Autonomous mobile robot

Abstract

To provide an autonomous mobile robot that can appropriately determine a process to be executed when an operation unit is depressed so as to have an excellent user-friendliness.SOLUTION: An autonomous mobile robot includes: one or more operation units that are provided on the external surface of the main unit of the autonomous mobile robot; an identifying unit that identifies the present locating area of the autonomous mobile robot; and a control unit that executes a first process or a second process when the operation unit is depressed. The control unit determines whether to execute the first process or the second process when the operation unit is operated.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an autonomous mobile robot. [Background technology]

[0002] In recent years, autonomous mobile robots have been developed that can automatically avoid pedestrians and obstacles on a predetermined patrol route within a building, etc. Generally, such autonomous mobile robots are provided with an operation unit for receiving instructions from a user.

[0003] Patent Document 1 discloses a legged mobile robot in which emergency stop switches are arranged at multiple locations on the robot's body and the operation of the body is stopped in an emergency by operating the emergency stop switches. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2002-224990 Summary of the Invention [Problem to be solved by the invention]

[0005] In an autonomous mobile robot, it is required to be able to flexibly change the processing to be executed when an operation unit is pressed.

[0006] An object of the present invention is to provide an autonomous mobile robot that can appropriately determine the process to be executed when an operating unit is operated. [Means for solving the problem]

[0007] In order to solve such problems, the present invention comprises one or more operation units provided on the outer surface of the body of an autonomous mobile robot, an identification unit that identifies the current location area of ​​the autonomous mobile robot, and a control unit that executes a first process or a second process when the operation unit is operated, and the control unit determines whether to execute the first process or the second process when the operation unit is operated depending on the location area.

[0008] In this autonomous mobile robot, it is preferable that, when the location area is a public road, the control unit executes a stop process to stop the autonomous mobile robot from moving as a first process, and when the location area is other than a public road, executes a process other than the stop process as a second process.

[0009] It is preferable that this autonomous mobile robot further comprises an output unit that outputs audio, and the control unit executes, as the second process, a process of outputting predetermined audio guidance from the output unit.

[0010] It is preferable that this autonomous mobile robot further has an input unit for voice input, an output unit for voice output, and a communication unit, and that the control unit, as a second process, executes a call with an external terminal via the input unit, output unit, and communication unit.

[0011] In this autonomous mobile robot, it is preferable that, when the location area is a security area, the control unit executes a second process according to the security status of a specified area within the security area, and when the location area is other than a security area, the control unit executes a predetermined first process.

[0012] In this autonomous mobile robot, it is preferable that the control unit executes a second process according to the type of security task currently being performed by the autonomous mobile robot when the location area is a security area, and executes a pre-set first process when the location area is other than a security area.

[0013] It is preferable that this autonomous mobile robot further comprises a communication unit, and the control unit determines the content of the second process according to the communication state of the communication unit.

[0014] In this autonomous mobile robot, it is preferable that, when the location area is a public road, the control unit executes the first process when either the first operating unit or the second operating unit is operated, and, when the location area is other than a public road, the control unit executes the first process when the first operating unit is operated and executes the second process when the second operating unit is operated.

[0015] In this autonomous mobile robot, it is preferable that the control unit changes the display mode of the operation unit depending on whether the process executed when the operation unit is operated is the first process or the second process. [Effects of the Invention]

[0016] The autonomous mobile robot according to the present invention can appropriately determine the process to be executed when the operation unit is operated. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a schematic diagram showing the external configuration of an autonomous mobile robot; [Figure 2] FIG. 1 is a functional block diagram showing the configuration of an autonomous mobile robot. [Figure 3] FIG. 10 is a diagram showing an area-specific table. [Figure 4] 10 is a flowchart showing the flow of a control process. [Figure 5] FIG. 10 is a diagram showing another area-specific table. [Figure 6] 10 is a flowchart showing the flow of another control process. DETAILED DESCRIPTION OF THE INVENTION

[0018] An autonomous mobile robot according to a first embodiment will be described below with reference to the drawings.

[0019] First Embodiment 1 is a schematic diagram showing the external configuration of an autonomous mobile robot 1. The autonomous mobile robot (hereinafter simply referred to as "robot") 1 is connected to a robot management device (not shown) and a security device (not shown) via a network such as an intranet (local network) or the Internet.

[0020] The robot 1 has a main body 10, a first button 11 as a first operation unit, a second button 12 as a second operation unit, a sensor 13, and four tires 14.

[0021] The main body 10 covers and protects the interior of the robot 1 .

