WO2019054205A1 - Système de robot mobile - Google Patents

Système de robot mobile Download PDF

Info

Publication number
WO2019054205A1
WO2019054205A1 PCT/JP2018/032345 JP2018032345W WO2019054205A1 WO 2019054205 A1 WO2019054205 A1 WO 2019054205A1 JP 2018032345 W JP2018032345 W JP 2018032345W WO 2019054205 A1 WO2019054205 A1 WO 2019054205A1
Authority
WO
WIPO (PCT)
Prior art keywords
mobile robot
tag
destination
guidance
route
Prior art date
Application number
PCT/JP2018/032345
Other languages
English (en)
Japanese (ja)
Inventor
伊藤　順治
Original Assignee
日本電産株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日本電産株式会社 filed Critical 日本電産株式会社
Priority to JP2019541993A priority Critical patent/JPWO2019054205A1/ja
Priority to CN201880053574.1A priority patent/CN111052025A/zh
Publication of WO2019054205A1 publication Critical patent/WO2019054205A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present disclosure relates to a mobile robot system.
  • WO 2008/035433 discloses a mobile having a tag communication unit.
  • a tag communication unit In the traveling target area, a plurality of IC tags having respective position information are distributed and arranged.
  • the tag communication unit performs wireless communication with the IC tag to read the position information of the IC tag.
  • the moving body can obtain information on the current position and can automatically travel.
  • Japanese Patent Application Laid-Open No. 11-154013 discloses a system for moving an AGV to a designated position.
  • the AGV reads a location marker that represents a position, and when moving to a designated position, if the AGV is out of position, it corrects using its own navigation system.
  • a conventional mobile body performs advanced control while collecting data individually indicating the position of the own vehicle, and travels autonomously toward a destination.
  • Such mobiles require high-performance processors, large-capacity memories, high-performance sensors, etc., which increases the cost of the system.
  • the IC tag or the location marker required to detect the position is disposed in the traveling area, and the mobile detects the current position by itself. It was used for autonomous driving.
  • a reading device for reading position information and a device for performing autonomous traveling using the position information are required, which increases the cost of the moving body.
  • the present disclosure provides a mobile robot system that can be introduced and operated at low cost.
  • An exemplary mobile robot system comprises: a tag for transmitting tag identification information; a positioning device for measuring the position of the tag according to the tag identification information; and transmitting position information of the tag; And a mobile robot that moves toward the destination along the path, the tag moves with the moving object, and the mobile robot moves according to the destination and the path set according to the position of the tag, If the position of the tag changes during movement, the destination and the path are changed according to the position of the tag after the change, and the movement is made according to the changed destination and the path.
  • the position of the IC tag is measured using a positioning device, and the mobile robot moves autonomously to follow changes in the position of the IC tag.
  • the mobile robot does not have to perform positioning of its own position, nor does it have to place an IC tag or a location marker necessary to detect the position in the traveling area. This makes it possible to introduce and operate the mobile robot system at low cost.
  • FIG. 1 is a diagram for explaining an outline of an exemplary mobile robot system.
  • FIG. 2 is a view schematically showing the configuration of a mobile robot system.
  • FIG. 3 is a diagram showing an example of a guidance command of the mobile robot.
  • FIG. 4 is a diagram showing an example of a guidance command before update and a guidance command after update.
  • FIG. 5 is a view schematically showing the configuration of a mobile robot system according to another example.
  • FIG. 6 is a block diagram showing the configuration of the IC tag.
  • FIG. 7 is an external view of a mobile robot.
  • FIG. 8 is a block diagram showing the hardware configuration of the mobile robot.
  • FIG. 9 is a block diagram showing the hardware configuration of the guidance device.
  • FIG. 10 is a block diagram showing a hardware configuration of the positioning device.
  • FIG. 10 is a block diagram showing a hardware configuration of the positioning device.
  • FIG. 11 is a block diagram showing the hardware configuration of the file server.
  • FIG. 12 is a diagram showing a procedure of communication performed in the mobile robot system and processing of the mobile robot, the guidance device, and the positioning device.
  • FIG. 13 is a view for explaining an outline of a mobile robot system according to an application example.
  • FIG. 14 is a diagram showing a configuration example in which the guiding device and the storage device of the file server are accommodated in one casing.
  • a destination and a movement path are set for each of one or more mobile robots, and the mobile robot moves autonomously.
  • the destination and the movement route are set according to the position of the IC tag.
  • An "IC tag" is an electronic device that transmits unique identification information periodically or intermittently.
  • a communication device such as a smartphone can also be used as an IC tag.
  • the position of the IC tag is measured by a positioning device provided in the moving space of the mobile robot.
  • the measurements are taken periodically, for example at intervals of a few seconds.
  • the positioning device can acquire the position of the IC tag after movement.
  • the setting and changing of the destination and the route are performed by the guiding device when the guiding device is provided.
  • the guidance device transmits a guidance command to each mobile robot to move it along the route toward the destination.
  • setting and changing of the destination and the route are performed by each mobile robot.
  • the mobile robot may be, for example, an automated guided vehicle (AGV), a self-propelled cart or wheelchair, an automatic or autonomous car, a robot, a multicopter, a service robot.
  • AGV automated guided vehicle
  • the "position” may be a position in a two-dimensional plane or a position in a three-dimensional space.
  • An example of use of the mobile robot system is the reception of a visitor by a service robot.
  • a visitor of a facility in which a mobile robot system is introduced carries an IC tag lent at the time of entrance, an example will be given where the service robot meets. It is assumed that the mobile robot system is provided with a guidance device.
  • FIG. 1 is a diagram for explaining the outline of the mobile robot system 1.
  • a moving route R1 of the visitor 200 having the IC tag 100 and a moving route R2 for the mobile robot 10 to receive the visitor 200 are shown.
