Autonomous mobile device and composite assembly of speaker microphone for autonomous mobile device

Abstract

The present invention provides an autonomous mobile device comprising: a vehicle body; a first speaker that is attached to the vehicle body and emits sound waves to a region including the front of the vehicle body; and a first microphone and a second microphone which are attached to the vehicle body, receive the sound waves reflected by the object, and convert the sound waves into electrical signals. The first speaker and the first and second microphones are located outside or on the outer periphery of the vehicle body when viewed from the vertical direction. The first speaker is located between the first and second microphones in the left-right direction perpendicular to the front. The distances from the center of gravity of the first speaker or the plurality of speakers including the first speaker to each of the first and second microphones in the left-right direction are equal.

Description

Technical Field

[0001] The present invention relates to a composite component of an autonomous mobile device and a speaker microphone for an autonomous mobile device. Background Art

[0002] Conventionally, autonomous vehicles using SLAM (Simultaneous Localization And Mapping) have been known. For example, by using external sensors such as cameras and laser sensors and internal sensors such as encoders and gyroscopes together on an autonomous vehicle, the autonomous vehicle estimates its own position and automatically generates a driving path, so it can avoid obstacles automatically without being restricted by a fixed route. These autonomous vehicles do not require infrastructure such as embedding wires in the floor or making marks on the floor. SLAM using a camera is sometimes called Visual SLAM (Visual Simultaneous Localization And Mapping), and SLAM using a laser sensor is sometimes called LiDAR (Light Detection And Ranging) SLAM.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2020-181485 Summary of the Invention

[0006] Technical Problem to be Solved by the Invention

[0007] Since SLAM requires expensive equipment such as a camera or LiDAR, the manufacturing cost is high. In addition, whenever a new place is introduced and the layout of the previous place is changed, it is necessary to create these maps, and the introduction cost is also high.

[0008] An object of the present invention is to provide a composite component of an autonomous mobile device and a speaker microphone for an autonomous mobile device with a low manufacturing cost and a low introduction cost.

[0009] One aspect of the present invention is an autonomous mobile device including: a vehicle body; a first speaker mounted on the vehicle body and emitting sound waves toward an area including the front of the vehicle body; and a first microphone and a second microphone mounted on the vehicle body, receiving sound waves reflected by an object, and converting the sound waves into electrical signals. The first speaker and the first and second microphones are located outside or on the outer periphery of the vehicle body when viewed from the vertical direction. The first speaker is located between the first and second microphones in the left-right direction perpendicular to the front. The distances from the center of gravity of the first speaker or a plurality of speakers including the first speaker to the first and second microphones in the left-right direction are equal.

[0010] Another aspect of the present invention is a composite component for an autonomous mobile device, the composite component having: a housing; a first speaker mounted on the housing and emitting sound waves toward an area including the front of the housing; and a first microphone and a second microphone, which are mounted on the housing, receive sound waves reflected by an object, and convert the sound waves into electrical signals. The first speaker and the first and second microphones are located outside or on the outer periphery of the housing when viewed from the vertical direction. The first speaker is located between the first and second microphones in the left-right direction perpendicular to the front. The distances in the left-right direction from the center of gravity of the first speaker or a plurality of speakers including the first speaker to each of the first and second microphones are equal.

[0011] According to one aspect and another aspect of the present invention, it is possible to provide an autonomous mobile device and a composite component of a speaker and a microphone for an autonomous mobile device with a low manufacturing cost and an introduction cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a schematic diagram for explaining an operation outline of an autonomous mobile system including an autonomous mobile device including a plurality of embodiments.

[0013] Figure 2 is an explanatory diagram showing a state where an autonomous mobile device travels on a planar road with a plurality of obstacles p1 to p4 and goes to a destination P1.

[0014] Figure 3 is a block diagram showing an example of the structure of an autonomous mobile device including a plurality of embodiments.

[0015] Figure 4 is a block diagram showing an example of an echolocation structure of one speaker and two microphones in the autonomous mobile device 100 of the present embodiment.

[0016] Figure 5 is showing Figure 4 a block diagram showing details of each component in the echolocation structure shown.

[0017] Figure 6A is a top view (part 1) of the autonomous mobile device 100 showing a layout of a speaker and a microphone having an increased sound pressure difference between sound waves received by a pair of left and right first and second microphones 51L and 51R.

[0018] Figure 6B is a top view (part 2) of the autonomous mobile device 100 showing a layout of a speaker and a microphone having an increased sound pressure difference between sound waves received by a pair of left and right first and second microphones 51L and 51R.

[0019] Figure 6CIt is a top view (View 3) of the autonomous mobile device 100 showing the layout of a speaker and a microphone that enhances the sound pressure difference of sound waves received by the left and right paired first and second microphones 51L and 51R.

[0020] Figure 7A It is a top view (View 4) of the autonomous mobile device 100 showing the layout of a speaker and a microphone that enhances the sound pressure difference of sound waves received by the left and right paired first and second microphones 51L and 51R.

[0021] Figure 7B It is a top view (View 5) of the autonomous mobile device 100 showing the layout of a speaker and a microphone that enhances the sound pressure difference of sound waves received by the left and right paired first and second microphones 51L and 51R.

[0022] Figure 7C It is a top view (View 6) of the autonomous mobile device 100 showing the layout of a speaker and a microphone that enhances the sound pressure difference of sound waves received by the left and right paired microphones 51L and 51R.

[0023] Figure 7D It is a top view (View 7) of the autonomous mobile device 100 showing the layout of a speaker and a microphone that enhances the sound pressure difference of sound waves received by the left and right paired microphones 51L and 51R.

[0024] Figure 7E It is a side view (View 1) of the autonomous mobile device 100 showing the layout that enhances the sound pressure of sound waves received by the first and second microphones 51L and 51R from the front or an oblique front.

[0025] Figure 7F It is a side view (View 2) of the autonomous mobile device 100 showing the layout that enhances the sound pressure of sound waves received by the first and second microphones 51L and 51R from the front or an oblique front.

[0026] Figure 7G It is a side view (View 1) of the composite component 300 showing the layout that enhances the sound pressure of sound waves received by the first and second microphones 51L and 51R from the front or an oblique front.

[0027] Figure 7H It is a side view (View 2) of the composite component 300 showing the layout that enhances the sound pressure of sound waves received by the first and second microphones 51L and 51R from the front or an oblique front.

[0028] Figure 8 It is a top view of the autonomous mobile device equipped with the composite component 300 for the autonomous mobile device having the layout of a speaker and a microphone that enhances the sound pressure difference of sound waves received by the left and right paired microphones 51L and 51R.

[0029] Figure 9 It is a top view showing the structure of the housing 210 that reduces the sound pressure of sound waves (noise) coming from the rear.

[0030] Figure 10A It is a top view (the first one) showing a modified example of an embodiment for reducing the sound pressure of sound waves (noise) coming from the rear.

[0031] Figure 10B It is a top view (the second one) showing a modified example of an embodiment for reducing the sound pressure of sound waves (noise) coming from the rear.

[0032] Figure 10C It is a top view (the third one) showing a modified example of an embodiment for reducing the sound pressure of sound waves (noise) coming from the rear.

[0033] Figure 10D It is a top view (the fourth one) showing a modified example of an embodiment for reducing the sound pressure of sound waves (noise) coming from the rear.

[0034] Figure 11 It is a top view (the fifth one) showing a modified example of an embodiment for reducing the sound pressure of sound waves (noise) coming from the rear.

[0035] Figure 12 It is a top view (the sixth one) showing a modified example of an embodiment for reducing the sound pressure of sound waves (noise) coming from the rear.

[0036] Figure 13 It is a top view showing an example of the structure of a composite component that increases the sound pressure of sound waves coming from the obliquely front direction among the sound waves received by the first and second microphones 51L and 51R.

[0037] Figure 14A It is a top view (the first one) showing a modified example of an embodiment for increasing the sound pressure of sound waves coming from the obliquely front direction among the sound waves received by the first and second microphones 51L and 51R.

[0038] Figure 14B It is a top view (the second one) showing a modified example of an embodiment for increasing the sound pressure of sound waves coming from the obliquely front direction among the sound waves received by the first and second microphones 51L and 51R.

[0039] Figure 15A It is a top view (the third one) showing a modified example of an embodiment for increasing the sound pressure of sound waves coming from the obliquely front direction among the sound waves received by the first and second microphones 51L and 51R.

[0040] Figure 15B It is a top view (the fourth one) showing a modified example of an embodiment for increasing the sound pressure of sound waves coming from the obliquely front direction among the sound waves received by the first and second microphones 51L and 51R.

[0041] Figure 16 It is a top view (version 5) showing a modified example of an embodiment for increasing the sound pressure of sound waves arriving from an oblique front among the sound waves received by the first and second microphones 51L and 51R.

[0042] Figure 17A It is a top view (version 6) showing a modified example of an embodiment for increasing the sound pressure of sound waves arriving from an oblique front among the sound waves received by the first and second microphones 51L and 51R.

[0043] Figure 17B It is a top view (version 7) showing a modified example of an embodiment for increasing the sound pressure of sound waves arriving from an oblique front among the sound waves received by the first and second microphones 51L and 51R.

[0044] Figure 18A It is a top view showing an example of the structure of the composite component 300 for reducing the sound pressure of sound waves arriving from the opposite left and right sides among the sound waves received by the first and second microphones 51L and 51R.

[0045] Figure 18B It is a top view (version 1) showing another example of the structure of the composite component 300 for reducing the sound pressure of sound waves arriving from the opposite left and right sides among the sound waves received by the first and second microphones 51L and 51R.

[0046] Figure 18C It is a top view (version 2) showing another example of the structure of the composite component 300 for reducing the sound pressure of sound waves arriving from the opposite left and right sides among the sound waves received by the first and second microphones 51L and 51R.

[0047] Figure 19 It is a side view showing an example of the structure of the composite component 300 for reducing the sound pressure of sound waves reflected by the unevenness 63 of the ground 62 among the sound waves received by the first and second microphones 51L and 51R.

[0048] Figure 20 It is a top view showing an example of the structure of the composite component 300 for preventing the lateral object 60A from being involved in the traveling by increasing the sound pressure of sound waves arriving from the side of the composite component 300.

[0049] Figure 21 It is a top view showing an example of the structure of the composite component 300 for preventing a collision with the front object 60A by increasing the sound pressure of sound waves arriving from the front of the autonomous mobile device 100.

[0050] Figure 22A It is a top view showing an example of the structure of the composite component 300 for increasing the sound pressure of sound waves arriving from an oblique front to the left and right pair of microphones 51L and 51R, and also increasing the sound pressure of sound waves arriving from at least one of the front and the side.

[0051] Figure 22B 1 is a plan view showing another example of the structure of the composite assembly 300 for increasing the sound pressure of sound waves reaching the left and right microphones 51L and 51R from the oblique front and also increasing the sound pressure of sound waves arriving from at least one of the front and the side.

[0052] Figure 23A 1 is a plan view showing another modified example of the number and arrangement of microphones and speakers included in the autonomous mobile device 100 .

[0053] Figure 23B 1 is a plan view showing another modified example of the number and arrangement of microphones and speakers included in the autonomous mobile device 100 (part 2).

[0054] Figure 23C 3 is a plan view showing another modified example of the number and arrangement of microphones and speakers included in the autonomous mobile device 100 .

[0055] Figure 23D 4 is a plan view showing another modified example of the number and arrangement of microphones and speakers included in the autonomous mobile device 100 .

[0056] Figure 23E 5 is a plan view showing another modified example of the number and arrangement of microphones and speakers included in the autonomous mobile device 100 . DETAILED DESCRIPTION

[0057] Hereinafter, multiple embodiments of autonomous mobile devices, autonomous mobile systems, and composite components of loudspeaker microphones for autonomous mobile devices will be described in detail with reference to the accompanying drawings. In addition, the embodiments described below represent general or specific examples. The numerical values, shapes, materials, components, locations of components, and connection methods shown in the following embodiments are examples and are not limited to the subject matter of the present invention. In addition, among the components in the following embodiments, components that are not recorded in the independent claims representing the highest-level concepts are described as arbitrary components. In addition, for the sake of convenience of explanation, the dimensional ratios of the drawings are exaggerated and sometimes different from the actual ratios.

[0058] In addition, in the following embodiment and its modification example, although the same structural elements are included in some cases, the same structural elements are denoted by the same reference numerals, and the repeated description is omitted.

[0059] (Overview of Autonomous Mobility Device)

[0060] Autonomous mobile devices in multiple embodiments, for example, have a structure that can autonomously reach a target object in the internal space of structures such as buildings like residences and offices, factories, or, in some cases, in the external space. Additionally, for example, it can also be configured in such a way that a flying object such as a drone autonomously reaches a target object by using a propeller or the like that can move in the air in a mobile mechanism. Moreover, it can also be applied to mobile bodies such as passenger cars, buses, airplanes, spaceships, ships, and submarines.

[0061] The autonomous mobile device does not use a photographing device such as a camera, LiDAR, and radar, but based on the information output by the target object, avoids obstacles and reaches the target object. The information output by the target object is not particularly limited. As an example, it can be radio waves or high-frequency electromagnetic waves. Hereinafter, the description will continue with radio waves as an example. The autonomous mobile device uses a technique of receiving radio waves such as beacons by multiple antennas and inferring the direction of arrival of the radio waves, infers the direction of the target object emitting the radio waves, and moves in the inferred direction. When there is an obstacle outside the line of sight between the target object and the autonomous mobile device, the autonomous mobile device sometimes moves in the direction of arrival of the radio waves reflected by the obstacle. However, there is a situation where it receives radio waves directly from the target object during movement. In this case, the autonomous mobile device can change its moving direction to the direction of the target object during the movement towards the obstacle. As a result, it can avoid obstacles and move towards the target object. Additionally, when there is an obstacle on the line of sight between the target object and the autonomous mobile device, as the autonomous mobile device moves towards the obstacle, the reception intensity of the radio waves vibrates, so the autonomous mobile device can detect the presence of the obstacle. In this way, while inferring the direction of arrival of the radio waves, the autonomous mobile device continues to move in the direction where the reception intensity of the radio waves is stronger, thereby being able to avoid obstacles and reach the target object.

[0062] As described above, the autonomous mobile device does not need to be equipped with a photographing device such as a CCD camera, LiDAR, and radar used for path search in the prior art. That is, the autonomous mobile device of the present invention can reach the target object that outputs information by having multiple antennas and a control unit and a driving unit that measure the intensity of the information and move in the direction of arrival of the information. Additionally, the sound waves emitted from the speaker mounted on the autonomous mobile device are reflected by the objects around the autonomous mobile device, and the moving direction of the autonomous mobile device can be set based on the sound waves received by multiple microphones. Therefore, it can avoid narrow driving roads or intricate driving roads and set the moving direction of the autonomous mobile device. As a result, it can select a preferred driving road that is less affected by the objects (including obstacles) around the autonomous mobile device and reach the target object.