[0022] The first button 11 and the second button 12 are provided on the outer surface of the main body 10. The first button 11 and the second button 12 have the same structure. The number of buttons provided on the main body 10 of the robot 1 in this embodiment is two, but is not limited to this and may be one or any number of buttons greater than or equal to three.

[0023] The first button 11 is provided on the rear side of the main body 10, in the backward direction B, which is opposite to the forward direction F of the main body 10. The second button 12 is provided on the front side of the main body 10, in the forward direction F. Alternatively, the first button 11 may be provided on the front side, and the second button 12 may be provided on the rear side. The first button 11 and the second button 12 are push buttons that are pressed by the user. The first button 11 and the second button 12 each have a color-adjustable light-emitting device therein. The light-emitting device is, for example, an LED (light-emitting diode) or the like. The first button 11 and the second button 12 may each have a display device inside or around them. The display device is, for example, a liquid crystal or organic EL (electro-luminescence) display.

[0024] The display modes of the first button 11 and the second button 12 can be changed and differentiated by turning on / off or changing the color of the light emitting device, or by displaying predetermined text on the display device, in response to instructions from the processing unit 20 (described later). The first button 11 and the second button 12 are each provided so that the process executed when pressed can be changed. In the initial state, the process executed when the first button 11 is pressed and the process executed when the second button 12 is pressed are both emergency stops of the robot 1. In this case, the robot 1 is brought to an emergency stop regardless of whether the first button 11 or the second button 12 is pressed.

[0025] The sensor 13 is provided on the top of the main body 10. The sensor 13 generates information about the environment of the space surrounding the robot 1. For example, the sensor 13 may include an imaging sensor such as a visible camera or an infrared camera, or a thermal imaging camera, which captures and generates images of the surrounding space. The sensor 13 is a distance sensor that generates information about the presence, position, distance, etc. of moving objects in the surrounding space. In this case, the sensor 13 may include a proximity sensor, a laser sensor, a LiDAR (Light Detection and Ranging), a GPS (Global Positioning System) receiver, etc. The LiDAR measures the distance to an object in the surrounding space using laser light and outputs the measured distance as point cloud information. The GPS receiver receives satellite signals from GPS satellites. The sensor 13 may also include other sensors that detect temperature, humidity, noise, vibration, illuminance, etc. in the surrounding space and generate information indicating these. The sensor 13 outputs the generated information about the environment of the surrounding space.

[0026] Four tires 14 are attached to the bottom surface of the main body 10. The tires 14 are driven to rotate, causing the robot 1 to move.

[0027] 2 is a functional block diagram showing the configuration of the robot 1 according to the embodiment. In addition to the above-described configuration, the robot 1 includes a communication unit 15, an output unit 16, a sound collection unit 17, a drive unit 18, a memory unit 19, and a processing unit 20.

[0028] The communication unit 15 communicates between the robot 1 and an external robot management device (not shown). For example, the communication unit 15 has an interface circuit for communicating by transmitting and receiving signals according to a wireless communication method such as mobile communication or wireless LAN (Local Area Network). The communication unit 15 transmits data provided by the processing unit 20 to the robot management device and provides data received from the robot management device to the processing unit 20. The communication unit 15 also transmits user voice data input by the sound collection unit 17 to the outside and provides voice data received from the outside to the processing unit 20. The outside includes not only the robot management device but also communication terminals in various facilities such as a security office, a monitoring center, and a facility reception desk, as well as communication terminals such as mobile terminals carried by security guards and supervisors. The communication unit 15 acquires radio wave strength when communicating with an access point or a base station and provides the radio wave strength to the processing unit 20.

[0029] The output unit 16 includes, for example, a speaker, headphones, or earphones, and an interface circuit that outputs audio data to the speaker, headphones, or earphones, and outputs audio according to instructions from the processing unit 20. The output unit 16 includes a display such as a liquid crystal display, an organic electroluminescence display, or the like, and an interface circuit that outputs image data to the display, and may display various information such as images and text according to instructions from the processing unit 20.

[0030] The sound collection unit 17 includes a microphone and an interface circuit that outputs audio data input from the microphone to the processing unit 20. It inputs sounds around the robot 1 and the user's voice, encodes the input audio signals, and converts them into audio data. The sound collection unit 17 outputs the converted audio data to the processing unit 20. The processing unit 20 transmits the audio data to the outside via the communication unit 15. The sound collection unit 17 is an example of an input unit.

[0031] The driving unit 18 includes a motor and a control circuit, and drives the tires 14 of the robot 1 to rotate via the motor. The control circuit of the driving unit 18 controls the motor in accordance with instructions from the processing unit 20 to drive the tires 14 to rotate, thereby causing the robot 1 to run.