  • the IC tag 100 When the visitor 200 completes the entrance acceptance, the IC tag 100 whose power has been turned on is handed over to the visitor. Upon power-up, the IC tag 100 starts to transmit unique identification information periodically or intermittently.
  • a positioning device (not shown) measures the position P0 of the IC tag 100. The coordinates of the position P0 are (X0, Y0).
  • the guidance device determines the coordinates (X0, Y0) of the position P0 of the IC tag 100 as the destination, and determines a path for reaching the destination from the current position S of the mobile robot 10.
  • the guidance device may have in advance a map of a space showing sections where the mobile robot 10 can move.
  • the mobile robot 10 When the guidance device transmits a guidance command including a destination and a route to the mobile robot 10, the mobile robot 10 sets a destination and a route included in the guidance command. In the example of FIG. 1, the mobile robot 10 sequentially transmits from the position S (Xs, Ys) to the destination Pn (X0, Xa, Ya) via the position Pa (Xa, Ya), the position Pb (Xb, Yb),. , Y0) are set. The mobile robot 10 starts moving according to the set destination and route.
  • the positioning device measures the position of the IC tag 100 periodically.
  • a change in the position of the IC tag 100 can be detected at the timing of measurement.
  • FIG. 1 it is measured that the IC tag 100 is located at the position P1 next to the position P0.
  • the coordinates of the position P1 are (X1, Y1). At this time, it is assumed that the mobile robot 10 has reached the position Pa.
  • the guiding device When it is detected by the measurement of the positioning device that the position of the IC tag 100 has changed, the guiding device changes the destination and the route according to the position of the IC tag after the change.
  • a guidance command including the changed destination and the route is transmitted to the mobile robot 10, the mobile robot 10 resets the destination and the route.
  • the route In the example of FIG. 1, in the mobile robot 10, the route from the position Pa (Xa, Ya) to the destination Pn (X1, Y1) via the positions Pb (Xb, Yb),. It was set. The mobile robot 10 continues moving according to the reset destination and route.
  • the mobile robot 10 moves toward the IC tag 100 as the visitor 200 carrying the IC tag 100 moves.
  • the destination of the mobile robot 10 When passing through the position Pe, the destination of the mobile robot 10 is reset to Pn (X3, Y3), and the route is also reset. Thereafter, the mobile robot 10 reaches the position Pn via the position Pf. The visitor 200 also moves from the position P3 to the position P4. As a result, the visitor 200 carrying the IC tag 100 and the mobile robot 10 meet. The mobile robot 10 outputs a message welcoming the visitor 200, for example, by voice. Thereby, the visitor 200 can be met.
  • the mobile robot 10 is also provided with an IC tag, the positioning apparatus also measures the position of the mobile robot 10, and notifies the mobile robot 10 of the position of the mobile robot 10.
  • the mobile robot 10 may stop moving when it is determined that the current position of itself is in a predetermined area, for example, a lobby where a visitor stands by.
  • the movement of the mobile robot 10 may be stopped.
  • the mobile robot 10 may be provided with an imaging device (camera) for acquiring video data of a space, and the mobile robot 10 may stop moving when the visitor 200 is included in the video data of the camera. Whether or not the visitor 200 is included in the video data of the camera may be determined by analyzing the image and determining whether the feature of the face photo of the visitor 200 registered in advance is included in the video data. Alternatively, the determination may be made based on whether the video data includes the number of the name tag handed over at the time of admission.
  • an imaging device camera
  • the guidance device transmits the guidance command directly to the mobile robot 10.
  • the mobile robot 10 can obtain the guidance command by another method.
  • a file server operating as a storage device is prepared.
  • the guidance device When the guidance device newly generates a guidance instruction or updates a guidance instruction that has already been generated, the guidance device transmits the guidance instruction to the file server and stores it.
  • the guidance device transmits to the mobile robot 10 a notification indicating that a guidance command has been generated, or a notification indicating that it has been updated.
  • the mobile robot 10 acquires a new guidance command from the file server and sets it to itself.
  • the mobile robot 10 may obtain the guidance command from the file server only when a new guidance command is generated. In such a mobile robot system, it is possible to guide a large number of mobile robots while suppressing communication load and processing load.
  • the mobile robot can move in accordance with the already acquired guidance command.
  • the mobile robot does not need a device or the like for acquiring position information. It is not necessary to install an IC tag or the like storing position information in the movement area of the mobile robot. Thereby, the introduction cost of the system including the cost of the mobile robot can be suppressed.
  • the mobile robot 10 does not have to be provided with the IC tag 100. This is because the mobile robot 10 does not need to particularly know its own position because it can move based on the guidance command as described later.
  • the guidance device it is preferable that the mobile robot 10 be provided with the IC tag 100. This is to know the relationship between the position of the own device and the position of the IC tag 100 of the visitor 200.
  • the mobile robot 10 is a service robot.
  • FIG. 2 schematically shows the configuration of the mobile robot system 1.
  • the exemplary mobile robot system 1 shown in FIG. 2 includes a mobile robot 10, a guidance device 20, a positioning device 30, and an IC tag 100.
  • the relay apparatus 32 is described in FIG.
  • the relay device 32 is a device having a transmitting antenna 33 and a receiving antenna 34 and relaying communication.
  • the relay device 32 may or may not be included in the essential components of the mobile robot system 1.
  • the IC tag 100 is an electronic device that transmits unique identification information (RFID) that uniquely identifies itself.
  • RFID unique identification information
  • the identification information is held in advance in the IC tag 100.
  • the information transmitted from the IC tag 100 is received by the receiving antenna 34 of the relay device 32.
  • the IC tag 100 transmits identification information periodically, for example, every 0.1 seconds. Identification information is carried using radio waves. The radio waves are received by the receiving antennas 34 of the plurality of relay devices 32.
