JP7465511B1 - Self-propelled robot - Google Patents

Abstract

[Problem] To provide a self-propelled robot that can accurately perform three-dimensional environmental measurement, including the height direction, based on the detection results output from a sensor. [Solution] A self-propelled robot (1) sets the position of a sensor (7a) in the height direction z when the sensor is positioned at the lowest position by a switch (21a) that serves as a recognition unit as a reference position, and detects the position of the sensor (7a) in the height direction z from the reference position by a rotary encoder (19). In this way, the self-propelled robot (1) can set the position of the sensor (7a) in the height direction z when the sensor is positioned at the lowest position by a switch (21a) as a reference position, and detects the position of the sensor (7a) in the height direction z from the reference position, thereby enabling accurate three-dimensional environmental measurement, including the height direction z. [Selected Figure] Figure 1

Description

The present invention relates to a self-propelled robot.

In recent years, one method of measuring indoor _CO2 concentrations has been to move a self-propelled robot equipped with a _CO2 sensor along a set route indoors and measure _{the CO2 concentration} in the room using the CO2 sensor of the self-propelled robot (see, for example, non-patent document 1).

Shuichi Tamura and two others, "CO2 concentration monitoring and notification system in office environments by combining fixed sensors and sensors mounted on autonomous robots" [Retrieved October 7, 2022], Internet <URL: https://www.jstage.jst.go.jp/article/pjsai/JSAI2022/0/JSAI2022_3L4GS801/_pdf>

However, although the self-propelled robot can measure the _CO2 concentration while moving indoors, it can only measure the _CO2 concentration in two dimensions, and cannot measure the _CO2 concentration in three dimensions, including the height direction. Indoors, the _CO2 concentration at the ceiling and the _CO2 concentration at desk height may differ by several hundred ppm, so in order to perform more accurate environmental measurements, it is desirable to accurately measure the _CO2 concentration in three dimensions, including the height direction.

Furthermore, not only when measuring _CO2 concentration, but also when measuring temperature, humidity, illuminance, radiation, etc., both indoors and outdoors, if "measurement blank zones" occur in three dimensions, accurate environmental measurement cannot be performed, so it is desirable to perform accurate three-dimensional environmental measurement, including in the vertical direction.

The present invention was made in consideration of the above problems, and aims to provide a self-propelled robot that can accurately perform three-dimensional environmental measurements, including in the vertical direction, based on the detection results output from a sensor.

The self-propelled robot according to the present invention is a self-propelled robot that travels within a predetermined area autonomously or in response to external operation, and is provided with a base, a traveling device that travels the base in a desired direction, a current position detection unit that detects the current position of the base within the predetermined area, a sensor that observes the surrounding environment of the base and outputs a detection signal based on information obtained by the observation, and a lifting device that is provided on the base and raises and lowers the sensor in the height direction, and the lifting device comprises a pair of tape measure sections in which long plates are wound in a spiral shape and arranged opposite each other at a predetermined distance, plate connecting sections that fold each free end of the long plates extending from each of the pair of tape measure sections at approximately a right angle and overlap them to connect the free ends of the pair of long plates, and a pair of free ends of the long plates connected by the plate connecting sections, The device is equipped with a sensor installation unit on which the sensor is installed, a lifting drive unit that pulls out the long plate from the pair of tape measure units or winds up the long plate on the pair of tape measure units to raise and lower the sensor installation unit in the height direction, a recognition unit that recognizes that the sensor is positioned at the lowest position that serves as a reference position in the height direction of the sensor raised and lowered by the lifting drive unit, and a height direction detection unit that sets the height direction position of the sensor when positioned at the lowest position as the reference position and detects the height direction position of the sensor from the reference position, and generates measurement data that corresponds the current position of the base detected by the current position detection unit, the height direction position of the sensor detected by the height direction detection unit, and the detection signal output from the sensor by an arithmetic processing device provided on the base.

According to the present invention, the height position of the sensor when positioned at the lowest position can be set as the reference position, and the height position of the sensor from the reference position can be detected, so that accurate three-dimensional environmental measurement, including the height direction, can be performed.

1 is a schematic diagram showing an overall configuration of a self-propelled robot according to the present invention. 11 is a schematic diagram showing a state in which a pair of long plates are raised by a lifting device. FIG. 3A is an enlarged detailed view showing the state before the lowest position of the sensor is set to the reference position, and 3B is an enlarged detailed view showing the state when the lowest position of the sensor is set to the reference position. FIG. 2 is a schematic diagram showing a detailed configuration of a lifting device. FIG. 4 is a schematic diagram showing a configuration of a connecting plate. FIG. 2 is a block diagram showing a circuit configuration of the self-propelled robot. 10 is a schematic diagram for explaining the positional relationship between a rider and a long plate. FIG. 8A is a schematic diagram showing the configuration of a self-propelled robot according to another embodiment, where FIG. 8A is a schematic diagram showing the configuration when the plate lifting mechanism provided on the lifting device has moved to one side, and FIG. 8B is a schematic diagram showing the configuration when the plate lifting mechanism provided on the lifting device has moved to the other side. 13 is a schematic diagram showing the configuration of a self-propelled robot according to another embodiment, which is provided with a sliding device that slides another sensor in a direction different from the height direction. FIG.

An embodiment of the present invention will be described in detail below with reference to the drawings. In the following description, the same components are given the same reference numerals and duplicate descriptions will be omitted.

