Autonomous Robot

Abstract

The present invention achieves autonomous travel control with which it is possible to avoid collision with other robots when a plurality of robots perform work simultaneously in a predetermined space. A work robot (2) for performing work while traveling autonomously in a work area comprises: a robot detection unit (32) that detects, as another robot, a communication partner that has responded to a connection request transmitted by a wireless communication processing unit (31) using a Bluetooth function; and a travel control unit (33) that stops the work robot (2) according to a distance to another robot detected, or causes the work robot (2) to travel in a direction other than a direction of approach by another robot.

Description

[Technical field]

[0001] The present invention relates to an autonomous robot, and more particularly to a robot that performs a predetermined task within a predetermined space. [Background technology]

[0002] In recent years, robots have been introduced in many cases to automate tasks performed by humans. For example, robots may be used to carry out tasks such as transporting luggage, cleaning, security, and inspection work instead of humans.

[0003] A robot basically performs a single task. Therefore, in a facility with a relatively large floor space, such as a shopping mall or a building, a plurality of robots may work simultaneously in parallel. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-081758 [Patent Document 2] International Publication No. 2019 / 058694 [Patent Document 3] International Publication No. 2021 / 106122 [Patent Document 4] JP 2002-351540 A [Patent Document 5] JP 2018-005470 A Summary of the Invention [Problem to be solved by the invention]

[0005] When multiple robots are made to work simultaneously in the same space, it may be possible to prevent collisions between the robots by controlling the movement of all the robots using a robot control system, for example.

[0006] However, when a work plan is created for multiple robots without taking into account the travel routes of the other robots and the robots perform work while traveling autonomously according to that work plan, there is a possibility that the robots may collide with each other.

[0007] The present invention aims to realize autonomous driving control capable of avoiding collisions with other robots when multiple robots work simultaneously in parallel within a specified space. [Means for solving the problem]

[0008] The autonomous mobile robot according to the present invention is an autonomous mobile robot that performs a predetermined task within a predetermined space, and has short-range wireless communication means, detection means for detecting a communication partner detected by the short-range wireless communication means as another autonomous mobile robot moving within the space, travel control means for controlling travel so as to avoid collision depending on a positional relationship with the other autonomous mobile robot when the detection means detects the other autonomous mobile robot, and distance measurement means for measuring a distance to the other autonomous mobile robot detected by the detection means, and the travel control means detects whether the other autonomous mobile robot is No. 1 When the distance between the other autonomous robot and the other autonomous robot is within the range, the robot is controlled to stop moving, and even if the robot stops moving, the distance between the other autonomous robot and the other autonomous robot is within the range. The object approaches a second distance that is closer than the first distance. In this case, the direction is other than the direction in which the other autonomous robot is approaching. The autonomous robot prioritizes a direction that matches the planned travel path for the task, and if it cannot travel in that direction, it will move in a direction that deviates from the travel path. Control to run death , When the autonomous robot is caused to travel in a direction deviating from the travel path, the autonomous robot is controlled to return to the travel path when the distance between the autonomous robot and the other autonomous robot becomes equal to or greater than a first distance. It is characterized by:

[0009] The detection means is further characterized in that it detects a communication partner in response to a connection request from the short-range wireless communication means as the other autonomous mobile robot.

[0010] Furthermore, when the short-range wireless communication means realizes wireless communication by Bluetooth, the detection means is characterized in that it detects a Bluetooth device searched by the short-range wireless communication means as the other autonomous robot.

[0013] The robot also has a detection means for detecting a moving body, and when the detection means detects the moving body, it detects the moving body as the other autonomous mobile robot even if the short-range wireless communication means does not find a communication partner.

[0014] The present invention also has a temperature measuring means and a discrimination means for discriminating whether the moving body is a robot based on the surface temperature of the moving body measured by the temperature measuring means, and the detection means is characterized in that even if the short-range wireless communication means does not find a communication partner, if the discrimination means discriminates that the moving body is a robot, it detects the robot as the other autonomous robot. Effect of the Invention

[0015] According to the present invention, when a plurality of robots work simultaneously in parallel within a given space, it is possible to realize autonomous travel control capable of avoiding collisions with other robots. [Brief description of the drawings]

[0016] [Figure 1] 1 is a schematic plan view showing a work area in which an autonomous working robot according to the present embodiment performs work. [Diagram 2] FIG. 1 is a diagram showing an example of a device configuration of a working robot according to an embodiment of the present invention. [Diagram 3] FIG. 1 is a block configuration diagram of a working robot according to an embodiment of the present invention. [Figure 4] 4 is a flowchart showing a travel control process for a work robot in the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0018] FIG. 1 is a plan view showing an example of a predetermined space in which an autonomous mobile robot in this embodiment performs work. The predetermined space is, for example, a facility with a relatively large floor area, such as a shopping mall or a building, or a part thereof. In this embodiment, one floor of a shopping mall will be described as an example of a space 1 in which the robot performs work (hereinafter referred to as a "work area"). The size and layout of the work area 1 shown in FIG. 1 do not need to be particularly limited.

