JP5902893B2 - Storage system - Google Patents

Description

  The present invention relates to a housing storage system in which a movable container is disposed in a storage room provided in a house to store and manage stored items in the house.

  In a house, it is a common practice to provide a storage room so that the space of the room is not occupied by articles. The storage room is provided in a narrow space such as between the first floor and the second floor of a house and often has to be bent to perform storage work.

  Therefore, for example, Patent Document 1 proposes a storage room structure that reduces the work load of putting in and out articles in the storage room. The document discloses a stored item moving body (for example, a storage wagon) for smoothly moving a stored item in a storage room, a towing vehicle for an operator to sit and tow the stored item moving body. Yes.

JP2004-1000037

  However, when a plurality of articles are stored separately in the storage room, it is often difficult to know what is stored in each place in the storage room, and when taking out a desired article from the storage room, it is difficult to search the storage room. Sometimes it was necessary.

  In order to solve the above-described problems, the present invention provides a housing storage system in which a movable container is arranged in a storage room provided in a house to store and store the objects to be stored in the house. A self-propelled mobile robot that moves between the living room and the living room, an imaging unit that shoots the accommodation status in the movable container when the movable container stores the storage object and moves the movable container from the living room to the storage room, A baggage image holding unit that associates and holds an image of the baggage storage status and a movable container ID that stores the baggage, a selection reception unit that receives selection of an image of the baggage storage status held in the baggage image holding unit, A command to move one or more movable containers in order to obtain a movable container ID corresponding to the image of the selected baggage storage status and move the corresponding movable container between the storage room and the living room. Suggest storage system having an instruction output unit to be output to the self-propelled mobile robot.

  According to the present invention configured as described above, the user can easily grasp the articles stored in the movable containers in the storage chamber. Further, since the self-propelled mobile robot moves a desired movable container from the storage room to the living room, it is possible to further reduce the work burden on the user.

The figure which shows the system outline | summary of the storage system of the house of Embodiment 1. Functional block diagram of the housing storage system of the first embodiment The figure which shows an example of the outline of a movable container Diagram showing an example of the outline of a self-propelled mobile robot The figure which shows an example of the information hold | maintained in a package image holding part Diagram showing an example of the hardware configuration of a self-propelled mobile robot The figure which shows an example of the hardware constitutions of an imaging | photography part The figure which shows an example of the flow of the storage process of the storage system of Embodiment 1. The figure which shows an example of the flow of the determination process of the movement procedure of a movable container The figure which shows a mode that one selected movable container is moved from a storage room The figure which shows a mode that two selected movable containers are moved from a storage room The figure which shows the system outline | summary of the storage system of the house of Embodiment 2. Functional block diagram of the housing storage system of the second embodiment The figure which shows an example of the information hold | maintained in a package image holding part The figure which shows an example of the flow of a search process of the image of a storage system

Examples of the present invention will be described below. The mutual relationship between the embodiment and the claims is as follows. The first embodiment mainly relates to claim 1, and the second embodiment mainly relates to claim 2. In addition, this invention is not limited to these embodiments at all, and can be implemented in various modes without departing from the scope of the invention.

<< Embodiment 1 >>

<System overview>
FIG. 1 is a diagram showing a system overview of a housing storage system of the present embodiment. In this storage system, when an image of a specific baggage storage situation is selected from the user by the selection receiving unit 2, the selection information 101 is transmitted to the command output unit 3, and the command output unit 3 is sent to the self-propelled mobile robot 4. On the other hand, a movement command 102 is transmitted, and the movable container 5 associated with the selected image is moved from the storage room 11 to the living room 12. Then, after storing the article, the imaging unit 6 captures an image of the accommodation status, and transmits the image information 103 to the luggage image holding unit 7. The image information is associated with the movable container ID and held in the luggage image holding unit 7, and is transmitted to the selection receiving unit 2 as a selection candidate image 104 in response to a request from the selection receiving unit 2.

<System configuration>
FIG. 2 is a diagram illustrating a functional configuration of the “housing storage system” of the present embodiment. As shown in this figure, “housing storage system” 1 includes “selection receiving unit” 2, “command output unit” 3, “self-propelled mobile robot” 4, “movable container” 5, “ The image capturing unit 6 and the luggage image holding unit 7 are configured. Hereinafter, the function of each component will be described.

(Function of housing storage system)
The “housing storage system” is a system for storing and managing stored articles in a house by arranging a movable container in a storage room provided in the house. Here, a house is a building intended for the residence of a person, and means a personal house or a collective house. The storage room is a room for storing articles. Further, the item to be stored means an article stored in the storage chamber.