[0063] Next, refer to Figure 1 andFigure 2 The operation principle of the autonomous mobile device 100 that summarizes multiple embodiments and the autonomous mobile system 1000 including the autonomous mobile device 100 is described.

[0064] (Overview of Digital Pheromone)

[0065] First, with reference to Figure 1 , the structure (digital pheromone) of the autonomous mobile device 100 that moves while estimating the arrival direction of radio waves such as beacons and continuously moves in the direction with a stronger received radio wave intensity, thereby avoiding obstacles J1 and J2 and reaching the target object (transmitting device 200) is described. The autonomous mobile device 100 receives radio waves transmitted from the transmitting device 200 (equivalent to the target object) arranged at the target position. Since the line of sight between the autonomous mobile device 100 and the transmitting device 200 is blocked by the obstacle J2, the autonomous mobile device 100 receives the radio waves via the path K3 → path K2 → path K1. In addition, depending on the line of sight direction, the size of the obstacle J2, and the frequency of the beacon, the autonomous mobile device 100 may also receive radio waves, but it is assumed that the intensity of the radio waves received via the path K1 is the largest. The autonomous mobile device 100 estimates the arrival direction of the radio waves with the largest intensity through multiple antennas mounted on the autonomous mobile device 100 and moves based on the estimated arrival direction.

[0066] The autonomous mobile device 100 moving towards the obstacle J1 on the path K1 continues to move towards the obstacle J1 on the path K1 as the received radio wave intensity increases as it approaches the obstacle J1. However, when it reaches the position x1, the transmitting device 200 appears in front of the line of sight of the autonomous mobile device 100, so the autonomous mobile device 100 can directly receive the radio wave TS3. Therefore, at the position x1, compared with the radio wave TS2, the received intensity of the radio wave TS3 increases, so the autonomous mobile device 100 wants to change the moving direction to the arrival direction of the radio wave TS3. The autonomous mobile device 100 can also move on the line in the arrival direction of the radio wave TS3, but in this case, the autonomous mobile device 100 may collide with the obstacle J2. Therefore, based on the fact that the radio wave TS3 has not been received on the path K1 until the position x1, the fact that a stronger radio wave TS3 is received at the position x1, and the existence of the obstacle J2 is recognized according to the estimated arrival direction, the autonomous mobile device 100 moves in the direction of the path K2. The autonomous mobile device 100 moving in the direction of the path K2 can recognize the existence of the obstacle J1 based on the fact that the arrival direction of the radio waves output from the transmitting device 200 gradually expands and the fact that the moving direction has changed at the position x1, and estimates the path K3. Therefore, the autonomous mobile device 100 can change the traveling direction towards the transmitting device 200 at the position x2 and reach the transmitting device 200.

[0067] (Overview of echolocation)

[0068] Next, with reference to Figure 2 , a structure (echolocation) will be described in which the autonomous mobile device 100 selects a preferred driving route that is less affected by obstacles p1 to p4 and reaches the target object P1. Figure 2 It is an explanatory diagram showing the state in which the autonomous mobile device 100 travels on a plane driving road where multiple obstacles p1 to p4 exist and heads for the destination P1.

[0069] When the autonomous mobile device 100 autonomously travels from the position P0 to the destination P1, there is an obstacle p2 on the driving route x0 that is the shortest path. In this case, the autonomous mobile device 100 outputs a sound wave in the traveling direction and receives the sound wave reflected by the surface of the obstacle p2. The obstacle p2 is detected based on the received sound wave, and the moving direction is changed at the position P2 in front of the obstacle p2 to avoid a collision with the obstacle p2.

[0070] At this time, it is preferable that the autonomous mobile device 100 changes the moving direction to the left to avoid the obstacle p2. That is, since the driving road x1 on the left side of the obstacle p2 as observed from the autonomous mobile device 100 is an open space, the autonomous mobile device 100 can travel without being restricted by the obstacle. However, the driving road x2 on the right side of the obstacle p2 is complexly intertwined, and there will be more restrictions due to obstacles during driving. Therefore, it is better to change the moving direction of the autonomous mobile device 100 to the left.

[0071] On the other hand, the driving road x2 on the right side of the obstacle p2 is complexly intertwined, and there are more restrictions due to obstacles during driving. More specifically, a) when there is an obstacle near the antenna, a phase shift occurs and the accuracy of azimuth detection is significantly reduced. In addition, b) when there are many such obstacles entering a complex space, there is a problem that the reflection of radio waves by the autonomous mobile device 100 becomes complex and it cannot escape.

[0072] The autonomous mobile device 100 uses a pair of left and right microphones to receive the sounds reflected by surrounding objects (obstacles p1 to p4). By comparing the left and right sound signals, it is possible to avoid a complex space where the obstacles p1 to p4 are more intertwined and travel in an open space without being restricted by the surrounding objects and reach the destination P1. A more specific method will be described later.

[0073] (Details of the autonomous mobile device)

[0074] With reference to Figure 3, the detailed structure of the autonomous mobile device 100 of multiple embodiments is described. The autonomous mobile device 100 includes a receiving unit 110 such as multiple antennas, a switching unit 120 that selects receiving elements of the receiving unit 110, a control unit 130, a storage unit 140, an information acquisition unit 150, a driving unit 160, and a moving unit 170. In addition, a display unit 180 may sometimes be included in the autonomous mobile device 100. Additionally, based on the driving information output from Figure 3 as shown by the driving unit 160, the moving unit 170 such as wheels, belts, crawlers, and propellers is driven, and the autonomous mobile device 100 is structured to move. In addition, the receiving unit 110 has multiple receiving elements.

[0075] The receiving unit 110 is an antenna that receives radio waves (including high-frequency electromagnetic waves) output from the transmitting device 200. For example, the receiving unit 110 can be an array antenna composed of multiple antenna elements. When the receiving unit 110 is an array antenna, the arrangement of the antenna elements constituting the array antenna can be formed into any arrangement. For example, the antenna elements can be arranged in a row in a cross direction such as the traveling direction of the autonomous mobile device 100 or a direction orthogonal to the traveling direction. Additionally, the antenna elements can be arranged in a rectangular shape or a ring shape on a plane that does not cross or crosses the traveling direction of the autonomous mobile device 100. Moreover, the antenna elements can be arranged in a curved surface shape. Additionally, the array antenna does not need to be one, and multiple array antennas can be arranged to improve the accuracy of estimating the arrival direction of radio waves and the like. Additionally, the receiving unit 110 can also be composed of multiple antennas with directivities in different directions. The arrangement of the multiple antennas in this case can also be arranged in the same way as the antenna elements of the array antenna. Additionally, it can be configured such that a partition plate made of metal or the like is provided on at least one non-directional antenna, and the intensity of radio waves or high-frequency electromagnetic waves in the direction surrounded by the partition plate can be detected.

[0076] The switching unit 120 is a switch configured to select any one of the receiving elements of the receiving unit 110 and output information such as radio waves received by the receiving element. Therefore, the switch of the switching unit 120 can be configured such that there is only the number of receiving elements provided in the receiving unit 110, and one switch corresponds to one receiving element. For example, when the receiving unit 110 is an array antenna, multiple antenna elements are selected, and information such as the intensity and phase of the radio waves received by the multiple antenna elements is output to the phase difference determination unit 131 and the reception intensity determination unit 132 described later. Additionally, the switching unit 120 is preferably a semiconductor switch, but is not limited thereto, and a switch capable of opening and closing an electrical connection of any structure can be adopted.

[0077] The control unit 130 can be implemented using a microcomputer equipped with a CPU (Central Processing Unit) or the like. A computer program (autonomous movement program) for causing the microcomputer to function as the control unit 130 is installed and executed on the microcomputer. Thereby, the microcomputer functions as a plurality of information processing units included in the control unit 130.

[0078] The control unit 130 includes a phase difference determination unit 131, a reception intensity determination unit 132, a reception element selection unit 133, an angle estimation unit 134, a motion control unit 135, and a contact determination unit 136 as a plurality of information processing units.

[0079] The phase difference determination unit 131 analyzes the reception signals of a plurality of reception elements of the reception unit 110 selected by the reception element selection unit 133, and determines the phase difference between the reception signals based on the difference in arrival times between the reception signals. The determined phase difference is output to the angle estimation unit 134. In addition, when the autonomous mobile device 100 is stopped or moving, the phase difference determination unit 131 can also determine an angle based on a plurality of phase differences between a plurality of reception signals.

[0080] The reception intensity determination unit 132 determines the reception intensity of a plurality of reception elements of the reception unit 110 selected by the reception element selection unit 133. The estimated reception intensity is output to the motion control unit 135. In addition, the estimated reception intensity may also be output to the reception element selection unit 133. In addition, the reception intensity can be expressed in any unit related to the reception intensity, or can be expressed as relative information. The reception intensity can be output to the motion control unit 135 and the reception element selection unit 133 as reception intensity information in any format.

[0081] The reception element selection unit 133 selects elements for receiving radio waves or the like from a plurality of reception elements included in the reception unit 110. The selected reception elements are preferably one or more. In order to determine the phase difference in the phase difference determination unit 131, the reception element selection unit 133 selects a plurality of reception elements. In addition, it is also possible to sequentially select reception elements, select one or more reception elements determined to have a strong reception intensity in the reception intensity determination unit 132, and estimate the arrival direction of radio waves or the like in the angle estimation unit 134 via the phase difference determination unit 131.

[0082] In the angle estimation unit 134, any of the following arrival direction estimation methods can be adopted: using several sets of two antenna elements, obtaining the complex reception response to the arriving wave in advance based on the phase difference of the antenna elements, introducing an evaluation function, and taking the angle at which the evaluation function value is maximized as the estimated arrival direction of the radio wave, etc. In addition, the angle estimation unit 134 can also estimate the arrival direction of the radio wave based on the phase differences of multiple antenna elements. For example, the MUSIC (Multiple Signal Classification) method using the eigenvalues and eigenvectors of the correlation matrix and the Root-MUSIC method can also be adopted. In addition, the ESPRIT (Estimation of Signal Parameters via Rotational Invariance Techniques) method can also be adopted. The estimated angle is stored as angle information from an arbitrary reference axis in the angle information storage unit 141 of the storage unit 140. In addition, there are cases where the estimated angle information is stored in the angle information storage unit 141 in association with the reception intensity determined in the reception intensity determination unit 132. In addition, the further estimated angle information can be stored in the angle information storage unit 141 in association with the determined reception intensity and time information. The time information can be received by the reception unit 110 from outside the autonomous mobile device 100. In addition, the autonomous mobile device 100 can also perform timing using a timing unit (not shown).

[0083] In addition, there are sometimes multiple angles estimated in the angle estimation unit 134. When there are multiple estimated angles, the reception intensity at each angle can be received from the reception intensity determination unit 132, and the angle estimation unit 134 stores each angle in association with the reception intensity in the angle information storage unit 141. For example, in the presence of an obstacle, there are cases where the radio wave reflected by the obstacle and the radio wave propagating in the line of sight are received by the autonomous mobile device 100 at different angles. In addition, there are cases where the radio wave is reflected by an obstacle and further reflected by another obstacle, and is further received by the autonomous mobile device 100 at a different angle. In this way, there are cases where the reflected wave from the obstacle undergoes multiple reflections and reaches the autonomous mobile device 100. Basically, the autonomous mobile device 100 moves in the direction of higher reception intensity, but in the case where it cannot move in the direction of higher reception intensity due to an obstacle, or in the case where there may be a wrong path. In this way, there may also be cases where the autonomous mobile device 100 has to move in the direction of other reflected waves. Therefore, when multiple angles are estimated, in association with the reception intensity, the autonomous mobile device 100 can also store this information in the angle information storage unit 141.

[0084] The motion control unit 135 generates motion direction information including the motion direction for moving the autonomous mobile device 100, corresponding to the magnitude or change of the received signal strength determined by the received signal strength determination unit 132 and the arrival direction of the radio wave estimated by the angle estimation unit 134. In the embodiment, for example, based on the information from the information acquisition unit 150 described later, when it is determined that there are obstacles or complex spaces around the autonomous mobile device 100, the motion control unit 135 generates motion direction information when the reliability of both or one of the estimation result of the angle estimation unit 134 and the determination result of the received signal strength determination unit 132 is lower than a specified reference value. That is, basically, when the reliability index (I) is lower than the specified reference value, the motion control unit 135 performs motion control to avoid the surrounding area.

[0085] For example, the motion control unit 135 may also generate motion direction information by weighting the estimated arrival direction of the radio wave according to the reliability. More specifically, the motion control unit 135 may control to move in the arrival direction with a larger product (R×I) by multiplying the received signal strength (R) of multiple estimated arrival directions of the radio wave by the degree of reliability (reliability: I). Not limited to the case where multiple arrival directions of radio waves can be estimated simultaneously, multiple arrival directions of radio waves may also be compared in the past history. That is, the motion control unit 135 may assign an index corresponding to the reliability as a weight to the arrival direction of the radio wave stored in the storage unit 140 and generate motion direction information. In addition, when the reliability decreases, the motion control unit 135 may also perform control to move to a space or direction with high reliability.

[0086] There are various methods for the motion control unit 135 to determine low reliability because there are obstacles or complex spaces around the autonomous mobile device 100. For example, the motion control unit 135 may also determine the reliability based on at least one of the magnitude, change, reception count, left - right comparison, comparison with the past history, distance from the estimated obstacle, shape of the space, received signal strength, noise level, and stability of the arrival direction angle of the received output information. For example, when the received signal strength determined by the received signal strength determination unit 132 vibrates periodically in the estimated direction, it may be determined that there is an obstacle in the estimated direction and the reliability is reduced. This is because when the received signal strength vibrates periodically, there is an obstacle between the autonomous mobile device 100 and the target object, and there is a possibility of receiving diffracted waves.

[0087] In addition, in order for the motion control unit 135 to determine surrounding obstacles or intricate spaces, the autonomous mobile device 100 may also be provided with an obstacle measurement unit that measures the distance to obstacles. In the present embodiment, the information acquisition unit 150 and the contact determination unit 136 described later function as the obstacle measurement unit. In addition, the information acquisition unit 150 may be an infrared sensor, an ultrasonic sensor, or a depth sensor. Further, when the motion control unit 135 receives contact prediction information or contact information from the contact determination unit 136, it determines that the reliability is low, and can also change the moving direction so as to avoid obstacles or intricate spaces. In this case, there are also cases where the changed direction is maintained temporarily or for a predetermined period of time.