  • the positioning device 30 can measure the position of the mobile robot 10 using the arrival angle of the radio wave whose identification information is received by each receiving antenna 34. An example of the configuration and processing of the positioning device 30 will be described later.
  • the guiding device 20 sets the position of the IC tag 100 as the destination of the mobile robot 10, and determines the route to the destination.
  • the guidance device 20 transmits, to the mobile robot 10, a guidance command including a destination and a route.
  • the mobile robot 10 sets a destination and a route and starts moving. Thus, the mobile robot 10 moves toward the IC tag 100 carried by the visitor 200 (see the white arrow in FIG. 2). An example of the configuration and processing of the guidance device 20 will be described later.
  • FIG. 3 shows an example of the guidance command 110 of the mobile robot 10 whose identification information is “100063”.
  • position information of a plurality of positions is included in one guidance instruction in advance.
  • Positions Pa to P (n-1) indicate a plurality of passing points that define the moving path of the moving object.
  • the destination is Pn at the lowermost level, and the coordinates are (X3, Y3).
  • the guidance command 110 designates an angle ⁇ x indicating the traveling direction of the mobile robot 10 and a distance dx (x: A, B, C, D, E, F) to be advanced It is done. That is, the position information set for the k-th position Pk is information on the direction and distance of the (k + 1) -th position P (k + 1) viewed from the position Pk (k: positive integer). In the present embodiment, after starting to move from the position Pk toward the next position P (k + 1), the mobile robot 10 continues to move without stopping until the position P (k + 1) is reached in principle.
  • Each row of the guidance command 110 is one movement section.
  • the method of description of positional information is arbitrary. The coordinates of each position may be described by setting absolute coordinates (global coordinates) in the space in which the mobile robot 10 moves.
  • the guidance device 20 does not change the guidance command 110.
  • the guiding device 20 generates a new guiding command in which the destination and the route are changed, and transmits the new guiding command to the mobile robot 10.
  • the mobile robot 10 resets the destination and the route, and moves toward the new destination along the new route.
  • FIG. 4 shows an example of the guidance command 110 before update and the guidance command 120 after update.
  • the mobile robot 10 reaches the position Pe according to the guidance command 110 before updating, the destination Pn shown in the lowermost stage is changed to (X4, Y4).
  • the moving direction and distance of each section starting from the subsequent passing points Pc, Pe, Pf, and P (n-1) are updated.
  • Passing point Pe is changed to a different position Pe *, so towards the new position Pf * position Pe * as the starting point, the moving direction and distance are updated. Further, some or all of the passing points after the passing point Pf * are updated to different moving directions and distances.
  • a mobile robot system different from the mobile robot system 1 shown in FIG. 2 can also be adopted.
  • FIG. 5 schematically shows the configuration of the mobile robot system 2.
  • the mobile robot system 2 includes a mobile robot 10, a guidance device 20, a positioning device 30, and a file server 40.
  • the mobile robot system 2 differs from the mobile robot system 1 in that a file server 40 is provided.
  • the file server 40 is communicably connected to the guidance device 20 and the mobile robot 10.
  • the file server 40 stores the guidance command for each mobile unit initially generated by the guidance device 20.
  • the file server 40 reads the guidance command of the mobile robot 10 that has transmitted the request.
  • the file server 40 transmits a guidance command to the mobile robot 10.
  • the mobile robot 10 may transmit a guidance command acquisition request, and the processing for acquiring a guidance command may be described as the mobile robot 10 reads the guidance command from the file server 40 or the like.
  • FIG. 5 shows processes (1) to (7) sequentially performed by the mobile robot system 2 when the position of the IC tag 100 changes. The following will be described in order.
  • the guidance command (FIG. 3) generated before the position of the IC tag 100 changes is stored in the storage device 48 of the file server 40 in advance.
  • the process to be updated in the following description may be replaced with the process to be generated.
  • the main part of the operation is described as each of the mobile robot 10, the guiding device 20, the file server 40 and the mobile robot 10, the main part of the actual operation is the signal processing circuit, CPU or microcomputer provided in each It is. Details of configurations of the mobile robot 10, the guiding device 20, the file server 40, and the mobile robot 10 will be described later.
  • the “predetermined condition” means that the position of the IC tag 100 measured by the positioning device 30 has changed by a predetermined distance, for example, 50 cm or more.
  • the “predetermined distance” may be arbitrarily set as a position change amount equal to or higher than the positioning accuracy of the positioning device 30.
  • the guidance device 20 transmits the updated guidance command for the mobile robot 10 to the file server 40.
  • the file server 40 replaces the identification information of the mobile robot 10 already held with the newly received guidance command.
  • the file server 40 transmits, to the guiding device 20, an update completion notification indicating that the update of the guiding command has been completed.
  • the guidance device 20 Upon receiving the update completion notice, the guidance device 20 transmits a guidance command update notice to the mobile robot 10.
  • the mobile robot 10 receives the guidance command update notification from the guidance device 20. By the notification, the mobile robot 10 can know that the guidance command applied to itself has been updated.
  • the mobile robot 10 In response to the reception of the guidance command update notification, the mobile robot 10 transmits a guidance command acquisition request to the file server 40.
  • the mobile robot 10 holds in advance information (for example, an IP address) for specifying the file server 40 on the network.
  • the file server 40 receives the guidance command acquisition request from the mobile robot 10.
  • the file server 40 reads the guidance command 120 of the mobile robot 10 updated by the process (1) from the storage device 48 and transmits the guidance command 120 to the mobile robot 10.
  • the mobile robot 10 receives the updated guidance command 120 from the file server 40. As a result, the mobile robot 10 can replace the existing guidance command 110 with the newly received guidance command 120.
  • the notification of the update of the guidance command is transmitted only to the mobile robot 10 for which the guidance command has been updated.