(Function of movable container)
A “movable container” is a container having mobility. Here, the movable container may have a self-propelled function, but any container that can be pulled by a self-propelled mobile robot is sufficient. FIG. 3 is a diagram illustrating an example of the outer shape of the “movable container”. In the example of this figure, the “movable container” includes a “trolley” 51 on which an object can be placed, an “container” 52 placed on the cart, and the like. In addition, the cart is provided with a “connection member” 53 for connection with a pulling member of a self-propelled mobile robot. Note that the movable container is not limited to the above configuration, and for example, a configuration in which the container itself is provided with wheels is also possible.

  Note that the movable container is preferably configured so that all or a part of the upper surface can be opened when taking an image of the state of accommodation of the luggage from the ceiling direction. In addition, when taking an image of the baggage accommodation state from the horizontal direction, it is preferable that all or a part of the lateral side face can be opened.

  In addition, the movable container may be configured to include an IC tag for holding its own ID. In this case, the self-propelled mobile robot reads the ID of each movable container with an IC tag reader and determines whether or not it is a desired movable container.

  In addition, it is not always necessary for the movable container itself to hold information such as the movable container ID by a storage means such as an IC tag. As shown below, a self-propelled mobile robot or the like can move from the appearance or position of each movable container. The container may be determined.

  For example, the structure which describes the character, symbol, number, etc. which show movable container ID on the outer surface of each movable container can be considered. In this case, the self-propelled mobile robot acquires the movable container ID of each movable container based on the image information obtained from the photographing means provided in itself or from the photographing means provided in another device, and whether or not the mobile robot is a desired movable container. Judge.

  As another example, a configuration in which the color and shape of each movable container are different is also possible. In this case, the self-propelled mobile robot is based on a table that associates the image information obtained from the imaging means provided in itself or the imaging means provided in another device, the ID of each movable container, and its characteristics (color, shape, etc.). Then, it is determined whether the container is a desired movable container.

  As another example, a configuration in which identifiers (partition numbers, array numbers, etc.) of respective locations in the storage room are associated with movable container IDs (identification numbers, identification symbols, etc.) is possible. In this case, the self-propelled mobile robot determines whether or not it is a desired movable container based on the arrangement location in the storage room. In addition, the arrangement configuration of each movable container is not particularly limited, and a configuration in which the movable container is arranged along the wall in the storage chamber is possible, and a configuration in which the movable container is arranged in a position away from the wall is also possible.

  The number of movable containers in the storage room does not need to be fixed, and can be increased or decreased as necessary. For example, when adding one movable container to the storage room, the command output unit and the self-propelled mobile robot are notified from the user terminal to the ID of the movable container to be added, and the command output unit and the self-propelled mobile robot are new. Add records as management information. In addition, when removing one movable container from the storage room, the command output unit, the self-propelled mobile robot, and the luggage image holding unit are notified from the user terminal to the ID of the movable container to be deleted, and the command output unit and the self-propelled The related record is deleted from the management information in the mobile robot and the baggage image holding unit.

(Function of self-propelled mobile robot)
The “self-propelled mobile robot” has a function of moving a movable container between a storage room and a living room. Here, the self-propelled mobile robot receives a command to move one or more movable containers from the command output unit in order to move a specific movable container from the storage room to the living room, and operates according to the command.

  FIG. 4 is a diagram showing an example of the outer shape of the “self-propelled mobile robot”. The self-propelled mobile robot includes a “traction member” 41 for towing the movable container, and can connect and separate the movable container and itself as necessary. Here, the pulling member may be configured to be combined with the connecting member of the movable container, or may be configured to generate magnetism temporarily by an electric current and attract the magnet of the movable container. In the example of this figure, the self-propelled mobile robot includes a “photographing means” 42 for photographing the inside of the movable container from above.

  Further, the self-propelled mobile robot calculates an index (inertia index) proportional to the inertial mass when towing each movable container, holds the information in association with each movable container ID, A configuration in which the image is transmitted to the image holding unit is also possible. Here, the inertia index is proportional to the time required to accelerate the movable container from the stopped state to the predetermined speed when the pulling force of each movable container is the same, and is calculated based on the necessary time. It is possible. The inertial index of each movable container is a measure of how much luggage is stored in each movable container, and should be used as a judgment factor when determining the movement route and movement procedure in the command output unit and self-propelled mobile robot Can do.

  Further, as described above, the self-propelled mobile robot can be configured to include a “photographing unit” that photographs the accommodation situation in the movable container. The imaging unit may be configured to be removable from the self-propelled mobile robot as necessary. In this case, the user can remove the photographing unit from the self-propelled mobile robot and photograph one or a plurality of images indicating the accommodation state in the movable container.