(1) <Overall configuration of the self-propelled robot>
1 is a schematic diagram showing the overall configuration of a self-propelled robot 1 according to this embodiment. In this embodiment, the height direction of the self-propelled robot 1 is the z direction, and the xy plane including the x and y directions perpendicular to the height direction z is described below as the moving plane on which the self-propelled robot 1 moves. In the self-propelled robot 1 according to this embodiment, a traveling device 3 is provided on a base 2, and the traveling device 3 is controlled based on traveling information received from an external device (not shown), for example. In addition, the self-propelled robot 1 is provided with a current position detection unit (not shown), and the current position detection unit acquires current position information indicating the current position where the self-propelled robot 1 is traveling by SLAM (Simultaneous Localization and Mapping) technology based on surrounding environment information detected by the lidar 7b and the image sensor 7c, and autonomously travels in a predetermined area along a set route indoors based on the traveling information and the current position information.

The self-propelled robot 1 also has a lifting device 5 provided with a sensor 7a on the base 2, and the sensor 7a measures the _CO2 concentration in the surrounding environment of the self-propelled robot 1. As a result, the self-propelled robot 1 obtains a detection signal corresponding to the _CO2 concentration from the sensor 7a. When the self-propelled robot 1 moves along a path, the lifting device 5 is driven to raise or lower the sensor 7a in the height direction z, and the sensor 7a detects the _CO2 concentration at a predetermined height. The self-propelled robot 1 then generates measurement data that associates the detection signal of the _CO2 concentration obtained by the sensor 7a, position information of the sensor 7a in the height direction z when the _CO2 concentration was measured (hereinafter also referred to as height information), and its own position information when the _CO2 concentration was measured (for example, simple coordinate information on the xy plane), and transmits the obtained measurement data to an external device not shown.

The external device pre-stores map data of the indoor area patrolled by self-propelled robot 1, and generates 3D map data by overlaying on the map data, in association with each other, position information where the _CO2 concentration was measured, height information when the _CO2 concentration was measured, and the measured value of the _CO2 concentration at this time, based on the measurement data received from self-propelled robot 1. The external device displays, on a display unit, the 3D map data that shows the _CO2 measurement results including the height information, and presents the 3D map data to a manager or the like, allowing the manager or the like to visually grasp the status of the _CO2 concentration indoors.

The base 2 of the self-propelled robot 1 has a first base part 2a on which the running device 3 is provided, and a second base part 2b installed on the top of the first base part 2a. The second base part 2b is detachably provided on the first base part 2a, and by changing the second base part 2b provided on the first base part 2a as necessary, the electronic devices mounted on the first base part 2a can be changed on a base part basis.

The first base section 2a has a bottom plate 2c and four support posts 2d erected on the bottom plate 2c, and a running device 3 is provided on the bottom plate 2c. The second base section 2b has a partition plate 2e provided on the support posts 2d of the first base section 2a, four support posts 2f erected on the partition plate 2e, and a top plate 2g provided on the support posts 2f, and a lifting device 5 is provided on the partition plate 2e.

A through hole 2h is provided in the top plate 2g, and a pair of long plates 11a, 11b extending from the lifting device 5 in the height direction z protrude from the through hole 2h, and a sensor 7a on a connecting tip portion 11c provided at the tip of the long plates 11a, 11b is arranged above the top plate 2g. Note that the self-propelled robot 1 according to this embodiment is configured such that a pedestal 45 on which a LiDAR (Light Detection And Ranging) 7b is installed is provided on the top plate 2g, and the LiDAR 7b can recognize surrounding objects. Note that the self-propelled robot 1 according to this embodiment has an image sensor 7c with a depth sensor on the top plate 2g, and the image sensor 7c can obtain distance information to objects such as people and objects in the vicinity, and can obtain three-dimensional information of the surrounding environment by capturing the objects in a three-dimensional manner. The self-propelled robot 1 can more accurately recognize its own current position using the current position detection unit based on the two-dimensional information obtained by the LiDAR 7b and the three-dimensional information obtained by the image sensor 7c.

The running device 3 is equipped with multiple wheels 3a, 3b, and 3c and a running control device 3d. The running control device 3d is controlled based on a running control signal from a processing device 4 provided on the self-propelled robot 1, and the running control device 3d controls the rotation of the wheels 3a, 3b, and 3c to move the self-propelled robot 1 in the desired direction.

The lifting device 5 has a plate-shaped base 9 fixed on the partition plate 2e, and a pair of tape measure sections 10a, 10b and a plate lifting mechanism 13 are fixed on the base 9. The plate lifting mechanism 13 bends the free ends of the long plates 11a, 11b extending from the pair of tape measure sections 10a, 10b at approximately right angles to overlap them, and guides the free ends of the overlapped long plates 11a, 11b in the height direction z as they are. A sensor installation section 12 is provided on the free ends of the overlapped long plates 11a, 11b, and a sensor 7a is provided on the sensor installation section 12.

The plate lifting mechanism 13 is provided with a lifting drive unit 17 such as a stepping motor, and the stacked long plates 11a, 11b are in contact with the lifting drive unit 17. As a result, the lifting drive unit 17 rotates in one direction to apply an upward moving force to the long plates 11a, 11b, causing the long plates 11a, 11b to be pulled out from the pair of tape measure units 10a, 10b, respectively, and raising the sensor installation unit 12 along the height direction z, as shown in FIG. 2.