[0032] The storage unit 19 stores data and various programs. The storage unit 19 includes semiconductor memory such as ROM (Read Only Memory), RAM (Random Access Memory), and SSD (Solid State Drive), as well as a magnetic disk, an optical disk drive such as CD-ROM (Compact Disc Read Only Memory) or DVD (Digital Versatile Disc)-ROM, and its storage medium. The storage unit 19 stores an operating system program, driver programs, application programs, data, and the like used for processing by the processing unit 20. Programs are installed into the storage unit 19 from a computer-readable, non-transitory, portable storage medium such as a CD-ROM using a known setup program or the like. The programs may be stored in a storage medium owned by a predetermined server and installed via a network.

[0033] The storage unit 19 stores an area-specific table 191 and map information. The map information indicates to which of multiple types of areas (public road area, indoor area, security area, etc.) each area divided at each position within the movement range of the robot 1 corresponds.

[0034] FIG. 3 is a diagram showing the data structure of the area-specific table 191. In the area-specific table 191, the functions of the first button 11 and the second button 12 are stored in association with each other for each area where the robot 1 is located. The area where the robot 1 is located includes, for example, a public road area, an indoor area, a security area, etc. A public road area is an area outside a building where cars, pedestrians, etc. can move freely. An indoor area is an area inside a building where people related to the building are present. A security area is an area where the robot 1 performs security, inspection, etc. while autonomously moving along a travel route, and includes the inside and outside of a building.

[0035] If the area where the robot 1 is located is a security area, the security state of the robot 1 is further defined. The security states include an abnormal state, a set state, and a released state. The abnormal state is a state in which an abnormality has occurred within the security area. The set state is a state in which the robot 1 is in an alert mode that detects whether or not there is an abnormality within the security area and issues a report if an abnormality occurs, and no abnormality has occurred within the security area. The released state is a state in which the alert mode is not set and no abnormality has been detected within the security area.

[0036] The functions of the first button 11 and the second button 12 are processes that are executed when the first button 11 and the second button 12 are pressed, respectively. The functions of the first button 11 and the second button 12 include emergency stop, voice guidance, a center call request, a mobile call request, and guide guidance. The emergency stop is an example of a first process, and the voice guidance, the center call request, the mobile call request, and the guide guidance other than the emergency stop are examples of a second process.

[0037] Emergency stop is a process for stopping the robot 1 from moving urgently. Voice guidance is a process for notifying nearby people of a voice message to notify them of a disaster or accident. Center call request is a process for requesting a call to a terminal located in the monitoring center (hereinafter referred to as the monitoring terminal). Mobile call request is a process for requesting a call from the robot 1 to a mobile terminal carried by a security guard in the security room or the security guard closest to the robot 1. Guidance is a process for notifying nearby people of a voice message to guide them to facilities within the building, etc.

[0038] In the example shown in FIG. 3, the function of the first button 11 is set to emergency stop regardless of the location area of ​​the robot 1 and the security status. On the other hand, the function of the second button 12 changes depending on the location area of ​​the robot 1. When the location area is a public road area, the function of the second button 12 is set to emergency stop. When the location area is an indoor area other than a public road, the function of the second button 12 is set to voice guidance. When the location area is a security area other than a public road and the security status is abnormal, the function of the second button 12 is set to request a call to the center. When the location area is a security area and the security status is set, the function of the second button 12 is set to request a mobile call. When the location area is a security area and the security status is released, the function of the second button 12 is set to guidance.

[0039] The processing unit 20 comprehensively controls the operation of the robot 1. For example, the processing unit 20 has at least one processor such as a CPU (Central Processing Unit) or an MPU (Micro Processing Unit), memories such as a ROM and a RAM, and peripheral circuits thereof. The processing unit 20 may be an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), or the like. The processing unit 20 executes processing based on a program stored in the storage unit 19.

[0040] The processing unit 20 has an acquisition unit 201, an identification unit 202, and a control unit 203. Each of these units is a functional module realized by the CPU of the processing unit 20 executing a program in the storage unit 19. Each of these units may be implemented in the robot 1 as a dedicated processing circuit. Alternatively, each of these units may be implemented in an external device (for example, a management device or robot server, not shown) that communicates with the robot 1.

[0041] 4(A) is a flowchart showing an example of the operation of the decision-making process by the robot 1. The operation in this flowchart is executed mainly by the processing unit 20 in cooperation with each element of the robot 1, based on a program stored in advance in the storage unit 19.

