring camera 103 is installed on the head of the mobile robot 100 as shown in FIG. The image information receiving unit 104 receives image information captured by the monitoring camera 103. The operation panel unit 105 displays an operation menu for the mobile robot 100 and various information, and receives instructions from the menu. The operation panel control unit 106 controls the operation panel 105.

  The position information storage unit 114 stores the position information of the guidance target in the movement area. FIG. 3 is an explanatory diagram illustrating an example of a data configuration of the position information storage unit 114. The position information storage unit 114 stores guidance target identification information and position information in association with each other.

  The rotation range storage unit 115 stores a range in which the mobile robot 100 can rotate with reference to the direction facing the position of the guidance target stored in the position information storage unit 114. FIG. 4 is an explanatory diagram illustrating an example of a data configuration of the rotation range storage unit 115. The rotation range storage unit 115 stores a maximum angle and a minimum angle that are a rotatable range.

  The route information storage unit 116 stores route information when the mobile robot 100 travels around the moving area. In the route information, position information in a moving area for the mobile robot 100 to go around, stop position information indicating a position where the mobile robot 100 stops, a moving speed, and the like are stored.

  The human body determination unit 109 determines whether the human body is detected from the detection information received by the detection information reception unit 102 and the direction in which the human body is detected (hereinafter referred to as a human body detection direction). The direction determination unit 110 determines the direction in which the mobile robot 100 is rotated as the direction toward the guidance target position. In addition, when the human body determination unit 109 determines a human body, the direction determination unit 110 determines the direction in which the mobile robot 100 rotates from the human body detection direction and the rotatable range stored in the rotation range storage unit 115.

  The movement control unit 111 controls the movement of the mobile robot 100 based on the route information stored in the route information storage unit 116. Specifically, the motor driver drives the wheel motor of the mobile robot 100. The rotation control unit 112 controls the rotation of the mobile robot 100.

  The communication unit 113 transmits and receives various types of information to and from the monitoring device 200 (not shown). Specifically, it receives instructions from the monitoring device 200 for starting and stopping the patrol route. Further, image information captured by the monitoring camera 103 and detection information detected by the sensor 101 may be transmitted to the monitoring apparatus 200.

  The message information storage unit 117 stores message information for the guidance target. FIG. 5 is an explanatory diagram illustrating an example of a data configuration of the message information storage unit 117. The message information storage unit 117 stores guidance target identification information and message information in association with each other. In addition to the message information, image information to be displayed on the operation panel unit 105 may be stored and output together with the voice message.

  The speaker 107 outputs a voice message. The speaker 107 is disposed in front of the mobile robot 100 as shown in FIG. The voice output control unit 108 acquires message information corresponding to the guidance target identification information from the message information storage unit 117 and performs control to output the acquired message information from the speaker 107.

  Next, the moving body direction control process by the mobile robot 100 configured as described above will be described. FIGS. 6A and 6B are flowcharts illustrating a moving body direction control processing procedure performed by the mobile robot 100.

  First, the direction determination part 110 acquires the position information of guidance object from the position information storage part 114 (step S601). The movement control unit 111 acquires the route information stored in the route information storage unit 116 (step S602). FIG. 7 is an explanatory diagram showing an example of a guidance target and a movement route in the movement area. As shown in FIG. 7, the mobile robot 100 circulates the movement path 12 from the movement start position 13 and returns to the movement end position 14. Further, it is assumed that the position information of the store A that is the guidance target in the movement area 11 of the mobile robot 100 is (x1, y1) and the position information of the store B is (x2, y2). The upper left position of the moving area 11 is defined as the origin (0, 0).

  The movement control unit 111 moves the mobile robot 100 according to the route information (step S603). The movement control unit 111 determines whether or not the current position is a stop position (step S604). If it is determined that the current position is not the stop position (step S604: No), the process returns to step S603. If it is determined that the current position is the stop position (step S604: Yes), the movement control unit 111 stops the mobile robot 100 (step S605).

  The direction determining unit 110 calculates a rotation direction that is a direction facing the guidance target from the stop position and the position information of the guidance target (step S606). The rotation control unit 112 rotates the mobile robot 100 in the calculated rotation direction (step S607). FIG. 8 is an explanatory diagram showing a state in which the mobile robot 100 is rotated in the direction of the guidance target. As shown in FIG. 8, first, the mobile robot 100 is directed in the direction 15 of the guidance target, so that a passerby can easily understand which target the mobile robot 100 outputs a guidance message about.