In addition, the lifting drive unit 17, for example, in the state shown in FIG. 2, applies a downward moving force to the long plates 11a and 11b by rotating in the opposite direction, causing the pair of tape measure units 10a and 10b to wind up the long plates 11a and 11b, and lowers the sensor installation unit 12 along the height direction z, as shown in FIG. 1.

When the long plates 11a, 11b are wound around the pair of tape measure sections 10a, 10b and the sensor installation section 12 is lowered to the lowest position, the sensor 7a on the sensor installation section 12 is configured to be positioned below the rotation plane from which the laser of the rider 7b is emitted. This allows the self-propelled robot 1 to detect surrounding obstacles, etc., using the rider 7b without the laser emitted from the rider 7b being blocked by the sensor 7a.

The plate lifting mechanism 13 is provided with a rotary encoder 19 that is in contact with the long plates 11a, 11b, and is configured so that the rotary encoder 19 can rotate in response to the advancement and retreat of the long plates 11a, 11b as they are raised and lowered. The rotary encoder 19 is configured so that it can measure the position of the sensor 7a in the height direction z by identifying the movement direction and distance of the long plates 11a, 11b as they are raised and lowered, based on the rotation direction and number of rotations that rotate in conjunction with the advancement and retreat of the long plates 11a, 11b as they are raised and lowered.

In addition to this configuration, in this embodiment, as shown in 3A and 3B of FIG. 3, a switch 21a such as a tactile switch is provided on the surface of the tabletop 2g, and when the sensor installation section 12 descends and reaches the tabletop 2g, which is the lowest position, a contact section 21b provided on the back surface of the sensor installation section 12 comes into contact with the switch 21a, so that the contact section 21b can press the switch 21a.

When the sensor 7a is lowered by the lift drive unit 17 and pressed by the contact unit 21b of the sensor installation unit 12, the switch 21a detects a press signal and outputs the obtained detection result to the rotary encoder 19. Based on the detection result obtained from the switch 21a, the rotary encoder 19 sets the current position in the height direction z of the sensor 7a that has reached the lowest position as the reference position.

Here, since the rotary encoder 19 can only measure the relative number of rotations, if the reference position of the sensor 7a is not set, the position of the sensor 7a in the height direction z at the time of startup is unknown, making it difficult to measure the exact position of the sensor 7a in the height direction z as it rises and falls. Therefore, the lifting device 5 drives the lifting drive unit 17 at startup and lowers the pair of long plates 11a, 11b until the contact unit 21b of the sensor installation unit 12 presses the switch 21a and a press signal is obtained from the switch 21a. This allows the rotary encoder 19 to reliably set the position in the height direction z of the sensor 7a that has reached the lowest position at startup as the reference position, and thereafter, it can accurately measure the position in the height direction z of the sensor 7a with the lowest position as the reference position.

(2) <Overall configuration of the lifting device>
Next, a description will be given of the overall configuration of the lifting device 5. As shown in Fig. 4, the lifting device 5 has a plate-shaped base 9 made of lightweight aluminum, aluminum alloy, or the like, a pair of tape measure units 10a, 10b provided on the base 9, a plate lifting mechanism 13 also provided on the base 9, a sensor installation unit 12 provided on the free ends of the pair of overlapping long plates 11a, 11b, a sensor 7a provided on the sensor installation unit 12, and a switch 21a provided on the top plate 2g of the base 2.

Each of the pair of tape measure sections 10a, 10b has a long plate 11a, 11b wound in a spiral shape inside, and is arranged facing each other at a predetermined distance on the base 9. Each tape measure section 10a, 10b has an elastic member such as a spiral spring inside, and the elastic member applies a force (elastic restoring force) to each of the long plates 11a, 11b wound around the tape measure sections 10a, 10b in a direction that winds up the long plates 11a, 11b in a spiral shape.

Each tape measure unit 10a, 10b has an entrance through which the long plates 11a, 11b enter and exit, and the long plates 11a, 11b extending from the entrance are linearly extended from the entrance along the base 9 toward the plate lifting mechanism 13 provided between the tape measure units 10a, 10b. The tape measure units 10a, 10b are also arranged opposite each other on the base 9 so that the long plates 11a, 11b extend in the same straight line.

The long plates 11a and 11b extending from the entrances of the tape measure sections 10a and 10b are bent at right angles by the plate lifting mechanism 13 disposed between the tape measure sections 10a and 10b, and are then extended in the height direction z with their free ends overlapping each other by the plate lifting mechanism 13.

The long plates 11a, 11b have sufficient rigidity to move in a straight line when sent out from each tape measure section 10a, 10b and no external force is applied, and further have sufficient elasticity to be bent at a right angle by the plate lifting mechanism 13 and wound in a spiral shape by the tape measure sections 10a, 10b. Note that, in this embodiment, each of the long plates 11a, 11b is formed from a long strip-shaped metal plate such as aluminum or aluminum alloy, but the present invention is not limited to this, and they may also be formed from a strip-shaped resin plate, etc.

The long plates 11a and 11b according to this embodiment are formed of the same shape and the same material, and have a cross section of the free end curved in an arch shape. In this way, the long plates 11a and 11b have a cross section of the free end curved in an arch shape, which improves linearity, and improves winding ability within the tape measure sections 10a and 10b and bending ability in the plate lifting mechanism 13. In addition, the long plates 11a and 11b have a cross section of the free end curved in an arch shape, with the concave surface of the curved front surface facing outward, and the convex surfaces of the curved back surfaces overlap each other so as to be joined to each other, forming a connecting tip portion 11c at the free end.