[0042] Before the flowchart of FIG. 4(A) is executed, the robot 1 receives an instruction signal from a robot management device (not shown) via the communication unit 15. The instruction signal includes the type of task to be performed by the robot 1, the security status of each area within the security area to be guarded by the robot 1, the travel route to the position where the task will be performed, etc. When the robot 1 receives the instruction signal from the robot management device, the robot 1 stores the type of task, the security status of the security area, and the travel route included in the received instruction signal in the memory unit 19. The robot 1 moves autonomously through the behavior area, indoor area, and security area according to the travel route.

[0043] First, the acquisition unit 201 acquires current position information of the robot 1 (step S11). The acquisition unit 201 acquires position information indicating the current position of the robot 1 at regular intervals (for example, every 10 seconds). The acquisition unit 201 acquires an image from an imaging sensor or a thermal imaging camera included in the sensor 13, or acquires point cloud information from a LiDAR included in the sensor 13, and acquires current position information of the robot 1 using a method such as SLAM (Simultaneous Localization and Mapping) based on the acquired information. The acquisition unit 201 may acquire satellite signals from a GPS receiver included in the sensor 13 and acquire current position information from the acquired satellite signals. The acquisition unit 201 may also acquire position information using various other methods.

[0044] Next, the identification unit 202 identifies the current location area of ​​the robot 1 and determines whether the identified location area is a public road area, an indoor area, or a security area (step S12). The identification unit 202 identifies the current location area of ​​the robot 1 based on the position information acquired by the acquisition unit 201 and the map information stored in the memory unit 19 (step S12). The identification unit 202 refers to the map information and identifies whether the current location of the robot 1 indicated in the position information is included in the public road area, indoor area, or security area.

[0045] If it is determined that the current location area of ​​the robot 1 is a public road area, the control unit 203 refers to the area-specific table 191 and determines that the process to be executed when the first button 11 is pressed is a stop process to stop the robot 1 from moving, i.e., an emergency stop, and also determines that the process to be executed when the second button 12 is pressed is an emergency stop (step S13).

[0046] On the other hand, if it is determined that the area where the robot 1 is located is an indoor area other than a public road, the control unit 203 refers to the area-specific table 191 and determines that the process to be executed when the first button 11 is pressed is an emergency stop, and determines that the process to be executed when the second button 12 is pressed is voice guidance other than the stop process (step S14).

[0047] On the other hand, if the identification unit 202 determines that the area where the robot 1 is located is a security area, it determines whether the security status of a predetermined area in the security area is in an abnormal state, a set state, or a released state (step S15). For example, a security area is divided into multiple areas for management, and the predetermined area is set to be an area that includes the current location of the robot 1 among the multiple areas included in the security area. The control unit 203 transmits a request signal requesting notification of the security status via the communication unit 15 to a security device (not shown) that manages security of the security area. The request signal includes the current location of the robot 1. Upon receiving the request signal from the robot 1, the security device transmits a notification signal to the robot 1 indicating the security status of the predetermined area that includes the current location of the robot 1 specified in the request signal. The identification unit 202 identifies the security status of the predetermined area by receiving the notification signal from the security device via the communication unit 15. Note that in the above example, the predetermined area is set to be an area that includes the current location of the robot 1, but this is not limiting. The predetermined area may also be set to be an area that includes the current location of the robot 1 and an area adjacent to that area.

[0048] When the identification unit 202 determines that the security state of the predetermined area is abnormal, it determines whether or not the robot 1 is capable of communication (step S16). When the radio wave intensity supplied from the communication unit 15 exceeds a predetermined threshold, the identification unit 202 determines that communication is possible, and when the radio wave intensity is equal to or less than the predetermined threshold, it determines that communication is impossible. Alternatively, when noise or communication interruption occurs due to unintended radio wave interference, the identification unit 202 determines that communication is impossible.

[0049] If it is determined that the robot 1 is capable of communication (step S16: YES), the control unit 203 refers to the area-specific table 191 and determines the process to be executed when the first button 11 is pressed to be an emergency stop, and determines the process to be executed when the second button 12 is pressed to be a center call request (step S17).

[0050] On the other hand, if it is determined that the robot 1 is unable to communicate (step S16: NO), the control unit 203 determines the process to be executed when the first button 11 is pressed to be an emergency stop, and determines the process to be executed when the second button 12 is pressed to be voice guidance (step S18).

[0051] On the other hand, when the specifying unit 202 determines that the security state of the predetermined area is the set state, it determines whether or not the robot 1 is capable of communication, in the same manner as in the process of step S16 (step S19).

[0052] If it is determined that the robot 1 is capable of communication (step S19: YES), the control unit 203 refers to the area-specific table 191 and determines the process to be executed when the first button 11 is pressed to be an emergency stop, and determines the process to be executed when the second button 12 is pressed to be a mobile phone call request (step S20).

