Area recognition system, area recognition method, and program

Abstract

To provide an area recognition system, an area recognition method, and a program for allowing recognition of travel areas while preventing a malfunction of a safety device.SOLUTION: One or more magnetic members 200 each including a magnetic member 210 are arranged between different travel areas for a robot 100. The polarity of a top face side of the magnetic member 210 is a first magnetic pole. The robot 100 comprises: a magnetic sensor 120; a magnetic sensor 130; a safety device 140 that detects the first magnetic pole to suppress the operation of the robot; and a recognition unit 151 that detects each of the one or more magnetic members 200 to recognize a movement between the different travel areas. The magnetic sensor 120 and the magnetic sensor 130 are arranged at positions different from each other in a width direction of the robot 100. When the movement in the width direction of the robot 100 is restricted, each of the one or more magnetic members 200 is arranged to be detected by the magnetic sensor 130 and not to be detected by the magnetic sensor 120.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to an area recognition system, an area recognition method, and a program. [Background technology]

[0002] In some cases, the road along which an unmanned vehicle travels is divided into a high-speed section and a low-speed section. Patent Document 1 discloses a technology for recognizing an area by providing a north pole magnet and a south pole magnet between the low-speed section and the high-speed section. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 5-189028 Summary of the Invention [Problem to be solved by the invention]

[0004] In some cases, the robot is equipped with a safety device that operates in response to detection of magnetism. In such cases, there is a risk that the safety device of the robot may malfunction due to the magnetic member provided for area recognition.

[0005] The present disclosure has been made to solve such problems, and aims to provide an area recognition system, an area recognition method, and a program that can recognize the driving area while preventing malfunction of safety devices. [Means for solving the problem]

[0006] The area recognition system according to the present embodiment includes: An area recognition system for recognizing a travel area of ​​a robot, One or more magnetic members including a first magnetic member are disposed between the different travel areas; The polarity of the upper surface side of the first magnetic member is a first magnetic pole, which is one of an N pole and an S pole, The robot comprises: A first magnetic sensor; A second magnetic sensor; a safety device that suppresses an operation of the robot by detecting the first magnetic pole using the first magnetic sensor; a recognition unit that recognizes movement between different travel areas by detecting each of the one or more magnetic members using the second magnetic sensor; Equipped with the first magnetic sensor and the second magnetic sensor are disposed at different positions in a width direction of the robot, When the widthwise movement of the robot is restricted between different traveling areas, each of the one or more magnetic members is positioned so as to be detected by the second magnetic sensor and not detected by the first magnetic sensor.

[0007] The area recognition method in this embodiment is as follows: An area recognition method for recognizing a traveling area of ​​a robot, comprising: One or more magnetic members including a first magnetic member are disposed between the different travel areas; The polarity of the upper surface side of the first magnetic member is a first magnetic pole, which is one of an N pole and an S pole, The robot comprises: A first magnetic sensor; A second magnetic sensor; a safety device that suppresses an operation of the robot by detecting the first magnetic pole using the first magnetic sensor; Equipped with the first magnetic sensor and the second magnetic sensor are disposed at different positions in a width direction of the robot, when movement of the robot in the width direction between different travel areas is restricted, each of the one or more magnetic members is disposed so as to be detected by the second magnetic sensor and not detected by the first magnetic sensor; The robot comprises: Movement between different travel areas is recognized by detecting each of the one or more magnetic members using the second magnetic sensor.

[0008] The program in this embodiment causes a computer to execute the above-described area recognition method. Effect of the Invention

[0009] The present disclosure makes it possible to provide an area recognition system, an area recognition method, and a program that can recognize the driving area while preventing malfunction of a safety device. [Brief description of the drawings]

[0010] [Figure 1] 1 is a schematic diagram showing a configuration of an area recognition system according to a first embodiment. [Diagram 2] FIG. 2 is a schematic diagram showing specific examples of high speed driving areas and low speed driving areas. [Diagram 3] FIG. 2 is a block diagram showing the functions of the robot according to the first embodiment. [Figure 4] 4 is a diagram for explaining the positions of a first magnetic sensor and a second magnetic sensor. FIG. [Diagram 5] FIG. 1 is a schematic diagram showing a configuration of an area recognition system according to a related art. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The present invention will be described below through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential as means for solving the problems.