  • the file server 40 may read out the guidance command at the timing of receiving the guidance command acquisition request from the mobile robot 10 and transmit the guidance command to the mobile robot 10. It is not necessary for all mobile robots 10 to periodically check the file server 40 for updating.
  • the communication load on the network is reduced as compared with the mode in which all the mobile robots 10 periodically check the file server 40 for the presence or absence of an update. It can be suppressed.
  • the method of acquiring the updated guidance command using notification can be considered as an application example of a chat system of a social network service (SNS). That is, it may be assumed that the mobile robots 10 and the guidance device 20 interact with each other. Each mobile robot 10 can know that the guidance command has been updated by the notification from the guidance device 20, and thereby can acquire the guidance command from the file server 40 and update it. Until notification is given, it is considered that the guidance command has not been updated, and the mobile robot 10 may continue to move in accordance with the guidance command currently held.
  • SNS social network service
  • the mobile robot 10 may access the file server 40 even when the notification from the guiding device 20 is not received. For example, the mobile robot 10 may access the file server 40 when the movement of the current section is completed, that is, when the nearest passing point is reached. By accessing the file server 40 at the timing when each passing point is reached, the guidance command of the mobile robot 10 can be updated even if a temporary deterioration of the communication environment or the like occurs and the notification fails. .
  • FIG. 6 is a block diagram showing the configuration of the IC tag 100.
  • the IC tag 100 has, for example, a coin-sized housing.
  • the IC tag 100 has an IC 51 for generating a high frequency signal, a storage device 52, and an antenna 54.
  • the storage device 52 is, for example, a flash ROM, and identification information 53 unique to each IC tag 100 is stored.
  • the IC 51 periodically transmits identification information using the antenna 54.
  • illustration of the battery required in order to operate IC tag 100 is abbreviate
  • the IC tag 100 emits a signal wave in accordance with the Bluetooth (registered trademark) low energy (BLE) standard. More specifically, the IC tag 100 periodically transmits signal waves including advertisement packets for each channel using three channels.
  • the frequency of the signal wave is, for example, a microwave band, but may be a millimeter wave band.
  • a signal wave of 2.4 GHz band can be emitted from the IC tag 100 at a time interval of, for example, 10 milliseconds or more and 200 milliseconds or less, typically 100 milliseconds.
  • the frequency of the signal wave need not be constant as long as it can be received by the array antenna 20, and multiple frequencies may be hopped.
  • the advertisement packet describes “public device address” or “random device address” that functions as identification information (RFID) that uniquely identifies the IC tag 100. This makes it possible to inform the surroundings of one's own existence.
  • RFID identification information
  • the IC tag 100 only broadcasts the advertising packet and can operate as a so-called "non-connectable beacon" which does not accept the connection request from the positioning device 30 or the like.
  • the IC tag 100 may be a “connectable beacon” capable of transmitting and receiving data upon receiving a connection request from the positioning device 30 or the like.
  • the IC tag 100 may be a device operating according to another standard.
  • FIG. 7 is an external view of the mobile robot 10.
  • FIG. 8 is a block diagram showing the hardware configuration of the mobile robot 10.
  • the mobile robot 10 includes drive wheels 11a and 11b, an auxiliary wheel 11c, a body 12, a head 13, a right arm mechanism 14a, a left arm mechanism 14b, a camera 16, a movement control device 17, and a speaker 18.
  • the IC tag 100 is included.
  • An IC tag 100 is provided in the illustrated exemplary mobile robot 10.
  • the IC tag 100 incorporated in the mobile robot 10 may have the hardware within the dashed frame in FIG.
  • the right arm mechanism 14a and the left arm mechanism 14b are respectively the right arm and the left arm of the mobile robot 10, and move the arms and fingers with a plurality of motors.
  • the specific configurations of the right arm mechanism 14a and the left arm mechanism 14b are not relevant to the present disclosure, and thus the description thereof is omitted.
  • the camera 16 is provided at a position corresponding to the “eye” of the head 13.
  • the camera 16 acquires video data of a space where the mobile robot 10 exists.
  • the video data may be a still image or a moving image.
  • the mobile robot 10 can control the motor control circuits 58a and 58b to stop the generation of the driving force of the motors 15a and 15b.
  • the mobile robot 10 includes, within the body 12, motors 15a and 15b, a movement control device 17, and motor control circuits 58a and 58b.
  • the motors 15a and 15b are power sources for generating a propulsive force (driving force) for propelling the mobile robot 10 by rotating the drive wheels 11a and 11b, respectively.
  • the motor control circuits 58a and 58b are inverter circuits, and control the magnitude of the driving force generated by each of the motors 15a and 15b.
  • the motor control circuit may be called a drive.
  • the mobile robot 10 utilizes the power stored in a battery (not shown).
  • the movement control device 17 includes a microcomputer 55, a memory 56, and a communication circuit 57.
  • the microcomputer 55 is a microcomputer or a computer and controls the operation of the mobile robot 10.
  • the memory 56 develops a computer program to be executed by the microcomputer 55 and temporarily stores the guidance command received from the guidance device 20.
  • the memory 56 is a block including a so-called DRAM and a flash memory.
  • the flash memory stores, for example, a computer program to be executed by the microcomputer 55 and data of sound output from the speaker 18.
  • the movement control device 17 controls the operation of the mobile robot 10. Specifically, the movement control device 17 controls the rotational speeds of the motors 15 a and 15 b so as to turn in the movement direction instructed by the guidance command received from the guidance device 20 and to move by the instructed distance.
  • the moving direction (angle) is given as an angle based on the current traveling direction of the mobile robot 10. For example, when the angle ⁇ takes a positive value, it indicates an angle advancing to the left side in the advancing direction, and when the angle ⁇ takes a negative value, it indicates an angle advancing to the right toward the advancing direction.