[0053] On the other hand, if it is determined that the robot 1 is unable to communicate (step S19: NO), the control unit 203 determines the process to be executed when the first button 11 is pressed to be an emergency stop, and determines the process to be executed when the second button 12 is pressed to be voice guidance (step S21).

[0054] On the other hand, if it is determined that the security status of the specified area is deactivated, the control unit 203 refers to the area-specific table 191 and determines the process to be executed when the first button 11 is pressed to be an emergency stop, and determines the process to be executed when the second button 12 is pressed to be guidance (step S22).

[0055] In this way, the control unit 203 determines whether to execute the first process, which is an emergency stop, or the second process, which is a process other than an emergency stop, when the first button 11 or the second button 12 is pressed, depending on the current location area of ​​the robot 1.

[0056] Furthermore, when the area where the robot 1 is currently located is a security area, the control unit 203 determines the content of the second process to be performed when the second button 12 is pressed, depending on the security status of a predetermined area within the security area. Furthermore, when the area where the robot 1 is currently located is not a security area, the control unit 203 may execute the preset first process, an emergency stop, when the second button 12 is pressed. This allows the robot 1 to provide the user with an appropriate function depending on the security status, thereby improving user convenience.

[0057] Furthermore, the control unit 203 determines the content of the process to be executed when the second button 12 is pressed, depending on the communication status of the communication unit 15. As a result, when the robot 1 is unable to communicate with an external terminal, it can provide the user with functions that can be provided without communication with an external terminal, thereby improving user convenience.

[0058] Next, control unit 203 determines that the display modes of first button 11 and second button 12 should be different depending on the type of process (either the first process or the second process) to be executed when first button 11 and second button 12 are pressed (step S23). Control unit 203 controls first button 11 and second button 12 so that they are displayed in the determined display mode. Next, control unit 203 returns the process to step S11.

[0059] For example, if the process to be executed when each button is pressed is an emergency stop, the control unit 203 controls each button to light up in red. By displaying the emergency stop button in red, which gives the impression of high urgency, the robot 1 can make nearby people intuitively recognize the emergency stop button. On the other hand, if the process to be executed when each button is pressed is a process other than an emergency stop, the control unit 203 controls each button to turn off the light of the button. By turning off the light of buttons other than emergency stop buttons, the robot 1 can make the emergency stop buttons stand out more and make nearby people recognize them. Furthermore, if the process to be executed when each button is pressed is a process other than an emergency stop, the button may be lit up in another color (for example, green) instead of turning off the light.

[0060] If the process executed when each button is pressed is an emergency stop, the control unit 203 may control each button to blink. Also, if the process executed when each button is pressed is an emergency stop, the control unit 203 may control each button to display predetermined characters on each button. This also allows the robot 1 to make people around it intuitively recognize the emergency stop button.

[0061] Furthermore, when a proximity sensor included in sensor 13 detects the approach of a person, control unit 203 may control second button 12 to light up in green. At this time, control unit 203 may execute processing to output a message such as "If you need help, please press the green button" from output unit 16 as voice output, or may execute processing to display the message in text. This allows control unit 203 to confirm the intention behind pressing first button 11 or second button 12 while preventing tampering with first button 11 or second button 12.

[0062] Note that any of the processes of steps S13, S14, and S15 to S19 may be omitted. Also, the processes of steps S16 and S18 or S19 and S21 may be omitted. Also, any of the processes of steps S16 to S18, S19 to S21, and S22 may be omitted. Also, in step S22, the control unit 203 may not determine the processing to be executed when the second button 12 is pressed as the guidance, but may execute the processing of steps S16 to S18 or the processing of steps S19 to S21, as in the case where the security status of the specified area is determined to be an abnormal state or a set state.

[0063] Furthermore, in step S12, the identification unit 202 may determine whether the location area is a security area or a non-security area other than a security area, rather than determining whether the location area is a public road area, an indoor area, or a security area. In this case, when it is determined that the location area is a non-security area, the control unit 203 determines the process to be executed when the first button 11 is pressed to be an emergency stop, which is a first process, and determines the process to be executed when the second button 12 is pressed to be guidance or a request for a received call, which is a second process. The request for a received call is a process to request a call from the robot 1 to the reception desk (operator) of the facility. If the control unit 203 has determined the process to be executed when each button is pressed to be a request for a received call, the control unit 203 transmits a signal requesting a call to a terminal provided at the reception desk of the external facility via the communication unit 15, and executes a call with the terminal via the communication unit 15. This allows the user to contact the reception desk via the robot 1. Also, either the first button 11 or the second button 12 may be omitted. In this case, in steps S13, S14, S17, S18, S20, S21, and S22, the control unit 203 does not need to determine the process to be executed when the omitted button is pressed.