[0012] EMBODIMENT 1 Hereinafter, an area recognition system according to embodiment 1 will be described with reference to the drawings. Fig. 1 is a schematic diagram showing a configuration of an area recognition system 1000 according to embodiment 1. The area recognition system 1000 is a system that recognizes an area in which a robot 100 travels.

[0013] The area recognition system 1000 includes a robot 100. The travel area of ​​the robot 100 includes a high-speed travel area H and a low-speed travel area L. The robot 100 may be a transport robot that transports luggage. The area recognition system 1000 may further include a server (not shown) that generates a travel route for the robot 100. Note that the area recognition system 1000 may also include a system in which processing is completed within the robot 100.

[0014] An example of a high-speed driving area H and a low-speed driving area L will be described with reference to FIG. 2. The robot 100 is assumed to be a transport robot. The robot 100 transports luggage from a logistics center LC to a residence R. The residence R is a human habitation and includes a passage shared by the robot 100 and humans. An underground passage A is provided between the logistics center LC and the residence R. The maximum speed of the robot 100 is limited to, for example, 1.6 [m / s] in the underground passage A and to, for example, 0.5 [m / s] in the residence R. In this case, the underground passage A is the high-speed driving area H, and the residence R is the low-speed driving area L.

[0015] 2 merely shows an example of the high-speed driving area H and the low-speed driving area. Although the speed of the robot 100 needs to be limited in the low-speed driving area L, the low-speed driving area L and the high-speed driving area H may be of any type. For example, the high-speed driving area H may be a roadway, and the low-speed driving area L may be a sidewalk.

[0016] Returning to FIG. 1, the description will be continued. The area recognition system 1000 includes one or more magnetic members 200. The one or more magnetic members 200 include a magnetic member 210. The magnetic member 210 is also called a first magnetic member. The polarity of the upper surface side of the magnetic member 210 is a first magnetic pole, which is one of an N pole and an S pole. In the following, the case where the first magnetic pole is an N pole will be mainly described, but the first magnetic pole may also be an S pole. The one or more magnetic members 200 are arranged between a high speed traveling area H and a low speed traveling area L. Each of the one or more magnetic members 200 may be a magnetic tape or a magnet.

[0017] As shown in Fig. 1, the one or more magnetic members 200 may further include a magnetic member 220. The magnetic member 220 is also called a second magnetic member. The magnetic members 210 and 220 are arranged along the traveling direction of the robot 100. The arrow in Fig. 1 illustrates the traveling direction of the robot 100. Specifically, the polarity of the upper surface side of the magnetic member 220 is a second magnetic pole different from the first magnetic pole.

[0018] Note that one or more of the magnetic members 200 may not include the magnetic member 220. Also, the polarity of the upper surface sides of the magnetic members 210 and 220 may be the same, and the magnetic pole strengths may be different from each other. Furthermore, the one or more of the magnetic members 200 may include three or more magnetic members.

[0019] The one or more magnetic members 200 are used for the robot 100 to recognize the travel area. In Fig. 1, the magnetic member 210 is arranged on the high speed travel area H side, and the magnetic member 220 is arranged on the low speed travel area L side.

[0020] A third magnetic member (not shown) is disposed in the low speed driving area L and the high speed driving area H. The third magnetic member is used to operate the safety device. The polarity of the upper surface side of the third magnetic member is the first magnetic pole (for example, N pole).