[0088] In this way, the motion control unit 135 stores in the storage unit 140 the index corresponding to the reliability, the arrival direction and reception intensity of the radio wave, and the history of the control content of the autonomous mobile device 100 in association with each other, and can generate moving direction information in consideration of the passage of time of the history. The motion control unit 135 can store the moving direction, the moving time or moving distance in the moving direction, and the reliability and the like in the moving direction information storage unit 142 in association with each other. As described above, based on the above information stored in the moving direction information storage unit 142, the motion control unit 135 can also calculate the past moving history, generate map information, and move while avoiding the surroundings of obstacles with low reliability and complex spaces.

[0089] In addition, there are cases where the motion control unit 135 moves while maintaining the current moving direction when the radio wave intensity is very weak, or when the arrival direction of the radio wave cannot be estimated by the angle estimation unit 134. This is because, for example, if the emitted radio wave and the reflected radio wave interfere with each other to generate a null point, there is a case where the autonomous mobile device 100 moves to another point and the arrival direction of the radio wave can be estimated again.

[0090] Moreover, the motion control unit 135 can also perform machine learning and deep learning using information such as moving history information, angle information, radio wave estimation direction information, and reliability, and store the machine learning result information and the deep learning result information in the storage unit 140. Therefore, the motion control unit 135 stores the reliability history corresponding to the reliability and the moving direction information and the like in the storage unit 140 as training data. In addition, the machine learning result information and the deep learning result information may also be stored in the storage unit 140 in association with information such as moving direction information, angle information, radio wave estimation direction information, and reliability.

[0091] The contact determination unit 136 determines whether the autonomous mobile device 100 is likely to come into contact with an obstacle based on the acquired information obtained by the information acquisition unit 150. When the information acquisition unit 150 detects an obstacle, it sends the detected information about the obstacle to the contact determination unit 136. The contact determination unit 136 sends contact prediction information to the motion control unit 135 when it is predicted that the autonomous mobile device 100 will come into contact with an obstacle, based on the moving direction and size of the autonomous mobile device 100 and the obtained information about the obstacle. In addition, when the contact determination unit 136 determines that the autonomous mobile device 100 has come into contact with an obstacle, it sends contact information to the motion control unit 135.

[0092] The storage unit 140 is a computer-readable storage medium. For example, the storage unit 140 can be a ROM (Read Only Memory), an EPROM (Erasable Programmable ROM). In addition, the storage unit 140 can be an EEPROM (Electrically Erasable Programmable ROM), a RAM (Random Access Memory), a hard disk, etc.

[0093] The storage unit 140 includes an angle information storage unit 141, a moving direction information storage unit 142, and a reception intensity information storage unit 143.

[0094] The angle information storage unit 141 stores the angle information of the radio wave whose arrival direction has been estimated by the angle estimation unit 134. The angle information may be information from a pre-determined reference axis, and the reference axis may be based on the physical contour of the autonomous mobile device 100. For example, the contour may be represented by two-dimensional relative coordinates different from the space in which the autonomous mobile device 100 moves, and the line represented by the relative coordinates may be used as the reference axis. In the angle information, the reception intensity information of the estimated radio wave and the time information of the estimated angle information may be stored in association with each other. This is because, in the above-mentioned specified cases, angle information other than the angle information with the strongest reception intensity may be used, and sometimes it is necessary to compare with past angle information. In addition, the angle information may also represent the angle changed from the initially determined angle and be stored in a manner that facilitates the generation of map information.

[0095] In the moving direction information storage unit 142, the moving direction information in which the autonomous mobile device 100 actually moves, determined by the motion control unit 135, is stored in association with the time information at which the movement starts in this moving direction and the time information at which the movement in this moving direction ends. Additionally, the time information at which the movement starts in this moving direction, or the time information at which the movement in this moving direction ends, and the time information of the movement in this moving direction can also be stored in the moving direction information storage unit 142 in association with the moving direction information. The motion control unit 135 can also reproduce the past movement path of the autonomous mobile device 100 based on this information. In order to reach the target object, the motion control unit 135 can also refer to the past movement path and select a path in a way that does not follow the same movement path. Additionally, the contact determination unit 136 can also refer to the past movement path to infer the position of the obstacle. Moreover, in the control unit 130, machine learning and deep learning can also be executed, and the machine learning result information and deep learning result information are stored in the storage unit 140 including the moving direction information storage unit 142. Additionally, the machine learning result information and deep learning result information can also be stored in association with information such as moving direction information, angle information, radio wave speculation direction information, and reliability.

[0096] In the reception intensity information storage unit 143, the reception intensity information of the radio waves received by a plurality of receiving elements determined by the reception intensity determination unit 132 is stored. Additionally, the reception intensity of the radio waves in the radio wave arrival direction speculated by the plurality of receiving elements is stored in the reception intensity information storage unit 143. Furthermore, the reception intensity information can be stored in the reception intensity information storage unit 143 in association with the time information for determining the reception intensity.

[0097] The drive unit 160 includes a mechanism for driving the moving unit 170 so that the autonomous mobile device 100 moves in the moving direction determined by the motion control unit 135. For example, if the moving unit 170 is a wheel, it is a mechanism for rotating the wheel; if the moving unit 170 is a track, it is a mechanism for rotating the track; if the moving unit 170 is a propeller, the drive unit 160 includes a mechanism for rotating the propeller. Moreover, the drive unit 160 is not limited to the above-described manner and can include any drive structure for driving the structure of the moving unit 170.

[0098] The moving unit 170 is a part that constitutes a mechanism for moving the autonomous mobile device 100. If the autonomous mobile device 100 is a vehicle, the moving unit 170 can be a wheel including a tire or a track, etc. Additionally, if the autonomous mobile device 100 is a flying object such as a drone or a helicopter, the moving unit 170 can be a propeller. Moreover, the moving unit 170 is not limited to the above-described manner and can include any moving mechanism capable of moving the autonomous mobile device 100.

[0099] The display unit 180 is optional. It can be installed on the autonomous mobile device 100 or set in a monitoring space separated from the autonomous mobile device 100, and can confirm the image information of the moving direction of the autonomous mobile device 100. In this way, by confirming the image information output to the display unit 180, it is also possible to confirm whether the autonomous mobile device 100 is moving normally.

[0100] Figure 1 The transmitting device 200 can be arranged around the target object or installed on the target object. In addition, there is also a case where the transmitting device 200 becomes the target object. The information output by the transmitting device 200 needs to be information that can be received by the receiving unit 110 of the autonomous mobile device 100. In an example of the information output by the transmitting device 200, as described above, radio waves and high-frequency electromagnetic waves can be cited, but it is not limited thereto, and it can also be electromagnetic waves, vibration waves, etc. of any frequency. In addition, the frequencies of radio waves, vibration waves, etc. do not need to be fixed, and can also be changed periodically or randomly. In addition, the transmitting device 200 can also be configured to repeatedly scan the frequencies in a predetermined frequency range. There is a case where, by changing the frequency, it is easy to judge the presence of an obstacle even if the autonomous mobile device 100 does not have the information acquisition unit 150. In addition, the transmitting device 200 can also be a user-used electronic device such as a mobile phone, PHS phone, smart phone, mobile information terminal, etc. carried by the user, or other autonomous mobile devices.

[0101] The autonomous mobile device 100 of the embodiment may also include a transmitting unit (not shown), which wirelessly or wiredly transmits the arrival information at the target object or the abnormal information during movement to the outside. The transmitting unit can wirelessly transmit the arrival information and the abnormal information to an external electronic device through so-called mobile communication. Alternatively, wireless communication based on at least one of the short-range wireless communication standards of Wireless LAN and Bluetooth (registered trademark) can also be performed. Alternatively, the transmitting unit can also communicate with the outside by connecting with a cable (such as a USB cable or an optical cable). According to such a structure, other devices can execute the subsequent processing corresponding to the reception of the arrival information or the abnormal information.

[0102] The transmission destination of the transmitting unit can also be, for example, a computer configured on the cloud, a user-used electronic device such as a portable phone, PHS phone, smart phone, or portable information terminal carried by the user.

[0103] (Details of echolocation)

[0104] The information acquisition unit 150 can also be a device having one or two or more speakers and two or more microphones. As an example, refer to Figure 4, a device having one speaker and two microphones will be described. Figure 4 It is a block diagram showing an example of an echolocation structure of one speaker and two microphones in the autonomous mobile device 100 of the present embodiment. Figure 5 It shows Figure 4 It is a block diagram showing details of each component in the echolocation structure shown.

[0105] As Figure 4 shown, in addition to the control unit 130, the storage unit 140, the drive unit 160, and four wheels as the moving unit 170, the autonomous mobile device 100 further includes one sound emission unit 150C and two sound reception units 150L and 150R as one mode of the information acquisition unit 150.

[0106] The sound emission unit 150C is mounted on the vehicle body 190 of the autonomous mobile device 100 and emits sound waves toward an area including the front (positive direction of the X axis) of the vehicle body 190. As Figure 5 shown, the sound emission unit 150C includes a speaker 41, an amplifier 42, and a D / A conversion unit 43. In addition, in Figure 4 and Figure 5 , an example of having one sound emission unit 150C is described, but it may have a plurality of sound emission units 150C as described later. For example, when the sound emitted from the sound emission unit 150C does not cover the entire periphery of the autonomous mobile device 100, two sound emission units 150C can be provided on the left and right of the autonomous mobile device 100, for example.

[0107] The sound emission unit 150C outputs ultrasonic waves or sound waves having a frequency in the audible band of humans. In addition, the sound emission unit 150C may be configured to output sound waves other than ultrasonic waves and frequencies in the audible band. "Sound wave" refers to the general term for elastic waves propagating in gas, liquid, or solid.

[0108] The sound emission unit 150C outputs sound waves at a predetermined period or irregularly. The sound emission unit 150C also has a function of changing the frequency of the emitted sound waves. That is, when the frequency of the sound waves generated by the sound signal generation unit 26 described later is changed, the sound waves of the changed frequency are emitted. When there are a plurality of sound emission units 150C, it is possible to synchronize the timing of the sound emission units 150C to output sound waves.

[0109] The D / A conversion unit 43 converts the digital sound signal generated by the control unit 130 described later into an analog signal. Sound includes audible frequencies of humans, ultrasonic waves higher than audible frequencies, and infrasonic sounds lower than audible frequencies. Sound is an example of sound waves.

[0110] The amplifier 42 amplifies the sound signal to be simulated. In addition, when an ultrasonic speaker is used as the speaker 41, a rectangular wave of digital output can be output as it is. That is, instead of analog output, logical output can also be used, and a buffer circuit can be provided instead of the D / A conversion unit 43 and the amplifier 42.

[0111] The speaker 41 outputs the amplified analog sound signal as sound waves. The speaker 41 is provided, for example, in a manner facing the straight-ahead direction of the autonomous mobile device 100, and outputs sound waves in the straight-ahead direction of the autonomous mobile device 100. That is, the sound emitting unit 150C outputs sound waves toward one direction (for example, the straight-ahead direction) that is a reference for the autonomous mobile device 100. In addition, as long as the straight-ahead direction of the autonomous mobile device 100 is included within the range where the speaker 41 outputs sound waves, the central axis of the speaker 41 may also be different from the straight-ahead direction (front) of the autonomous mobile device 100. Hereinafter, the "straight-ahead direction" may sometimes be referred to as the front.

[0112] The sound receiving unit 150L and the sound receiving unit 150R are mounted on the vehicle body 190 of the autonomous mobile device 100, receive sound waves reflected by an object located around the autonomous mobile device 100, and convert the sound waves into electrical signals. The sound receiving unit 150L (sound wave receiving unit) is provided to face more to the left than the front of the autonomous mobile device 100. The sound receiving unit 150R (sound wave receiving unit) is provided to face more to the right than the front of the autonomous mobile device 100. That is, two sound receiving units are arranged, and are arranged in opposite directions with respect to one direction (for example, the front) that is a reference for the autonomous mobile device 100.

[0113] One sound receiving unit 150L receives the sound waves on the left side with respect to the front of the autonomous mobile device 100. The other sound receiving unit 150R receives the sound waves on the right side with respect to the front of the autonomous mobile device 100. The two sound receiving units 150L and 150R are a plurality of sound wave receiving units with different sound wave input directions. Each of the sound receiving units 150L and 150R includes a microphone 51L, 51R and an A / D conversion unit 53L, 53R.

[0114] The microphones 51L and 51R receive the sound waves reflected by the object and convert them into sound signals as electrical signals. The left microphone 51L is provided, for example, at an angle of 30 degrees to the left with respect to the front of the autonomous mobile device 100. The right microphone 51R is provided, for example, at an angle of 30 degrees to the right with respect to the front of the autonomous mobile device 100.

[0115] In addition, each of the microphones 51L and 51R may be arranged so as to sandwich the speaker 41 in the left - right direction perpendicular to the front of the autonomous mobile device 100. In other words, the speaker 41 may be located between the microphones 51L and 51R in the vehicle width direction. The orientations of the microphones 51L and 51R may be between the front of the autonomous mobile device 100 and the left - right direction, and the angle is not limited. The two microphones 51L and 51R may also be set to face different directions. When the autonomous mobile device 100 moves in a three - dimensional space such as a drone, for example, the sound receiving parts may be configured to be provided at four positions on the left - right and up - down sides of the autonomous mobile device 100. In this case, the microphones are preferably provided at four positions on the upper - lower and left - right sides of the front side of the autonomous mobile device 100.

[0116] The A / D conversion units 53L and 53R digitize the analog sound signals output from the respective microphones 51L and 51R and output them to the control unit 130.

[0117] The storage unit 140 can include an echo signal storage unit 31 and a control result storage unit 33.

[0118] The echo signal storage unit 31 stores the echo signals measured by the echo signal measurement unit 21 described later. Here, an "echo signal" is a phenomenon in which sound is reflected by a certain object surface and can be heard again, and it is a concept including the phenomenon of "echo" in which, after the sound source stops vibrating, reflections from the ceiling, walls, etc. continue and the sound can still be heard.

[0119] The control result storage unit 33 stores the control results of the reliability determination unit 25 described later.

[0120] The contact determination unit 136 includes an echo signal measurement unit 21, a moving direction setting unit 24, a reliability determination unit 25, and a sound signal generation unit 26.

[0121] The sound signal generation unit 26 generates a sound signal of a specified frequency and outputs the generated sound signal to the sound emission unit 150C at a specified time interval (e.g., 1 - second interval).

[0122] The sound signal generation unit 26 changes the frequency of the sound signal as needed. For example, when other mobile devices transmit sound signals in addition to the autonomous mobile device 100, and the frequency of the sound signal is approximate or the same as the frequency of the sound signal transmitted by the sound emission unit 150C of the autonomous mobile device 100, the frequency is changed so that the frequency of the sound signal transmitted from the sound emission unit 150C is different from the frequency of the sound signal transmitted from the other mobile devices.