[0064] 4(B) is a flowchart showing an example of the control processing operation by the robot 1. The operation in this flowchart is executed mainly by the processing unit 20 in cooperation with each element of the robot 1, based on a program stored in advance in the storage unit 19.

[0065] First, the control unit 203 waits until the first button 11 or the second button 12 is pressed (step S25).

[0066] When the first button 11 or the second button 12 is pressed, the control unit 203 executes the process that has been determined as the process to be executed when each button is pressed (step S26), and returns the process to step S25.

[0067] If the control unit 203 has determined that the process to be executed when each button is pressed is an emergency stop, it stops the robot 1 by stopping the supply of power to the drive unit 18. If the control unit 203 has determined that the process to be executed when each button is pressed is voice guidance, it executes voice guidance by outputting a voice message stored in advance in the storage unit 19 from the output unit 16. This allows the user to obtain desired information using the voice guidance.

[0068] Furthermore, if the control unit 203 has determined that the process to be executed when each button is pressed is to request a call to the center, it transmits a signal requesting a call to an external monitoring terminal via the communication unit 15, and as a second process, executes a call with the monitoring terminal via the communication unit 15, the output unit 16, and the sound collection unit 17. This allows the user to contact the monitoring center via the robot 1.

[0069] Furthermore, if the control unit 203 determines that the process to be executed when each button is pressed is to request a mobile phone call, it transmits a signal requesting a call to an external mobile terminal carried by the security guard via the communication unit 15, and executes a call with the mobile terminal via the communication unit 15, the output unit 16, and the sound collection unit 17. This allows the user to contact the security guard via the robot 1.

[0070] Furthermore, when the control unit 203 determines that the process to be executed when each button is pressed is to provide guidance, the control unit 203 executes the guidance by outputting a voice message for guidance stored in advance in the storage unit 19 from the output unit 16. This allows the user to obtain desired information using the guidance guidance.

[0071] When the location area is a public road, various risks are expected, such as a collision between the robot 1 and a car, mechanical trouble of the robot 1 due to weather, etc., so it is desirable to enable the user to execute a stop process to stop the robot 1 from traveling in the event of an emergency, regardless of the situation. Therefore, when the location area is a public road, the control unit 203 executes the first process, an emergency stop, regardless of whether the first button 11 or the second button 12 is pressed. When the robot 1 is on a public road where an emergency may occur, the user can stop the robot 1 regardless of whether the user presses the first button 11 or the second button 12. This allows the user to appropriately stop the robot 1 in the event of an emergency, even if they are confused, and the safety of the robot 1 can be improved.

[0072] Furthermore, if the location area is other than a public road, for example, indoors, the control unit 203 executes an emergency stop, which is a first process, when the first button 11 is pressed, and executes voice guidance, which is a second process, when the second button 12 is pressed. Furthermore, if the location area is a security area, the control unit 203 executes an emergency stop when the first button 11 is pressed, and executes a center call request, a mobile call request, or guidance as a second process depending on the security status when the second button 12 is pressed.

[0073] That is, when the location area is other than a public road, the control unit 203 executes a stop process to make an emergency stop of the robot 1 when the first button 11 is pressed, and executes a process other than the stop process when the second button 12 is pressed. When the robot 1 is in a safe location where the possibility of an emergency occurring is low, the user can stop the robot 1 by pressing the first button 11, and can use a predetermined function by pressing the second button 12. This allows the robot 1 to improve user convenience while ensuring safety.

[0074] As described above, the robot 1 determines the process to be executed when the second button 12 is pressed, depending on the current location area of ​​the robot 1. This allows the robot 1 to appropriately determine the process to be executed when the second button 12 is pressed.

[0075] Second Embodiment Next, an autonomous mobile robot according to the second embodiment will be described. In the second embodiment, an area-specific table 192 is stored in the storage unit 19 instead of the area-specific table 191.