  In addition, the self-propelled mobile robot includes an operation input unit and a voice input unit, and transmits the input information to the baggage image holding unit or controls its own operation based on the input information. Is possible. For example, the user inputs information (accommodated article name, storage date and time, storage person, etc.) indicating the storage status in the movable container using the input means, and stores it in association with the movable container ID in the luggage image holding unit. Can be made. Further, the user can notify that the movable container is completely accommodated using the input means, and the self-propelled mobile robot can move the movable container from the living room to the storage room in response to the accommodation completion notification. .

  In addition, the self-propelled mobile robot includes a sensor for measuring temperature, humidity, dust amount, brightness, and the like at each location in the storage room, and transmits sensor information to a user terminal (selection reception unit). It is also possible to control the own operation based on the above. With this configuration, the user can check the temperature and humidity in the storage room at the user terminal. In addition, the self-propelled mobile robot outputs an alarm sound according to the environmental conditions (temperature, humidity, etc.) in the storage room and the type of storage object (allowable temperature, allowable humidity, etc.), It is also possible to move the position.

  In addition, the self-propelled mobile robot may have a function of sucking dust and dirt on the floor in the storage room, taking air in the storage room and passing it through a filter, and removing dust and dirt in the air. Is possible. The self-propelled mobile robot may be configured to start the cleaning operation according to the amount of dust obtained from the sensor described above.

(Function of the shooting unit)
The “photographing unit” has a function of photographing the accommodation state in the movable container after the objects to be stored are accommodated in the movable container. The imaging unit transmits the captured image of the package accommodation status to the package image holding unit using a wired or wireless communication unit.

  The whole or a part of the photographing unit can be provided to the self-propelled mobile robot as shown in FIG. 4, and the arrangement is arranged near the ceiling of the entrance / exit of the storage room as shown in FIG. Is also possible.

  Further, a configuration in which the photographing unit receives a photographing command from a self-propelled mobile robot or a command output unit and photographs the accommodation state in the movable container according to the command is conceivable. For example, the self-propelled mobile robot receives an accommodation completion notification for the movable container from the user, and then transmits a command for photographing the accommodation state to the photographing unit. Shooting the accommodation situation. In addition, an operation input unit may be provided in the image capturing unit so that the accommodation state in the movable container can be imaged according to an operation input by the user.

  As another example, when the command output unit receives a shooting instruction from the user terminal (selection receiving unit), the command output unit transmits a command for shooting the accommodation status to the shooting unit. The accommodation situation in the movable container is photographed accordingly.

  The photographing unit can also photograph the accommodation state in the movable container immediately after receiving the photographing command. If the photographing timing is specified in the photographing command, the time is counted by a timer. It is also possible to shoot. In addition, the imaging unit arranged near the ceiling of the entrance / exit of the storage room can also take an image by detecting with the camera that the movable container has entered the imaging area (near the entrance / exit). In this case, the moving direction of the movable container may be further acquired, and it may be determined whether to shoot according to the moving direction. For example, when the movable container enters the storage room, it is photographed, and when it leaves the storage room, it is not photographed.

(Function of the luggage image holding unit)
The “baggage image holding unit” has a function of holding a baggage accommodation status image and a movable container ID that holds the baggage in association with each other. Here, the image of the baggage accommodation status and the movable container ID are received from the imaging unit using wired or wireless communication means. In addition, you may receive movable container ID from the command output part which transmits an imaging command with respect to an imaging part, or a self-propelled mobile robot.

  The baggage image holding unit may be a data server on a network in a house or a data server on an external network (Internet). Further, the baggage image holding unit can transmit image information held therein to the user terminal (selection receiving unit) in response to a request from the user terminal.

  For example, as shown in FIG. 5, the luggage image holding unit holds, as table information, an identifier (file name or the like) of an image of the baggage accommodation status and a movable container ID that accommodates the luggage. Even when additional items are stored in one movable container, an image of the baggage storage status is taken each time, so it is possible to grasp what is buried in the lower part of the container. Is possible.

  When one movable container is excluded from the storage room, it is possible to receive the movable container ID from the user terminal and delete the record associated with the movable container ID from the luggage image holding unit. It is. In addition, when a deletion request for a specific image is received from the user terminal, a configuration in which data of the image is deleted from the package image holding unit is also possible.

(Function of the selection reception unit)
The “selection receiving unit” has a function of receiving selection of an image of the baggage accommodation status held in the baggage image holding unit. Here, in order to receive selection of an image of the baggage accommodation status, the selection receiving unit acquires one or more images of the baggage accommodation status as selection candidates from the baggage image holding unit, and displays them by the display unit. Further, the movable container ID associated with the image of the baggage accommodation state selected by the user via the operation input means is transmitted to the command output unit.