The free ends of the long plates 11a and 11b extending from the tape measure sections 10a and 10b are bent at approximately right angles by the plate lifting mechanism 13. Here, "approximately right angles" refers to an angle within the range of, for example, 70° to 110° based on the longitudinal direction (here, the x-direction) in which the long plates 11a and 11b extend. In this case, the direction extending in these directions is the height direction.

The plate lifting mechanism 13 has housings 13a and 13b made of metal members such as aluminum or an aluminum alloy, and the housings 13a and 13b are provided with plate connecting parts 15 that bend the free ends of the two long plates 11a and 11b at approximately right angles, overlap them, and connect the free ends to each other. In the plate connecting part 15, one guide roller 15a is rotatably provided on one housing 13a, and the other guide roller 15b is rotatably provided on the other housing 13b. In addition, the plate connecting part 15 has a configuration in which the guide rollers 15a and 15b are arranged opposite each other with a predetermined gap, and is provided with a guide plate 24 so as to face the long plates 11a and 11b that pass through the gap between the guide rollers 15a and 15b.

The plate connecting portion 15 bends a pair of long plates 11a, 11b, which extend from the x direction so as to face each other on the same straight line, at approximately right angles by the guide rollers 15a, 15b, and guides them in the height direction z through the gap between the guide rollers 15a, 15b. The pair of long plates 11a, 11b extending in the height direction z in the gap between the guide rollers 15a, 15b are guided in a straight line in the height direction z by the guide plate 24.

Above the guide rollers 15a and 15b, a contact roller 18 is rotatably mounted on one housing 13a, and a roller-shaped lifting drive unit 17 is rotatably mounted on the other housing 13b. The lifting drive unit 17 and the contact roller 18 are arranged opposite each other with a gap between them to allow the long plates 11a and 11b to pass through.

The pair of long plates 11a, 11b that have passed between the guide rollers 15a, 15b pass between the lifting drive unit 17 and the contact roller 18 and are pressed against the lifting drive unit 17 by the contact roller 18. This transmits the rotational driving force of the lifting drive unit 17 to the long plates 11a, 11b.

The lifting drive unit 17 applies a rotational drive force generated by rotating forward and backward to the long plates 11a and 11b, and causes the long plates 11a and 11b to move back and forth linearly along the height direction z in conjunction with the rotation. In this embodiment, an annular body made of an elastic material such as silicone resin (silicone rubber) is provided on each outer peripheral surface of the lifting drive unit 17 and the contact roller 18, and the frictional force of the long plates 11a and 11b against the lifting drive unit 17 and the contact roller 18 is increased by the contact of the annular body with the surface of the long plates 11a and 11b, so that the long plates 11a and 11b can be lifted and lowered in conjunction with the forward and reverse rotation of the lifting drive unit 17.

Above the lift drive unit 17 and the contact roller 18, a rotary encoder 19 is rotatably mounted on one housing 13a, and a contact roller 20 is rotatably mounted on the other housing 13b. The rotary encoder 19 and the contact roller 20 are arranged opposite each other with a gap between them to allow the long plates 11a and 11b to pass through.

The rotary encoder 19 rotates forward and backward in conjunction with the movement of the long plates 11a and 11b in the height direction z, measures the position of the sensor 7a in the height direction z from a set reference position based on the direction of rotation and the number of rotations that occur at this time, and outputs the obtained measurement result to the calculation processing device 4. In this embodiment, a ring-shaped body made of an elastic material is provided on the outer circumferential surface of the rotary encoder 19, and the frictional force of the long plate 11a against the rotary encoder 19 is increased by the ring-shaped body coming into contact with the surface of the long plate 11a, so that the rotary encoder 19 can reliably rotate forward and backward in conjunction with the elevation and lowering of the long plates 11a and 11b.

In this embodiment, for example, the other housing 13b has an adjustment slot 22a, and the other housing 13b can be moved in the x direction by the length of the adjustment slot 22a relative to the first housing 13a. As a result, when an operator or the like installs the long plates 11a and 11b, the other housing 13b is moved away from the first housing 13a by the length of the adjustment slot 22a, and the long plates 11a and 11b are positioned in the gap formed between the housings 13a and 13b along the height direction z.

In this state, the other housing 13b is moved toward the first housing 13a along the adjustment slot 22a, and the long plates 11a and 11b are clamped between the guide rollers 15a and 15b, between the lifting drive unit 17 and the contact roller 18, and between the rotary encoder 19 and the contact roller 20, respectively, and the position of the other housing 13b is fixed by screwing the adjustment screw 22b into the adjustment slot 22a. This allows the plate lifting mechanism 13 to lift and lower the long plates 11a and 11b in conjunction with the forward and reverse rotation of the lifting drive unit 17, and to rotate the rotary encoder 19 forward and reverse in conjunction with the lifting and lowering of the long plates 11a and 11b.

The free ends of the two long plates 11a, 11b are bent at a substantially right angle and overlapped with each other, and a connecting tip 11c is formed by connecting the free ends with a bolt and nut, for example, and a cap-shaped sensor installation part 12 is attached to the connecting tip 11c. The sensor installation part 12 has a sensor 7a fixed to the upper surface and a contact part 21b on the lower back surface, and when it descends and reaches the lowest position as shown in FIG. 3B, a switch 21a provided on the top plate 2g abuts against the contact part 21b, and the contact part 21b presses down the switch 21a.