[0076] FIG. 5 is a diagram showing the data structure of the area-specific table 192. The area-specific table 192 stores the functions of the first button 11 and the second button 12 in association with each other for each area where the robot 1 is located. If the area where the robot 1 is located is a security area, security tasks (hereinafter simply referred to as "tasks") for the robot 1 are further defined. The tasks include a patrol task, an inspection task, an abnormality inspection task, and a sentry guard task. The patrol task is a task for detecting predetermined abnormalities while patrolling a predetermined route. The inspection task is a task for inspecting predetermined inspection points. For example, it is a task for checking whether or not there is a dangerous object in a trash can. The abnormality processing task is a task for detecting a predetermined abnormality, such as an intruder, a fallen person, or a dangerous object, using a surveillance camera or sensor installed in a building or various sensors installed in the robot 1, and for directing the robot 1 to deal with the abnormality. The sentry guard task is a task for having the robot 1 wait at a predetermined sentry point and monitor for abnormalities at that location.

[0077] 5, the function of the first button 11 is set to emergency stop regardless of the location area of ​​the robot 1 and the type of task. On the other hand, the function of the second button 12 changes depending on the location area of ​​the robot 1 and the type of task. When the location area is a security area and the type of task is a patrol task, an inspection task, or a sentry security task, the function of the second button 12 is set to request a mobile phone call. When the location area is a security area and the type of task is an abnormality response task, the function of the second button 12 is set to request a call to the center.

[0078] 6 is a flowchart showing an example of the operation of the decision-making process by the robot 1 according to the second embodiment. The operation in this flowchart is also executed mainly by the processing unit 20 in cooperation with each element of the robot 1 based on a program stored in advance in the storage unit 19.

[0079] In the second embodiment, the processing performed before step S31 is executed and the processing of steps S31 to S34 and S40 are similar to the processing performed before step S11 in FIG. 4 is executed and the processing of steps S11 to S14 and S23, and therefore detailed explanations are omitted.

[0080] If it is determined in step S32 that the area where the robot 1 is located is a security area, the identification unit 202 determines whether or not the robot 1 is capable of communication, in the same manner as in steps S16 and S19 of FIG. 4 (step S35).

[0081] If the identification unit 202 determines that the robot 1 is capable of communication (step S35: YES), it determines whether the task currently being executed by the robot 1 is a patrol task, an inspection task, an abnormality inspection task, or a sentry guard task (step S36). The control unit 203 identifies the task currently being executed by the robot 1 by reading from the storage unit 19 the type of task included in the instruction signal received from the robot management device.

[0082] If it is determined that the task currently being performed by the robot 1 is a patrol task, an inspection task, or a guard post task, the control unit 203 refers to the area-specific table 192 and determines that the process to be performed when the first button 11 is pressed is an emergency stop, and that the process to be performed when the second button 12 is pressed is a mobile phone call request (step S37).

[0083] On the other hand, if it is determined that the task currently being executed by the robot 1 is an abnormality handling task, the control unit 203 refers to the area-specific table 192 and determines that the process to be executed when the first button 11 is pressed is an emergency stop, and that the process to be executed when the second button 12 is pressed is a center call request (step S38).

[0084] On the other hand, if it is determined in step S35 that the robot 1 is unable to communicate (step S35: NO), the control unit 203 determines the process to be executed when the first button 11 is pressed to be an emergency stop, and determines the process to be executed when the second button 12 is pressed to be voice guidance (step S39).

[0085] In this way, when the area where the robot 1 is currently located is a security area, the control unit 203 determines the content of the second process to be performed when the second button 12 is pressed, based on the type of task currently being performed by the robot 1. This allows the robot 1 to provide the user with an appropriate function according to the type of task in the security area, thereby improving user convenience.

[0086] In the second embodiment, the robot 1 also executes the control process shown in Fig. 4(B). Note that any of the processes of steps S33, S34, and S35 to S39 may be omitted. Also, the processes of steps S35 and S39 may be omitted. Also, either the first button 11 or the second button 12 may be omitted. In this case, in steps S33, S34, S37, S38, and S39, the control unit 203 does not need to determine the process to be executed when the omitted button is pressed.

[0087] As described above, the robot 1 can appropriately determine the second process to be executed when the second button 12 is pressed, depending on the type of the current task of the robot 1.

[0088] When the control unit 203 of the robot 1 is provided with three or more buttons, if it is determined that the area where the robot 1 is located is a public road, it may execute an emergency stop when any of the multiple buttons is pressed, and if the area where the robot 1 is located is not a public road, it may execute a first process of emergency stop when a specific button among the multiple buttons is pressed, and execute a second process other than emergency stop when any other button is pressed.

[0089] It should be understood that those skilled in the art can make various changes, substitutions, and alterations to the present invention without departing from the spirit and scope of the present invention. The above-described embodiments and modifications may be implemented in any suitable combination within the scope of the present invention.

[0090] In the above embodiment, the "operation unit" of the present invention is the first button 11 and the second button 12, and the "operation" of the present invention is described as pressing the first button 11 or the second button 12. However, the "operation unit" of the present invention is not limited to buttons, and may be a slide switch or a toggle switch. By operating these switches, the robot 1 may be caused to perform predetermined processing such as an emergency stop or voice guidance.