[0123] The echo signal measurement unit 21 receives the sound signals output from each of the A / D conversion units 53L and 53R, and transmits them to the echo signal storage unit 31 and the moving direction setting unit 24 respectively.

[0124] When there is an obstacle in the traveling direction of the autonomous mobile device 100, the moving direction setting unit 24 analyzes the sound signals transmitted from the echo signal measurement unit 21 and the respective data stored in the echo signal storage unit 31 and the control result storage unit 33, and sets the moving direction of the autonomous mobile device 100. Further, the moving direction setting unit 24 calculates traveling information such as the rotation direction, rotation angle, and traveling speed of the autonomous mobile device 100. In addition, when there are multiple directions from which output information arrives, etc., the moving direction setting unit 24 does not set the traveling direction, but provides various information such as the multiple arrival directions to the reliability determination unit 25.

[0125] Based on various information obtained from the moving direction setting unit 24, etc., the reliability determination unit 25 determines the reliability, and outputs various drive signals such as the reliability to the motion control unit 135. In the drive signal, in addition to the reliability, information associated with driving such as the moving direction, rotation direction, rotation angle, and traveling speed is also included.

[0126] The reliability determination unit 25 outputs the control signal output to the drive unit 160 to the control result storage unit 33. The control result storage unit 33 stores the control signal output from the reliability determination unit 25.

[0127] Next, a method for setting the moving direction when the autonomous mobile device 100 avoids an obstacle by the moving direction setting unit 24 will be described.

[0128] (First setting method)

[0129] The moving direction setting unit 24 sets the moving direction of the autonomous mobile device 100 based on the received echo signal. The moving direction setting unit 24 outputs the information on the set moving direction to the reliability determination unit 25.

[0130] For example, when the autonomous mobile device 100 autonomously travels from the Figure 2 shown position P0 to the destination P1, and there is an obstacle p2 on the traveling path x0 that is the shortest path, the autonomous mobile device 100 changes its moving direction at the position P2 in front of the obstacle p2 to avoid the obstacle p2. At this time, the traveling path x2 on the right side of the obstacle p2 is a complex space, and there are more restrictions due to obstacles during traveling. Therefore, it is preferable to change the moving direction of the autonomous mobile device 100 to the left. Therefore, Figure 5 the contact determination unit 136 of []] judges the surrounding obstacles and complex spaces to calculate the reliability, and provides a drive signal including the reliability to the motion control unit 135.

[0131] (Second setting method)

[0132] The movement direction setting unit 24 acquires the previously received echo signal stored in the echo signal storage unit 31 and the previous control signal stored in the control result storage unit 33.

[0133] The movement direction setting unit 24 uses the left and right sound receiving units 150L and 150R to perform machine learning based on the previous control signal output by the reliability judgment unit 25. By performing machine learning, the movement direction setting unit 24 obtains the correlation between the echo signal and the movement direction when the autonomous mobile device 100 avoids obstacles. In addition, since machine learning is a well-known technique, detailed description thereof is omitted.

[0134] The movement direction setting unit 24 sets the optimal movement direction of the autonomous mobile device 100 based on the obtained correlation, and the reliability judgment unit 25 judges the reliability based on the machine learning result.

[0135] The reliability judgment unit 25 uses the machine learning result based on the previous control actual results to set driving information such as the movement direction, rotation direction, rotation angle, and driving speed of the autonomous mobile device 100, and outputs a driving instruction to the driving unit 160 together with the reliability. As a result, when the autonomous mobile device 100 travels while avoiding obstacles, it is possible to select a more open travel route for the autonomous mobile device 100 to travel.

[0136] According to the above structure, in an autonomous mobile device 100 such as an automated guided vehicle, SLAM does not require expensive equipment such as a camera or LiDAR, and can adopt a simple structure to reduce the manufacturing cost. In addition, when the autonomous mobile device 100 is introduced into a new place or when the layout of the previous place is changed each time, it is not necessary to create a map of the place or layout, and the introduction cost can also be reduced. There is no need to pre-determine the travel path plan in advance. There is no need to lay induction tapes, magnetic rods, or two-dimensional codes on the ground like an Automatic Guided Vehicle (AGV). It is not necessary to have a large amount of data operation processing like an Autonomous Mobile Robot (AMR) and an expensive computer accompanying the processing, and power consumption can also be suppressed.

[0137] The autonomous mobile device 100 may also be equipped with a short-range ranging sensor, a depth camera, a stereo camera, and a collision sensor or contact sensor for detecting collisions with obstacles, which can prevent contact with recently appeared obstacles (e.g., within 50 cm). In addition, when the autonomous mobile device 100 is applied to an automated guided vehicle, the autonomous mobile device 100 of course has functions that meet the requirements specified in ISO3691-4 / JISD 6802 "Automated Guided Vehicles and Automated Guided Vehicle Systems - Safety Requirements and Verification" regarding the safety of automated guided vehicles.

[0138] (Embodiments of the speaker and microphone)

[0139] As described above, there are various embodiments regarding the number of speakers and microphones involved in echolocation, the orientation of the speakers and microphones relative to the vehicle body 190, and the layout on the vehicle body 190. In addition, as other embodiments of the speaker and microphone, there is a composite component for the autonomous mobile device 100 in which the microphone and the speaker are arranged on one housing (package). By fixing the composite component of the speaker and microphone, which is a component of the autonomous mobile device 100, to the vehicle body 190 of the autonomous mobile device 100 and electrically connecting wiring such as signal lines and power lines between the composite component and other components such as the control unit 130, the storage unit 140, or the drive unit 160 provided in the autonomous mobile device 100, the composite component of the speaker and microphone can be used as a component to manufacture the autonomous mobile device 100. Hereinafter, as embodiments of the speaker and microphone involved in echolocation, the autonomous mobile device 100 and the composite component 300 of the speaker and microphone will be described. In addition, the other structures of the autonomous mobile device 100 except for the speaker and microphone in the following embodiments are the same as the structures of the autonomous mobile device 100 already described and will not be described again. Figure 3 and Figure 5 The structure of the autonomous mobile device 100 already described will not be described again.

[0140] (First Embodiment)

[0141] In the first embodiment, with reference to Figures 6A to 7D and Figure 8 , the layout of the speaker and microphone for increasing the difference in sound pressure of the sound waves received by the pair of left and right microphones 51L and 51R will be described. Figures 6A to 7D shows an embodiment of the autonomous mobile device 100, Figure 8 shows an embodiment of the composite component 300 of the speaker and microphone for the autonomous mobile device.

[0142] As Figures 6A to 6CAs shown, the autonomous mobile device 100 has: a vehicle body 190; a first speaker 41, which is mounted on the vehicle body 190 and emits sound waves toward an area including the front (positive direction of the X-axis) of the vehicle body 190; and a first microphone 51L and a second microphone 51R, which are mounted on the vehicle body 190 and receive sound waves reflected by an object located around the autonomous mobile device 100 and convert the sound waves into electrical signals. The first speaker 41 corresponds to Figure 5 the speaker 41. The first microphone 51L and the second microphone 51R respectively correspond to Figure 5 the microphone 51L and the microphone 51R. Here, a vehicle having four wheels is illustrated as the moving unit 170. The area where the first speaker 41 outputs sound waves only needs to include the front (positive direction of the X-axis) of the autonomous mobile device 100, and the central axis of the first speaker 41 may also be different from the front of the autonomous mobile device 100.

[0143] The front-back direction, which is the front (straight-ahead direction) of the autonomous mobile device 100 and its opposite direction, is set as the X-axis direction, the vehicle-width direction (left-right direction), which is perpendicular to the front-back direction in the horizontal plane, is set as the Y-axis direction, and the up-down direction (vertical direction), which is perpendicular to both the front-back direction (X-axis direction) and the vehicle-width direction (Y direction), is set as the Z-axis direction.

[0144] When viewed from the vertical direction, the first speaker 41, the first microphone 51L, and the second microphone 51R are located outside or on the outer periphery of the vehicle body 190. "Outside the vehicle body 190" refers to the outer area of the vehicle body 190 when the entire vehicle body 190 viewed from the vertical direction is divided into an outer area including the outer edge of the vehicle body 190 and an inner area surrounded by the outer area. "Outer periphery of the vehicle body 190" refers to the area outside the vehicle body 190 that surrounds the outer edge of the vehicle body 190 when viewed from the vertical direction. Figures 6A to 6C Both represent examples in which the first speaker 41, the first microphone 51L, and the second microphone 51R are arranged outside the vehicle body 190. Figures 7A to 7D Both represent examples in which a part of the first and second speakers 41L and 41R is arranged on the outer periphery of the vehicle body 190.

[0145] The first speaker 41, the first microphone 51L, and the second microphone 51R may also be arranged on the front side in the front-rear direction of the vehicle body 190. As the distance to an object located in the front (the positive direction of the X-axis) is shortened, the sound pressure of the sound waves received by the first microphone 51L and the second microphone 51R can be increased. The direction in which the first speaker 41 outputs sound waves and the direction in which the first microphone 51L and the second microphone 51R receive sound waves are within the range from the front of the autonomous mobile device 100 to the left and right directions, and it is sufficient if they face the outside of the vehicle body 190. Thereby, not only can sound waves coming from the front be received, but also sound waves coming from the left and right inclined directions and the left and right sides can be received. It is possible to avoid collisions with surrounding objects when the autonomous mobile device 100 rotates.

[0146] The first speaker 41 is located between the first microphone 51L and the second microphone 51R in the left-right direction (Y-axis direction). In other words, the first microphone 51L and the second microphone 51R are arranged so as to sandwich the first speaker 41 in the left-right direction (Y-axis direction). Thereby, the first microphone 51L and the second microphone 51R can be separated from the first speaker 41 in the left-right direction, and thus the sound pressure difference of the sound waves received by the first microphone 51L and the second microphone 51R can be increased.

[0147] The distances in the left-right direction from the first speaker 41 to the microphones 51L and 51R are equal. Thereby, the left-right deviation of the sound pressure of the sound waves received by the microphones 51L and 51R can be suppressed. In addition, the autonomous mobile device 100 may include two or more speakers. In this case, the distances in the left-right direction from the center of gravity of the plurality of speakers including the first speaker 41 to the microphones 51L and 51R are equal. For example, as Figures 7A to 7D shown, the autonomous mobile device 100 may include not only the first speaker 41L but also the second speaker 41R. In this case, the distances in the left-right direction from the center of gravity C1 of the first speaker 41L and the second speaker 41R to the microphones 51L and 51R are equal.

[0148] As described above, when viewed from the upper side in the vertical direction, the first speaker 41, the first microphone 51L, and the second microphone 51R are located outside or on the outer periphery of the vehicle body 190. The first speaker 41 is located between the first microphone 51L and the second microphone 51R in the left-right direction (Y-axis direction), and the distances in the left-right direction from the first speaker 41 to the first and second microphones 51L and 51R are equal. Thereby, the difference in the sound pressure of the sound waves received by the left and right paired first and second microphones 51L and 51R can be increased.

[0149] In addition, in the first embodiment, as Figures 6A to 6CAs shown, the first speaker 41 faces the front of the autonomous mobile device 100 (the positive direction of the X-axis). The first speakers 41L and 41R can be respectively directed obliquely forward to the left and obliquely forward to the right ( Figure 6A ), or can be respectively directed to the left side and the right side ( Figure 6B ), or can be directed forward ( Figure 6C ), any one of them. In addition, in order to eliminate the deviation of the sound pressure on the left and right, the orientations of the first microphone 51L and the second microphone 51R can also be opposite with respect to the center C1 in the left-right direction of the vehicle body 190.

[0150] In addition, in the first embodiment, as Figures 7A to 7D shown, the autonomous mobile device 100 may also have a second speaker 41R mounted on the vehicle body 190 and emitting sound waves forward (the positive direction of the X-axis). In this case, the center of gravity C1 of the first speaker 41L and the second speaker 41R can also be located between the first microphone 51L and the second microphone 51R in the left-right direction (Y-axis direction). The distances in the left-right direction from the center of gravity of the first speaker 41L and the second speaker 41R to the first and second microphones 51L, 51R are equal. Thereby, the left-right deviation of the sound pressure of the sound waves received by the first and second microphones 51L, 51R can be suppressed. The first speaker 41L and the second speaker 41R can also be arranged facing each other with respect to the center plane (object plane) C1 in the left-right direction of the vehicle body 190. In addition, the orientations of the first speaker 41L and the second speaker 41R can also be facing each other with respect to the center plane C1 in the left-right direction of the vehicle body 190. Figure 7A The first speaker 41L and the first microphone 51L shown are mounted at the same position and facing forward in the same way. In this case, the first speaker 41L and the first microphone 51L can be configured as a single module (a transceiver sensor). The same applies to the second speaker 41R and the second microphone 51R.

[0151] As Figures 7A to 7DAs shown, at least a part of the first speaker 41L and the second speaker 41R is arranged on the "outer periphery of the vehicle body 190". At least a part of the first speaker 41L and the second speaker 41R protrudes forward beyond the front end F1 of the vehicle body 19. Thereby, the distance to surrounding objects is shortened, and the sound pressure of the sound waves received by the first and second microphones 51L, 51R can be increased. In addition, when the first and second speakers 41L, 41R are arranged inside the vehicle body 190 instead of on the outer periphery of the vehicle body 190, there is a case where the output sound waves are reflected by the surface of the vehicle body 190. In this case, the first and second microphones 51L, 51R receive sound waves that are not reflections based on obstacles, and the autonomous mobile device 100 may malfunction or misidentify. By arranging at least a part of the first speaker 41L and the second speaker 41R on the "outer periphery of the vehicle body 190", it is also possible to reduce the sound pressure of the sound waves reflected by the vehicle body 190 itself, which become noise.

[0152] As the first and second speakers 41L, 41R, a magnetic speaker or a piezoelectric speaker can be used. The first and second microphones 51L, 51R can use a capacitive microphone or a piezoelectric sensor. As Figure 7A shown, in the case where the speakers and the microphones are arranged at the same position and facing the same direction, the pair of the speakers and the microphones can also form a module. It is also possible to control the first and second speakers 41L, 41R to output ultrasonic waves in the same time period. The sizes of the first and second speakers 41L, 41R and the first and second microphones 51L, 51R are approximately 1 mm to 30 mm. On the other hand, the width (length in the left-right direction) of the vehicle body 190 is assumed to be approximately 20 cm to 1 m. In the drawings, the sizes of the first and second speakers 41L, 41R and the first and second microphones 51L, 51R are shown larger than the actual sizes relative to the size of the vehicle body 190. For example, in Figures 6A to 6C , the first and second microphones 51L, 51R are separated from the first speaker 41 by more than 2.5 cm in the left-right direction (Y-axis direction). The first and second microphones 51L, 51R are separated from each other by more than 5 cm in the left-right direction (Y-axis direction). In addition, as Figures 3 to 5 shown, the signals received by the first and second microphones 51L, 51R are processed within the same control unit 130.