The top plate 2g is provided with a connecting plate 25 around the through hole 2h through which the long plates 11a and 11b are inserted, and the overlapping long plates 11a and 11b are inserted into the insertion hole (described later) of the connecting plate 25. As shown in FIG. 5, the connecting plate 25 has an insertion hole 25b and a screw hole 25c drilled in the plate-shaped body 25a. The insertion hole 25b has the same shape as the cross-sectional shape of the overlapping long plates 11a and 11b, and is slightly larger than the cross-sectional shape of the long plates 11a and 11b, preventing the long plates 11a and 11b from moving apart when raised and lowered.

(3) <Circuit configuration of self-propelled robot>
Next, a description will be given of the circuit configuration of the self-propelled robot 1. As shown in Fig. 6, the self-propelled robot 1 is provided with a processor 4, a travel control device 3d, an operation unit 35, and a lifting device 5, and the processor 4 comprehensively controls the travel control device 3d and the lifting device 5. The processor 4 is provided with a control unit 31 having a central processing unit (CPU) configuration that comprehensively controls the self-propelled robot 1, and a current position detection unit 32, a transmission/reception unit 33, and a signal generation unit 34 are connected to the control unit 31.

Note that while the lidar 7b and the image sensor 7c are not shown in FIG. 6, the lidar 7b and the image sensor 7c observe the environment surrounding the base 2, and output the two-dimensional and three-dimensional information obtained by the observation as detection signals to the processor 4 and the driving control device 3d. As a result, the driving control device 3d controls the drive of the wheels 3a, 3b, and 3c based on the detection signals, and performs avoidance operations to avoid obstacles detected around the base 2.

When the operation unit 35 is operated to turn on the power, the control unit 31 outputs a start signal to each circuit unit, such as the current position detection unit 32, the transmission/reception unit 33, the signal generation unit 34, the driving control device 3d, and the lifting device 5, and starts each circuit unit based on the start signal. Then, the control unit 31 controls the entire self-propelled robot 1 in response to various commands from external devices received via the transmission/reception unit 33, and realizes various functions.

For example, the control unit 31 controls the driving control device 3d based on the driving information received via the transmission/reception unit 33 and the current position information of the self-propelled robot 1 acquired by the current position detection unit 32, and causes the driving control device 3d to drive the wheels 3a, 3b, and 3c to cause the self-propelled robot 1 to autonomously drive within a specified area along a set route indoors.

The lifting device 5 is provided with a lifting control section 37, which is a CPU (Central Processing Unit) that controls the lifting device 5 in an overall manner, and the sensor 7a, the lifting drive section 17, the rotary encoder 19, and the switch 21a are connected to the lifting control section 37. The lifting control section 37 starts the lifting drive section 17 based on a start signal received from the arithmetic processing device 4, and as an initial operation, causes the lifting drive section 17 to wind up the pair of long plates 11a, 11b onto the tape measure sections 10a, 10b, respectively, and lowers the sensor installation section 12 until a push-down signal is obtained from the switch 21a.

When switch 21a detects a push signal indicating that sensor installation unit 12 has descended to the lowest position and been pushed by contact unit 21b, it outputs the push signal to lift drive unit 17 and rotary encoder 19. As a result, lift drive unit 17 stops based on the push signal from switch 21a and ends the descent of long plates 11a and 11b, and rotary encoder 19 sets the current height position of sensor 7a in the height direction z as the lowest position to the reference position based on the push signal from switch 21a.

Then, the lifting device 5 rotates the lifting drive unit 17 forward and backward based on a control signal from the calculation processing unit 4 to lift and lower the long plates 11a and 11b, and measures the position of the sensor 7a in the height direction z from the set reference position based on the rotation direction and number of rotations of the rotary encoder 19, which rotates forward and backward in conjunction with the forward and backward movement of the long plates 11a and 11b, and outputs the obtained measurement result to the signal generation unit 34 of the calculation processing unit 4.

The signal generating unit 34 acquires height information indicating the position of the sensor 7a in the height direction z obtained from the rotary encoder 19 of the lifting device 5, as well as the current position information of the self-propelled robot 1 at this time and the detection signal obtained from the sensor 7a. The signal generating unit 34 generates measurement data that associates the current position information of the self-propelled robot 1 obtained from the current position detecting unit 32, the height information of the sensor 7a obtained from the rotary encoder 19 of the lifting device 5, and the detection signal obtained from the sensor 7a, and transmits the obtained measurement data to an external device via the transmitting/receiving unit 33.

As a result, the self-propelled robot 1 can have an external device generate 3D map data based on the measurement data, in which the measurement values of _CO2 concentration, including height information when the _CO2 concentration was measured, are overlaid on map data of the indoor area patrolled by the self-propelled robot 1, allowing managers and others to understand the indoor _CO2 concentration situation via the 3D map data.

(4) <Action and Effects>
In the above configuration, the self-propelled robot 1 is equipped with a lifting device 5 that observes the surrounding environment of the base 2 and raises and lowers the sensor 7a, which outputs a detection signal based on the information obtained by the observation, in the height direction z. The lifting device 5 pulls out the long plates 11a, 11b from the pair of tape measure sections 10a, 10b, or winds up the long plates 11a, 11b onto the pair of tape measure sections 10a, 10b, thereby raising and lowering the sensor installation section 12 in the height direction z.

In addition, the self-propelled robot 1 sets the position of the sensor 7a in the height direction z when it is positioned at the lowest position by the switch 21a, which serves as the recognition unit, as a reference position, and detects the position of the sensor 7a in the height direction z from the reference position by the rotary encoder 19.