[0091] In the above embodiment, the identification unit 202 identifies the current location area of ​​the robot 1, and the control unit 203 determines the content of the process to be performed when the first button 11 and the second button 12 are pressed, depending on the identified location area. However, this is not limiting, and the identification unit 202 may identify the driving mode of the robot 1, and the control unit 203 may determine the content of the process to be performed when the first button 11 and the second button 12 are pressed, depending on the identified driving mode. For example, the identification unit 202 identifies whether the current driving mode of the robot 1 is a public road driving mode (a mode in which the robot 1 autonomously drives in compliance with legal regulations for driving on public roads) or a private property driving mode (a mode in which the robot 1 autonomously drives in compliance with regulations specified by the owner of a specific private property). Then, when the driving mode identified by the identification unit 202 is the "public road driving mode," the control unit 203 executes a first emergency stop process as the process to be performed when the first button 11 and the second button 12 are pressed. On the other hand, when the driving mode identified by the identification unit 202 is the "private property driving mode," the control unit 203 may be configured to execute a second process (e.g., guidance) other than an emergency stop when at least one of the first button 11 and the second button 12 is pressed.

[0092] In addition, if the location area is a security area, the control unit 203 may execute a second process according to the security status of a specified area within the security area, and if the location area is not a security area, may execute a pre-set first process.

[0093] In addition, the control unit 203 may be configured to execute a second process according to the type of security task currently being performed by the robot 1 when the location area is a security area, and to execute a pre-set first process when the location area is other than a security area.

[0094] In addition, when the location area is a public road, the control unit 203 may execute the first process when either the first button 11 or the second button 12 is pressed, and when the location area is other than a public road, the control unit 203 may execute the first process when the first button 11 is pressed and the second process when the second button 12 is pressed.

[0095] The autonomous mobile robot according to one embodiment of the present invention can contribute to solving social issues such as a declining labor force, long working hours, etc. Furthermore, the autonomous mobile robot according to one embodiment of the present invention can contribute to achieving Goal 9 of the Sustainable Development Goals (SDGs) adopted by the United Nations, "Build resilient infrastructure, promote inclusive and sustainable industrialization, and promote industrial and technological innovation." [Explanation of symbols]

[0096] 11 First Button 12 Second Button 13 Sensors 15 Communications Department 16 Output section 17 Sound collection section 202 Specific section 203 Control Unit

Claims

1. one or more operation units provided on the outer surface of the body of the autonomous mobile robot; an identification unit that identifies a current location area of ​​the autonomous mobile robot; a control unit that executes a first process or a second process when the operation unit is operated, the control unit determines whether to execute the first process or the second process when the operation unit is operated, depending on the location area. An autonomous mobile robot characterized by:

2. When the location area is a public road, the control unit executes a stop process for stopping the autonomous mobile robot as the first process, and when the location area is other than a public road, executes a process other than the stop process as the second process.

2. The autonomous mobile robot according to claim 1.

3. further comprising an output unit for outputting audio; The control unit executes, as the second process, a process of outputting a predetermined voice guidance from the output unit.

3. The autonomous mobile robot according to claim 2.

4. The device further includes an input unit for inputting voice, an output unit for outputting voice, and a communication unit, the control unit executes a call with an external terminal via the input unit, the output unit, and the communication unit as the second process.

3. The autonomous mobile robot according to claim 2.

5. When the location area is a security area, the control unit executes the second process according to the security status of a predetermined area within the security area, and when the location area is other than a security area, executes the first process that is set in advance.

2. The autonomous mobile robot according to claim 1.

6. When the location area is a security area, the control unit executes the second process according to the type of security task currently being performed by the autonomous mobile robot, and when the location area is other than a security area, the control unit executes the preset first process.

2. The autonomous mobile robot according to claim 1.

7. Further comprising a communication unit, the control unit determines the content of the second process depending on the communication state of the communication unit.

3. The autonomous mobile robot according to claim 2.

8. When the location area is a public road, the control unit executes the first process when either the first operation unit or the second operation unit is operated, and when the location area is other than a public road, the control unit executes the first process when the first operation unit is operated and the second process when the second operation unit is operated.

2. The autonomous mobile robot according to claim 1.

9. the control unit changes a display mode of the operation unit depending on whether a process to be executed when the operation unit is pressed is the first process or the second process.

9. The autonomous mobile robot according to claim 1, wherein the autonomous mobile robot is a robot that can move freely.

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