JP6934709B2 - Search robot - Google Patents

Description

The present invention relates to a search robot having a function of assisting a person who searches for a lost object that has been lost due to forgetting where it was placed in a house.

Users may unknowingly place relatively small and movable items brought into their homes, such as remote controls for TVs, mobile phones, mobile terminals, eyeglasses, hearing aids, keys for automobiles, etc. , Sometimes you can't find it when you need it. Especially in recent years, the number of remote control devices in homes has increased due to the use of remote controls for various devices, and mobile phones and portable terminals for personal use have become widespread. The number of objects) is also increasing. Furthermore, with the changes in society, in addition to the busyness of each individual, the aging of the population makes it even more difficult to keep track of all search targets, and in each house, More and more people need to find lost items that are missing.

To solve such a problem, it has been proposed to use a wireless ID tag to search for an object to which a wireless ID tag has been attached in advance by using an ID tag reader, as in the invention described in Patent Document 1. There is. The wireless ID tag is an IC tag in which a wireless function, a memory, and a control function are stored in a minute chip as a tag (tag) on which information can be written, and is called by the technical name of RFID (Radio Frequency Identification). Is what you are doing.

However, the wireless ID tag has a narrow searchable range that can be detected by using the ID tag reader, and even if it can be detected that it exists nearby, it is difficult to specify the direction and distance. There was a problem that it was difficult to find the target.

In addition, Patent Document 2 also proposes an invention in which a sound wave generator is added to an ID tag so that the position of the object to which the ID tag is attached can be grasped more accurately. However, even if a sound wave generator is added to the wireless ID tag, the searchable range that can be detected by using the ID tag reader is still narrow.

Further, as shown in Patent Document 3, it is conceivable to search for lost items by using a GPS system.

However, in order to use the GPS system, in response to the search signal transmitted from the search device, the current position information is acquired by the radio wave received from the satellite, and the acquired current position information is returned to the search device by GPS positioning. It is necessary to attach the device to the object. As a result, the equipment attached to the object becomes large and expensive, and it is difficult to secure a stable reception environment for radio waves from satellites in the house. The reality was that it was difficult to use for searching.

Japanese Unexamined Patent Publication No. 2005-71193 Japanese Unexamined Patent Publication No. 2008-2921 Japanese Unexamined Patent Publication No. 2008-109442

The present invention has been made against the background of the above-mentioned circumstances, and the problem to be solved is a person who searches for a lost item when he / she finds a lost item such as forgetting where he / she placed it in a house. The purpose is to provide a hunting robot with a function to assist.

In the first aspect of the present invention, the search object robot stores [A] a means of moving in a house and [B] search information for identifying a search object by a user's registration process of the search object. The search information storage means and [C] a search means for searching the search target based on the search information and acquiring the position information of the search target are included, and the search target is included. The search information is used as search image information, and is provided with [F] imaging means. In the search means, the search target is based on a matching process based on the search image information for an image captured by the imaging means. with search objects, while provided with a search result storage means for storing the positional information of the obtained the search object by said search means, a search instruction signal input from the outside by the user to the search-and product The command receiving means for receiving and the search result notifying means for notifying the position information of the search object stored in the search result storing means to the outside by the search command signal received by the command receiving means. It is characterized by having.

The search robot according to this aspect is provided with the search means (C) and moves in the house by the moving means (A). Therefore, for example, even if the person searching for the object does not walk around the house with the search means, the search object robot itself equipped with the search means can move in the house and search for the search target.

As a result, even if the distance range in which the search target can be searched from the position of the search means is limited, the search means itself moves in the house as the search object robot moves, so that the person searching for the object bothered. You can easily search for what you are looking for in a wide range without having to walk. In addition, the search object robot according to this aspect can search for a search target by matching processing as image processing. Therefore, since it is not necessary to attach an ID tag or the like to the search target in advance, an object for which it is difficult to attach an ID tag, such as eyeglasses, can also be a search target. In addition, since it is not necessary to attach an ID tag or the like to each search target, even when the number of search targets is increased, it is possible to avoid the additional equipment and the cost burden associated with it, and it is possible to avoid the burden of costs associated with the addition of multiple search targets. It also becomes easy to set.

A second aspect of the present invention is the search in which the search object robot according to the first aspect stores the position information of the search target object obtained by [G] the search means (C) in association with time data. It has a result storage means .

The search object robot according to this aspect immediately presents the search result of the search object stored in the search result storage means (G) when, for example, the command receiving means (D) receives a command to operate the search. It is also possible to present the last search result. Further, even if the search target is not found as a result of the search by the search means (C), the position information of the search target that can be confirmed most recently is obtained from the stored information of the search result storage means (G). By presenting it together with the detection time information, it is possible to help to recall the position of the search target after that from the past information.
Furthermore, when searching for a search object based on the image matching process in the first aspect described above, the search becomes difficult in a situation where the object is placed on the search object and cannot be seen. In the search object robot, the captured image acquired in the situation before the object is placed on the object is stored in association with the time data, and when the search operation command is received, the captured image is presented together with the time data. This also makes it possible to help the search by suggesting that the search target may exist under the placed object.

A third aspect of the present invention is the patrol movement control in which, in the search robot according to the second aspect, [H] the moving means is operated and controlled so as to patrol the inside of the house at regular or irregular time intervals. The search target is searched based on the search information stored in the search information storage means (B) during the patrol by the patrol movement control means (H) while having the means. It has a configuration in which the position information of an object is acquired, and the acquired position information of the search object is associated with time data and stored in the search result storage means (G) .

The search object robot according to this aspect patrols by the patrol movement control means (H) and stores the position information of the search target object in the search result storage means (G) even in a situation where it is not necessary to search for the lost object. Can be done. Therefore, for example, when a command for a search operation is received by the command receiving means (D), the search result at the nearest time can be immediately presented.

In the fourth aspect of the present invention, in the search object robot according to any one of the first to third aspects, the position information of the search target object in the search means (C) is acquired by the image pickup means (F). It has a configuration that is captured image information.

The search object robot according to this aspect can efficiently present the position information of the search target object, which is the position where the search object exists, to the person who is searching for the search object. In other words, since the target area of the search object is inside a house that the person searching for is familiar with, by presenting the captured image information captured in a specific direction, the person who sees it points out in the image. It is possible to easily recognize the location, go to the location, and efficiently search for the search target within the limited location. Further, by presenting the position information of the search target object by the captured image information in this way, it is possible to specify and indicate the position of the search target object without using the GPS positioning system.

A fifth aspect of the present invention is the search robot according to any one of the first to fourth aspects, wherein [R] has a fixed image pickup means fixedly installed in the house, and the search means. In (C), the image captured by the fixed imaging means (R) is configured to search for the search target based on the matching process based on the search image information .

When performing a search using image information, the search object robot according to this aspect may increase the number of imaging points by using the fixed image pickup means (R) with respect to the image pickup means (F) that is equipped and moves on the search object robot. By enabling imaging from different imaging positions, it is possible to improve search efficiency and the like. Specifically, for example, by providing a fixed imaging means (R) that images images from the ceiling of a room in a house, it is possible to reduce blind spots.

A sixth aspect of the present invention is that the search object robot can move in [A] a house, [B] a search information storage means for storing search information for identifying a search target, and [C]. A search means for searching the search target based on the search information and acquiring the position information of the search target, and [D] receiving a command for receiving a search command signal for commanding a search operation of the search target. [E] Search result notification means for notifying the position information of the search target acquired by the search means to the outside by the search command signal received by the command receiving means, and [I] person. [J] The search means (C) detects that the person detected by the person recognition means (I) is carrying the search object. The means and [K] a carrying stop position detecting means for acquiring the position information of the search target when the carrying detecting means (J) detects that the person has stopped carrying the search target. , Included.

The search object robot according to this aspect makes use of the fact that the cause of the change in the position of the search object is due to being carried by a person in many cases, and makes the position and position change of the search object more efficient. It is possible to detect and store the obtained position information as needed.

A seventh aspect of the present invention is to follow a person carrying the search object detected by [L] the carrying detection means (J) in the search robot according to the sixth aspect. It has a configuration having a person-following control means for controlling the operation of the moving means (A).