In this way, the self-propelled robot 1 can set the position of the sensor 7a in the height direction z when it is positioned in the lowest position by the switch 21a as a reference position, and detect the position of the sensor 7a in the height direction z from the reference position, thereby enabling accurate three-dimensional environmental measurement, including the height direction z.

(5) <Other embodiments>
(5-1) <Method of Setting Reference Position of Sensor in Other Embodiments>
In the above embodiment, the switch 21a that recognizes that the sensor 7a has been positioned at the lowest position that serves as the reference position in the height direction z of the sensor 7a raised and lowered by the lift drive unit 17 is used as the recognition unit that recognizes that the sensor has been positioned at the lowest position that serves as the reference position in the height direction z of the sensor 7a raised and lowered by the lift drive unit 17, but the present invention is not limited to this. For example, as another recognition unit, a recognition unit that recognizes that the sensor 7a has reached the lowest position based on the rotation status of the rotary encoder 19 and the drive status of the lift drive unit 17 may be used.

In this case, the recognition unit recognizes the drive status of the lift drive unit 17 based on the drive signal from the lift drive unit 17, and recognizes the rotation status of the rotary encoder 19 based on the rotation signal of the rotary encoder 19. When the lift drive unit 17 lowers the long plates 11a, 11b to the lowest position, the sensor installation unit 12 abuts against the top plate 2g even if the lift drive unit 17 is driven based on the drive signal, and the movement of the long plates 11a, 11b and the sensor 7a stops. Therefore, the rotary encoder 19 stops rotating due to the stop of the movement of the long plates 11a, 11b, and no rotation signal is generated.

When the recognition unit detects the drive signal from the lift drive unit 17 but cannot detect a rotation signal from the rotary encoder 19, it recognizes that the sensor 7a has reached the lowest position and the sensor installation unit 12 is in contact with the tabletop 2g, and outputs the obtained recognition result to the rotary encoder 19. Based on the recognition result obtained from the recognition unit, the rotary encoder 19 then sets the current position of the sensor 7a positioned at the lowest position in the height direction z as a reference position, and detects the position of the sensor 7a in the height direction z from the reference position.

As in the above-described embodiment, even with this type of self-propelled robot 1, the position of the sensor 7a in the height direction z when it is positioned at the lowest position by the recognition unit can be set as a reference position, and the position of the sensor 7a in the height direction z from the reference position can be detected, so that three-dimensional environmental measurement, including the height direction z, can be performed accurately.

(5-2) <Position of long plate>
Regarding the positioning of the long plates 11a, 11b, it is desirable that the surfaces of the long plates 11a, 11b having the arch-shaped concave surfaces are positioned in a straight line with respect to the irradiation direction of the laser L1 irradiated from the lidar 7b, as shown in Fig. 7. In this way, even if the long plates 11a, 11b extend in the height direction z and the sensor installation unit 12 is positioned above the rotation plane from which the laser of the lidar 7b is emitted, the self-propelled robot 1 can reduce the obstruction of the laser emitted from the lidar 7b by the long plates 11a, 11b, and accordingly the lidar 7b can detect surrounding obstacles, etc.

(5-3) Self-propelled robot according to other embodiments
In the above-described embodiment, the plate lifting mechanism 13 is fixed at a predetermined position between the pair of tape measure sections 10a, 10b. However, the present invention is not limited to this. For example, the plate lifting mechanism 13 may be configured to be capable of reciprocating linear motion between the pair of tape measure sections 10a, 10b.

Here, Figures 8A and 8B show the overall configuration of a self-propelled robot 1a in which a plate lifting mechanism 13 is arranged to be able to move linearly back and forth between a pair of tape measure units 10a, 10b in the x direction perpendicular to the height direction z. In this case, the lifting device 5a provided on the self-propelled robot 1a is a plate lifting mechanism 13 provided with a plate connecting unit 15, a lifting drive unit 17, and a rotary encoder 19, which moves linearly back and forth along a guide frame 46 provided between the pair of tape measure units 10a, 10b.

The guide frame 46 is made of lightweight aluminum or an aluminum alloy, and has guide grooves (not shown) formed on both sides that extend linearly in the longitudinal direction (x direction). The plate lifting mechanism 13 includes multiple rollers 50 that can roll along each guide groove of the guide frame 46, and is supported by the rollers 50 so that it can move back and forth linearly along the guide frame 46 in the x direction.

The lifting device 5a is provided with a slide drive unit (not shown) that moves the plate lifting mechanism 13 back and forth in a linear motion in the x direction along the guide frame 7, and the power of the motor is transmitted to the plate lifting mechanism 13 by a motor provided in the slide drive unit and a timing belt that links the motor with the plate lifting mechanism 13. As a result, the plate lifting mechanism 13 moves back and forth in a linear motion between the pair of tape measure units 10a, 10b along the guide frame 46 by the driving force of the slide drive unit.

In the above configuration, the self-propelled robot 1a can set the position of the sensor 7a in the height direction z when it is positioned in the lowest position by the switch 21a as in the above embodiment as a reference position, and detect the position of the sensor 7a in the height direction z from the reference position, so that it can accurately perform three-dimensional environmental measurement including the height direction z. Furthermore, the self-propelled robot 1a can observe the surrounding environment in the x direction using the sensor 7a without moving the base 2 by sliding only the plate lifting mechanism 13 in the x direction as necessary.