[0153] As Figure 8 shown, the autonomous mobile device 100 may include a vehicle body 190, wheels 170, a storage unit 140, a drive unit 160, and a composite component 300 of a speaker and a microphone for the autonomous mobile device. The vehicle body 190, wheels 170, storage unit 140, and drive unit 160 refer to Figure 3 and Figure 5has been described, so the description will not be repeated here. The composite component 300 is installed at the front end F1 of the vehicle body 190.

[0154] The composite component 300 of the speaker microphone for the autonomous mobile device is a composite component 300 having a speaker and a microphone for the above-mentioned autonomous mobile device 100. The composite component 300 includes: a housing 210 that forms the outer shape of the composite component 300; a first speaker 41 that is installed on the housing 210 and emits sound waves toward the front (the positive direction of the X axis) of the composite component 300; and a first microphone 51L and a second microphone 51R that are installed on the housing 210, receive sound waves reflected by an object located around the composite component 300, and convert the sound waves into electrical signals. The first speaker 41 and the first and second microphones 51L, 51R are located outside or on the outer periphery of the housing 210 when the composite component 300 is viewed from the vertical direction. The first speaker 41 is located between the first and second microphones 51L, 51R in the left-right direction (Y-axis direction) perpendicular to the front (the positive direction of the X axis). The distances from the center of gravity of the first speaker 41 or a plurality of speakers including the first speaker 41 to the left-right direction (Y-axis direction) of the first and second microphones 51L, 51R are equal.

[0155] The first speaker 41 may also be disposed at the front end F2 of the housing 210. The composite component 300 may be fixed to the vehicle body 190 such that the front end F2 of the housing 210 coincides with the front end F1 of the vehicle body 190. The housing 210 can be made of, for example, metal or resin.

[0156] By replacing Figures 6A to 7D the "vehicle body 190" shown with Figure 8 the "housing 210", Figure 8 the composite component shown can have the same layout of the speaker and the microphone as Figures 6A to 7D . In this way, the embodiments of the composite component 300 described in Figures 6A to 7D and the embodiments of the autonomous mobile device 100 described later can be referred to. Conversely, by replacing the "housing 210" with the "vehicle body 190", the embodiments of the composite component 300 described later can also be referred to for the autonomous mobile device 100. That is, by mutually replacing the "vehicle body 190" and the "housing 210", the embodiments of the autonomous mobile device 100 and the composite component 300 can be mutually referred to.

[0157] In addition, in Figure 8 , an example is shown in which the composite component 300 includes a control unit 130 in the housing 210 (see Figures 3 to 5 ), but the control unit 130 may be mounted on the vehicle body 190 instead of in the composite component 300.

[0158] (Second Embodiment)

[0159] In the second embodiment, with reference to Figures 7E to 7H , the layout of the first speaker 41 and the composite component 300 for increasing the sound pressure of the sound waves received by the first and second microphones 51L and 51R from the front or the front oblique direction will be described. Figure 7E and Figure 7F represent embodiments of the autonomous mobile device 100, Figure 7G and Figure 7H represent embodiments of the composite component 300. As shown in Figure 7E and Figure 7F , as shown in Figure 7G and Figure 7H , the composite component 300 is arranged at the front end F1 of the vehicle body 190. The first speaker 41 or the composite component 300 is arranged at the end F1 of the vehicle body 190 in the straight-ahead direction of the autonomous mobile device, i.e., the positive direction of the X axis. Thereby, the distance to an object existing in the front or the front oblique direction is shortened, and the sound pressure of the sound wave reflected from the object becomes higher. In addition, it is also possible to reduce the echo signal of the vehicle body 190 itself, which is not an echo signal based on an obstacle but a noise.

[0160] In addition, as shown in Figures 6A to 6C , the first speaker 41 may be arranged at the front end F1 of the vehicle body 190, and the first and second microphones 51L and 51R may be arranged at a position behind the first speaker 41 or at the same position as the first speaker 41 in the front-rear direction. Thereby, the sound pressure of the sound wave directly received by the first and second microphones 51L and 51R from the first speaker 41 can be reduced.

[0161] As shown in Figures 7E to 7HAs shown, in order to avoid the collision of the first speaker 41 or the composite component 300 with an object, the autonomous mobile device 100 may also have a contact detection sensor 214, which is arranged in front of (the positive direction of the X-axis) the first speaker 41 or the composite component 300 to detect contact with an object. The vehicle body 190 and the first speaker 41 are not arranged in front of the contact detection sensor 214. They are arranged in the order of the contact detection sensor 214, the first speaker 41 or the composite component 300, and the vehicle body 190 from the front side. The contact point of the contact detection sensor 214 is arranged at a position in front of the first speaker 41 or the composite component 300. When contact with an object is detected, the autonomous mobile device 100 immediately stops. Stopping the autonomous mobile device 100 before it collides with the first speaker 41 or the composite component 300 can avoid the collision of the first speaker 41 or the composite component 300 with an object. The type of the contact detection sensor 214 is not limited. For example, a contact type detection sensor can be used. In addition, the contact detection sensor 214 may also be arranged at the same position as the first speaker 41 or the composite component 300 in the front-rear direction (X-axis direction). The collision of the first speaker 41 or the composite component 300 with an object can be slightly suppressed.

[0162] In addition, as Figure 7E and Figure 7G shown, a part or the whole of the first speaker 41 or the composite component 300 may also protrude from the front end F1 of the vehicle body 190. The first speaker 41 is arranged at the front end F1 of the vehicle body 190. When viewed from the vertical direction, the first speaker 41 or the composite component 300 may also be arranged on the outer periphery of the vehicle body 190 ( Figure 7E , Figure 7G ). Or, as Figure 7F and Figure 7H shown, the whole of the first speaker 41 or the composite component 300 may also be arranged at a position inside the vehicle body 190 relative to the front end F1 of the vehicle body 190. When viewed from the vertical direction, the first speaker 41 or the composite component 300 may also be arranged outside the vehicle body 190 ( Figure 7F , Figure 7H ). The position of the contact detection sensor 214 relative to the vehicle body 190 also changes according to the position of the first speaker 41 or the composite component 300 relative to the vehicle body 190. The second embodiment can be implemented in combination with one or more other embodiments.

[0163] (Third Embodiment)

[0164] In the third embodiment, with reference to Figures 9 to 12 , the structure of the vehicle body 190 or the housing 210 for reducing the sound pressure of the sound wave (noise) coming from the rear is described. Figure 9This shows an example of the composite component 300, and is a top view showing the structure of the housing 210 for reducing the sound pressure of sound waves (noise) arriving from the rear among the sound waves received by the first and second microphones 51L and 51R. The housing 210 has sound pressure reduction portions 210aL and 210aR, which are arranged behind the first and second microphones 51L and 51R to reduce the sound pressure of the transmitted sound waves and the diffracted sound waves.

[0165] As Figure 9 shown, the housing 210 has a convex planar shape with the central portion in the left-right direction (Y-axis direction) protruding forward (the positive direction of the X-axis). The first and second microphones 51L and 51R are arranged in the openings of the housing 210 formed in the side wall portions of the convex portion. The first and second microphones 51L and 51R are respectively mounted facing the outside of the housing 210 in the left-right direction. Sound pressure reduction portions 210aL and 210aR are arranged behind the first and second microphones 51L and 51R, which are part of the housing 210, to block the direct incidence of sound waves S3 arriving from the rear onto the microphones or reduce their sound pressure. A part of the sound waves S1 output from the first speaker 41 is reflected backward by the object 60A as sound waves S2, and a part of the sound waves S2 is reflected by the object 60B arranged behind the composite component 300 toward the composite component 300 (the first microphone 51L) located in the front as sound waves S3. The sound pressure reduction portion 210aL arranged behind the first microphone 51L suppresses the direct incidence of sound waves S3 onto the microphone or reduces their sound pressure. Among the sound waves received by the first and second microphones 51L and 51R, the sound waves arriving from the rear are not required during the travel of the autonomous mobile device 100. By the sound pressure reduction portion 210aL, the sound pressure of the sound waves (noise) arriving from the rear among the sound waves received by the first microphone 51L can be reduced. Since the housing 210 has a shape that is centrosymmetric with respect to the left-right direction, the sound pressure of the sound waves (noise) arriving from the rear among the sound waves received by the second microphone 51R can be reduced by the sound pressure reduction portion 210aR.

[0166] Figures 10A to 10D This is a top view showing a modified example of reducing the sound pressure of sound waves (noise) arriving from the rear. As Figure 10A shown, by arranging the first microphone 51L facing the side (Y direction) inside the housing 210 rather than in the opening of the housing 210, a part of the housing 210 located behind the first microphone 51L functions as the sound pressure reduction portion 210aL. As Figure 10B shown, the first microphone 51L is located at the Figure 10A same position, but by making the orientation of the first microphone 51L face obliquely forward, the sound pressure of the sound waves (noise) arriving from the rear can be reduced. And, as Figure 10CAs shown, even when the housing 210 has no opening, a part of the housing 210 having a convex shape can function as a sound pressure reduction part 210aL. In addition, as Figure 10D shown, when the housing 210 has an opening facing obliquely forward, by installing a first microphone 51L facing obliquely forward in this opening, a part of the housing 210 located behind the first microphone 51L can function as a sound pressure reduction part 210aL. In Figures 10A to 10D , the left side part of the housing 210 and the first microphone 51L are described. However, since the composite component 300 has a bilaterally symmetric planar shape, the right side part of the housing 210 and the second microphone 51R also have the same structure as the left side part.

[0167] Figure 11 is a top view showing a modification of the embodiment for reducing the sound pressure of sound waves (noise) coming from the rear. In Figure 11 the example shown, the first and second microphones 51L, 51R face forward. Similarly to Figure 9 , the first and second microphones 51L, 51R receive sound waves from the opening of the housing 210. A part of the housing 210 arranged behind the first and second microphones 51L, 51R functions as sound pressure reduction parts 210aL, 210aR.

[0168] Figure 12 is a top view showing a modification of the embodiment for reducing the sound pressure of sound waves (noise) coming from the rear. In Figure 12 the example shown, the opening of the housing 210 is formed facing obliquely forward, and the first and second microphones 51L, 51R are installed in the opening facing obliquely forward. Similarly to Figure 9 , the first and second microphones 51L, 51R receive sound waves from the opening of the housing 210. A part of the housing 210 arranged behind the first and second microphones 51L, 51R functions as sound pressure reduction parts 210aL, 210aR. In addition, Figure 11 and Figure 12 show the composite component 300 in which the control part 130 is arranged inside the housing 210, but the composite component 300 may not have the control part 130.

[0169] In the third embodiment, an example of the composite component 300 is described with reference to Figures 9 to 12 , but the housing 210 in the composite component 300 can also be replaced with the vehicle body 190 in the autonomous mobile device 100 for implementation. Thereby, an autonomous mobile device 100 that provides the same effects as the above-mentioned composite component 300 can be provided. The third embodiment can be implemented in combination with one or two or more other embodiments.

[0170] (Fourth Embodiment)

[0171] In the fourth embodiment, with reference to Figures 13 to 17B , the composite component 300 and the configuration of the autonomous mobile device 100 that increase the sound pressure of the sound waves arriving from the obliquely front direction among the sound waves received by the first and second microphones 51L and 51R will be described.

[0172] Figure 13 FIG. is a top view showing an example of the configuration of the composite component 300 that increases the sound pressure of the sound waves arriving from the obliquely front direction among the sound waves received by the first and second microphones 51L and 51R. The composite component 300 further includes: a first reflecting member 211L that reflects sound waves, at least a part of which is disposed behind the first microphone 51L; and a second reflecting member 211R that reflects sound waves, at least a part of which is disposed behind the second microphone 51R. The reflecting member is, for example, a plate-like member (reflector) having a reflecting surface.

[0173] The first and second microphones 51L and 51R face the left and right directions and the outside of the housing 210. Thus, sound waves arriving from the outside of the housing 210 can be received.

[0174] The reflecting surfaces of the first and second reflecting members 211L and 211R face forward (the positive direction of the X axis). Thus, the first and second reflecting members 211L and 211R can reflect the sound waves arriving from the obliquely front direction toward the first and second microphones 51L and 51R. Therefore, the sound pressure of the sound waves arriving from the obliquely front direction received by the first microphone 51L and the second microphone 51R can be increased. The reflecting surfaces of the first reflecting member 211L and the second reflecting member 211R are formed on the surfaces facing the first microphone 51L and the second microphone 51R. As Figure 13 shown, the reflecting surface may be a planar shape or a spherical shape of a hemisphere. In the case of a planar shape, the orientation of the reflecting surface is set to an angle that reflects the sound waves arriving from the obliquely front direction toward the microphones 51L and 51R. In the case of a spherical shape, the position and orientation of the reflecting surface are set such that the reflected sound waves converge at the positions of the microphones 51L and 51.

[0175] A part of the sound wave S1 output from the first speaker 41 is reflected by the object 60A toward the first reflecting member 211L as the sound wave S2, and the sound wave S2 is reflected by the first reflecting member 211L toward the first microphone 51L located in the front. The sound pressure of the sound wave S2 arriving at the first microphone 51L from the obliquely front direction can be increased. Since the composite component 300 has a bilaterally symmetric planar shape, the sound pressure of the sound waves arriving at the second microphone 51R from the obliquely front direction can also be increased.

[0176] In addition, the reflecting surfaces of the first and second reflecting members 211L and 211R may not face directly forward (the positive direction of the X-axis). That is, the reflecting surfaces may not be strictly perpendicular to the front (the positive direction of the X-axis). As Figure 13 shown, the reflecting surfaces of the first and second reflecting members 211L and 211R may also be inclined toward the center side in the left-right direction of the housing 210. Thus, as Figure 13 shown, the first reflecting member 211L can reflect the sound wave S2 reflected by the object 60A located obliquely in front toward the first microphone 51L.

[0177] Figure 14A FIG. shows an example of the structure of the autonomous mobile device 100 that increases the sound pressure of the sound waves arriving from obliquely in front among the sound waves received by the first and second microphones 51L and 51R. Figure 13 FIG. shows an example of the composite component 300, Figure 14A FIG. shows an example of the autonomous mobile device 100 in which the speaker 41 and the microphones 51L and 51R are independently mounted on the vehicle body 190.