  • the movement control device 17 determines the rotation direction of the motor 15a according to the positive / negative of the angle ⁇ .
  • the movement control device 17 changes the rotation speed of the front wheels 11a and 11b by changing the rotation speed of the motors 15a and 15b, and controls the moving direction of the mobile robot 10.
  • the memory 56 holds information on angle change in the moving direction according to the difference between the rotational speeds of the motor 15a and the motor 15b.
  • the microcomputer 55 of the movement control device 17 generates and outputs a control signal (PWM signal) that causes a difference between the rotational speeds of the motor 15a and the motor 15b with reference to the information on the change in angle.
  • the microcomputer 55 determines the number of rotations of the motors 15a and 15b so as to move by the distance instructed by the induction command, and rotates the motors 15a and 15b independently by the number of rotations.
  • the memory 56 holds information on the movement distance L per one rotation of the drive wheels 11a and 11b.
  • the microcomputer 55 can calculate the number of rotations of the drive wheels 11a and 11b by dividing the distance instructed by the guidance command by the movement distance L.
  • the microcomputer 55 outputs a control signal (PWM signal) for rotating the drive wheels 11a and 11b by the calculated number of revolutions.
  • the motor control circuits 58a and 58b respectively control the current and voltage flowing in each of the motors 15a and 15b based on a control signal (PWM signal) output from the microcomputer 55 of the movement control device 17 described later, and rotate the motor. Vary the speed.
  • PWM signal a control signal
  • the speaker 18 is used when the mobile robot 10 transmits a voice message to the visitor 200. Audio data output from the speaker 18 is stored, for example, in the memory 56 in advance. Examples of speech are "Welcome” and "Welcome”.
  • FIG. 9 is a block diagram showing the hardware configuration of the guidance device 20. As shown in FIG.
  • the guiding device 20 has a central processing unit (CPU) 25, a memory 26, a communication circuit 27, and a map information database (DB) 28, which are connected by an internal bus 29.
  • CPU central processing unit
  • DB map information database
  • the CPU 25 is a signal processing circuit that generates a guidance command for guiding each mobile robot 10 by the processing described later.
  • the CPU 25 is a computer configured by a semiconductor integrated circuit.
  • the memory 26 is, for example, a DRAM, and is a work memory used in connection with the processing of the CPU 25.
  • the communication circuit 27 is, for example, a communication circuit having one or more communication connectors and performing wired communication of Ethernet (registered trademark) standard.
  • the communication circuit 27 acquires position information indicating the position of each of the mobile robots 10 from the positioning device 30.
  • the communication circuit 27 can also transmit a guidance command to the mobile robot 10 via the reception antenna 34 of the relay device 32.
  • the communication circuit 27 may also transmit a guidance command to each mobile robot 10 via the transmission antenna 33 of the relay device 32.
  • the guidance device 20 can transmit and receive guidance instructions, notifications, and the like with the file server 40.
  • the map information DB 28 holds information such as the layout of a space into which the mobile robot system 1 is introduced, an area in which the mobile robot 10 can travel, and a bypass route.
  • FIG. 10 is a block diagram showing the hardware configuration of the positioning device 30. As shown in FIG.
  • the positioning device 30 has a CPU 35, a memory 36, and a communication circuit 37, which are connected by an internal bus.
  • the CPU 35 measures the position of each IC tag 100 and / or the position of the mobile robot 10 by processing described later, and generates position information indicating the measured position.
  • the memory 26 is, for example, a DRAM, and is a work memory used in connection with the processing of the CPU 35.
  • Communication circuit 37 is, for example, a communication circuit having one or more communication connectors.
  • the communication circuit 37 is connected to the receiving antenna 34 of the relay device 32 by wire. More specifically, the communication circuit 37 is connected to the output of the antenna element provided in the antenna element 34a of each receiving antenna 34, and generates a high frequency electric signal generated from the electromagnetic wave received by the antenna element 34a. To receive. Further, the communication circuit 37 is connected to the communication circuit 27 of the guiding device 20 via, for example, a wired communication line performing wired communication of Ethernet (registered trademark) standard.
  • the positioning device 30 measures the position of the mobile robot 10 using one of the positioning processes or a combination of a plurality of positioning processes.
  • the positioning process is exemplified below.
  • the positioning device 30 measures the arrival direction of the radio signal transmitted by the IC tag 100 of the mobile robot 10, and determines the position of the mobile body (AOA (Angle Of Arrival) method).
  • AOA Angle Of Arrival
  • the mobile robot measures the arrival angle of the arriving radio wave based on the reference direction (for example, the front direction of the receiving antenna). This is a method of determining ten positions. Since the minimum number of base stations (the number of relay apparatuses 32 having the receiving antenna 34) for determining the position is two, the number of relay apparatuses 32 required at the same time can be small.
  • the angle can be accurately measured, the position of the mobile robot 10 can be determined with high accuracy when there is no obstacle from the base station to the terminal and the line of sight is clear.
  • an array antenna in which a plurality of antenna elements are one-dimensionally or two-dimensionally arranged can be used.
  • a phased array antenna that controls the beam direction and radiation pattern by adjusting the phase of the current supplied to each antenna element.
  • the direction of the IC tag 100 with respect to the receiving antenna 34 can be specified by the single receiving antenna 34.
  • the positioning device 30 receives the radio signal emitted from the IC tag 100 by the plurality of receiving antennas 34 (or the antenna elements 34a), and determines the position of the mobile body from the difference in reception time at each antenna element 34a TDOA (Time Difference Of Arrival) method).
  • the relay apparatus 32 having the receiving antenna 34 must function as a base station to accurately measure the reception time. Between the relay devices 32, it is necessary to perform accurate time synchronization in nanoseconds.