(5-4) <Self-propelled robot according to another embodiment provided with a sliding device>
In the above-described embodiment, a self-propelled robot 1 has been described that is provided with only one lifting device 5 that raises and lowers the sensor 7a along the height direction z. However, the present invention is not limited to this. For example, a self-propelled robot 1b may be applied that is provided with multiple lifting devices 5, or, as shown in FIG. 9, that is provided with sliding devices 52a, 52b that have other sensors 7a1, 7a2 that can slide freely in the x direction in addition to the lifting device 5.

In this case, the sliding devices 52a and 52b have the same configuration, and are the lifting device 5 described above, but arranged in a different direction. Therefore, the sliding devices 52a and 52b have the same configuration as the lifting device 5, except that the sensors 7a1 and 7a2 slide in the x direction.

The self-propelled robot 1b has a second partition plate 2l provided below the top plate 2g of the second base portion 2b of the base 2, and a third base portion 2j consisting of the second partition plate 2l and four pillars 2k erected on the second partition plate 2l. The top plate 2g is provided on the pillars 2k of the third base portion 2j.

The self-propelled robot 1b has a configuration in which slide devices 52a, 52b are provided on the second partition plate 2l. Here, the slide device 52a (52b), which slides another sensor 7a1 (7a2) different from the sensor 7a in an x direction different from the height direction z, is equipped with a pair of other tape measure parts 53a (53b) in which a pair of long plates 54a (54b) are each wound in a spiral shape and are arranged facing each other at a predetermined distance on the far side of the page.

The slide device 52a (52b) also includes a second plate connecting portion that connects the free ends of the pair of long plates 54a (54b) extending from the other pair of tape measure portions 53a (53b) by folding the free ends of the long plates 54a (54b) at approximately right angles and overlapping them. Note that in the slide devices 52a and 52b shown in Figure 9, only the guide rollers 15a and 15b that constitute the second plate connecting portion are shown.

The free end of the pair of long plates 54a (54b) connected by the second plate connection part is provided with a second sensor installation part 12a (12b) on which another sensor 7a1 (7a2) is installed. In FIG. 9, slide devices 52a and 52b of the same configuration are provided symmetrically. For example, when focusing on the slide device 52a, the slide drive part 17a (located at the back of the page facing the roller 18a, not shown in the slide device 52a) having the same configuration as the lift drive part 17 pulls out the long plate 54a from the other pair of tape measure parts 53a, or winds up the long plate 54a on the other pair of tape measure parts 53a, sliding the second sensor installation part 12a in the x direction.

The slide device 52a (52b) also has a second switch 21c that recognizes that the other sensor 7a1 (7a2) has been positioned at a predetermined position that serves as a reference position for the movement direction of the other sensor 7a1 (7a2) slid by the slide drive unit 17a. This second switch 21c is provided, for example, on the support 2k of the base 2.

The rotary encoder 19, which serves as the movement direction detection unit, acquires a press signal generated when the second sensor installation unit 12a is slid by the slide drive unit 17a to press the second switch 21c, sets the position of the other sensor 7a1 in the sliding direction (x direction) at the time the press signal was acquired as a reference position, and detects the position of the other sensor 7a1 in the sliding direction from the reference position.

Then, the sliding devices 52a and 52b generate measurement data by using a signal generating unit provided in a calculation processing device (not shown) that associates the position in the sliding direction of the other sensor 7a1 (7a2) detected by the rotary encoder 19, the detection signal acquired from the sensor 7a1 (7a2), the current position information of the self-propelled robot 1b acquired from the current position detection unit 32, the height information of the sensor 7a acquired from the rotary encoder 19 of the lifting device 5, and the detection signal acquired from the sensor 7a, and transmits the obtained measurement data to an external device by the transmission/reception unit 33.

As a result, based on the measurement data, the self-propelled robot 1b can have an external device generate 3D map data that overlays multiple measurement values of _CO2 concentration, including the position in the height direction z when the _CO2 concentration was measured, and the position in the x direction different from the height direction z, on map data of the indoor area patrolled by the self-propelled robot 1, allowing managers and others to understand the indoor _CO2 concentration situation via the 3D map data.

(5-5) <Others>
In the above embodiment, the sensor 7a is used as a sensor that observes the environment around the base and outputs a detection signal based on the information obtained by the observation, and observes the _CO2 concentration in the environment around the base 2 and outputs a detection signal indicating the measured value of the _CO2 concentration based on the information obtained by the observation. However, the present invention is not limited to this, and for example, any of other gas sensors, temperature sensors, humidity sensors, illuminance sensors, radiation sensors, proximity sensors, magnetic sensors, imaging sensors, air pressure sensors, acceleration sensors, noise sensors, and acoustic sensors may be used as the sensor to be installed in the lifting device 5. As an example, the lidar 7b or imaging sensor 7c in the above embodiment may be installed in the sensor installation section 12 instead of the sensor 7a, and multiple sensors such as the sensor 7a, the lidar 7b, and the imaging sensor 7c may be installed in the sensor installation section 12.

In the above embodiment, the self-propelled robot 1 that autonomously travels within a predetermined area has been described as a self-propelled robot, but the present invention is not limited to this. For example, a self-propelled robot that travels within a predetermined area in response to external operation by an administrator or the like may be applied. In this case, the lifting device 5 may also be configured to raise and lower the sensor 7a in the height direction z in response to external operation by an administrator or the like.