The search object robot according to this aspect is a search means (more efficiently and with high certainty) by following the position information after the movement of the search object by a person to the person carrying the search object. C) makes it possible to obtain.

In the eighth aspect of the present invention, in the search object robot according to the sixth or seventh aspect, the person recognition means (I) includes [M] an individual identification means for identifying and identifying an individual. , At least one of the carrying detection means (J) and the carrying stop position detecting means (K) is [N] a person who carried the search target or a person who stopped carrying the search object by the personal identification means (M). It is configured to include a carrier storage means for storing the specified personal identification information in association with time data.

The search object robot according to this aspect can also present information that identifies an individual who carried the search object and moved the place. Therefore, for example, when a command for a search operation is received by the command receiving means (D), information on who moved the search object at the nearest time is presented, and the relevant person concerned. By recalling the memory, it becomes possible to assist in finding lost items.

A ninth aspect of the present invention is that in the search object robot according to any one of the sixth to eighth aspects, the search information of the search target is a wireless ID tag, and the search means (C). [O] is configured to include an ID tag detecting means for performing wireless communication with the wireless ID tag.

The search object robot according to this aspect can improve the efficiency and certainty of the search by searching for the search target using the wireless ID tag. In particular, the searchable range of the wireless ID tag is relatively narrow, but since the search robot equipped with the moving means (A) moves in the house, the search range using the wireless ID tag can be substantially secured. ..

Further, the wireless ID tag generally detects the existence in the area, but the existence or nonexistence of the wireless ID tag can be detected from a plurality of positions by moving the search robot equipped with the moving means (A). By mutually processing the detection information, it is possible to acquire more specific position information about the detection target. The wireless ID tag can also be used in the search means (C) in combination with, for example, the image pickup means (F). A tenth aspect of the present invention associates the position information of the search target object obtained by [G] the search means (C) with the time data in the search object robot according to any one of the sixth to ninth aspects. It is provided with a configuration having a search result storage means for storing the search results. The search object robot according to this aspect immediately presents the search result of the search object stored in the search result storage means (G) when, for example, the command receiving means (D) receives a command to operate the search. It is also possible to present the last search result. Further, even if the search target is not found as a result of the search by the search means (C), the position information of the search target that can be confirmed most recently is obtained from the stored information of the search result storage means (G). By presenting it together with the detection time information, it is possible to help to recall the position of the search target after that from the past information. Furthermore, when searching for a search target object based on the image matching process in the first aspect, the search becomes difficult in a situation where the object is placed on the search target object and cannot be seen. In the search object robot, the captured image acquired in the situation before the object is placed on the object is stored in association with the time data, and when the search operation command is received, the captured image is presented together with the time data. It is also possible to help the search by suggesting that the search target may exist under the placed object. An eleventh aspect of the present invention is the patrol movement in which, in the search robot according to the tenth aspect, [H] the moving means is operated and controlled so as to patrol the inside of the house at regular or irregular time intervals. The search target is searched based on the search information stored in the search information storage means (B) during the patrol by the patrol movement control means (H) while having the control means. It has a configuration in which the position information of an object is acquired, and the acquired position information of the search object is associated with time data and stored in the search result storage means (G). The search object robot according to this aspect patrols by the patrol movement control means (H) and stores the position information of the search target object in the search result storage means (G) even in a situation where it is not necessary to search for the lost object. Can be done. Therefore, for example, when a command for a search operation is received by the command receiving means (D), the search result at the nearest time can be immediately presented.

A twelfth aspect of the present invention is the search robot according to any one of the first to eleventh aspects, wherein the command receiving means (D) includes a [P] voice recognition means. Is.

The search object robot according to this aspect can be easily used because the operator can give a search instruction by voice and perform an auxiliary operation of the search object without directly touching the search object robot.

A thirteenth aspect of the present invention is the search robot according to any one of the first to twelve aspects, wherein the search result notification means (E) includes a [Q] monitor means. Is.

The search robot according to this aspect can easily recognize the prosecution result by the monitoring means (Q). Specifically, for example, as a search result, the captured image of the area where the search target exists is displayed on the monitor means (Q), or the characters representing the area where the search target exists are displayed on the monitor means (Q). By making it possible, the search result can be recognized more efficiently.

Fourteenth aspect of the present invention, in Sagashimono robot according to the first to thirteenth one embodiment, has a structure that includes a distance detection means for measuring the distance to [S] the search object It is a thing.

In the search object robot according to this aspect, by notifying the value detected by the distance detecting means (S) to the outside, the position of the searched object can be identified more accurately and the search can be performed more efficiently. It becomes possible to do.

Fifteenth aspect of the present invention, in Sagashimono robot according to any of embodiments of the first one to fourteen, when movement within the housing by [T] the moving means, detecting a position in the housing It has a configuration provided with a position detecting means for the robot.

In the search robot according to this aspect, since the search robot can specify its own position, for example, the movement control of the search robot moving by the moving means (A) is controlled so as to be more efficient. It is also possible to control the movement so that there is no area that cannot be moved. Further, for example, the search result notification means (E) can notify the outside of a specific room name, coordinate position, etc. as position information in which the search target exists.

The sixteenth aspect of the present invention has a configuration in which the search robot according to any one of the first to fifteenth aspects has a pseudo-appearance of a living thing.

The search robot according to this aspect becomes familiar in appearance and is less likely to give a sense of discomfort even when moving in a house. In particular, it can be a pet-type robot, and even when it is difficult to raise a pet as a living thing, it is possible to provide an environment similar to that of a pet. In addition, by providing pet-type robots, it will contribute to the reduction of problems such as animal cruelty, which is a problem in the pet industry.

As described above, according to the search object robot having a structure according to the present invention, the search object robot itself provided with the search means can move in the house and search for the search object. Therefore, it is possible to easily search for a search item in a house without having to walk around the place.

The perspective view which shows the whole appearance of the search object robot as one Embodiment of this invention. Explanatory drawing for demonstrating the physical configuration in the hunting robot shown in FIG. The functional block diagram in the hunting robot shown in FIG. FIG. 5 is a flow chart for explaining an example of a search target registration process in the search object robot shown in FIG. 1. An explanatory diagram showing a specific example of a search object registered in the search object robot shown in FIG. 1. FIG. 5 is a flow chart for explaining an example of real-time search processing in the search robot shown in FIG. 1. FIG. 5 is a flow chart for explaining an example of a search process using a stored image acquired by patrol imaging in the search object robot shown in FIG. 1. FIG. 5 is a flow chart for explaining another example of the search process using the stored image acquired by the patrol imaging in the search object robot shown in FIG. 1. FIG. 5 is a flow chart for explaining an example of a search process for carrying a person in the search robot shown in FIG. 1. The explanatory diagram for explaining the carrying state of the search object by a person in the search process shown in FIG. An explanatory diagram illustrating the configuration of a fixed imaging means that can be adopted in the search object robot shown in FIG. 1. It is explanatory drawing which illustrates the structure of the search system by the search object with the ID tag which can be adopted in the search object robot shown in FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

First, FIG. 1 shows the search robot 10 as an embodiment of the present invention in its overall appearance.

The search robot 10 of the present embodiment is provided with two front leg portions 14, 14 and rear leg portions 16, 16 and a head 18 and a tail 20 for the body portion 12, and is cat-shaped as a whole. It is considered to be a pet-type robot because it has the appearance shape of. Each structural part is made of a hard material such as resin or metal, and if necessary, the outer surface can be colored, covered with a soft material such as cloth, or flocked to give it an appropriate design or feel. Can be granted.

Further, the body portion 12 and the head portion 18 have a hollow structure or a hollow portion or an internal space is formed so that various devices described later for executing the search object processing can be equipped. ..

The appearance shape and specific structure of the search robot 10 are not limited. For example, it is possible to adopt the appearance of a dog or the like which is the same quadruped instead of the cat type of the present embodiment, and of course, a simple box shape or the like which does not have the appearance of an animal such as a pseudo pet or the like. It may be, or it may have a humanoid appearance of bipedal walking.