  Note that the number of images selected by the selection receiving unit does not need to be one, and it is also possible to receive a selection of a plurality of images continuously. Here, if a plurality of selected images are related to the same movable container, one movable container ID may be transmitted to the command output unit. On the other hand, a plurality of movable container IDs are transmitted.

(Function of command output section)
The “command output unit” moves one or more movable containers in order to acquire the movable container ID corresponding to the image of the selected baggage accommodation status and move the corresponding movable container between the storage room and the living room. A function of outputting a command to the self-propelled mobile robot;

  The command output unit receives the movable container ID selected from the selection receiving unit, and transmits a movement command including information on the movable container ID to the self-propelled mobile robot.

  In addition, the command output unit specifies the route by which the selected movable container is moved from the placement location in the storage room to the living room, or the route from the living room to the placement location of the storage room. A configuration is also possible in which processing is performed and information on the movement route is included in the movement command and transmitted to the self-propelled mobile robot. However, the movement route specifying process may be performed by a self-propelled mobile robot.

  In addition, in order to move the selected movable container to the living room, the command output unit performs processing for identifying another movable container that needs to be shifted in the storage room, and moves the ID of the other movable container. It is also possible to adopt a configuration in which it is included in the command and transmitted to the self-propelled mobile robot. However, the process of specifying the other movable container ID can also be performed by a self-propelled mobile robot.

  The software program for realizing the package image holding unit, the selection receiving unit, and the command output unit may be configured to be executed by the same hardware. For example, the user terminal can be configured to have both functions of a selection receiving unit and a command output unit, and the central control terminal can be configured to have both functions of a package image holding unit and a command output unit.

  Although not essential, it is also possible to provide a floor surface weight detection unit that detects the weight of the movable container on a part of the floor surface of the storage room or the living room. For example, as shown in FIG. 1, it is conceivable to provide a floor surface detection unit 13 near the entrance / exit of the storage room. In addition, a configuration in which the self-propelled mobile robot includes an inertia detection unit that detects difficulty (such as inertia mass) of the movable container is also possible. Information detected by these detection units is transmitted to a luggage image holding unit, a selection receiving unit, a command output unit, a self-propelled mobile robot, and the like.

<Specific configuration>
(Specific configuration of self-propelled mobile robot)
FIG. 6 is a diagram illustrating an example of a hardware configuration of a self-propelled mobile robot. In the example of this figure, the self-propelled mobile robot has “MPU” 0601, “RAM” 0602, “nonvolatile memory” 0603, “communication means” 0604, “stepping motor” 0605, “motor I / F” 0606, “Battery” 0607, “IC tag reader” 0608, “system bus” 0609, and the like.

  The nonvolatile memory has a program for controlling the stepping motor, a communication program for communicating with other devices via the communication I / F, and a route for moving the movable container arranged at a predetermined position to the destination. A program to be determined, map information indicating the positions of the walls and entrances in the storage room, movable container arrangement information indicating the location of each movable container, and the like are stored, and are read into the RAM as necessary.

  Further, the communication means receives command information for the self-propelled mobile robot from the command output unit, or transmits information on the photographing command for the photographing unit from the self-propelled mobile robot. The battery can supply power for driving the MPU, the stepping motor, and the like, and can be charged as necessary. The battery can be charged automatically by moving the self-propelled mobile robot to a charging port installed at a predetermined location in the storage room, or by a user as appropriate.

  The IC tag reader reads information on the movable container ID from an IC tag included in the movable container and transmits the information to the MPU. The MPU determines whether or not the desired movable container is based on the movable container ID received from the IC tag reader, and updates the arrangement information of the movable container.

(Specific configuration of the shooting unit)
FIG. 7 is a diagram illustrating an example of a hardware configuration of the imaging unit. In the example of this figure, the photographing unit includes “MPU” 0701, “RAM” 0702, “nonvolatile memory” 0703, “communication means” 0704, “imaging means” 0705, “LED” 0706, and “LED controller” 0707. , “Power receiving means” 0708, “system bus” 0709, and the like.

  The non-volatile memory stores a program for executing a shooting process in response to a shooting command, a program for communicating with other devices via communication means, information on a shot image, and the like. Read out to the RAM.

  The communication means receives a shooting command from a self-propelled mobile robot or a command output unit, or transmits captured image information from the shooting unit to the luggage image holding unit. The power receiving means receives power for driving an MPU, a lens motor, and the like from an in-house power source or a battery of a self-propelled mobile robot.