In addition, in the above-described embodiment, a current position detection unit 32 that detects the current position of the base 2 in a specified area by SLAM technology using surrounding environment information detected by the lidar 7b and the image sensor 7c has been described as the current position detection unit, but the present invention is not limited to this, and it is also possible to apply a current position detection unit that detects the current position of the base 2 in a specified area using, for example, a GPS or the like.

REFERENCE SIGNS LIST 1, 1a, 1b Self-propelled robot 2 Base 3 Travel device 4 Processing device 5 Lifting device 7a Sensor 10a, 10b Tape measure section 11a, 11b Long plate 12 Sensor installation section 17 Lifting drive section 19 Rotary encoder (height direction detection section)
21a Switch (recognition unit)
32 Current position detection unit 33 Transmitting/receiving unit (transmitting unit)

Claims (7)

A self-propelled robot that travels within a predetermined area autonomously or in response to an external operation,
The base and
A traveling device that causes the base to travel in a desired direction;
a current position detection unit that detects a current position of the base in the predetermined area;
a sensor that observes the surrounding environment of the base and outputs a detection signal based on information obtained by the observation;
a lifting device provided on the base and configured to lift the sensor in a height direction;
Equipped with
The lifting device is
A pair of tape measure sections each having a long plate wound in a spiral shape and disposed opposite each other with a predetermined distance between them;
a plate connecting portion for connecting the free ends of the long plates extending from the pair of tape measure portions to each other by folding the free ends of the long plates at substantially right angles and overlapping them;
a sensor installation portion provided at a free end portion of the pair of elongated plates connected by the plate connection portion, on which the sensor is installed;
a lifting drive unit that lifts and lowers the sensor installation unit in a height direction by pulling out the long plate from the pair of tape measure units or winding up the long plate around the pair of tape measure units;
a recognition unit that recognizes that the sensor is positioned at a lowest position that is a reference position in a height direction of the sensor that is raised and lowered by the lift drive unit;
a height direction detection unit that sets a height direction position of the sensor when the sensor is positioned at the lowest position as the reference position and detects a height direction position of the sensor from the reference position;
Equipped with
A self-propelled robot, wherein a calculation processing unit provided on the base generates measurement data that corresponds the current position of the base detected by the current position detection unit, the height direction position of the sensor detected by the height direction detection unit, and the detection signal output from the sensor. the recognition unit is a switch that is pressed by the sensor installation unit when the sensor reaches the lowest position, and when the switch detects that it has been pressed by the sensor installation unit, the switch outputs the obtained detection result to the height direction detection unit;
the height direction detection unit sets a current position of the sensor in a height direction as the reference position based on a detection result acquired from the switch;
The self-propelled robot according to claim 1 . the height direction detection unit is a rotary encoder that rotates in response to the advancement and retreat of the long plate and detects the height direction position of the sensor in response to a rotation situation,
the recognition unit recognizes that the sensor has reached the lowermost position based on a rotation status of the rotary encoder and a drive status of the lift drive unit,
The rotary encoder sets a current position of the sensor in a height direction as the reference position based on a recognition result of the recognition unit.
The self-propelled robot according to claim 1 . The sensor is any one of a gas sensor, a temperature sensor, a humidity sensor, an illuminance sensor, a radiation sensor, a proximity sensor, a magnetic sensor, an imaging sensor, an air pressure sensor, an acceleration sensor, a noise sensor, and an acoustic sensor.
The self-propelled robot according to claim 1 . a transmitting unit that transmits the measurement data to an external device that generates 3D map data based on the measurement data, the 3D map data correlating a current position of the base within the specified area, a height direction position of the sensor at the current position, and a detection result obtained by the sensor,
The self-propelled robot according to claim 1 . The base is
a slide device that slides a sensor different from the sensor in a direction different from the height direction,
The slide device is
A pair of other tape measure units each having a long plate wound in a spiral shape and disposed opposite each other at a predetermined distance;
a second plate connecting portion that connects the free ends of the long plates extending from the other tape measure portions of the pair of long plates to each other by folding the free ends of the long plates at approximately right angles and overlapping them;
a second sensor installation portion provided at a free end portion of the pair of elongated plates connected by the second plate connection portion, on which the other sensor is installed;
a slide driving unit that causes the long plate to be pulled out from the pair of other tape measure units or the long plate to be wound up around the pair of other tape measure units, thereby sliding the second sensor installation unit in a direction different from the height direction;
a second recognition unit that recognizes that the other sensor has been positioned at a predetermined position that is a reference position of a moving direction of the other sensor slid by the slide driving unit;
a movement direction detection unit that sets a position of the other sensor in a sliding direction when the other sensor is positioned at the predetermined position as the reference position and detects a position of the other sensor in the sliding direction from the reference position;
Equipped with
the arithmetic processing device associates the position of the other sensor in the sliding direction detected by the movement direction detection unit with the detection signal output from the other sensor, and the measurement data.
The self-propelled robot according to claim 1 . The lifting device is
a plate lifting mechanism including the plate connecting portion, the lifting drive portion, and the height direction detection portion;
a guide frame provided between the pair of tape measure units, the plate lifting mechanism moving linearly back and forth;
a slide drive unit that causes the plate lifting mechanism to perform a reciprocating linear motion along the guide frame;
having
The plate lifting mechanism is provided so as to be capable of reciprocating linear motion between the pair of tape measure units in a direction perpendicular to the height direction.
The self-propelled robot according to claim 1 .

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