Further, in the present embodiment, the head 18 and the tail 20 are fixedly attached to the body 12, but the head 18 and / or the tail 20 are movable with respect to the body 12 to form an electric motor. Depending on the drive control means, the head 18 may be rotated up and down, left and right by moving the neck, and the tail 20 may be moved by swinging the tail. In particular, if the head 18 can be rotated within a predetermined angle range around a substantially vertical axis, for example, the imaging range by the imaging means mounted on the head 18 can be widened without moving the body 12. It becomes possible to change over. As a result, captured images and the like can be acquired more efficiently.

The two front leg portions 14, 14 and the rear leg portions 16, 16 each have a first leg portion 14a, 16a, a second leg portion 14b, 16b, and a foot portion 14c, 16c, respectively. The first leg portions 14a and 16a are respectively flexibly attached to the body portion 12 by a rotation operation around one axis to form the first joint portion 22. The first leg portions 14a and 16a and the second leg portions 14b and 16b are flexibly connected to each other by a rotational operation around one axis to form a second joint portion 24. Further, the second leg portions 14b and 16b and the foot portions 14c and 16c are flexibly connected to each other by a rotational operation around one axis to form a third joint portion 26.

The search robot 10 of the present embodiment, which has a mechanical structure that visually imitates a quadruped, has the physical configuration and the functional configuration shown in FIGS. 2 and 3.

First, a means of transportation similar to a quadruped is constructed. Specifically, the first to third joints 22, 24, and 26 of each of the two front leg portions 14, 14 and the rear leg portions 16, 16 have electric motors 30 as actuators for flexing and operating the joints, respectively. , 32, 34 are equipped. Then, the power supply from the battery 36 is controlled by the power controller 38 for each of the electric motors 30, 32, and 34, so that the search robot 10 walks on four legs.

The power controller 38 is configured to execute power supply control to the electric motors 30, 32, and 34 in the central processing unit (CPU) 40 according to a movement control program stored in advance in the storage means 42. .. Specifically, for example, when a forward walking command is output from the CPU 40 to the power controller 38 under predetermined conditions, the four legs 14, 14, 16 and 16 sequentially lift the legs one by one to move forward. By repeating the sending operation, power supply control to the electric motors 30, 32, and 34 of each leg is executed so as to move the search object robot 10 forward. In addition, by making the stride length of the leg to be sent forward different from each other among the four legs, walking that is bent to the left and right is realized, and by repeating the operation of sending the lifted swing leg backward, walking backward is possible. The operation control of the electric motors 30, 32, and 34 by the power controller 38 is executed so as to be realized.

At this time, for example, when the load (power consumption) of the electric motor of the swing leg that operates to send forward increases when walking forward, it is estimated that some obstacle exists in front, and a predetermined amount of backward operation is performed. The walking control by the movement control program can be performed so as to execute the turning walking to the right or the left after the execution. Alternatively, by additionally operating the electric motor so as to raise the height of the swing leg upward and then sending it forward, it is possible to overcome an obstacle in front or ride on an obstacle in front. , It is also possible to perform walking control.

In addition, the rotation shafts of the first joints 22 of the front and rear legs 14, 14, 16 and 16 can be tilted by using a ball joint or the like, and an electric motor for tilting drive is adopted. It is also possible to change the feeding direction of the legs 14 and 16 diagonally forward or diagonally backward. This also allows, for example, an operation to change direction substantially without movement.

Next, a power controller that controls the power supply from the four legs 14, 14, 16, 16 and the plurality of electric motors 30, 32, 34, and the battery 36 to the electric motors 30 to operate walking. The hunting object robot 10 including the moving means 44 including the 38 is provided with a mechanism for executing the hunting object operation.

First, as an external additional device 45 used for searching for a search object and notifying the search result, an imaging means 46 such as a CCD camera, a sounding means 48 such as a speaker, and a microphone as a voice input device are used. The means 50 is equipped, and it is possible to input / output data as an electric signal to / from the CPU 40 via an interface as appropriate. In the present embodiment imitating an animal, the imaging means 46 is substantially arranged at the eye position, the sounding means 48 is substantially arranged at the mouth position, and the microphone means 50 is substantially arranged at the ear position. Has been done. If necessary, opening holes and windows to the outside are provided at each of these arrangement positions.

Further, in the present embodiment, as an example of the search result notification means for notifying the search result of the search object to the outside, the monitor means 52 is equipped on the search object robot 10 itself in a state where it can be exposed on the surface of the body portion 12, for example. There is. As the monitoring means, a projector device for projecting an image may be provided in an eye different from the one eye equipped with the above-mentioned imaging means 46. The monitoring means 52 can display the search result of the searched object as, for example, an image showing the location or position, or display the search result in a wording for specifying the location or position.

However, in addition to the monitoring means as shown in the example, the search result notification means may adopt a configuration in which the location position of the search object as the search result of the search object is notified by voice. For example, "on the table in the living room" or "on the chair in the dining room", it is possible to notify from the sounding means 48 by using a voice synthesis and sounding program.

Further, a control means 54 for controlling an operation of transmitting and receiving a signal to and from such an external additional device to perform a search for a searched object, a notification of a search result, and the like, and various data used for executing the operation are stored. The hunting robot 10 is provided with a storage means 42 to be used. As the control means 54, in addition to the CPU 40 composed of a microprocessor, a GPU (image processing unit) or the like may be added as needed, or an MCU (microcontroller) or the like may be adopted. Further, as the storage means 42, a readable and writable semiconductor memory is generally preferably adopted, but various storage devices for storing electronic data can be appropriately adopted.

The storage means 42 of the present embodiment has an operation program storage means 60. The operation program storage means 60 stores a program for causing the control means 54 to execute control processing of various external additional devices in order to execute operations such as walking movement and search for a search object. Further, the storage means 42 has a search information storage means 62. The search information storage means 62 stores the search object (search target object) by the user of the search object robot 10, and in the present embodiment, the image data of the search object is stored. Further, the storage means 42 has a captured image information storage means 64. The captured image information storage means 64 stores the image data captured by the image pickup means 46 when the search object robot 10 performs a search operation for the search object. Further, the storage means 42 has a search result storage means 66. The search result storage means 66 stores the position information, time data, and the like of the search target object acquired as a result of the search object robot 10 performing the search operation of the search object. Further, the storage means 42 has a carrier storage means 68. The carrier storage means 68 detects a person who carries the search object stored in the search information storage means 62 by the search object robot 10, and when the person releases the search target and stops carrying the search object, the search object storage means 68 stops carrying the search object. At least one of them, the identification information and time data of the person (individual) are stored.

Further, the control means 54 of the present embodiment can configure various means having the following functions by operating the CPU 40 or the like according to the program stored in the operation program storage means 60. That is, the control means 54 detects the target search object (search target object) by performing image processing by matching the captured image acquired by the image pickup means 46 with the image data of the search object stored in the search information storage means 62. The search means 80 is provided. Further, the search means 80 detects that the carrying detection means 82 that detects the person carrying the search object stored in the search information storage means 62 and that the person has stopped carrying the search target, and detects that the person has stopped carrying the search target. It has a carrying stop position detecting means 84 for acquiring a carrying stop position. Further, the control means 54 has a person recognition means 90 for detecting the presence of a person, and the person recognition means 90 further has a personal identification means 92 for identifying and identifying an individual. The presence of a person can be detected by detecting infrared rays or the like, but preferably, the image captured by the imaging means 46 is statically matched with the image data of the person stored in advance. The presence of a person is detected by performing the above or by performing a dynamic matching process with the characteristics of the movement of the person. In addition, individual identification can be performed, for example, by performing matching processing on the image captured by the imaging means 46 with the image data of each individual stored in advance.

Furthermore, the control means 54 of the present embodiment includes a human tracking control means 94. When the presence of a person is detected by the person recognition means 90 and the carrying detection means 82 detects that the person is carrying a search target registered in advance, the person tracking control means 94 is used. By controlling the operation of the moving means 44 so as to keep the person captured in the image by the imaging means, the control of following the person and moving is executed.

Further, the control means 54 of the present embodiment has a patrol movement control means 96. The patrol movement control means 96 controls the patrol movement control means 44 when a preset time is reached, a preset time has elapsed, or a signal for instructing patrol is input from the outside. Therefore, the search robot 10 is moved around a predetermined area in the house. Further, in such a patrol movement, the search means 80 can continuously execute the search of the search target registered in advance. When a search target is detected during the patrol, the search target, its position information, and time data can be input to the search result storage means 66 and stored.