  • the positioning device 30 determines the position from the reception intensity of the radio signal emitted from the IC tag 100 by using the fact that the position of the receiving antenna 34 is known and the radio wave attenuates according to the distance. (Received Signal Strength Indication (RSSI) method). However, since the strength of the received signal is affected by multipath, in order to calculate the distance (position), a distance attenuation model is required for each environment in which the mobile robot system 1 is introduced.
  • RSSI Receiveived Signal Strength Indication
  • the positioning device 30 captures an image (for example, a QR code (registered trademark)) to which identification information of the mobile robot 10 is added with a camera, and the position of the camera, the direction in which the camera faces, and the captured image.
  • the position of the mobile robot 10 can also be determined based on the position of the mobile robot 10 in FIG.
  • the position measurement accuracy differs depending on the positioning process.
  • the position measurement accuracy is determined by the angular resolution of the antenna and the distance to the object, and 10 cm is realized in a general building.
  • the positioning process (c) there is a possibility that an error of about 1 m may occur in a general room several meters, even in good conditions, due to a change in radio wave intensity due to interference of radio waves emitted from the IC tag.
  • the positioning error depends on the number of pixels of the image sensor, the spatial resolution, and the distortion due to the lens. In addition, it requires relatively heavy processing of object recognition.
  • the mobile robot systems 1 and 2 of the present disclosure may be constructed using any of the positioning processes (b) to (d).
  • FIG. 11 is a block diagram showing the hardware configuration of the file server 40. As shown in FIG. As described above, the file server 40 is provided in the mobile robot system 2.
  • the file server 40 includes a CPU 45, a memory 46, a communication circuit 47, and a storage device 48, which are connected by an internal bus.
  • the CPU 45 controls the operation of the file server 40.
  • the memory 46 is, for example, a DRAM, and is a work memory used in connection with the processing of the CPU 45.
  • the CPU 45 reads and executes a computer program (basic software) of the operating system (OS) in the memory 46, and further reads and executes a server program (application software) executed on the OS in the memory 46.
  • OS operating system
  • server program application software
  • the communication circuit 47 is, for example, a communication circuit having one or more communication connectors and performing wired communication of Ethernet (registered trademark) standard.
  • the communication circuit 47 receives the guidance command from the guidance device 20 and stores the guidance command in the storage device 48.
  • the communication circuit 47 also receives a request for acquiring a guidance command from the mobile robot 10, and transmits the requested guidance command to the mobile robot 10 via the transmission antenna 33 of the relay device 32.
  • the storage device 48 is, for example, a hard disk drive (HDD) or a solid state drive (SSD).
  • the storage device 48 has a sufficient recording area for storing the guidance command generated by the guidance device 20.
  • FIG. 12 shows the procedure of communication performed in the mobile robot system 1 and processing of the mobile robot 10, the guidance device 20, and the positioning device 30.
  • the main subjects of the operation are the mobile robot 10, the guidance device 20 and the positioning device 30, but in actuality, the microcomputer 55 of the mobile robot 10, the CPU 25 of the guidance device 20 and the CPU 35 of the positioning device 30 Information is transmitted and received through each communication circuit. Time flows from the top to the bottom of the drawing.
  • step S201 the positioning device 30 receives the RFID from the IC tag 100, and measures the position of the IC tag 100 using the one or more positioning processes described above.
  • the positioning device 30 transmits the measurement result to the guidance device 20.
  • step S301 the guiding device 20 acquires information on the position of the IC tag 100 measured from the positioning device 30, and stores the information in the memory 26.
  • step S302 the guidance device 20 transmits a guidance command (FIG. 3) to the mobile robot 10.
  • the guidance instruction takes the position of the IC tag 100 as a destination, and includes one or more passing points passing through toward the destination as a “path”.
  • step S101 the mobile robot 10 starts moving in accordance with the guidance command.
  • the positioning device 30 continuously measures the position of the IC tag 100.
  • the positioning device 30 measures the position of the IC tag 100 and transmits the measurement result to the guidance device 20.
  • step S303 the guiding device 20 detects a change in the position of the IC tag 100 according to a predetermined condition.
  • step S304 the guiding device 20 changes the position of the IC tag 100 after the position change as a destination, and includes one or more passing points passing through to the changed destination as a “path”.
  • step S305 the guidance device 20 transmits the changed guidance command (FIG. 4) to the mobile robot 10.
  • step S102 the mobile robot 10 resets the changed guidance command, and moves in accordance with the changed guidance command. Thereafter, by repeating the processing in step S202 and on, the guidance command is updated as the IC tag 100 moves, and the mobile robot 10 continues moving toward the IC tag 100. Thus, the mobile robot 10 can meet the visitor 200 having the IC tag 100.
  • the process in the vertical direction shown in FIG. 12 described above is a process executed by each of the microcomputer 55 of the mobile robot 10, the CPU 25 of the guidance device 20, and the CPU 35 of the positioning device 30, and can be grasped as a flowchart. These processes may be implemented as a computer program including a plurality of instructions. A computer program is developed in each memory and executed.
  • FIG. 13 is a view for explaining an outline of a mobile robot system 3 according to an application example.
  • a movement route R3 of the visitor 200 having the IC tag 100 is shown.
  • the position of the IC tag 100 changes along the route R3.
  • the destination and the route are updated according to the changing position of the IC tag 100.
  • the mobile robot 10 moves from the position S to the position Pd along the route R4.
  • the guidance device 20 or the mobile robot 10 generates a route R4b in which the destination is P3.
  • generates is illustrated by FIG.
  • the mobile robot 10 when the movement destination (destination) of the IC tag 100 can be predicted, the mobile robot 10 is moved to the destination. For example, when the mobile robot 10 moves from the position S to the position Pd along the route R4, it can be predicted that the moving destination (destination) of the visitor 200 carrying the IC tag 100 is the position Pu (Xu, Yu) Do. At this point, the guidance device 20 or the mobile robot 10 generates a route R4a whose destination is the position Pu.