  The human body determination unit 109 determines whether a human body is detected from the detection information received by the detection information reception unit 102 (step S608). When it is determined that a human body has been detected (step S608: Yes), the direction determination unit 110 calculates a human body detection direction (step S609). The direction determination unit 110 acquires the maximum angle and the minimum angle stored in the rotation range storage unit 115 (step S610). The direction determining unit 110 calculates the rotatable range of the mobile robot 100 (step S611).

  The direction determining unit 110 determines whether or not the human body detection direction is within the rotatable range (step S612). If it is determined that the human body detection direction is within the rotatable range (step S612: Yes), the movement control unit 111 rotates the mobile robot 100 in the human body detection direction (step S613). FIG. 9 is an explanatory diagram showing an example when the mobile robot 100 is rotated in the human body detection direction. As shown in FIG. 9, when the human body 16 is detected within the rotatable range of the mobile robot 100 having a maximum angle of 30 ° and a minimum angle of −45 ° from the direction facing the store A, the direction in which the human body 16 is detected. The mobile robot 100 is rotated to 17.

  When it is determined that the human body detection direction is not within the rotatable range (step S612: No), the mobile robot 100 is rotated in the direction closest to the human body detection direction within the rotatable range (step S614). FIG. 10 is an explanatory diagram showing an example when the mobile robot 100 is rotated in the direction closest to the human body detection direction in the rotatable range. When the human body 18 is not detected within the rotatable range, the mobile robot 100 is rotated in the direction 19 closest to the direction in which the human body 18 is detected within the rotatable range, as shown in FIG. This transferable range is set to an optimum value depending on the stop position of the mobile robot 100 in the moving area, whether the moving route is clockwise or counterclockwise, the number of passers-by in the moving area, and the like. . Further, when the number of passersby varies depending on the time that the mobile robot makes a round, different movable ranges may be set for each time zone.

  If it is determined in step S608 that no human body has been detected (step S608: No), the process proceeds to step S615. In this case, the mobile robot 100 remains facing in the direction facing the guidance target.

  The voice output control unit 108 acquires message information corresponding to the guidance target from the message information storage unit 117, and outputs a message from the speaker 107 (step S615). Although the message output in this case is a voice message, a text message or an image message may be displayed on the operation panel unit 105 instead of the voice message or together with the voice message.

  In this way, the mobile robot 100 first rotates in the direction of the guidance target at the position where the mobile robot 100 stops, so that the passerby can recognize the guidance target, and then the mobile robot 100 faces the direction of the passer-by and the voice. Since a message is output, it is possible to attract a passerby's attention by a voice message.

  In addition, since the speaker 107 of the mobile robot 100 is installed on the front surface of the mobile robot 100, voice messages can be easily heard when the mobile robot 100 faces a passerby.

  In addition, when a passerby is detected that exceeds the rotatable range based on the direction of the guidance target, the mobile robot 100 is closest to the direction in which the passerby is detected within the rotatable range of the mobile robot 100. Since it is rotated in the direction, the mobile robot 100 can be rotated to a position where a passerby can recognize the guidance target and can hear the voice message most easily.

  FIG. 11 is a diagram illustrating a hardware configuration of the mobile robot 100 according to the present embodiment. The mobile robot 100 has, as a hardware configuration, a ROM 22 that stores a control program for executing control processing in the mobile robot 100, a CPU 21 that controls each part of the mobile robot 100 according to the program in the ROM 22, A RAM 23 that stores various data necessary for control, a communication I / F 24 that communicates by connecting to a network, and a bus 25 that connects each unit are provided. Detection information receiving unit 102, image information receiving unit 104, operation panel control unit 106, audio output control unit 108, human body determination unit 109, direction determination unit 110, movement control unit 111, rotation control unit 112, communication unit 113, position information The storage unit 114, the rotation range storage unit 115, the route information storage unit 116, and the message information storage unit 117 are realized by cooperation of these hardware.

  The control program of the mobile robot 100 may be provided by being recorded in a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), and a DVD as an installable or executable file.

  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 100, and each unit described in the software configuration is generated on the main storage device. ing.

  Further, the control program according to 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.