Hereinafter, a more specific operation example of the search object in the search object robot 10 of the present embodiment will be described with reference to the flowchart.

In order to perform the search operation of the searched object, first, the search information for identifying the search target is stored in the search information storage means 62. FIG. 4 shows an example of such a storage processing operation 100. The search target may be any one that can be identified from the outside, and in addition to various remote control devices 102 (A) and glasses 104 (B) such as a television illustrated in FIG. 5, a wristwatch, a mobile terminal, and the like. Key chains with keys, hearing aids, necklaces, rings, etc. can all be targeted. Then, at least one search object is stored, and a plurality of types of search objects can be distinguished by, for example, a name and stored in the search information storage means 62.

In FIG. 4, when the process of registering the search object is started in step S01 by inputting a command signal for starting processing by, for example, operating a button from the outside, the imaging camera (imaging means 46) moves in step S02. Start operation. Then, in step S03, the name of the search target is input. The input of such a name can be input by voice through the microphone means 50, or the monitor means 52 may be used for character input as a touch screen.

When the name is input, in step S04 that follows, the search object held in front of the image pickup camera is detected by the image pickup camera and image data is acquired.

Before or after the acquisition of the image data, it is determined in step S05 whether or not the name of the search object input in step S03 is already stored in the search information storage means 62. If it is a new search target that has not been registered, it is determined as NO in step S05, and in the following step S06, the data of the captured image of the search target is associated with the input name. It is registered in the search information storage means 62 and added to the stored information.

On the other hand, in the case of a registered search object having the same name stored in the search information storage means 62, YES is determined in step S05, and in the following step S07, the search object having the name is related. It is determined whether or not to process as additional data of the captured image. Then, when the addition of the captured image is selected in step S07 by inputting an instruction from an external voice or a touch panel, the process proceeds to step S06, and the data of the captured image of the search target is the name already registered. It is associated and registered in the search information storage means 62 as the second and subsequent additional storage information.

Then, after registering the captured image data in the search information storage means 62 in step S06, and when it is determined in step S07 that the captured image is not registered as an additional image with the registered name, the process proceeds to step S08. , It is determined whether or not to end the registration process of the search target. Then, when the end of the registration process is selected by inputting an instruction from an external voice or a touch panel, the memory processing operation 100 is terminated. On the other hand, if the registration process is not completed, the process returns to step S03 and the processes of steps S03 to S08 are repeated to register an image of a new search target with an unregistered name or to register an image of an already registered name. The additional process of the image of the search target is executed.

According to the additional processing of the image of the search target with the registered name, for example, it is shown in (A-1) and (A-2) and (B-1) and (B-2) in FIG. As described above, a plurality of captured images captured from different viewpoints can be registered for the remote controller device 102 (A) and the glasses 104 (B). As a result, it is possible to improve the accuracy of searching the search target by image processing by pattern matching.

When the image data as the search information of the search target is registered in the search information storage means 62 in this way, the search target can be searched by the pattern matching process using the image data. For example, FIG. 6 shows an example of a search processing operation 110 that constitutes a real-time search means 80 based on image data acquired by the image pickup means 46.

As shown in FIG. 6, when the search command signal for starting the search process is input, for example, by voice input from the outside, touch panel, button operation, etc., under the operating state of the search object robot 10 in step M01, the search target The object search process is started in step M02, and the imaging camera (imaging means 46) starts operating in step M03. Then, when the data of the image captured by the imaging camera is acquired in step M04, the image data is stored in the temporary storage buffer in step M05. In addition, in order to continuously process the continuously acquired captured image data at high speed, it is desirable to use the memory provided in the CPU or MPU as the buffer.

In the following step M06, by matching processing between the image data as the captured image information of the captured image stored in the buffer and the image data as the search image information stored in the search information storage means 62 as the search information of the search target. , The search process for the presence or absence of the search target in the captured image is executed.

If the search target is not found in the captured image as a result of the search process, it is determined that there is no matching image (NO) in the next step M07, and in step M08, the search robot 10 is operated by the moving means 44. After a certain amount of walking movement is performed, the steps M04 to M07 are repeatedly executed. If the hunting robot 10 can perform the operation of swinging its head to the left and right, the swinging motion may be adopted instead of or in addition to the walking movement in step M08, and the environment is changed so that different captured images can be acquired. Just do it.

On the other hand, if a search target is found in the captured image as a result of the search process, it is determined that there is a matching image (YES), and in step M09, the captured image stored in the buffer is associated with the time data and the search result storage means. Store in 66. In the present embodiment, the captured image itself acquired by the search means 80 is the captured image information captured by the image pickup means 46 from a specific direction at a specific place, and it is determined that the search target exists there. Therefore, the captured image itself includes the position information of the search target object.

Further, the captured image including the search object is stored in the search result storage means 66, and is displayed on the monitor means 52 in step M10 so that it can be visually recognized from the outside. As a result, the user of the search object robot 10 can recognize the location of the search object by looking at the image of the monitor means 52, and can efficiently search for the search object by intensively searching for the display location. Becomes possible. In this way, the real-time search process operation 110 is executed and ends.

The search operation of the search object robot 10 is executed while moving in real time as described above, and the image data of the search object that is the target of the search object is stored in the search information storage means 62. It is also possible to store the result of performing the matching process with the captured image by appropriately walking and moving in the search result storage means 66. By skillfully using such information on the preliminary search results, it is possible to promptly notify the preliminary search results, for example, when a specific search target is specified and an instruction for the search object is received. Become. In addition, in the real-time search process for a searched object as described above, when the searched object cannot be detected, the result detected by the prior search operation is notified, so that the searched object exists at a stage close to the present. You can also let the user know where you were doing and give them a chance to remind you. As a result, for example, even when a newspaper or the like is placed on top of a search object, it is possible to give the user search information about the search object covered with newspaper from the detection result of the search operation in advance. ..

An example of such a preliminary search operation is shown in FIG. The search process for the searched object using the search operation by the patrol movement shown in FIG. 7 is performed when the image data acquisition process operation 120 for accumulating and storing the captured image by the prior patrol operation and a specific command for the searched object are received. It is composed of two processing operations, that is, a search processing operation 122 that performs a search process using the image data accumulated in advance and notifies the search result.

That is, as shown in FIG. 7 (I), when the acquisition of the captured image by patrol is executed in step N01, first, in step N02, for example, when a preset time is reached, the image is automatically acquired. When the command signal for the patrol movement search is issued, or when the command signal for the patrol movement search is issued in a timely manner by inputting from an external voice or a touch panel, in the following step N03, the housing by walking movement by the operation of the moving means 44 At the same time as the patrol operation in the predetermined area is started, the acquisition of the image data by the image pickup camera (imaging means 46) is started.

Then, the image data acquired by the image pickup camera is sequentially stored and accumulated in the captured image information storage means 64. The number of image data stored in the captured image information storage means 64 can be appropriately adjusted by acquiring the image data at predetermined distance intervals or at predetermined time intervals during walking movement. Further, the storage of the image data may be adjusted by erasing the stored image data of the captured image information storage means 64 with the lapse of a predetermined time or by overwriting the stored image data when the predetermined capacity is reached.

After the storage process of the image data in the captured image information storage means 64 as described above is executed in step N04, in the next step N05, whether or not the operation of accumulating and storing the captured image by the patrol movement is timed out and completed. After being determined and operating for a predetermined time, the processes of steps N02 to N05 are repeated to store a large number of image data in the captured image information storage means 64, and then the acquisition of the captured image by patrol is completed. It should be noted that the end of the processing operation may be terminated not only by the passage of a predetermined time but also by walking movement of a predetermined distance.

After the image data acquisition process operation 120 is executed at least once, the search process operation 122 is executed. The image data acquisition processing operation 120 may be repeatedly executed after a predetermined time even if the search processing operation 122 is not executed, and the image data may be stored in the captured image information storage means 64 for each execution.

As shown in FIG. 7 (II), the search process operation 122 uses, for example, an external voice or a touch panel in step P02 when the search process for the searched object based on the captured image data stored in step P01 is executed. Upon input, the search process for the searched object is started when the search command signal that specifically specifies the search target is input.

First, in step P03, the data of one captured image is read from the captured image information storage means 64 and stored in the buffer.