  • the guidance device 20 generates a guidance command 130a.
  • the movement of the mobile robot 10 in accordance with the updated guidance command 130a may allow the mobile robot 10 to arrive at the destination earlier than the visitor 200.
  • the mobile robot system 3 has a server computer (not shown) in which a schedule including the visit destination of the visitor 200 is registered. Further, it is assumed that the schedule of the visitor 200 and the identification information of the IC tag 100 are associated with each other.
  • the server computer reads and returns the schedule of the visitor 200 associated with the received identification information. Thereby, the guidance device 20 or the mobile robot 10 can predict the destination of the visitor 200.
  • the guiding device 20 or the mobile robot 10 holds in advance a table in which the name of the visiting destination (for example, the conference room A) and the coordinates are associated with each other.
  • the CPU 25 of the guidance device 20 or the microcomputer 55 of the mobile robot 10 can acquire the coordinates of the visit destination with reference to the table.
  • the coordinates can be set as the destination, and a route for reaching the set destination can be determined.
  • one IC tag 100 and one mobile robot 10 are provided, but a plurality of IC tags may be provided. Since unique identification information is given to the IC tag 100, different mobile robots 10 may be assigned to each IC tag 100, and a guidance command may be given to each mobile robot 10.
  • Each guidance command has been described as including an angle indicating the moving direction of the mobile robot 10 and information specifying a distance indicating the moving amount of the mobile robot 10. Therefore, the "section" was a straight line.
  • the guidance command may include, for example, information on the radius of rotation R when the mobile robot 10 turns.
  • the guidance device 20 and the positioning device 30 have been described as separate devices. However, the guidance device 20 and the positioning device 30 may be integrated.
  • the guidance device 20 may have a function corresponding to the function of the positioning device 30, and measure the position information of the mobile robot to generate a guidance command.
  • the guiding device 20 is connected to the receiving antenna 34, and the CPU 25 of the guiding device 20 performs positioning processing.
  • the guidance device 20 when a route from the current position of the mobile robot to a final destination position set in advance is divided into a plurality of sections, and the guidance device 20 generates a guidance command for guiding the guidance device 20 to the destination point for each section. did.
  • the final destination position may be changed while the mobile robot is traveling.
  • the guiding device 20 divides the route from the current position of the mobile robot to the changed final destination position again into a plurality of sections, and guides the next destination point for each section.
  • a guidance command may be generated.
  • acquisition of position information and generation or correction of a guidance command are not necessarily synchronized.
  • the guidance device 20 acquires position information from the positioning device 30, but does not generate a guidance command.
  • the reason why the two-dimensional designation as described above is adopted is mainly that the present specification assumes that the position of the mobile robot traveling on the flat floor surface of the factory is designated.
  • the traveling direction and the distance three-dimensionally may be specified. For example, when the mobile robot is operated in a facility having a plurality of floors, information for specifying the floor number may be added to the guidance command.
  • the guidance device 20 and the file server 40 have been described as separate devices. The reason is that the guidance device 20 performs the generation / change processing of the guidance command and causes the file server 40 to transmit / receive the guidance command to / from the mobile robot 10 to distribute the load.
  • the guiding device 20 and the file server 40 may be integrated.
  • FIG. 14 shows a configuration example in which the guiding device 20 and the storage device 48 of the file server 40 are accommodated in one casing. According to the configuration of FIG. 14, the transmission and reception of the guidance instruction after the change, which has been performed between the guidance device 20 and the file server 40, is completed in the guidance device 20, and the transmission and reception of the update completion notification becomes unnecessary.
  • Each mobile robot 10 can set a destination and a route without providing the guiding device 20.
  • each mobile robot 10 may be considered to be provided with the same function as the guidance device 20. That is, the configuration of the guiding device 20 (FIG. 9) and the function associated with the configuration may be incorporated into the mobile robot 10 (FIGS. 7 and 8).
  • the microcomputer 55 of the mobile robot 10 receives the position information of the tag 100, and determines the destination and the route from the position information.
  • the frequency of electromagnetic waves or ultrasonic waves used for positioning, the frequency used for communication used for transmitting traveling conditions, and the frequency used for communication for receiving guidance instructions are the same. It may be two or three or more different frequencies. The same applies to the communication method.
  • an electromagnetic wave having a frequency of BLE (Bluetooth (registered trademark) Low Energy) standard may be used for the positioning process (a).
  • electromagnetic waves of the Bluetooth (registered trademark) standard frequency or the 2.4 GHz band or 5 GHz band frequency of the Wi-Fi (registered trademark) standard may be used.
  • the mobile robot system of the present disclosure can be widely used to control the position of a mobile robot.
  • Mobile robot system 10 Mobile robot 11a, 11b Drive wheel 11c Auxiliary wheel 12 Body 13 Head 13a Right arm mechanism, 14b: left arm mechanism, 16: camera, 17: movement control device, 18: speaker, 20: guiding device, 25: CPU, 26: memory, 27 ... Communication circuit, 28 ... Map information database (DB), 30 ... Positioning device, 32 ... Relay device, 33 ... Transmission antenna, 34 ... Reception antenna, 35 ... CPU , 36: memory, 37: communication circuit, 40: file server, 45: CPU, 46: memory, 47: communication circuit, 48: storage device, 52.
  • DB Map information database
  • Identification information 54 ⁇ Antenna ⁇ 55 ⁇ ⁇ ⁇ microcomputer ⁇ 56 ⁇ ⁇ ⁇ memory ⁇ 57 ⁇ ⁇ ⁇ communication circuit, 58a, 58b ⁇ ⁇ ⁇ motor control circuit, 100 ⁇ ⁇ ⁇ IC tag, 110 ⁇ ⁇ ⁇ induction command, 120 ⁇ ⁇ ⁇ Guidance instruction (after update), 200 ... visitor