[0178] The first speaker 41 is disposed in the speaker housing 220C, the first microphone 51L is disposed in the first microphone housing 220L, and the second microphone 51R is disposed in the second microphone housing 220R. The speaker housing 220C, the first microphone housing 220L, and the second microphone housing 220R are mounted on the vehicle body 190. In addition, a circuit unit 151C including an amplifier 42 and a D / A conversion unit 43 may be disposed in the housing 220C. Circuit units 151L and 151R including A / D conversion units 53L and 53R may be respectively disposed in the housings 220L and 220R.

[0179] Figure 14A The positions and orientations of the first microphone 51L and the second microphone 51R with respect to the vehicle body 190 in Figure 13 are the same as the positions and orientations with respect to the housing 210 in Figure 14A The positions and orientations of the first and second reflecting members 211L and 211R with respect to the first microphone 51L and the second microphone 51R in Figure 13 are also the same as the positions and orientations in

[0180] Figure 14A FIG. shows an example in which the housings 220C, 220L, and 220R are disposed outside the vehicle body 190, and the first speaker 41, the first and second microphones 51L and 51R are disposed outside the vehicle body 190. That is, the first speaker 41, the first and second microphones 51L and 51R are disposed at positions closer to the inside than the outer edge of the vehicle body 190. However, it is not limited to this. As Figure 14BAs shown, each of the housings 220C, 220L, 220R, the first speaker 41, and the first and second microphones 51L, 51R may also be arranged on the outer periphery of the vehicle body 190, that is, on the outside of the outer edge of the vehicle body 190. In this case, since the first speaker 41 is located in front of the front end F1 of the vehicle body 190, the distance to an object in front is shortened, and the sound pressure of the sound wave reflected by the object can be increased. In addition, not only can the echo signal of an obstacle (an object in front) be reduced, but also the echo signal of the vehicle body 190 itself that becomes noise can be reduced. The first and second microphones 51L, 51R are arranged on the outer periphery of the vehicle body 190 in the left-right direction. Therefore, the distance between the first and second microphones 51L, 51R becomes longer compared with Figure 14A . Therefore, as described in the first embodiment, the difference in sound pressure between the sound waves on the left and right can be further increased. It is also possible to add Figure 14A and Figure 14B shown in the autonomous mobile device 100 with Figures 7E to 7H shown in the contact detection sensor 214.

[0181] Figure 15A Another example of the structure of the autonomous mobile device 100 that increases the sound pressure of the sound wave arriving from the obliquely front direction in the sound waves received by the first and second microphones 51L, 51R is shown. Figure 15A and Figure 15B show examples in which the first and second microphones 51L, 51R face forward (the positive direction of the X axis).

[0182] The autonomous mobile device 100 further includes: a first reflecting member 212L that reflects sound waves, at least a part of which is arranged inside the vehicle body 190 in the left-right direction (Y-axis direction) of the first microphone 51L; and a second reflecting member 212R that reflects sound waves, at least a part of which is arranged inside the vehicle body 190 in the left-right direction of the second microphone 51R. The reflecting surfaces of the first and second reflecting members 212L, 212R face outward in the left-right direction. The reflecting surfaces of the first reflecting member 212L and the second reflecting member 212R are formed on the surfaces facing the first microphone 51L and the second microphone 51R. Thus, the first and second reflecting members 212L, 212R can reflect the sound waves arriving from the obliquely front direction toward the first and second microphones 51L, 51R. Therefore, the sound pressure of the sound waves arriving from the obliquely front direction received by the first microphone 51L and the second microphone 51R can be increased. As Figure 15A and Figure 15B shown, the reflecting surface may be a planar shape or a spherical shape of a hemisphere. In the case of a planar shape, the orientation of the reflecting surface is set to an angle that reflects the sound wave arriving from the obliquely front direction toward the microphones 51L, 51R. In the case of a spherical shape, the position and orientation of the reflecting surface are set such that the reflected sound waves converge at the positions of the microphones 51L, 51R.

[0183] In addition, the reflecting surfaces of the first and second reflecting members 212L and 212R may not face directly outward in the left - right direction (Y - axis direction). That is, the reflecting surfaces may not be strictly perpendicular to the outside in the left - right direction (Y - axis direction). As Figure 15A and Figure 15B shown, the reflecting surfaces of the first and second reflecting members 212L and 212R may also be inclined toward the rear side (negative direction of the X - axis). Thus, the first and second reflecting members 212L and 212R can reflect the sound waves reflected by an object located obliquely in front toward the first microphones 51L and 51R.

[0184] Figure 15A The first speaker 41, the first microphone 51L, and the second microphone 51R of Figure 14A are similarly housed in independent housings 220C, 220L, and 220R. Each of the housings 220C, 220L, and 220R is arranged outside the vehicle body 190, and the first speaker 41, the first and second microphones 51L and 51R are arranged outside the vehicle body 190. In addition, as Figure 15B shown, each of the housings 220C, 220L, and 220R, the first speaker 41, the first and second microphones 51L and 51R may also be arranged on the outer periphery of the vehicle body 190. In this case, since the first speaker 41, the first microphone 51L, and the second microphone 51R are located in front of the front end F1 of the vehicle body 190, the distance to an object in front is shortened, the sound pressure of the sound waves reflected by the object can be increased. In addition, the echo signal of the vehicle body 190 itself, which becomes noise, can also be reduced.

[0185] Figure 16 Another example of the structure of the composite component 300 for increasing the sound pressure of the sound waves arriving from obliquely in front among the sound waves received by the first and second microphones 51L and 51R is shown. Figures 16 to 17B An example in which the first and second microphones 51L and 51R face obliquely forward is shown.

[0186] In Figure 16 the composite component 300 shown, the orientations of the first and second microphones 51L and 51R are inclined more outward from the housing 210 in the left - right direction (Y - axis direction) than in the forward direction (positive direction of the X - axis). Specifically, the first microphone 51L is inclined more to the left than forward. The second microphone 51R is inclined more to the right than forward. Thus, the sound pressure of the sound waves arriving from obliquely in front among the sound waves received by the first and second microphones 51L and 51R can be increased. The inclination angle is, for example, greater than 0 degrees and 90 degrees or less. Figure 16The illustrated composite component 300 also has first and second reflection members 211L and 211R disposed around the first and second microphones 51L and 51R. The reflecting surfaces of the first and second reflection members 211L and 211R are formed on the surfaces on the sides of the first and second microphones 51L and 51R. Thus, the first and second reflection members 211L and 211R can reflect sound waves arriving from an obliquely forward direction toward the first and second microphones 51L and 51R. In addition, by orienting the first and second microphones 51L and 51R obliquely forward, the sound pressure of sound waves arriving from an obliquely forward direction can be increased. In Figure 12 In the illustrated composite component 300 that does not have the first and second reflection members 211L and 211R, since the first and second microphones 51L and 51R are oriented obliquely forward, the sound pressure of sound waves arriving from an obliquely forward direction can be increased. Therefore, Figure 12 the composite component 300 is also included in the fourth embodiment.

[0187] Figure 17A and Figure 17B show other examples of the configuration of the autonomous mobile device 100 that increases the sound pressure of sound waves arriving from an obliquely forward direction among the sound waves received by the first and second microphones 51L and 51R. Figure 17A and Figure 17B show examples in which the first and second microphones 51L and 51R are oriented obliquely forward. Figure 17A and Figure 17B The first speaker 41, the first microphone 51L, and the second microphone 51R of Figure 14A are housed in separate housings 220C, 220L, and 220R in the same manner. A circuit unit 151C including an amplifier 42 and a D / A conversion unit 43 may be disposed in the housing 220C. Circuit units 151L and 151R including A / D conversion units 53L and 53R may be respectively disposed in the housings 220L and 220R.

[0188] As Figure 17A shown, the housings 220C, 220L, and 220R may also be disposed outside the vehicle body 190 and connected to the front end portion F1 of the vehicle body 190. Thus, the sound pressure of sound waves arriving from the front can be increased. In addition, the echo signal of the vehicle body 190 itself that becomes noise can also be reduced. In addition, the housings 220L and 220R are connected to the left and right direction end portions of the vehicle body 190. Thus, it is possible to be separated in the left and right directions of the first and second microphones 51L and 51R, and therefore the difference in sound pressure of the sound waves received by the left and right paired first and second microphones 51L and 51R can be increased. A part of the housings 220L and 220R located behind the first and second microphones 51L and 51R functions as a sound pressure reduction portion.

[0189] As Figure 17BAs shown, each of the housings 220C, 220L, and 220R can also be arranged on the outer periphery of the vehicle body 190 and connected to the front end portion F1 of the vehicle body 190. By mounting each of the housings 220C, 220L, and 220R in front of the vehicle body 19 closer than Figure 17A it is possible to increase the sound pressure of the sound waves arriving from the front received by the first and second microphones 51L and 51R. In addition, it is also possible to reduce the echo signal of the vehicle body 190 itself that becomes noise. It is also possible to add Figure 17A and Figure 17B the contact detection sensor 214 shown in Figures 7E to 7H to the autonomous mobile device 100 shown.

[0190] (Fifth Embodiment)

[0191] In the fifth embodiment, with reference to Figures 18A to 18C , the structure of the composite component 300 that reduces the sound pressure of the sound waves arriving from the left and right opposite sides among the sound waves received by the first and second microphones 51L and 51R will be described. The paired first and second microphones 51L and 51R on the left and right increase the sound pressure of the sound waves arriving from the same side on the left and right and reduce the sound pressure of the sound waves arriving from the left and right opposite sides. Thereby, it is possible to increase the difference in the sound pressure of the sound waves received by the paired first and second microphones 51L and 51R on the left and right.

[0192] Figure 18A is a top view showing an example of the structure of the composite component 300 that reduces the sound pressure of the sound waves arriving from the left and right opposite sides among the sound waves received by the first and second microphones 51L and 51R. Figure 18B and Figure 18C are top views respectively showing other examples of the structure of the composite component 300 that reduces the sound pressure of the sound waves arriving from the left and right opposite sides among the sound waves received by the first and second microphones 51L and 51R. As Figures 18A to 18C shown, the housing 210 of the composite component 300 has a first sound pressure reduction portion 210bL and a second sound pressure reduction portion 210bR. The first sound pressure reduction portion 210bL is a part of the housing 210 that is located outside the housing 210 when viewed from the vertical direction (Z-axis direction) and is compared with the first line segment connecting the first speaker 41 and the first microphone 51L, and reduces the sound pressure of the transmitted sound waves. The second sound pressure reduction portion 210bR is a part of the housing 210 that is located outside the housing 210 when viewed from the vertical direction and is compared with the second line connecting the first speaker 41 and the second microphone 51R, and reduces the sound pressure of the transmitted sound waves. The first sound pressure reduction portion 210bL and the second sound pressure reduction portion 210bR can be made of the same material as the housing 210, or can be formed of a material different from the housing 210, such as a material that absorbs sound waves. It is also possible to arrange components that reflect sound waves on the surfaces of the first sound pressure reduction portion 210bL and the second sound pressure reduction portion 210bR.

[0193] The sound wave S1 output from the first speaker 41 is reflected by the object 60A in the front left oblique direction, and the sound wave S2 among the reflected sound waves that is directed toward the second microphone 51R blocks or reduces the sound pressure of the sound wave that directly enters the second microphone 51R. In this way, it is possible to reduce the sound pressure of the sound waves received by the first and second microphones 51L and 51R that come from the opposite left and right sides.

[0194] The first sound pressure reduction unit 210bL and the second sound pressure reduction unit 210bR are also achievable in the Figure 9 , Figure 11 , Figure 12 , Figure 13 , Figure 14A , Figure 14B , Figure 15A , Figure 15B , Figure 16 , Figure 17A and Figure 17B the housings 210, 220C, 220L, and 220R shown. The fifth embodiment can be implemented in combination with one or more other embodiments. For example, Figures 18A to 18C the structure of the composite component 300 shown represents an example of combining the second embodiment of increasing the sound pressure of the sound waves received from the front or front oblique direction, the third embodiment of reducing the sound pressure of the sound waves (noise) coming from the rear, and the fourth embodiment of increasing the sound pressure of the sound waves reaching the pair of left and right microphones 51L and 51R from the front oblique direction.

[0195] (Sixth Embodiment)

[0196] In the sixth embodiment, with reference to Figure 19 , the structure of the composite component 300 and the autonomous mobile device 100 for reducing the sound pressure of the sound waves (noise) reflected by the unevenness 63 of the ground 62 received by the first and second microphones 51L and 51R will be described. The composite component 300 further includes a protruding member 213 that reduces the sound pressure of the transmitted sound waves, and the protruding member 213 protrudes from below at least one of the first speaker 41, the first microphone 51L, and the second microphone 51R in the traveling direction of the sound waves.

[0197] The "traveling direction of the sound waves" is a concept that includes the direction in which the sound waves are output from the first speaker 41 and the directions in which the first microphone 51L and the second microphone 51R receive the sound waves. Figure 19An example of a composite component 300 in which a first speaker 41, a first microphone 51L, and a second microphone 51R are mounted on a housing 210, and a protruding member 213 protrudes forward (in the positive direction of the X-axis) from below the first microphone 51L and the second microphone 51R. On the other hand, instead of the composite component 300, the first speaker 41, the first microphone 51L, and the second microphone 51R may be directly mounted on the vehicle body 190 independently. In this case, the protruding member 213 protrudes forward (in the positive direction of the X-axis) from below each of the first speaker 41, the first microphone 51L, and the second microphone 51R. The protruding amount is, for example, 2 cm to 10 cm. The material of the protruding member 213 may be the same material as the housing 210 or the vehicle body 190, or may be formed of a material different from the housing 210 or the vehicle body 190, such as a material that absorbs sound waves or reflects sound waves.

[0198] The sound wave S1 output from the first speaker 41 is reflected by the unevenness 63 of the ground 62 on which the autonomous mobile device 100 travels, and the sound pressure of the sound wave S2 reflected toward the first microphone 51L or the second microphone 51R is reduced when passing through the protruding member 213. Thereby, it is possible to reduce the sound pressure of the sound wave (noise) reflected by the unevenness 63 of the ground 62 in the sound waves received by the first and second microphones 51L and 51R. Although not shown, when the protruding member 213 protrudes forward from below the first speaker 41, the sound pressure of the sound wave S1 output from the first speaker 41 is reduced when passing through the protruding member 213. The sound wave S1 may also be reflected by the protruding member 213.

[0199] (Seventh Embodiment)

[0200] In the seventh embodiment, with reference to Figure 20 , the structure of the composite component 300 and the autonomous mobile device 100 for increasing the sound pressure of the sound wave coming from the side of the autonomous mobile device 100 to prevent the involvement of the object 60A on the side will be described. As Figure 20 shown, the first reflection member 211L is entirely disposed behind the first microphone 51L. Similarly, the second reflection member 211R is entirely disposed behind the second microphone 51R. That is, when observing the first microphone 51L from the outside in the left-right direction (left side), the entire first microphone 51L can be seen without being blocked by the first reflection member 211L. Similarly, when observing the second microphone 51R from the outside in the left-right direction (right side), the entire second microphone 51R can be seen without being blocked by the second reflection member 211R.