In the following step P04, the image data of the captured image stored in the buffer and the image data of the search object having a specific name specified by the search command signal among the image data stored in the search information storage means 62. By the matching process, the search process for the presence or absence of the search target object in the captured image is executed.

If a search target is found in the captured image as a result of the search process, it is determined in the next step P05 that there is a matching image (YES), and in step P06, the captured image stored in the buffer is associated with the time data. The captured image including the search object is stored in the search result storage means 66, and is displayed on the monitor means 52 so as to be visible from the outside in step P07, and then the search processing operation 122 is terminated. As a result, the user of the search object robot 10 can recognize the location of the search object by looking at the image of the monitor means 52.

On the other hand, if the search target is not found in the captured image as a result of the search process in step P04, it is determined in step P05 that there is no matching image (NO), and the process proceeds to step P08. In step P08, it is determined whether or not matching with the image data of all the captured images stored in the captured image information storage means 64 is completed, and the image data that has not yet been matched is the captured image information storage means. If it remains in 64, the process proceeds to step P09 to acquire the next image data from the captured image information storage means 64, and replace the image data stored in the buffer with the next image data. Then, the matching process according to steps P03 to P05 is repeatedly executed.

Then, when the search target is not searched for any image data in the repeated step P05 and it is determined in step P08 that the matching process for all the captured image data is completed, the search target is powerful information for finding the search target. Is not obtained, and the search processing operation 122 is terminated.

In this way, by executing the search process of the search target using the image information acquired in advance and stored in the captured image information storage means 64, when a specific search object command is received, The search object robot 10 can give information about the location of the search object by mere image processing without moving to search around, and the auxiliary operation of the search object can be quickly executed.

By the way, as a mode of the search process using the captured image acquired in advance, in addition to the above-described processing mode illustrated in FIG. 7, for example, the processing mode exemplified in FIG. 8 can be adopted.

The search process for the searched object using the search operation by the patrol movement shown in FIG. 8 is accumulated in advance when the pre-search process operation 130 based on the captured image by the prior patrol operation and the specific search object command are received. It is composed of two processing operations, that is, a search notification processing operation 132 that notifies the search result by using the preliminary search result.

That is, as shown in FIG. 8 (I), when the acquisition of the search result information by patrol is executed in step Q01, first, in step Q02, for example, when the preset time is reached, the search result information is automatically acquired. When the command signal for the patrol movement search is issued, or when the command signal for the patrol movement search is issued in a timely manner by inputting from an external voice or a touch panel, in the following step Q03, the walking movement by the operation of the moving means 44 is performed. The patrol operation in a predetermined area in the house is started, and the acquisition of image data by the image pickup camera (imaging means 46) is started.

Then, when the image data is acquired by the imaging camera, the image data is stored in the temporary storage buffer in step Q04. In the following step Q05, the presence or absence of the search target object in the captured image is performed by the matching process of the image data of the captured image stored in the buffer and the image data stored as the search information of the search target object in the search information storage means 62. Search process is executed.

If a search target is found in the captured image as a result of the search process, it is determined in step Q06 that there is a matching image (YES), and in step Q07, the captured image stored in the buffer is associated with the time data and the search result is obtained. It is stored in the storage means 66. The captured image is also associated with the target search target object, and is stored in the search result storage means 66 together with, for example, the name of the search target object. Then, the process proceeds to step Q08.

On the other hand, if the search target is not found in the captured image, it is determined in step Q06 that there is no matching image (NO), and the process proceeds to step Q08 without going through step Q07.

In step Q08, it is determined whether or not the execution of the search process is completed for all of the plurality of types of search objects (for example, glasses and the TV remote controller) stored in the search information storage means 62. Then, if there is a search target that has not been searched yet, in step Q09, the image data of the search target to be matched is transferred to that of the next search target, and then the search in steps Q05 to Q08 is performed. Repeat the execution of the process.

If it is determined in step Q08 that the search process has been executed for all types of search objects, the process proceeds to step Q10, and it is determined whether or not the imaging and search operations by the patrol movement have been completed due to time-up or the like. Before the time is up, the search target object using a large number of image data that are sequentially imaged and acquired by repeating the processes of steps Q04 to Q10 while acquiring the captured image while walking and moving by the patrol operation. The search processing operation is performed, and the process of storing and storing the search result information in the search result storage means 66 is continuously executed until the time is up.

After such a pre-search processing operation 130 is executed at least once, the search notification processing operation 132 is executed. The pre-search processing operation 130 may be repeatedly executed after a predetermined time even if the search notification processing operation 132 is not executed, and the search result may be stored in the search result storage means 64 for each execution.

As shown in FIG. 8 (II), when the search processing for the searched object by the captured image data stored in step R01 is executed, in step R02, for example, an external voice, a touch panel, or the like is executed. With the input of the search command signal that specifically identifies the search target, the notification processing of the search result of the search object is started.

That is, in step R03, the matched captured image is selected and extracted from the stored information of the search result storage means 66 for the designated search target.

Then, in step R04, the existence or nonexistence of the matched captured image is determined, and if there is a matched captured image, the process proceeds to step R05 to monitor the matched captured image together with the time data associated therewith. Display on 52 and finish. If the matched captured image is not found, the process ends without going through step R05. At the end of this, the monitoring means 52 may indicate that the matched captured image was not found.

In such a search processing operation shown in FIG. 8, since the processing up to the search operation of each search target can be completed in advance using the captured image, the search is performed after the search command signal specifically specifying the search object is input. The search notification processing operation 132 until the result is notified can be further simplified and executed more quickly than the search processing operation shown in FIG. 7 described above.

An intermediate search processing operation between the search processing operation shown in FIG. 7 and the search processing operation shown in FIG. 8 can also be adopted. That is, after performing the image data acquisition processing operation 120 shown in FIG. 7 (I) and storing and accumulating a large number of captured images in the captured image information storage means 64, the image data stored in the captured image information storage means 64 is targeted. As a result, the search processing as in steps Q04 to Q08 of FIG. 8 (I) is sequentially executed for each image data, and the information of the matched captured image obtained by the search processing is stored in the search result storage means 66. Let me do it. Then, when a search command signal specifically specifying the searched object is input, the search is performed by executing the process shown in FIG. 8 (II) using the stored information of the search result storage means 66. Is possible. According to such a search processing operation, it is not necessary to perform matching processing between the captured images sequentially acquired and the image information of the search target object while walking and moving, and after the acquisition of the captured images while walking and moving. Since it is possible to perform a search operation by matching images of image data using stored images, it is possible to distribute the load on the CPU and search for many captured images even if it is not a high-performance CPU. It becomes possible to execute the process.

Further, the search object robot 10 of the present embodiment includes a human recognition means 90 and a human follow-up control means 94, and by using them, the detection information of the search target object can be acquired and stored more efficiently. It will also be possible to keep it. An example of a process of efficiently searching for a search target by recognizing a person carrying the search target is shown in FIGS. 9 to 10.

That is, in FIG. 9, when the carrying search processing operation 140 of a person is executed in step T01, first, in step T02, the presence or absence of a person is determined. Then, when the existence of a person is confirmed, the process proceeds to step T03, and acquisition of image data by the image pickup camera (imaging means 46) is started.

The presence or absence of a person can be determined, for example, by the presence or absence of an audio signal acquired by the microphone means 50, the presence or absence of movement of infrared rays by a separate infrared light receiving element, and the like. In addition, for example, it is also possible to determine the presence or absence of a person in the image by the person recognition means 90 for the captured image acquired by the image pickup means 46. When recognizing the presence or absence of a person from the captured image, step T03 is executed prior to step T02 so that imaging by the imaging camera is started.

Then, when the image data is acquired from the imaging camera in step T04, the process proceeds to step T05, and the image data is stored in the temporary storage buffer. In the following step T06, the image data of the captured image stored in the buffer and the image data stored as the search information of the search target in the search information storage means 62 are matched, so that the search target is displayed in the captured image. , Whether or not it is carried by an image-recognized person is determined by image processing. Such a determination can be made, for example, by the relative positional relationship between the image-recognized "person" and the "search object".

As a result of such determination, if the person carrying the search target is not recognized, the person carrying the search target is constantly confirmed by proceeding from step T07 to NO and repeatedly executing steps T02 to T07. Continue the process.