  The imaging means converts the input optical signal into an electrical signal with an image sensor, converts the analog signal into a digital signal with an A / D converter, and outputs it to the RAM. The MPU stores the image information in the RAM in the nonvolatile memory in association with the movable container ID. Also, the image information associated with the movable container ID is transmitted to the package image holding unit via the communication means. The LED controller controls the lighting of the LED in accordance with the lighting instruction from the MPU, and adjusts the brightness at the time of photographing.

(Specific configuration of the baggage image holding unit)
As a hardware configuration for realizing the operation control of the luggage image holding unit, for example, “CPU”, “RAM”, “mass storage device (hard disk drive etc.)”, “communication means”, “operation input means”, “Display means”, “power receiving means”, “system bus”, and the like. This configuration is the same as that of a general server device.

  The large-capacity storage device has a program for holding an image of the baggage accommodation status in association with a movable container ID that contains the baggage, and a search request for an image of the baggage accommodation status using the movable container ID as a search key. A program for receiving and searching, image data associated with the movable container ID, and the like are stored, and read into the RAM as necessary.

  In addition, the communication unit receives information on the image of the baggage accommodation status from the imaging unit, or transmits information on the image of the baggage accommodation status associated with the movable container ID to the selection reception unit. In addition, the display means can display a list of luggage storage status images and movable container IDs. The operation input means accepts selection of an image of the baggage accommodation status or accepts correction / update of information to be added to the image of the baggage accommodation status.

(Specific configuration of the selection reception unit)
As a hardware configuration for realizing the operation control of the selection receiving unit, for example, “CPU”, “RAM”, “nonvolatile memory”, “communication means”, “operation input means”, “display means”, “ “Battery”, “power receiving means”, “system bus” and the like are conceivable. The said structure is the same as that of a general user terminal.

  The nonvolatile memory has a program for displaying an image of the baggage accommodation status on the display means, a program for receiving selection of the image of the baggage accommodation status by the operation input means, and communication with other devices via the communication means A program for storing the data is stored, and is read into the RAM as necessary.

  Further, the communication means receives an image of the baggage accommodation status from the baggage image holding unit, or transmits information on the selection result of the image to the command output unit. Further, the display means displays an image of the baggage accommodation status and the corresponding movable container ID. The operation input means accepts selection of an image of the baggage accommodation status displayed on the display means or accepts input of information to be added to the image of the baggage accommodation status.

(Specific configuration of command output unit)
As a hardware configuration for realizing the operation control of the instruction selection unit, for example, “CPU”, “RAM”, “nonvolatile memory”, “communication means”, “power receiving means”, “system bus”, etc. are considered. It is done.

  The non-volatile memory includes a program for determining a route for moving a movable container arranged at a predetermined position to a destination, a communication program for communicating with other devices via communication means, walls and entrances in the storage room The map information indicating the coordinates of the movable containers, the movable container arrangement information indicating the arrangement locations of the movable containers, and the like are stored, and are read into the RAM as necessary. Note that when determining a movement route in a self-propelled mobile robot, it is not necessary to hold the determination program, map information, movable container arrangement information, and the like.

  Further, the communication means receives information about the movable container ID selected from the selection receiving unit, or transmits a command to move the movable container to the self-propelled mobile robot.

  In the above, an example in which the luggage image holding unit, the selection receiving unit, and the command output unit are realized by separate hardware is shown, but an example in which all or part of these units are realized by the same hardware is also possible It is. For example, the package image holding unit and the command output unit can be realized as a function of one centralized control device, and the selection receiving unit and the command output unit can be realized as a function of one user terminal device. It is.

<Specific processing flow>
(Storage process)
FIG. 8 is a diagram illustrating an example of a storage process flow of the storage system of the present embodiment. First, the user terminal accepts a storage request and transmits a storage request to the centralized control terminal (accommodation request transmission step).

  Next, when receiving the storage request, the central control terminal transmits an image of the baggage accommodation status of each movable container to the user terminal (baggage accommodation image transmission step).

  Next, the user terminal (selection receiving unit) displays an image of the baggage accommodation status of each movable container, and accepts selection of the movable container that houses the baggage (selection reception step). Next, the user terminal (selection receiving unit) transmits the ID of the selected movable container to the central control terminal (selected container ID transmission step).

  Next, the central control terminal (command output unit) transmits a movement command including the selected movable container ID to the self-propelled mobile robot (movement command transmission step).

  Next, the self-propelled mobile robot moves the movable container selected based on the movement command from the storage room to the living room (movement step). Next, the self-propelled mobile robot accepts an accommodation completion notification indicating that the object is accommodated in the movable container via an operation input means or an operation input means of the user terminal. Step). Next, the self-propelled mobile robot transmits a command for photographing the baggage accommodation status in the movable container to the photographing unit (photographing command transmission step).