[0201] The sound wave S1 output from the first speaker 41 is reflected from the surface of the object 60A located on the left side of the autonomous mobile device 100, and the sound wave S2 reflected toward the first microphone 51L can reach the first microphone 51L without being blocked by the first reflection member 211L. Therefore, it is possible to increase the sound pressure of the sound wave coming from the side of the autonomous mobile device 100 equipped with the composite component 300 and detect the object 60A on the side, preventing the autonomous mobile device 100 from being involved in the object 60A during a left turn. It is possible to increase the sensitivity of the first and second microphones 51L and 51R to the sound waves coming from the side of the autonomous mobile device 100. Figure 20 The sound pressure of the sound wave coming from the side of the autonomous mobile device 100 equipped with the composite component 300 is increased, and the object 60A on the side is detected, preventing the autonomous mobile device 100 from being involved in the object 60A during a left turn. The sensitivity of the first and second microphones 51L and 51R to the sound waves coming from the side of the autonomous mobile device 100 can be increased.

[0202] In addition, in Figure 13 , Figure 14A and Figure 14B In the example shown, in order to increase the sound pressure of the sound wave reaching the left and right pair of microphones 51L and 51R from the obliquely front, the first and second reflection members 211L and 211R are inclined significantly inward of the composite component 300. Therefore, when observing the first and second microphones 51L and 51R from the outside in the left-right direction, a part of the first and second microphones 51L and 51R cannot be seen due to the first and second reflection members 211L and 211R. In contrast, in Figure 20 In the example shown, the inclination angle is suppressed to be small, and the entirety of the first and second microphones 51L and 51R can be seen. Not limited to this, as long as the inclination angles of the first and second reflection members 211L and 211R are large and their positions are moved further rearward (negative direction of the X axis), the entirety of the first and second microphones 51L and 51R can be seen. By replacing the Figure 20 housing 210 with the vehicle body 190, the seventh embodiment can also be applied to the structure of the autonomous mobile device 100.

[0203] In addition, the seventh embodiment can be implemented in combination with one or more other embodiments. By Figure 20 the first and second reflection members 211L and 211R, the effect of reducing the sound pressure of the sound wave (noise) coming from the rear (third embodiment) and the effect of increasing the sound pressure of the sound wave reaching the left and right pair of microphones 51L and 51R from the obliquely front (fourth embodiment) are obtained. Since a part of the housing 210 located outside the line connecting the microphones 51L and 51R and the first speaker 41 functions as a sound pressure reduction portion, the effect of reducing the sound pressure of the sound wave coming from the opposite side in the left-right direction can be obtained (fifth embodiment). That is, Figure 20 The example shown is an example combining the third to fifth embodiments.

[0204] (Eighth Embodiment)

[0205] In the eighth embodiment, with reference to Figure 21 , the configuration of the composite component 300 and the autonomous mobile device 100 that increases the sound pressure of the sound waves arriving from the front of the autonomous mobile device 100 to prevent collisions with the objects 60A and 60B in front will be described. As Figure 21 shown, the first reflection member 212L is entirely disposed inside the housing 210 in the left-right direction of the first microphone 51L. Similarly, the second reflection member 212R is entirely disposed inside the housing 210 in the left-right direction of the second microphone 51R. That is, when observing the first microphone 51L from the front, the entire first microphone 51L can be seen without being blocked by the first reflection member 212L. Similarly, when observing the second microphone 51R from the front, the entire second microphone 51R can be seen without being blocked by the second reflection member 212R.

[0206] The sound wave S1 output from the first speaker 41 is reflected on the surface of the object 60A located in front of the autonomous mobile device 100, and the sound wave S2 reflected toward the first microphone 51L can reach the first microphone 51L without being blocked by the first reflection member 212L. Therefore, the sound pressure of the sound waves arriving from the front of the autonomous mobile device 100 can be increased to detect the object 60A in front and prevent a collision with the object 60A. Similarly, the sound wave S3 output from the first speaker 41 is reflected on the surface of the object 60B located in front of the autonomous mobile device 100, and the sound wave S4 reflected toward the second microphone 51R can reach the second microphone 51R without being blocked by the second reflection member 212R. Therefore, the sound pressure of the sound waves arriving from the front of the autonomous mobile device 100 can be increased to detect the object 60B in front and prevent a collision with the object 60A. The sensitivity of the first and second microphones 51L and 51R to the sound waves arriving from the front of the autonomous mobile device 100 can be increased.

[0207] In addition, through Figure 21 the first and second reflection members 212L and 212R, the effect of increasing the sound pressure of the sound waves reaching the left-right pair of microphones 51L and 51R from the obliquely front (fourth embodiment) and the effect of reducing the sound pressure of the sound waves arriving from the left and right opposite sides (fifth embodiment) are obtained. That is, Figure 20 the example shown in

[0208] is an embodiment combining the fourth and fifth embodiments. Of course, a part of the housing 210 located behind the first and second microphones 51L and 51R forms a sound pressure reduction portion (third embodiment) that reduces the sound pressure of the sound waves (noise) arriving from the rear. (Ninth embodiment)

[0209] In the ninth embodiment, with reference to Figure 22A and Figure 22B, the structure of the composite component 300 and the autonomous mobile device 100 that increase the sound pressure of sound waves reaching the left and right pair of microphones 51L and 51R from the obliquely front and also increase the sound pressure of sound waves arriving from at least one of the front and the side will be described. Figure 22A is Figure 12 and Figure 18C A modified example of the composite component 300 shown is a top view of a part of the first microphone 51L and the surrounding housing 210 magnified.

[0210] As Figure 22A shown, it is also possible that the sound wave receiving parts of the first and second microphones 51L and 51R can be viewed from at least one of the outside of the housing 210 in the front and left - right directions. For example, it is also possible to view the entire front end of the sound horns provided in the first and second microphones 51L and 51R from at least one of the outside of the housing 210 in the front (X - axis direction) and left - right directions (Y - axis direction). The orientations of the first and second microphones 51L and 51R are inclined more towards the outside of the housing 210 in the left - right direction (Y - axis direction) than the front (positive direction of the X - axis).

[0211] In Figure 12 and Figure 18C , a part of the first and second microphones 51L and 51R is shielded by the housing 210. Specifically, the edge part of the opening of the housing 210 hides a part of the first and second microphones 51L and 51R. In Figure 22A the example, the side surface of the opening of the housing 210 in which the first and second microphones 51L and 51R are arranged is inclined in such a way that the opening widens towards the outside of the housing 210. As a result, the sound wave receiving parts of the first and second microphones 51L and 51R can be viewed from at least one of the outside of the housing 210 in the front and left - right directions. Therefore, the sound pressure of sound waves reaching the left - right pair of microphones 51L and 51R from the obliquely front can be increased, and the sound pressure of sound waves arriving from at least one of the front and the side can also be increased.

[0212] Figure 22B is a top view showing another example of the structure of the composite component 300 that increases the sound pressure of sound waves reaching the left - right pair of microphones 51L and 51R from the obliquely front and also increases the sound pressure of sound waves arriving from at least one of the front and the side. The composite component 300 further has: a first reflection member 211L, which is arranged around the first microphone 51L and reflects sound waves towards the sound wave receiving part of the first microphone 51L; and a second reflection member 211R, which is arranged around the second microphone 51R and reflects sound waves towards the sound wave receiving part of the second microphone 51R. And Figure 22ASimilarly, the portions of the first and second microphones 51L and 51R that receive sound waves can be viewed from at least one of the outside of the housing 210 in the front direction (the positive direction of the X-axis) and the left and right directions (the Y-axis direction). By providing the first and second reflection members 211L and 211R, the sound pressure of the sound waves reaching the left and right pair of microphones 51L and 51R from the obliquely front can be further increased, and the sound pressure of the sound waves arriving from at least one of the front and the side can also be further increased. In addition, the reflection surfaces of the first and second reflection members 211L and 211R can face the outside of the housing 210 in the front direction or the left and right directions (the Y-axis direction), or can be inclined.

[0213] In addition, as Figure 9 , Figure 11 , Figure 13 , Figure 14A , Figure 14B , Figure 15A , Figure 15B , Figure 16 , Figure 18A , Figure 20 and Figure 22B variations of, it is also possible to form a convex-shaped housing 210 by cutting off a part of the square housing, etc., and make a part of the housing 210 function as the first and second reflection members 211L and 211R or the first and second reflection members 212L and 212R. Alternatively, as Figure 21 variations of, it is also possible to form a concave-shaped housing 210 and make the side surfaces of the concave portion, which is a part of the housing 210, function as the first and second reflection members 212L and 212R.

[0214] In the ninth embodiment, an example of the composite component 300 has been described, but it is also possible to replace the housing 210 in the composite component 300 with the vehicle body 190 in the autonomous mobile device 100 for implementation. Thereby, an autonomous mobile device 100 that provides the same effects as the above-described composite component 300 can be provided. The ninth embodiment can be implemented in combination with one or two or more other embodiments.

[0215] (Tenth Embodiment)

[0216] In the tenth embodiment, with reference to Figures 23A to 23E , other variations of the number and arrangement of the microphones and speakers provided in the autonomous mobile device 100 will be described. Figures 6A to 6C shows a structural example of one speaker and two microphones, and Figures 7A to 7D shows a structural example of two speakers and two microphones. In the tenth embodiment, examples in which the number of microphones is three or four will be described.

[0217] As Figure 23AAs shown, the autonomous mobile device 100 may also include a third microphone 51M that is mounted on the vehicle body 190, receives sound waves reflected by an object, and converts the sound waves into electrical signals. The first speaker 41 and the first to third microphones 51L, 51R, 51M are arranged to face a single object plane C1. The third microphone 51M is mounted at the front end F1 of the vehicle body 190 and at the center in the left-right direction of the vehicle body 190 so as to face a region including the front. The single object plane C1 is, for example, a central plane C1 that is parallel to a plane (XZ plane) including the front-rear direction and the up-down direction of the autonomous mobile device 100 and includes the center in the left-right direction of the vehicle body 190. The positions and orientations of the first speaker 41 and the first to third microphones 51L, 51R, 51M face each other with respect to the central plane C1. The first speaker 41 and the third microphone 51M are at the same position and face forward in the same manner. In this case, the first speaker 41 and the third microphone 51M can be configured as a single module (a transceiver sensor).

[0218] As Figures 23B to 23E shown, the autonomous mobile device 100 may also include first to fourth microphones 51L1, 51L2, 51R1, 51R2 that are mounted on the vehicle body 190, receive sound waves reflected by an object, and convert the sound waves into electrical signals. The positions and orientations of the first to fourth microphones 51L1, 51L2, 51R1, 51R2 and the first speaker 41 face each other with respect to a central plane C1 as a single object plane. The first to fourth microphones 51L1, 51L2, 51R1, 51R2 may be mounted at the front end F1 of the vehicle body 190 facing forward ( Figure 23C ). Two microphones 51L1, 51R1 may be mounted facing the outside of the vehicle body 190 in the left-right direction, and the other two microphones 51L2, 51R2 may be mounted facing obliquely forward or forward ( Figure 23D , Figure 23E ).

[0219] As Figures 23A to 23E shown, even if the number of speakers or microphones mounted on the vehicle body 190 increases, all the speakers and microphones are mounted to face a single object plane C1. Thereby, the left-right shift of the sound pressure of the sound waves received by the first to fourth microphones 51L1, 51L2, 51R1, 51R2 can be suppressed.

[0220] In addition, the above-described embodiment is an example of the present invention. Therefore, the present invention is not limited to the above-described embodiment, and of course, various changes can be made according to design and the like as long as they are within the scope of the technical idea related to the present invention and are other than the present embodiment.

[0221] Sound waves that enter through the openings of the vehicle body 190 or the housing 210 can be reflected inside the vehicle body 190 or the housing 210 and received as echo signals (noise) by the first and second microphones 51L and 51R. Therefore, for example, as Figure 12 or Figure 17A shown, in the housings 210, 220L, and 220R, as openings, only the openings for the first and second microphones 51L and 51R to receive sound waves and the openings for outputting sound waves from the first microphone 41 may be formed. As a result, the openings that allow sound waves to enter the housing 210 can be reduced, and thus the sound waves entering the interior of the housing 210 can be reduced. In addition, Figure 12 shows an example in which the first microphone 41 is arranged outside the housing 210, that is, inside the outer edge of the housing 210, and thus an opening for outputting sound waves is formed in the housing 210. Not limited to this, the entire first microphone 41 may also be arranged at a position inside the outer periphery of the housing 210, that is, inside the outer edge of the housing 210. Since there is no need for an opening for the first microphone 41, the openings that allow sound waves to enter the housing 210 can be further reduced. And when there is a gap between the outer periphery of the first and second microphones 51L and 51R and the inner periphery of the opening, sound waves enter through this gap, which causes an increase in noise. Therefore, for example, as Figure 22B shown, the composite component 300 may also include: a microphone mounting substrate 215L on which the first microphone 51L is mounted; and a sealing member 216L made of a rubber seal or the like that blocks the gap between the housing 210 and the microphone mounting substrate 215L. The sealing member 216L is arranged so as to surround the periphery of the first microphone 51L in the left-right direction and the up-down direction including the first microphone 51L. According to this structure, the gap between the outer periphery of the first and second microphones 51L and 51R and the inner periphery of the opening is blocked, and thus the noise entering through this gap can be reduced. In addition, the gap can also be reduced or blocked by reducing or eliminating the difference between the outer diameters of the first and second microphones 51L and 51R and the inner diameter of the opening. In addition, of course, by replacing the housing 210 with the vehicle body 190, it can also be implemented as the autonomous mobile device 100.

[0222] (Supplementary Note)

[0223] (Supplementary Note 1: First Embodiment, Figures 6A to 8 : Improving the left-right sound pressure difference)

[0224] The autonomous mobile device 100 includes: a vehicle body 190; a first speaker 41 mounted on the vehicle body 190 and emitting sound waves toward an area including the front of the vehicle body 190; and first and second microphones 51L and 51R mounted on the vehicle body 190, receiving sound waves reflected by an object and converting the sound waves into electrical signals. The first speaker 41 and the first and second microphones 51L and 51R are located outside or on the outer periphery of the vehicle body 190 when viewed from the vertical direction. The first speaker 41 is located between the first and second microphones 51L and 51R in the left-right direction perpendicular to the front. The distances in the left-right direction from the center of gravity of the first speaker 41 or a plurality of speakers including the first speaker 41 to the first and second microphones 51L and 51R are equal.