[0021] It is assumed that movement of the robot 100 in the width direction is restricted between the high-speed travel area H and the low-speed travel area L. For example, the boundary between the high-speed travel area H and the low-speed travel area L may be a passageway narrower than the width of the robot 100 or an elevator entrance / exit.

[0022] 3 is a block diagram showing the functional configuration of the robot 100. The robot 100 includes a moving unit 110, a magnetic sensor 120, a magnetic sensor 130, a safety device 140, and a control unit 150. The robot 100 may further include a robot arm that moves luggage.

[0023] The moving unit 110 includes wheels 111 and a motor 112 that rotates the wheels 111. The motor 112 rotates the wheels 111 via a reducer or the like. The motor 112 rotates the wheels 111 in response to a control signal from the control unit 150, thereby allowing the robot 100 to move to an arbitrary position. The wheels 111 are stopped or decelerated by the operation of a safety device 140, which will be described later.

[0024] The magnetic sensor 120 detects a first magnetic pole (N pole). The magnetic sensor 120 is also referred to as a first magnetic sensor. There may be a plurality of magnetic sensors 120. The detection result of the magnetic sensor 120 is used to operate the safety device 140. A plurality of magnetic sensors 120 may be provided on the outer periphery (e.g., four corners) of the bottom surface of the robot 100. The magnetic sensor 120 outputs the detection result to the safety device 140.

[0025] The magnetic sensor 130 detects both the north pole and the south pole. The magnetic sensor 130 is provided, for example, in the center part of the bottom surface of the robot 100. The magnetic sensor 130 is also called a second magnetic sensor. The magnetic sensor 130 outputs the detection result to the control unit 150.

[0026] The magnetic sensors 120 and 130 are disposed at different positions in the width direction of the robot 100. The magnetic members 210 and 220 are disposed so as to be detected by the magnetic sensor 130 but not detected by the magnetic sensor 120. The specific arrangement of the magnetic sensors 120 and 130 will be described later.

[0027] The safety device 140 suppresses the operation of the robot 100 by detecting a first magnetic pole (e.g., a north pole) using the magnetic sensor 120. When the first magnetic pole is detected, the safety device 140 slows down or stops the rotation of the wheels 111. The safety device 140 may be realized as a function of the control unit 150, which will be described later. A third magnetic member (not shown) is arranged in the low-speed driving area L and the high-speed driving area H, making the driving of the robot 100 safer. For example, when the third magnetic member is arranged in front of a staircase, the area recognition system 1000 can prevent the robot 100 from falling over.

[0028] Next, the arrangement of the magnetic sensors 120 and 130 will be described with reference to Fig. 4. Note that the magnetic sensors 120a, 120b, 120c, and 120d are specific examples of the above-mentioned magnetic sensor 120. Fig. 4 shows an example in which the robot 100 includes four magnetic sensors 120a, 120b, 120c, and 120d, but the number of magnetic sensors 120 is not limited to four.

[0029] 4 is a top view of the robot 100, and the positions in a horizontal plane of the magnetic sensors 120a, 120b, 120c, 120d, and 130 are indicated by dotted lines. The robot 100 is located in an elevator E. At the entrance of the elevator E, a magnetic member 210 and a magnetic member 220 are disposed.

[0030] If the magnetic pole for operating the safety device 140 is an N pole, the magnetic sensors 120a, 120b, 120c, and 120d are magnetic sensors capable of detecting an N pole. The magnetic sensor 130 is a magnetic sensor capable of detecting both an N pole and an S pole.

[0031] The magnetic sensors 120a, 120b, 120c, and 120d are provided at the four corners of the bottom surface of the robot 100. The magnetic sensors 120a and 120b are arranged at different positions in the width direction of the robot 100. The magnetic sensor 130 is provided in the center part of the bottom surface of the robot 100.