On the other hand, as a result of such determination, for example, as shown in FIG. 10, it is recognized that the remote control device 102, which is one of the search objects, is held by a human hand, or is one of the items to be carried. If it is determined that the search object is carried by the person 142 by recognizing that the spectacles 104 are worn on the face of the person, the process proceeds from step T07 to YES. In this way, the carrying detection means 82 is configured. In step T08, the search object robot 10 is movement-controlled as the person-following control means 94 so as to follow the movement of the person 142.

It should be noted that the tracking operation of the person in the search object robot 10 is such that the presence of the target person is maintained in the imaging screen acquired by the imaging means 46 by, for example, the human tracking control means 94. It can be executed by controlling the operation of the moving means 44 according to the moving direction within.

Further, a continuous imaging operation is executed together with the follow-up operation of the person, and in parallel with this, in step T09, it is continuously determined whether or not the person 142 of the search target objects 102 and 104 continues to carry. Is judged.

Then, in step T09, if it is determined that the person 142 has released or removed the search objects 102 and 104 and the carrying by the person has been stopped, the process proceeds to step T10, and the imaging means at that time. The data of the captured image captured and acquired by the 46 is acquired, the data is associated with the time data, and the data is stored in the search result storage means 66. In this way, the carrying stop position detecting means 84 is configured.

The data of the captured image when the suspension of carrying by a person is detected in this way is displayed on the monitoring means 52 when the search command signal for designating the search of the corresponding search objects 102 and 104 is input. To be done. This makes it possible to remind the user of the location and date and time when the search target objects 102 and 104 are placed close to each other, and to give a powerful clue to search for the search target objects 102 and 104.

In particular, since the position of the search object changes depending on the carrying of the person, the location of the search target can be determined by focusing on the person carrying the search target with the person recognition means 90, the person tracking control means 94, or the like. It becomes possible to detect efficiently and store the information for the search.

In addition, in the person recognition means 90, it is also possible to employ the personal identification means 92 for identifying and identifying an individual. The personal identification means 92 can be realized by image processing for identifying an individual, for example, from the appearance characteristics of a person. An individual is identified, and the movement of the search target object carried by a person such as the carrying detection means 82 or the carrying stop position detecting means 84 described above is detected and stored, and the information for identifying the individual as personal identification information is also timed. By storing it in association with the data and notifying it as a search result, it is possible to more easily remind a specific person that the search target has been moved. In this way, the carrier memory means 68 is configured.

By the way, in the search object robot 10 of the present invention, it is possible to further adopt an additional configuration with respect to the configuration as described above. For example, by equipping a GPS (Global Positioning System) receiver, the position coordinates are absolutely acquired, and the position coordinates are used to control the moving means 44 or search results of the search target. It is also possible to more specifically notify the position information as.

Further, as illustrated in FIG. 11, in the house 150, a fixed imaging means 152 such as a camera fixedly installed on a ceiling, a wall, or the like may be additionally provided. In particular, the data of the image captured by the fixed image pickup means 152 installed at a high place is adopted together with the image pickup means 46 equipped on the search object robot 10, and the search process of the search target is executed using the obtained captured image. By doing so, it is possible to reduce the blind spot in the captured image and improve the detection efficiency of the searched object. It is also possible to use a plurality of hunting robots 10 at the same time in the same area in the house or in different divided areas. In that case, the information in the plurality of hunting robots 10 can be wirelessly transmitted. It is also possible to share by sending and receiving, or to share the load of the search operation operation.

Further, as shown in FIG. 11, by equipping a plurality of places in the house with reference position transmitting means 154 that emits a specific electromagnetic wave or the like and equipping the search robot 10 with receiving means 156, a plurality of receiving means 156 are provided. It is also possible to make it possible to specify the specific position of the search object robot 10 by the relative positional relationship from the reference position transmitting means 154. If the position specifying means as such a position detecting means is adopted, it is possible to more efficiently control the movement of the search object robot 10. In addition, it is possible to more accurately notify the position information of the search target object detected with the search object robot 10 as a reference. Since it is difficult to secure a sufficiently stable condition of received radio waves in a house, particularly in a house such as reinforced concrete, the above-mentioned GPS may be advantageous in position control by a position specifying means as shown in FIG.

Further, in the above-described embodiment, the search process based on the image data has been adopted, but instead of or in addition, the search process based on the ID tag can be adopted. For example, as illustrated in FIG. 12, an ID tag 160 as a identifiable wireless ID tag is attached to each of the search target objects 102, while the search object robot 10 wirelessly communicates with the ID tag 160. The ID tag detecting means 162 for performing the above is equipped. Then, the search object robot 10 searches for the detection information of the ID tag 160 detected by the ID tag detection means 162 by using the association information stored in advance in the ID tag information storage means 164, thereby performing a target search. It is possible to detect the existence and position of an object. When searching for the ID tag 160 using wireless such as Bluetooth (registered trademark), the search robot 10 moves even if the detection area is narrow due to poor visibility of the ID tag 160. Is possible. In addition, whether or not the ID tag 160 can be detected is confirmed at a plurality of positions of the search object robot 10, and changes in the detection status of the ID tag 160 due to the movement of the search object robot 10 in a specific direction are detected, and the information is integrated. It is also possible to narrow down the position of the ID tag 160 by executing the arithmetic processing to be considered.

Further, the search result detected in this way is stored in the search result storage means 66 together with the type and position of the search target object specified by the ID tag 160, the time data, and the like, as described above. Similar to the embodiment, when a search command signal for a search object that specifies a specific search object is input, the position information of the corresponding search object is obtained by using the stored information of the search result storage means 66. It becomes possible to notify. By using the ID tag, it is possible to search for a search object covered with newspapers, for example. Further, in the present invention, it is also possible to adopt an ID tag provided with a GPS receiving unit, whereby, for example, based on the position information acquired by the GPS unit, the active ID tag is wirelessly provided with the ID information. It is also possible to transmit the signal as a signal to the reader included in the search robot 10.

Furthermore, as illustrated in FIG. 2, the search object robot 10 can be equipped with the wireless transmission / reception means 170. According to the wireless transmission / reception means 170, for example, the search result can be displayed on an external television receiver instead of the monitor means 52, and the search result can be displayed in place of or in addition to the built-in storage means 42. It is also possible to adopt a larger capacity storage means fixedly installed in the. By adopting such a wireless transmission / reception means 170, the data of the image captured by the fixed imaging means 152 described above is appropriately transmitted to the search object robot 10, and the data acquired by the image pickup means 46 of the search object robot 10 is used. It also becomes easy to process at the same time.

Further, as illustrated in FIG. 2, the search object robot 10 can be equipped with a distance detecting means 172 using a laser or the like. According to the distance detecting means 172, for example, the distance to the image-recognized search object is measured by the distance detecting means 172, and the distance as the measurement result is notified to the outside, so that the user can search for the object more efficiently. It becomes possible to assist.

In addition, the search robot 10 can appropriately adopt a walking means using four or two legs, a moving means using rotary tires, a crawler type moving means, and the like. Various means of transportation can be appropriately adopted in consideration of the environment in which the search object robot 10 moves, for example, in consideration of the presence / absence of steps, the presence / absence of stairs, the degree of obstacles, and the like.

Further, the control means including the imaging means and the operation program adopted in the present invention is not particularly limited, and general-purpose ones can also be adopted at a practical level. By the way, it is already commercially available, for example, that a processing system having a camera size that can be equipped on the search object robot 10 and having a high-speed execution function of image data pattern matching processing can be realized even with the current technology. It can be understood by considering the "Insight Micro 8000 Series" (In-Image Micro 8400, etc.), which is the trade name of Cognex Corporation.

Furthermore, matching processing in the field of artificial intelligence using deep learning processing techniques, which have been put into practical use in recent years in the field of image processing, for example, image recognition processing by learning global features and local features, should be adopted. This makes it possible to realize a more accurate detection operation of the search target object.
Further, in the present invention, when inputting and receiving various command signals from the outside, a touch switch or the like is used, and the voice input from the microphone means 50 is processed by the CPU 40 using a known language recognition software or the like. It is also possible to recognize the external input by voice. As described above, in the present invention, the command receiving means and the voice recognition means can be configured and used including the microphone means 50, the CPU 40 operated by the voice recognition software, and the like.