  Next, when the imaging unit receives the imaging command, the imaging unit images the inside of the movable container (imaging step). Next, the image capturing unit transmits the captured image of the baggage accommodation status to the central control terminal (package image holding unit) in association with the movable container ID (captured image transmission step).

  Next, the self-propelled mobile robot returns the movable container to the original location in the storage room after the shooting (storage step).

  Next, when receiving the image of the baggage accommodation status of the selected movable container, the centralized control terminal (package image holding unit) adds the image data of the baggage accommodation status of the movable container (image data adding step).

(Movement procedure decision process)
FIG. 9 is a diagram illustrating an example of the flow of determination processing for the moving procedure of one or more movable containers. The movement procedure determination process may be performed by a centralized control terminal (command output unit) or by a self-propelled mobile robot. It is also possible to share the processing between both devices.

  First, in S1, the position in the storage room of the movable container (hereinafter referred to as user-selected container) selected by the selection receiving unit is acquired based on the arrangement information in the storage room (selected container position acquisition step). Here, when a plurality of movable containers are selected continuously by the selection receiving unit, the respective positions in the storage chamber of the plurality of movable containers are acquired.

  Next, in S2, one route is selected from one or a plurality of route candidates for moving from the position in the storage room of the user selection container to the room (route selection step). When a plurality of movable containers are selected continuously by the selection receiving unit, one route is selected from one or a plurality of route candidates for each user selection container.

  Next, in S3, the total number of other movable containers on the movement route of one or a plurality of user-selected containers is calculated in the selected route (the number of other movable containers calculating step). Instead of the calculation process, it is also possible to perform a process of calculating a sum (total inertia index) obtained by adding the inertia indices (indexes proportional to the inertial mass) of other movable containers on the moving path. .

  Next, in S4, it is determined whether or not other route candidates that have not been subjected to the processes in S2 and S3 remain. If not completed, the process returns to S2 (other candidate confirmation step). If a plurality of movable containers are selected in succession by the selection receiving unit, it is determined whether or not there are different combinations of moving path candidates remaining, and if not completed, the process returns to S2.

  Next, in S5, based on the processing in S2 to S4, the moving path that minimizes the total number of other movable containers on the moving path or the total inertia index is determined as the actual moving path (path determining step).

  Next, in S6, the order in which the user selection container and other movable containers are moved along the determined movement route and the position to be moved are determined based on the arrangement information in the storage chamber (movement procedure determination step).

  FIG. 10 is a diagram illustrating a state in which one movable container selected by the selection unit is moved from the storage room to the living room based on the moving procedure determined by the process of FIG. 9. As shown in this figure, when moving the “selected movable container” 5A from the “storage room” 11 to the “living room” 12 by the “self-propelled mobile robot” 4, there are a plurality of moving path candidates. . In the example of this figure, among the plurality of movement paths, the total number of other movable containers on “one movement path” R1 is the smallest (total number = 1). The route is determined.

  FIG. 11 is a diagram illustrating a state in which the two movable containers selected by the selection unit are moved from the storage room to the living room based on the moving procedure determined by the process of FIG. 9. As shown in this figure, when the “selected movable containers” 5A and 5B are moved from the “storage room” 11 to the “room” 12 by the “self-propelled mobile robot” 4, there are a plurality of movement path candidates. Exists. In the example of this figure, since the total number of other movable containers on the “one movement route” R2 among the plurality of movement routes is the smallest (total number = 2), the movement route is actually moved. The route is determined.

<Effect>
According to the present invention having the configuration of the present embodiment, the user can easily grasp in which movable container the target article is stored. Moreover, since the self-propelled mobile robot moves the movable container from the storage room to the living room, it is possible to further reduce the work burden on the user.

<< Embodiment 2 >>

<System overview>
FIG. 12 is a diagram showing a system overview of the housing storage system of the present embodiment. In this storage system, when an image search request is received using the information added to the image by the selection receiving unit 2 as a search key, a search request 105 is transmitted to the package image holding unit 7. The baggage image holding unit 7 searches for an image satisfying a predetermined condition in response to a search request, and notifies the selection receiving unit 2 of one or a plurality of search result images 106. When an image of a specific baggage accommodation situation is selected by the user, selection information 101 is transmitted to the command output unit 3, and the command output unit 3 transmits a movement command 102 to the self-propelled mobile robot 4. The movable container 5 associated with the selected image is moved from the storage room 11 to the living room 12. Then, after storing the article, the imaging unit 6 captures an image of the accommodation status, and transmits the image information 103 to the luggage image holding unit 7. The image information is held in the baggage image holding unit 7 in association with the movable container ID.