[0032] As described above, the magnetic members 210 and 220 are disposed so as to be detected by the magnetic sensor 130 but not detected by the magnetic sensor 120. In the width direction of the robot 100, the magnetic sensor 130 is disposed between the magnetic sensors 120a and 120b. In the width direction of the robot 100, the length of the magnetic member 210 and the length of the magnetic member 220 are shorter than the distance between the magnetic sensors 120a and 120b. In other words, the widths of the magnetic members 210 and 220 are sufficiently narrow.

[0033] When the robot 100 moves outside the elevator E, the magnetic sensor 130 detects the magnetic member 210 and the magnetic member 220, and the control unit 150, which will be described later, recognizes the travel area. At this time, the magnetic sensors 120a, 120b, 120c, and 120d do not detect the magnetic member 210, so the safety device 140 does not malfunction.

[0034] Returning to Fig. 3, the description will continue. The control unit 150 includes a processor and a memory. The control unit 150 includes a recognition unit 151 and a travel control unit 152. Each function of the control unit 150 may be realized by loading a program (not shown) into the memory and executing it with the processor.

[0035] The recognition unit 151 recognizes that the robot 100 has moved between different travel areas by detecting each of the one or more magnetic members 200 using the magnetic sensor 130. For example, when the magnetic sensor 130 detects a first magnetic pole and then a second magnetic pole, the recognition unit 151 recognizes that the robot 100 has moved from a high-speed travel area H to a low-speed travel area L. When the magnetic sensor 130 detects the second magnetic pole and then the first magnetic pole, the recognition unit 151 recognizes that the robot 100 has moved from the low-speed travel area L to the high-speed travel area H.

[0036] The travel control unit 152 controls the movement of the robot 100 based on the area recognition result of the recognition unit 151. Specifically, the travel control unit 152 drives the robot 100 at a high speed when the robot 100 drives in a high-speed travel area H, and drives the robot 100 at a low speed when the robot 100 drives in a low-speed travel area L. The travel control unit 152 may control the movement of the robot 100 so that the speed does not exceed the maximum speed in the travel area of ​​the robot 100. The travel control unit 152 may further include a function of generating a travel route for the robot 100.

[0037] Next, the area recognition method according to the first embodiment will be described with reference to Fig. 1. It is assumed that the first magnetic pole is an N pole and the second magnetic pole is an S pole. First, a case in which the robot 100 moves from a high-speed travel area H to a low-speed travel area L will be described. The arrow indicates the direction in which the robot 100 moves.

[0038] First, the robot 100 passes over the magnetic members 210 and 220. The magnetic sensor 130 detects the north pole and the south pole. Next, the recognition unit 151 of the control unit 150 recognizes the movement from the high speed driving area H to the low speed driving area L. In response to the recognition by the recognition unit 151, the traveling control unit 152 of the robot 100 may start traveling at a low speed.

[0039] As described above, the magnetic members 210 and 220 are positioned so as to be detected by the magnetic sensor 130 but not by the magnetic sensor 120. Therefore, when the robot 100 passes over the magnetic member 210, the safety device 140 is not activated.

[0040] Next, a case where the robot 100 moves from the low-speed travel area L to the high-speed travel area H will be described. First, the robot 100 passes over the magnetic members 210 and 220. The magnetic sensor 120 detects the S pole and the N pole. Next, the recognition unit 151 of the control unit 150 recognizes the movement from the low-speed travel area L to the high-speed travel area H.

[0041] According to the first embodiment, the driving area can be recognized while preventing the malfunction of the safety device.

[0042] In the first embodiment, it is not necessary to place magnetic members on the entire surfaces of the low speed travel area L and the high speed travel area H. FIG. 5 is a schematic diagram showing an area recognition system 2000 according to the related art, and shows the contents of the inventor's consideration. The area recognition system 2000 includes a robot 500.

[0043] For example, a magnetic member having an S pole (e.g., a magnetic tape) is placed over the entire surface of the high speed travel area H of the area recognition system 2000. When the robot 500 detects the S pole, it recognizes that it is traveling in the high speed travel area H, and when it does not detect the S pole, it recognizes that it is traveling in the low speed travel area L. The robot 500 activates a safety device by detecting, for example, a magnetic member having an N pole (not shown).