Further, the specific search process is not limited to the above-described embodiment, and various search processes can be adopted. For example, when performing a search operation by matching image data using stored images, comparison processing of images captured from substantially the same position at different dates and times is performed to extract only different pixels. So, for example, the image information of objects placed in a fixed position such as beds, sofas, and TVs is excluded, and there is a high possibility that they will be targeted for search objects such as moved remote controls and newly placed glasses. It is also possible to make them recognize efficiently. Then, it is possible to present the search information of the searched object only by externally displaying the changed portion between the captured images acquired at different times as an image to the user, and further, the image from the changed portion. It is also possible to confirm the existence of a specific search object (search target object) by the matching process of.

Further, in the present invention, it is possible to provide a service to the user regarding the search object robot 10 with a membership system, whereby it is possible to provide further enhanced convenience in addition to continuous maintenance and management. Specifically, it is possible to provide services that provide software and hardware inspections and repairs on a regular basis or as needed with a membership system.

Specifically, for example, for the search robot 10 that has been used for a long time, in addition to the service of exchanging a part of the hardware so as to be a suitable means of transportation in response to moving or rebuilding a house, during the period of use. It is also possible to provide a service that replaces part or all of the hardware so that it grows and grows in size accordingly. In addition, for the hunting robot 10 that has been used, the processing speed can be improved by replacing hardware such as the control system CPU while maintaining the appearance, or the software can be changed to add necessary functions as appropriate. Alternatively, by deleting it, it is possible to realize the originalization each time in response to changes in the environment and the like.

Alternatively, the membership system makes it possible to use the provision of storage means by a cloud system or the like, and for example, it is possible to always connect to a server system or the like on the Internet via the wireless transmission / reception means 170 described above. As a result, for example, the captured image obtained by the moving search robot 10 can be continuously stored in an external storage means for a relatively long period of time such as one week or one month, and is external. It is also possible to appropriately detect the searched object by appropriately using the image data stored in the storage means of the above.

As a membership-based management system, it is possible to provide a service for each user of the search robot 10 by simply registering as a member, including information such as a name and address that can identify an individual, but it is regular or temporary. The service may be provided on condition that the membership fee is paid. The membership fee payment and service provision management system is, for example, a membership system for providing contact lenses presented by the applicant in Japanese Patent Application Laid-Open No. 2010-205294, and requires regular payment of membership fees. It is also possible to use a management system that provides membership services.

In addition, although not listed one by one, the present invention can be implemented in a mode in which various changes, modifications, improvements, etc. are added based on the knowledge of those skilled in the art, and such an embodiment is the present invention. Needless to say, all of them are included in the scope of the present invention as long as they do not deviate from the gist of the present invention.
In addition, the present invention originally includes all of the inventions described in the following (i) to (xv), and the configuration and action / effect thereof will be added.
The present invention
(I) A transportation means that enables movement in a house, a search information storage means that stores search information that identifies a search target, and a search target that is searched for based on the search information, and the search target is searched for. Acquired by the search means by the search means for acquiring the position information of the search object, the command receiving means for receiving the search command signal for instructing the search operation of the search object, and the search command signal received by the command receiving means. A search object robot, which includes a search result notification means for notifying the position information of the search target to the outside.
(Ii) The search information of the search target is used as search image information, and
The search object robot according to (i), wherein the search means is provided with an image pickup means, and the search object is searched for in the search means based on a matching process based on the search image information for an image captured by the image pickup means.
(Iii) The search object robot according to (ii), wherein the position information of the search target object in the search means is the captured image information acquired by the image pickup means.
(Iv) The search object according to any one of (i) to (iii), which has a search result storage means for storing the position information of the search target object obtained by the search means in association with time data. robot,
(V) It has a patrol movement control means for operating and controlling the moving means so as to patrol the inside of the house at regular or irregular time intervals.
During the patrol by the patrol movement control means, the search target is searched based on the search information stored in the search information storage means, the position information of the search target is acquired, and the acquired search target is acquired. The search robot according to (iv), which associates the position information of the robot with the time data and stores it in the search result storage means.
(Vi) A carrying detection means for detecting that a person detected by the person recognition means is carrying the search object, and the person, as well as a person recognition means for recognizing a person. (I) to (v) include carrying stop position detecting means for acquiring the position information of the search target when it is detected by the carrying detecting means that has stopped carrying the search target. The search robot described in any one of the items,
(Vi) The search object according to (vi), which has a person tracking control means for operating and controlling the moving means so as to follow the person carrying the search object, which is detected by the carrying detection means. robot,
(Viii) A person whose personal identification means includes an individual identification means for identifying and identifying an individual, and at least one of the carrying detection means and the carrying stop position detecting means carries the search object. Alternatively, the search robot according to (vi) or (vi), which includes a carrier storage means for storing personal identification information identified by the personal identification means for a person who has stopped carrying the person in association with time data.
(Ix) The search information of the search target is a wireless ID tag, and the search means includes ID tag detecting means for wirelessly communicating with the wireless ID tag (i) to (viii). ), The search robot described in any one of the items,
(X) The search robot according to any one of (i) to (ix), wherein the command receiving means includes a voice recognition means.
(Xi) The search robot according to any one of (i) to (x), wherein the search result notification means includes a monitor means.
(Xii) The search information of the search target is used as search image information, and has a fixed imaging means fixedly installed in the house. In the search means, the fixed imaging means is used. The search robot according to any one of (i) to (xi), which searches the captured image for the search target based on the matching process based on the search image information.
(Xiii) The search robot according to any one of (i) to (xii), comprising a distance detecting means for measuring the distance to the search target.
(Xiv) The search robot according to any one of (i) to (xiii), which comprises a position detecting means for detecting a position in the house.
(Xv) The search robot according to any one of (i) to (xiv), which has a pseudo-appearance of a living thing.
Including inventions related to.
In the invention described in (i) above, the search means (C) is provided, and the moving means (A) is used to move in the house. Therefore, for example, even if the person searching for the object does not walk around the house with the search means, the search object robot itself equipped with the search means can move in the house and search for the search target. As a result, even if the distance range in which the search target can be searched from the position of the search means is limited, the search means itself moves in the house as the search object robot moves, so that the person searching for the object bothered. You can easily search for what you are looking for in a wide range without having to walk.
In the invention described in (ii) above, a search target can be searched by a matching process as an image process. Therefore, since it is not necessary to attach an ID tag or the like to the search target in advance, an object for which it is difficult to attach an ID tag, such as eyeglasses, can also be a search target. In addition, since it is not necessary to attach an ID tag or the like to each search target, even when the number of search targets is increased, it is possible to avoid the additional equipment and the cost burden associated with it, and it is possible to avoid the burden of costs associated with the addition of multiple search targets. It also becomes easy to set.
In the invention described in (iii) above, it is possible to efficiently present the position information of the search target object, which is the position where the search object exists, to the person who is searching for the search object. In other words, since the target area of the search object is inside a house that the person searching for is familiar with, by presenting the captured image information captured in a specific direction, the person who sees it points out in the image. It is possible to easily recognize the location, go to the location, and efficiently search for the search target within the limited location. Further, by presenting the position information of the search target object by the captured image information in this way, it is possible to specify and indicate the position of the search target object without using the GPS positioning system.
In the invention described in the above (iv), the search result of the search object stored in the search result storage means (G) is presented, for example, when the command receiving means (D) receives a command to operate the search. , It is also possible to immediately present the immediately preceding search result. Further, even if the search target is not found as a result of the search by the search means (C), the position information of the search target that can be confirmed most recently is obtained from the stored information of the search result storage means (G). By presenting it together with the detection time information, it is possible to help to recall the position of the search target after that from the past information. Furthermore, when searching for a search object based on the image matching process in the aspect (ii), the search becomes difficult in a situation where the object is placed on the search object and cannot be seen. In the search object robot, the captured image acquired in the situation before the object is placed on the object is stored in association with the time data, and when the search operation command is received, the captured image is presented together with the time data. This also makes it possible to help the search by suggesting that the search target may exist under the placed object.
In the invention described in the above (v), even in a situation where it is not necessary to search for a lost object, the patrol movement control means (H) patrols and stores the position information of the search target object in the search result storage means (G). Can be left. Therefore, for example, when a command for a search operation is received by the command receiving means (D), the search result at the nearest time can be immediately presented.
In the invention described in the above (vi), the position and position change of the search target object can be further changed by utilizing the fact that the cause of the change in the position of the search target object is due to carrying by a person in many cases. It becomes possible to efficiently detect and store the obtained position information as needed.
In the invention described in the above (vii), the position information after the movement of the search target by a person is searched by following the person carrying the search target, so that the search target can be searched more efficiently and with high certainty. It can be obtained by means (C).
In the invention described in the above (viii), it is also possible to present personally identifiable information as to who carried the search object and moved the place. Therefore, for example, when a command for a search operation is received by the command receiving means (D), information on who moved the search object at the nearest time is presented, and the relevant person concerned. By recalling the memory, it becomes possible to assist in finding lost items.
In the invention described in (ix) above, it is possible to improve the efficiency and certainty of the search by searching for the search target using the wireless ID tag. In particular, the searchable range of the wireless ID tag is relatively narrow, but since the search robot equipped with the moving means (A) moves in the house, the search range using the wireless ID tag can be substantially secured. .. Further, the wireless ID tag generally detects the existence in the area, but the existence or nonexistence of the wireless ID tag can be detected from a plurality of positions by moving the search robot equipped with the moving means (A). By mutually processing the detection information, it is possible to acquire more specific position information about the detection target. The wireless ID tag can also be used in the search means (C) in combination with, for example, the image pickup means (F).
According to the invention described in (x) above, the operator can give a voice instruction to search and perform an auxiliary operation of the search object without directly touching the search object robot, which facilitates use.
In the invention described in (xi) above, the monitoring means (Q) enables a person to easily recognize the prosecution result. Specifically, for example, as a search result, the captured image of the area where the search target exists is displayed on the monitor means (Q), or the characters representing the area where the search target exists are displayed on the monitor means (Q). By making it possible, the search result can be recognized more efficiently.
In the invention described in the above (xii), when a search is performed using image information, the number of imaging points is increased by the fixed imaging means (R) with respect to the imaging means (F) that is equipped and moved on the search object robot. Or, by enabling imaging from different imaging positions, it is possible to improve search efficiency and the like. Specifically, for example, by providing a fixed imaging means (R) that images images from the ceiling of a room in a house, it is possible to reduce blind spots.
In the invention described in the above (xiii), by notifying the value detected by the distance detecting means (S) to the outside, the position of the searched object can be more accurately specified and searched more efficiently. It becomes possible to assist.
In the invention described in the above (xiv), since the hunting robot can specify its own position, for example, the hunting robot moving by the moving means (A) moves so as to be more efficient. It is also possible to control the movement and control the movement so that there is no area that cannot be moved. Further, for example, the search result notification means (E) can notify the outside of a specific room name, coordinate position, etc. as position information in which the search target exists.
In the invention described in the above (xv), the search robot according to the present aspect becomes familiar in appearance and is less likely to give a sense of discomfort even when moving in a house. In particular, it can be a pet-type robot, and even when it is difficult to raise a pet as a living thing, it is possible to provide an environment similar to that of a pet. In addition, by providing pet-type robots, it will contribute to the reduction of problems such as animal cruelty, which is a problem in the pet industry.