It is a block diagram which shows the structure of the mobile robot concerning this Embodiment. It is explanatory drawing which shows an example of the external appearance of the mobile robot concerning this Embodiment. It is explanatory drawing which shows an example of a data structure of a positional information storage part. It is explanatory drawing which shows an example of a data structure of a rotation range memory | storage part. It is explanatory drawing which shows an example of a data structure of a message information storage part. It is a flowchart which shows the mobile body direction control processing procedure which a mobile robot performs. It is a flowchart which shows the mobile body direction control processing procedure which a mobile robot performs. It is explanatory drawing which shows an example of the guidance object in a movement area | region, and a movement route. It is explanatory drawing which shows the state which the mobile robot rotated to the direction of guidance object. It is explanatory drawing which shows the example at the time of rotating a mobile robot to a human body detection direction. It is explanatory drawing which shows the example at the time of rotating a mobile robot in the direction nearest to a human body detection direction among the rotatable range. It is a figure which shows the hardware constitutions of the mobile robot concerning this Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Mobile robot 101 Sensor 102 Detection information receiving part 103 Surveillance camera 104 Image information receiving part 105 Operation panel part 106 Operation panel control part 107 Speaker 108 Audio | voice output control part 109 Human body determination part 110 Direction determination part 111 Movement control part 112 Rotation control part 112 113 Communication Unit 114 Position Information Storage Unit 115 Rotation Range Storage Unit 116 Route Information Storage Unit 117 Message Information Storage Unit

Claims (6)

In a mobile object that can move autonomously,
Notification means;
Storage means for storing the position of the object in the moving region of the moving body;
Rotation range storage means for storing a range in which the movable body can rotate from the direction facing the position;
Detection means for detecting a human body existing in the detection area;
When the human body is detected by the detecting unit, a direction determining unit that determines whether the direction in which the human body is detected is within the range stored in the rotation range storage unit;
When the moving body is rotated in a rotation direction that is a direction facing the position stored in the storage unit, and the direction in which the human body is detected is within the range stored in the rotation range storage unit, When the moving body is rotated in the rotation direction that is the direction in which the human body is detected, and the direction in which the human body is detected is not within the range stored in the rotation range storage unit, the rotation range storage unit stores the rotation. A rotating means for rotating the moving body in a rotation direction that is the direction closest to the direction in which the human body is detected, in the range ;
Message output means for outputting a predetermined message from the notification means after the moving body has been rotated by the rotation means;
A moving object comprising: The moving body according to claim 1 , wherein the rotating unit rotates the moving body so that a front surface of the moving body is directed in the rotation direction. The notification means, the moving body according to claim 1 or 2, characterized in that, installed in front of the moving body. Imaging means for imaging the monitoring area;
A human determination unit that determines whether or not a person exists in the image information captured by the imaging unit;
It said rotation means, if further been determined that a person exists by the person determining unit, any one of claims 1-3 wherein the imaging means is characterized in that, to rotate the movable body in a direction captured The moving body described in 1. In a moving body direction control method executed by a moving body capable of autonomous movement,
The moving body is
A notification unit; a storage unit that stores a position of a target in a moving region of the moving body; and a rotation range storage unit that stores a range in which the moving body can rotate from a direction facing the position .
A detection step in which the detection means detects a human body existing in the detection area;
When the direction determining unit detects the human body by the detecting step, the direction determining step determines whether the direction in which the human body is detected is within the range stored in the rotation range storage unit;
The rotating means rotates the moving body in a rotation direction that is the direction facing the position stored in the storage means, and the direction in which the human body is detected is within the range stored in the rotation range storage means. In this case, when the moving body is rotated in the rotation direction that is the direction in which the human body is detected, and the direction in which the human body is detected is not within the range stored in the rotation range storage means, the rotation range storage is stored. A rotation step of rotating the movable body in a rotation direction that is the direction closest to the direction in which the human body is detected in the range stored in the means ;
A message output means for outputting a predetermined message from the notification means after the moving body is rotated by the rotation process; and
The moving body direction control method characterized by including. In a moving body direction control program for causing a computer capable of autonomous movement to be executed,
The computer
A notification unit; a storage unit that stores a position of a target in a moving region of the moving body; and a rotation range storage unit that stores a range in which the moving body can rotate from a direction facing the position.
A detection process for detecting a human body present in the detection area;
When the human body is detected by the detecting step, a direction determining step for determining whether the direction in which the human body is detected is within the range stored in the rotation range storage unit;
When the moving body is rotated in a rotation direction that is a direction facing the position stored in the storage unit, and the direction in which the human body is detected is within the range stored in the rotation range storage unit, When the moving body is rotated in the rotation direction that is the direction in which the human body is detected, and the direction in which the human body is detected is not within the range stored in the rotation range storage unit, the rotation range storage unit stores the rotation. A rotating step of rotating the movable body in a rotation direction that is the direction closest to the direction in which the human body is detected in the range;
A message output step of outputting a predetermined message from the notification means after the moving body is rotated by the rotation step;
A moving body direction control program for causing the computer to execute .

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