[0225] (Supplementary Note 2: Second Embodiment, Figures 7E to 7H : Increasing the sound pressure in the front)

[0226] In the autonomous mobile device 100 described in Supplementary Note 1, the first speaker 41 is disposed at the front end F1 of the vehicle body 190.

[0227] (Supplementary Note 3: Second Embodiment, Figures 7E to 7H : Contact detection sensor)

[0228] The autonomous mobile device 100 described in Supplementary Note 2 further includes a contact detection sensor 214, which is disposed in front of the first speaker 41 or at the same position as the first speaker 41 in the front-rear direction to detect contact with an object.

[0229] (Supplementary Note 4: Third Embodiment, Figures 9 to 12 : Reduction of rear noise)

[0230] In the autonomous mobile device 100 described in any one of Supplementary Notes 1 to 3, the vehicle body 190 has sound pressure reduction portions 210aL and 210aR disposed behind the first and second microphones 51L and 51R to reduce the sound pressure of the transmitted sound waves.

[0231] (Supplementary Note 5: Fourth Embodiment, Figures 13 to 14B : Increasing the sound pressure in the obliquely front direction)

[0232] The autonomous mobile device 100 described in any one of Supplementary Notes 1 to 4 further includes: a first reflection member 211L that reflects sound waves, at least a part of which is disposed behind the first microphone 51L; and a second reflection member 211R that reflects sound waves, at least a part of which is disposed behind the second microphone 51R. The first and second microphones 51L and 51R face the left-right direction and the outside of the vehicle body 190, and the reflection surfaces of the first and second reflection members 211L and 211R face the front.

[0233] (Supplementary Note 6: Fourth Embodiment, Figures 15A to 15B: Enhancement of sound pressure in the obliquely forward direction)

[0234] The autonomous mobile device 100 described in any one of Supplementary Notes 1 to 4 further includes: a first reflecting member 212L that reflects sound waves, at least a part of which is disposed inside the vehicle body 190 in the left-right direction of the first microphone 51L; and a second reflecting member 212R that reflects sound waves, at least a part of which is disposed inside the vehicle body 190 in the left-right direction of the second microphone 51R. The first and second microphones 51L, 51R face forward, and the reflecting surfaces of the first and second reflecting members 212L, 212R face outward in the left-right direction.

[0235] (Supplementary Note 7: Fourth Embodiment, Figures 16 to 17B : Enhancement of sound pressure in the obliquely forward direction)

[0236] In the autonomous mobile device 100 described in any one of Supplementary Notes 1 to 4, the orientations of the first and second microphones 51L, 51R are inclined more toward the outside of the vehicle body 190 in the left-right direction than forward.

[0237] (Supplementary Note 8: Fifth Embodiment, Figures 18A to 18C : Reduction of sound pressure from the left and right opposite sides)

[0238] In the autonomous mobile device 100 described in any one of Supplementary Notes 1 to 7, the vehicle body 190 has: a first sound pressure reduction portion 210bL that reduces the sound pressure of the transmitted sound wave, which is located outside the vehicle body 190 with respect to the first line segment connecting the first speaker 41 and the first microphone 51L when viewed from the vertical direction; and a second sound pressure reduction portion 210bR that reduces the sound pressure of the transmitted sound wave, which is located outside the vehicle body 190 with respect to the second line segment connecting the first speaker 41 and the second microphone 51R when viewed from the vertical direction.

[0239] (Supplementary Note 9: Sixth Embodiment, Figure 19 : Reduction of sound pressure reflected by ground unevenness)

[0240] The autonomous mobile device 100 described in any one of Supplementary Notes 1 to 8 further includes a protruding member 213 that protrudes from the lower part of at least one of the first speaker 41, the first microphone 51L, and the second microphone 51R toward the traveling direction of the sound wave and reduces the sound pressure of the transmitted sound wave.

[0241] (Supplementary Note 10: Seventh Embodiment, Figure 20 : Enhancement of sound pressure on the side)

[0242] In the autonomous mobile device 100 described in Supplementary Note 5, the entire first reflecting member 211L is disposed behind the first microphone 51L, and the entire second reflecting member 211R is disposed behind the second microphone 51R.

[0243] (Supplementary Note 11: Eighth Embodiment,Figure 21 : Increase the sound pressure in the front

[0244] In the autonomous mobile device 100 described in Supplementary Note 6, the entire first reflection member 212L is disposed inside the vehicle body 190 in the left-right direction of the first microphone 51L, and the entire second reflection member 212R is disposed inside the vehicle body 190 in the left-right direction of the second microphone 51R.

[0245] (Supplementary Note 12: Ninth Embodiment, Figures 22A - 22B : Increase the sound pressure on the side, front / side

[0246] In the autonomous mobile device 100 described in Supplementary Note 7, at least a part of the portion that receives the sound waves of the first and second microphones 51L and 51R can be viewed from at least one of the outside of the vehicle body 190 in the front and left-right directions.

[0247] (Supplementary Note 13: Ninth Embodiment, Figure 22B : Increase the sound pressure on the side, front / side

[0248] The autonomous mobile device 100 described in Supplementary Note 12 further includes: a first reflection member 211L disposed around the first microphone 51L and reflecting sound waves toward the portion of the first microphone 51L that receives sound waves; and a second reflection member 211R disposed around the second microphone 51R and reflecting sound waves toward the portion of the second microphone 51R that receives sound waves.

[0249] (Supplementary Note 14: Tenth Embodiment, Figures 23A - 23E )

[0250] The autonomous mobile device 100 described in any one of Supplementary Notes 1 to 13 further includes: a second speaker 41R mounted on the vehicle body 190 and emitting sound waves toward the front; and a third microphone 51M mounted on the vehicle body 190 and receiving sound waves reflected by an object and converting the sound waves into an electrical signal. The first and second speakers 41L and 41R and the first to third microphones 51L, 51R, and 51M are arranged to face a single object surface C1.

[0251] (Supplementary Note 15: Structure for blocking gaps)

[0252] The autonomous mobile device 100 described in any one of Supplementary Notes 1 to 14 further includes: a first microphone mounting substrate 215L on which the first microphone 51L is mounted; a first sealing member 216L that closes the gap between the vehicle body 190 and the first microphone mounting substrate 215L; a second microphone mounting substrate on which the second microphone 51R is mounted; and a second sealing member that closes the gap between the vehicle body 190 and the second microphone mounting substrate.

[0253] (Supplementary Note 16: Composite Component for Autonomous Mobile Device)

[0254] The composite component 300 for the autonomous mobile device 100 includes: a housing 210; a first speaker 41 mounted on the housing 210 and emitting sound waves toward the area in front of the housing 210 containing the housing 210; and a first microphone 51L and a second microphone 51R mounted on the housing 210, receiving sound waves reflected by an object and converting the sound waves into electrical signals. The first speaker 41 and the first and second microphones 51L, 51R are located outside or on the outer periphery of the housing 210 when the composite component 300 is viewed from the vertical direction. The first speaker 41 is located between the first and second microphones 51L, 51R in the left-right direction perpendicular to the front. The distances in the left-right direction from the center of gravity of the first speaker 41 or a plurality of speakers including the first speaker 41 to the first and second microphones 51L, 51R are equal.

[0255] (Supplementary Note 17: Composite Component for Autonomous Mobile Device)

[0256] The autonomous mobile device 100 has the composite component 300 described in Supplementary Note 16.

[0257] (Supplementary Note 18)

[0258] The autonomous mobile device 100 described in Supplementary Note 17 further has a structure surrounding the bottom surface and the upper surface of the composite component 300. Through this structure, it is possible to reduce the sound pressure of sound waves coming from the rear of the autonomous mobile device 100, that is, sound waves that bypass the bottom surface side and the upper surface side of the composite component 300 and enter the first and second microphones 51L, 51R.

[0259] (Supplementary Note 19: Digital Pheromone + Echolocation)

[0260] The autonomous mobile device 100 moves autonomously using radio waves and sound waves. The autonomous mobile device 100 includes: a receiving unit 110 for receiving radio waves; an angle estimation unit 134 for estimating the arrival direction of radio waves; a first speaker 41 for emitting sound waves in the straight-ahead direction of the autonomous mobile device 100; a first microphone 51L and a second microphone 51R, which receive sound waves reflected by an object and convert them into first and second sound signals respectively; and an action control unit 135 for controlling the moving direction of the autonomous mobile device 100 based on the first sound signal, the second sound signal, and the arrival direction of radio waves.

[0261] (Supplementary Note 20)

[0262] In the autonomous mobile device 100 described in Supplementary Note 18, the action control unit 135 controls the moving direction of the autonomous mobile device 100 based on the echo signals included in the first sound signal and the second sound signal and the arrival direction of radio waves.

[0263] The entire content of Japanese Patent Application No. 2022-181345 (filing date: November 11, 2022) is hereby incorporated by reference to protect it from misinterpretation or omission.

[0264] Description of Reference Numerals

[0265] 41, 41L First speaker, 41R Second speaker, 51L, 51L First microphone, 51M Third microphone, 51R, 51R1 Second microphone, 60A, 60B Objects, 100 Autonomous mobile device, 190 Vehicle body, 214 Contact detection sensor, 210 Housing, 210aL, 210aR Sound pressure reduction parts, 210bL First sound pressure reduction part, 210bR Second sound pressure reduction part, 211L, 212L First reflection members, 211R, 212R Second reflection members, 213 Protruding member, 300 Composite assembly, C1 Single object surface, F1 Front end of the vehicle body, F2 Front end of the housing.

Claims

1. An autonomous mobile device, comprising: Vehicle body; A first speaker installed on the vehicle body and emitting sound waves to an area including the front of the vehicle body; and A first microphone and a second microphone, which are installed on the vehicle body, receive the sound waves reflected by an object, and convert the sound waves into electrical signals, The first speaker and the first microphone and the second microphone are located outside or on the outer periphery of the vehicle body when viewed from the vertical direction, The first speaker is located between the first microphone and the second microphone in the left-right direction perpendicular to the front, The distances in the left-right direction from the center of gravity of the first speaker or a plurality of speakers including the first speaker to the first microphone and the second microphone are equal.

2. The autonomous mobile device according to claim 1, wherein, The first speaker is arranged at the front end of the vehicle body.

3. The autonomous mobile device according to claim 2, further comprising: A contact detection sensor for detecting contact with an object, which is arranged in front of the first speaker or at the same position as the first speaker in the front-rear direction.

4. The autonomous mobile device according to any one of claims 1 to 3, wherein, The vehicle body has a sound pressure reduction part, which is arranged behind the first microphone and the second microphone and reduces the sound pressure of the transmitted sound waves.

5. The autonomous mobile device according to any one of claims 1 to 4, further comprising: A first reflection member for reflecting the sound waves, at least a part of which is arranged behind the first microphone; and A second reflection member for reflecting the sound waves, at least a part of which is arranged behind the second microphone, The first microphone and the second microphone face the left-right direction and the outside of the vehicle body, The reflecting surfaces of the first reflection member and the second reflection member face the front.

6. The autonomous mobile device according to any one of claims 1 to 4, further comprising: A first reflection member for reflecting the sound waves, at least a part of which is arranged inside the vehicle body in the left-right direction of the first microphone; and A second reflection member for reflecting the sound waves, at least a part of which is arranged inside the vehicle body in the left-right direction of the second microphone, The first microphone and the second microphone face the front, The reflecting surfaces of the first reflection member and the second reflection member face the outside in the left-right direction.

7. The autonomous mobile device according to any one of claims 1 to 4, wherein, The orientations of the first microphone and the second microphone are inclined more towards the outside of the vehicle body in the left-right direction than the front.

8. The autonomous mobile device according to any one of claims 1 to 7, wherein, The vehicle body includes: A first sound pressure reduction part, which is located outside the vehicle body compared to a first line segment connecting the first speaker and the first microphone when viewed from the vertical direction, and reduces the sound pressure of the transmitted sound waves; and A second sound pressure reduction part, which is located outside the vehicle body compared to a second line segment connecting the first speaker and the second microphone when viewed from the vertical direction, and reduces the sound pressure of the transmitted sound waves.

9. The autonomous mobile device according to any one of claims 1 to 8, further comprising: A protruding member, which protrudes from the lower part of at least one of the first speaker, the first microphone, and the second microphone in the traveling direction of the sound waves, and reduces the sound pressure of the transmitted sound waves.

10. The autonomous mobile device according to claim 5, wherein, The first reflection member is entirely arranged behind the first microphone, The second reflection member is entirely arranged behind the second microphone.

11. The autonomous mobile device according to claim 6, wherein, The first reflection member is entirely arranged inside the vehicle body in the left-right direction of the first microphone, The second reflection member is entirely arranged inside the vehicle body in the left-right direction of the second microphone.

12. The autonomous mobile device according to claim 7, wherein, At least one of the portions of the first microphone and the second microphone that receive the sound wave can be viewed from at least one of the front side and the outside of the vehicle body in the left and right directions.

13. The autonomous mobile device according to claim 12, further comprising: A first reflection member, which is disposed around the first microphone and reflects the sound wave toward the portion of the first microphone that receives the sound wave; and A second reflection member, which is disposed around the second microphone and reflects the sound wave toward the portion of the second microphone that receives the sound wave.

14. The autonomous mobile device according to any one of claims 1 to 13, further comprising: A second speaker, which is mounted on the vehicle body and emits the sound wave toward the front; and A third microphone, which is mounted on the vehicle body, receives the sound wave reflected by an object, and converts the sound wave into an electrical signal, The first speaker, the second speaker, and the first microphone to the third microphone are arranged to face a single object surface.

15. The autonomous mobile device according to any one of claims 1 to 14, further comprising: A first microphone mounting substrate on which the first microphone is mounted; A first sealing member that closes a gap between the vehicle body and the first microphone mounting substrate; A second microphone mounting substrate on which the second microphone is mounted; and A second sealing member that closes a gap between the vehicle body and the second microphone mounting substrate.

16. A composite component of a speaker and a microphone for an autonomous mobile device, for use in an autonomous mobile device, comprising: A housing; A first speaker that is mounted on the housing and emits a sound wave toward a region including the front of the housing; and A first microphone and a second microphone, which are mounted on the housing, receive the sound wave reflected by an object, and convert the sound wave into an electrical signal, The first speaker and the first microphone and the second microphone are located outside or on the outer periphery of the housing when viewed from the vertical direction, The first speaker is located between the first and second microphones in the left and right directions perpendicular to the front, The distances in the left and right directions from the center of gravity of the first speaker or a plurality of speakers including the first speaker to the first microphone and the second microphone are equal.

17. An autonomous mobile device having the composite component according to claim 16.

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