10: Searching robot, 40: Central arithmetic processing device (CPU), 42: Storage means, 44: Moving means, 45: External additional device, 46: Imaging means, 48: Sounding means, 50: Microphone means (command receiving means, Voice recognition means), 52: Monitor means (search result notification means), 54: Control means, 60: Operation program storage means, 62: Search information storage means, 64: Captured image information storage means, 66: Search result storage means, 68: Carryer memory means, 80: Search means (carrying detection means, carrying stop position detecting means, ID tag detecting means), 82: Carrying detection means (carrying person memory means), 84: Carrying stop position detecting means (carrying person) (Memory means), 90: Person recognition means (person identification means), 92: Personal identification means, 94: Person follow-up control means, 96: Patrol movement control means, 102, 104: Search target, 142: Person, 150: Housing , 152: Fixed imaging means, 154: Reference position transmitting means (position detecting means), 156: Receiving means (position detecting means), 160: ID tag (wireless ID tag), 162: ID tag detecting means, 172: Distance detecting means means

Claims (16)

A means of transportation that makes it possible to move inside the house,
A search information storage means for storing search information that identifies a search target by a user's registration process of the search target,
A search means for searching the search target based on the search information and acquiring the position information of the search target.
, And
The search information of the search target is regarded as search image information, and the search information is used as search image information.
Equipped with imaging means
In the search means, the search target is searched for the image captured by the image pickup means based on the matching process based on the search image information, and at the same time.
While the search result storage means for storing the position information of the search target obtained by the search means is provided.
A command receiving means for receiving a search command signal input from the outside by the user to the search-and was
It is characterized by having a search result notification means for notifying the position information of the search target stored in the search result storage means to the outside by the search command signal received by the command receiving means. Searching robot. Sagashimono robot according to claim 1 which has the search result storage means for storing in association with the positional information time data obtained the search object by the previous SL retrieval means. It has a patrol movement control means that controls the operation of the moving means so as to patrol the house at regular or irregular time intervals, and also has a patrol movement control means.
During the patrol by the patrol movement control means, the search target is searched based on the search information stored in the search information storage means, the position information of the search target is acquired, and the acquired search target is acquired. The search object robot according to claim 2, wherein the position information of the robot is associated with time data and stored in the search result storage means. The search object robot according to any one of claims 1 to 3, wherein the position information of the search target object in the search means is the captured image information acquired by the image pickup means. Has installed a fixed imaging means fixedly before Symbol the house,
Wherein the search unit, Sagashimono robot according to any one of claim 1 to 4 for searching the search object based on images taken by the fixed imaging means to the matching processing by the search image data. A means of transportation that makes it possible to move inside the house,
Search information storage means for storing search information that identifies the search target,
A search means for searching the search target based on the search information and acquiring the position information of the search target, and
A command receiving means for receiving a search command signal for commanding a search operation of the search object, and
A search result notification means for notifying the position information of the search target object acquired by the search means to the outside by the search command signal received by the command receiving means.
It has a means of recognizing people and also has a means of recognizing people.
The carrying detection means for detecting that the person detected by the person recognition means is carrying the search object, and the carrying detection means that the person stops carrying the search target. A search object robot comprising a carrying stop position detecting means for acquiring the position information of the search target object when detected by the robot. The search object robot according to claim 6 , further comprising a person-following control means that controls the operation of the moving means so as to follow the person carrying the search object, which is detected by the carrying detection means. The person recognition means includes a personal identification means for identifying and identifying an individual, and also includes a personal identification means.
At least one of the carrying detection means and the carrying stop position detecting means stores the person who carried the search object or the person who stopped carrying the person in association with the time data. The search robot according to claim 6 or 7 , which includes a carrier storage means. The search information of the search target is a wireless ID tag and is also
The search robot according to any one of claims 6 to 8, wherein the search means includes an ID tag detecting means that performs wireless communication with the wireless ID tag. Sagashimono robot according to any one of claims 6-9 which has a search result storage means for storing positional information of the obtained the search object by the previous SL search means in association with time data. It has a patrol movement control means that controls the operation of the moving means so as to patrol the house at regular or irregular time intervals, and also has a patrol movement control means.
During the patrol by the patrol movement control means, the search target is searched based on the search information stored in the search information storage means, the position information of the search target is acquired, and the acquired search target is acquired. The search object robot according to claim 10 , wherein the position information of the above is associated with time data and stored in the search result storage means. The search robot according to any one of claims 1 to 11 , wherein the command receiving means includes a voice recognition means. The search robot according to any one of claims 1 to 12 , wherein the search result notification means includes a monitor means. The search object robot according to any one of claims 1 to 13 , further comprising a distance detecting means for measuring the distance to the search target. Wherein upon movement in said housing by the moving means, Sagashimono robot according to any one of claim 1 to 14, and a position detecting means for detecting the position in the housing. The search robot according to any one of claims 1 to 15 , which has a pseudo-appearance of a living thing.

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