<System configuration>
FIG. 13 is a diagram showing functional blocks of the “housing storage system” of the present embodiment. As shown in this figure, “housing storage system” 1 includes “selection receiving unit” 2, “command output unit” 3, “self-propelled mobile robot” 4, “movable container” 5, “ The “packaging image holding unit” 7 includes an “imaging unit” 6 and a “baggage image holding unit” 7. The “baggage image holding unit” 7 includes an “additional information holding unit” 71, an “image search unit” 72, and a “search result notification unit”. The “selection accepting unit” 2 has “search request accepting means” 21. Hereinafter, the “additional information holding unit”, “image search unit”, “search result notification unit”, and “search request reception unit” will be described.

(Function of additional information holding means)
The “additional information holding unit” has a function of holding the image of the baggage accommodation status and the additional information that is information added to the image in association with each other. Here, examples of the additional information include storage date / time, storage person, type of storage object, importance level of storage object, storage condition of storage object, scheduled extraction date / time, planned disposal date / time, keyword, and the like.

  The package image holding unit holds table information as shown in FIG. 14, for example, using the function of the additional information holding unit. In the example of this figure, the identifier (file name, etc.) of the image of the baggage accommodation status and the ID of the movable container that contains the baggage are displayed, the date and time of the image, the type of the container, the container, and the scheduled date and time , Keep it associated with the keyword. As shown in this figure, even in the same movable container, images of the baggage accommodation status taken at different dates and times are held.

  The additional information held by the additional information holding unit can be received via the operation input unit provided in the user terminal or the self-propelled mobile robot. Specifically, when the accommodation of the article in the specific movable container is completed, and the accommodation completion notification is received by the user via the operation input means, the input of additional information is received together with the ID of the movable container. It transmits to an image holding part (additional information holding means).

  The package image holding unit (additional information holding unit) holds the image of the baggage accommodation status of the movable container received from the imaging unit and the additional information in association with each other. In addition, when accepting selection of a movable container that accommodates an article at the user terminal (selection accepting unit), it is possible to accept input of additional information and add it at the user terminal as necessary. It is also possible to update information.

  Further, the additional information can be updated, for example, via an operation input unit provided in the luggage image holding unit. Specifically, a table as shown in FIG. 14 is displayed on the display means provided in the luggage image holding unit, and input of additional information is accepted via the operation input means.

  Also, the luggage image holding unit performs image recognition processing on the image of the baggage accommodation status of the movable container received from the imaging unit, and adds the type, color, size, etc. of the items to be contained in the luggage image. There may be a means (image recognition registration means) that extracts as information and automatically registers the additional information in association with the image of the baggage accommodation status.

  In addition, when a floor surface weight detection unit that detects the weight of the movable container is provided on a part of the floor surface of the storage room or the living room, or the movable container is difficult to move (inertial mass, etc.) When the inertial mass detection unit is provided, the baggage image holding unit receives information such as the weight of the movable container as additional information from the detection unit, and the additional information is received as an image of the baggage accommodation status. There may be a means (registration means) for automatically registering in association with.

  Furthermore, the type (weight, lightweight, etc.) of the object to be accommodated in the movable container may be determined from information such as the weight of the movable container, and automatically registered as additional information in association with the image of the luggage accommodation status. In addition, a change in the state of the movable container is detected from information such as the weight of the movable container (an object is taken out from the movable container, added, etc.), and the state change information is associated with the image of the baggage accommodation status as additional information. Automatic registration.

(Function of image search means)
The “image search means” has a function of searching in response to an image search request using the additional information as a search key. The search request is for requesting a search for an image associated with predetermined additional information. Specifically, a search request for an image to which information on a specific storage date (for example, storage date from one year ago to the current date) is added, or information on a specific storage person (for example, a father) is added. A search request for an image, a search request for an image to which information on the type (for example, books) of a specific item to be stored is added, information on a specific type, color, size, weight, etc. regarding the item to be stored For example, a search request for an added image and a search request for an image to which information on a specific state change related to the movable container is added.

  It is possible to search for images only for the latest baggage storage status image of each movable container, but basically, the images of past movable baggage storage statuses that are not the latest for each movable container are included. . For example, after “eldest son” accommodates “magazine” for one movable container, “father” may accommodate “furoshiki” at different dates and times. This is because the “magazine” may not be confirmed from the latest image.

(Function of search result notification means)
The “search result notification unit” has a function of notifying the selection reception unit of the search result. Here, the search result means image information that satisfies a predetermined search condition. In addition, when the data amount of the image satisfying the search condition is equal to or larger than the predetermined value, the information of only a part of the image is notified to the selection receiving unit, and other images are notified in response to a request from the selection receiving unit. Is possible.