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un système de robot mobile (1), (2) ayant : une étiquette (100) qui transmet des informations d'identification d'étiquette; un dispositif de positionnement (30) qui mesure la position de l'étiquette en fonction des informations d'identification d'étiquette et transmet des informations de position d'étiquette; et un robot mobile (10) qui se déplace vers une destination le long d'un trajet défini. L'étiquette se déplace conjointement avec un objet mobile (200). Le robot mobile (10) se déplace selon la destination et le trajet définis, qui dépendent de la position d'étiquette. Si la position d'étiquette change pendant que le robot mobile (10) se déplace, la destination et le trajet changent en fonction de la position d'étiquette modifiée et le robot mobile (10) se déplace selon la destination et le trajet modifiés.
PCT/JP2018/032345 2017-09-13 2018-08-31 Système de robot mobile WO2019054205A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2019541993A JPWO2019054205A1 (ja) 2017-09-13 2018-08-31 移動ロボットシステム
CN201880053574.1A CN111052025A (zh) 2017-09-13 2018-08-31 移动机器人系统

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017175984 2017-09-13
JP2017-175984 2017-09-13

Publications (1)

Publication Number Publication Date
WO2019054205A1 true WO2019054205A1 (fr) 2019-03-21

Family

ID=65723319

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/032345 WO2019054205A1 (fr) 2017-09-13 2018-08-31 Système de robot mobile

Country Status (3)

Country Link
JP (1) JPWO2019054205A1 (fr)
CN (1) CN111052025A (fr)
WO (1) WO2019054205A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110928308A (zh) * 2019-12-12 2020-03-27 广东智源机器人科技有限公司 送餐系统控制执行装置运行的方法、系统及计算机设备
WO2021194193A1 (fr) * 2020-03-25 2021-09-30 주식회사 우아한형제들 Système de commande de robot, procédé de commande de robot et dispositif d'appel sans fil

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113311831B (zh) * 2021-05-13 2022-06-07 南京邮电大学 一种基于无线信号强度变化的多机器人路径冲突解决方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0648008U (ja) * 1992-11-25 1994-06-28 ヤンマー農機株式会社 ゴルフカート
JP2007017414A (ja) * 2005-07-11 2007-01-25 Honda Motor Co Ltd 位置管理システムおよび位置管理プログラム
JP2009139250A (ja) * 2007-12-07 2009-06-25 Honda Motor Co Ltd 検知対象検知サーバ
US20170220040A1 (en) * 2016-02-02 2017-08-03 Justin London Smart luggage systems

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0213939B1 (fr) * 1985-08-30 1992-08-12 Texas Instruments Incorporated Contrôleur pour un véhicule mobile utilisant les dates absolues retardées de position pour le guidage et la navigation
JP3728865B2 (ja) * 1997-05-13 2005-12-21 アシスト シンコー株式会社 無人車運行制御装置及び方法
JP2004171430A (ja) * 2002-11-22 2004-06-17 Sanyo Electric Co Ltd 搬送車
WO2015153109A1 (fr) * 2014-03-31 2015-10-08 Irobot Corporation Robot mobile autonome
JP6669948B2 (ja) * 2014-09-08 2020-03-18 日本電産株式会社 移動体制御装置及び移動体
CN105955251A (zh) * 2016-03-11 2016-09-21 北京克路德人工智能科技有限公司 一种机器人的视觉跟随控制方法及机器人
CN106297083B (zh) * 2016-07-29 2019-03-15 广州市沃希信息科技有限公司 一种商场购物方法、购物服务器以及购物机器人

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0648008U (ja) * 1992-11-25 1994-06-28 ヤンマー農機株式会社 ゴルフカート
JP2007017414A (ja) * 2005-07-11 2007-01-25 Honda Motor Co Ltd 位置管理システムおよび位置管理プログラム
JP2009139250A (ja) * 2007-12-07 2009-06-25 Honda Motor Co Ltd 検知対象検知サーバ
US20170220040A1 (en) * 2016-02-02 2017-08-03 Justin London Smart luggage systems

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110928308A (zh) * 2019-12-12 2020-03-27 广东智源机器人科技有限公司 送餐系统控制执行装置运行的方法、系统及计算机设备
WO2021194193A1 (fr) * 2020-03-25 2021-09-30 주식회사 우아한형제들 Système de commande de robot, procédé de commande de robot et dispositif d'appel sans fil

Also Published As

Publication number Publication date
CN111052025A (zh) 2020-04-21
JPWO2019054205A1 (ja) 2020-10-15

Similar Documents

Publication Publication Date Title
JP6973393B2 (ja) 移動体誘導システム、移動体、誘導装置およびコンピュータプログラム
JP6662454B2 (ja) 移動体誘導システム、移動体、誘導装置およびコンピュータプログラム
KR101755944B1 (ko) Gps, uwb 및 v2x를 접목하여 차량의 위치를 결정하는 자율 주행 방법 및 시스템
KR101758093B1 (ko) 무인항공기 제어 시스템 및 방법
WO2019054205A1 (fr) Système de robot mobile
US11333736B2 (en) Position measurement device and method, and recording medium
WO2019124343A1 (fr) Corps mobile
JP5524364B1 (ja) 自律的に移動する移動体及びその制御方法
JP2019148870A (ja) 移動体管理システム
WO2019054206A1 (fr) Système de guidage de corps mobile
JP6086203B2 (ja) 移動体に位置情報を提供するシステム、及び位置情報提供方法
WO2018060545A1 (fr) Positionnement
JP7054339B2 (ja) 移動体
CN108344970B (zh) 一种使用移动机器人的无线定位自动校准方法
WO2010006667A2 (fr) Système de guidage par infrarouge de chariots guidés automatiquement
JP6699034B2 (ja) 自律移動ロボット
JP7308591B2 (ja) 移動体
KR20230077410A (ko) 도킹 시스템 및 이를 이용한 도킹 방법
JP2019109772A (ja) 移動体
JP2022142320A (ja) 撮影支援装置、システム、方法及びプログラム
JP7149531B2 (ja) 先導装置および先導方法
JP2018056961A (ja) 通信制御装置、通信システムおよび通信方法
US20240125943A1 (en) Vehicle and Node Positioning Method
JP2023030963A (ja) 飛行制御システム、飛行制御方法、及び無人飛行体
JP2019109774A (ja) 移動体

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18855416

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2019541993

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18855416

Country of ref document: EP

Kind code of ref document: A1