[0044] In the area recognition system 2000, since the area recognition is not performed using a north pole, it is possible to recognize the area while preventing the malfunction of the safety device. However, the area recognition system 2000 has a problem in that it is necessary to arrange a magnetic member over the entire surface of the low speed traveling area L or the high speed traveling area H. In the area recognition system 1000 according to the first embodiment, it is not necessary to arrange a magnetic member over the entire surface of the low speed traveling area L or the high speed traveling area, and has an advantage of lower cost compared to the related art.

[0045] In the above examples, the program includes instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in the embodiments. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, the computer-readable medium or tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray® disk or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, the transitory computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0046] The present invention is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit and scope of the present invention. [Explanation of symbols]

[0047] 1000 Area Recognition System 100 Robots 110 Mobile Division 111 Wheels 112 Motor 120, 120a, 120b, 120c, 120d Magnetic sensors 130 Magnetic Sensor 140 Safety equipment 150 Control section 151 Recognition part 152 Driving control unit Magnetic materials over 200 1 210 Magnetic materials 220 Magnetic Materials 2000 Area Recognition System 500 Robots H High-speed driving area L Low speed driving area LC Logistics Center A underground passage R Residence E Elevator

Claims

1. An area recognition system for recognizing a travel area of ​​a robot, One or more magnetic members including a first magnetic member are disposed between the different travel areas; The polarity of the upper surface side of the first magnetic member is a first magnetic pole which is one of an N pole and an S pole, The robot comprises: A first magnetic sensor; A second magnetic sensor; a safety device that suppresses an operation of the robot by detecting the first magnetic pole using the first magnetic sensor; a recognition unit that recognizes movement between different travel areas by detecting each of the one or more magnetic members using the second magnetic sensor; Equipped with the first magnetic sensor and the second magnetic sensor are disposed at different positions in a width direction of the robot, when movement of the robot in the width direction between different travel areas is restricted, each of the one or more magnetic members is disposed so as to be detected by the second magnetic sensor and not detected by the first magnetic sensor; Area recognition system.

2. the number of the first magnetic sensors is plural, the plurality of first magnetic sensors include two magnetic sensors arranged at different positions in a width direction of the robot; the second magnetic sensor is disposed between the two magnetic sensors in a width direction of the robot; a length of each of the one or more magnetic members in a width direction of the robot is shorter than a distance between the two magnetic sensors; The area recognition system according to claim 1 .

3. The one or more magnetic members are disposed at an elevator doorway.

3. The area recognition system according to claim 1 or 2.

4. the travel area of ​​the robot includes a high-speed travel area and a low-speed travel area; a third magnetic member for operating the safety device is disposed in the high speed traveling area and the low speed traveling area; The polarity of the upper surface side of the third magnetic member is the first magnetic pole.

3. The area recognition system according to claim 1 or 2.

5. An area recognition method for recognizing a traveling area of ​​a robot, comprising: One or more magnetic members including a first magnetic member are disposed between the different travel areas; The polarity of the upper surface side of the first magnetic member is a first magnetic pole which is one of an N pole and an S pole, The robot comprises: A first magnetic sensor; A second magnetic sensor; a safety device that suppresses an operation of the robot by detecting the first magnetic pole using the first magnetic sensor; Equipped with the first magnetic sensor and the second magnetic sensor are disposed at different positions in a width direction of the robot, when movement of the robot in the width direction between different travel areas is restricted, each of the one or more magnetic members is disposed so as to be detected by the second magnetic sensor and not detected by the first magnetic sensor; The robot comprises: detecting each of the one or more magnetic members using the second magnetic sensor, thereby recognizing movement between different travel areas; Area recognition method.

6. A program for causing a computer to execute the area recognition method according to claim 5.

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