(Function of search request receiving means)
The “search request accepting means” has a function of accepting an image search request using the additional information as a search key. When the search request accepting unit accepts the image search request, the search request accepting unit transmits the search request information to the image retrieving unit of the package image holding unit, and receives the search result information from the search result notifying unit of the package image holding unit. .

  The search request receiving means displays one or a plurality of search keys (storage date and time, storage person, type of storage object, etc.) on the display means, and an operation for determining the content of the search key ("storage person" is "father" The “type of stored item” may be “books” or the like) by the operation input means. The operation for determining the contents of the search key can be performed by a selection format, or can be performed by character input or voice input.

<Specific processing flow>
(Image search processing)
FIG. 15 is a diagram illustrating an example of a flow of image search processing in the storage system. First, a user terminal receives a storage request and transmits a storage request to the centralized control terminal (accommodation request transmission step).

  Next, when receiving the storage request, the central control terminal transmits information on one or a plurality of search key candidates to the user terminal (search key information transmission step).

  Next, the user terminal displays information on one or more search key candidates, and accepts content input regarding one or more search keys (search content input accepting step). Further, the user terminal transmits the content information of the search key to the central control terminal (search content transmission step).

  Next, the central control terminal searches for an image of the baggage accommodation condition that satisfies the condition based on the content of the determined search key (image search step). Furthermore, the central control terminal transmits the image of the baggage accommodation status of one or more movable containers, which is the search result, to the user terminal (search result image transmission step).

  Next, the user terminal displays an image of the baggage accommodation status of one or more movable containers, which is the search result, and accepts selection of a movable container that accommodates the baggage (selection acceptance step). The subsequent processing is the same as that described with reference to FIG.

<Effect>
According to the present invention having the configuration of the present embodiment, the storage location of the stored item is specified based on the information added to the image of the baggage storage status, and the movable container that stores the stored item is taken out by the self-propelled mobile robot. It is possible.

DESCRIPTION OF SYMBOLS 1 ... Housing storage system, 2 ... Selection reception part, 3 ... Command output part, 4 ... Self-propelled mobile robot, 5 ... Movable container, 6 ... Shooting part, 7 ... Baggage image holding part, 11 ... Storage room, 12 ... Living room, 13 ... Floor weight detection unit, 21 ... Search request accepting means, 41 ... Towing member, 42 ... Imaging means, 51 ... Cart, 52 ... Container, 53 ... Connecting member, 71 ... Additional information holding means, 72 ... Image search means 73 ... Search result notification means 101 ... Selection information 102 ... Move command 103 ... Image information 104 ... Selection candidate image information 105 ... Search request 106 ... Search result image 0601 0701 ... MPU , 0602, 0702, RAM, 0603, 0703, nonvolatile memory, 0604, 0704, communication means, 0605, stepping motor, 0606, motor I / F, 0607, battery, 0 08 ... IC tag reader, 0705 ... imaging unit, 0706 ... LED, 0707 ... LED controller, 0708 ... receiving means

Claims (2)

It is a housing storage system for storing and managing stored items in a house by arranging a movable container in a storage room provided in the house,
The storage system is
A self-propelled mobile robot that moves the movable container between the storage room and the living room;
An imaging unit that captures the storage status in the movable container after storing the objects to be stored in the movable container;
A luggage image holding unit that associates and holds an image of the baggage accommodation status and a movable container ID that accommodates the luggage;
A selection accepting unit that accepts selection of an image of the baggage accommodation status held in the baggage image holding unit;
The self-propelled movement command for moving one or more movable containers in order to acquire the movable container ID corresponding to the selected baggage storage status image and move the corresponding movable container between the storage room and the living room. A command output unit for outputting to the robot;
Have
The self-propelled mobile robot is
Having photographing means for photographing the inside of the movable container from above;
An index proportional to the inertial mass is calculated when each movable container is towed, and the information is stored in association with each movable container ID, or transmitted to the command output unit or the baggage image holding unit.
The command output section
A process for specifying the route by which the selected movable container is moved from the placement location in the storage room to the living room or the route from the living room to the placement location of the storage room is specified, and the movement route It has a function to send to the self-propelled mobile robot including the information of
In order to move the selected movable container to the living room, a process for identifying another movable container whose position needs to be shifted in the storage room is performed, and the ID of the other movable container is included in the movement command to be self-propelled. A storage system having a function of transmitting to a mobile robot. The luggage image holding unit
Additional information holding means for holding an image of the baggage accommodation status and additional information which is information added to the image in association with each other;
Image search means for searching in response to an image search request using the additional information as a search key;
A search result notification means for notifying the selection reception unit of the search result;
Have
The storage system according to claim 1, wherein the selection receiving unit includes a search request receiving unit that receives a search request for an image using the additional information as a search key.

Images