[0019] An autonomous mobile robot (hereinafter referred to as a "working robot") 2 in this embodiment performs work such as cleaning and security in a work area 1. Although the work performed is not limited to this, the working robot 2 in this embodiment performs work while moving within the work area 1. In this embodiment, it is assumed that multiple robots, including at least one working robot 2 in this embodiment, perform work simultaneously in the same work area 1. The shape of the working robot 2 shown in FIG. 1 is merely an example, and the working robot has a shape and function suitable for the work to be performed.

[0020] The autonomous robots performing tasks simultaneously may perform the same task or different tasks. However, the working robot 2 in this embodiment is not monitored by a robot management system or the like while working, and performs tasks while autonomously traveling according to a program installed in advance, for example. In other words, the working robot 2 in this embodiment performs tasks without being remotely controlled.

[0021] Figure 2 is a diagram showing an example of the device configuration of working robot 2 in this embodiment. Working robot 2 is configured by connecting a CPU 21, ROM 22, RAM 23, storage 24, working device 25, short-range wireless communication interface (IF) 26, camera 27, and thermography 28 to an internal bus 29. Programs are stored in storage means such as ROM 22 and storage 24, and CPU 21 controls the operation of working robot 2 by executing programs loaded into RAM 23. Although not explicitly shown in Figure 2, working robot 2 is equipped with a computer including at least CPU 21, ROM 22, RAM 23, etc.

[0022] The working device 25 includes a traveling device that enables the working robot 2 to move, tools necessary for work, and the like. For example, when the working robot 2 performs cleaning work, the equipment necessary for cleaning is mounted on the working robot 2. Note that in addition to the components shown in FIG. 2 , there are other components that are considered essential, such as a battery, and these components are included in the working device 25.

[0023] The short-distance wireless communication interface 26 is a short-distance wireless communication means for mainly performing wireless communication with other autonomous mobile robots located within the work area 1. In this embodiment, an example will be described in which Bluetooth (registered trademark), which corresponds to a standard for a communication distance of about 10 m, is used as the wireless communication technology. The camera 27 photographs the surrounding situation, at least the direction in which the work robot 2 is moving. The thermograph 28 is a device that represents and analyzes the heat distribution of an object as a diagram, but in this embodiment it is provided as a temperature measurement means capable of measuring the surface temperature of nearby objects, particularly moving objects.

[0024] By the way, by using Bluetooth, it has been possible to know in meters whether a device is far away or nearby from the strength of the received radio waves. In recent versions of Bluetooth 5.1 and later, it is possible to determine the direction of a device in centimeters. In this embodiment, it is necessary to measure the distance to other robots, but instead of providing a separate distance measuring means, a recent version of Bluetooth is used for the short-range wireless communication interface 26, and the short-range wireless communication interface 26 is used as the distance measuring means. If the short-range wireless communication interface 26 does not have a distance measuring function, a distance measuring means such as a distance measuring sensor is provided separately.

[0025] In addition, recent versions of Bluetooth 5.1 and later have a direction finding function that can identify the transmission angle and reception angle with a paired Bluetooth device, so the direction finding function may be effectively used in the processing described below.

[0026] 3 is a block diagram of the working robot 2 in this embodiment. The working robot 2 in this embodiment has a wireless communication processing unit 31, a robot detection unit 32, a travel control unit 33, a moving object detection unit 34, a temperature detection unit 35, and a control unit 36. Note that components not used in the explanation of this embodiment are omitted from the figure.

[0027] The wireless communication processing unit 31 is realized by the short-range wireless communication interface 26, and performs wireless communication with other autonomous mobile robots (hereinafter referred to as "other robots") present in the work area 1. The wireless communication processing unit 31 includes a transmission unit 311 and a distance measurement unit 312. The transmission unit 311 transmits a connection request with other robots during work. The distance measurement unit 312 is a distance measurement means that measures the distance to other detected robots.

[0028] The robot detection unit 32 detects other autonomous mobile robots moving within the work area 1. Basically, the robot detection unit 32 detects a communication partner found by the wireless communication processing unit 31 as another robot moving within the work area 1, but even if the wireless communication processing unit 31 does not find a communication partner, the robot detection unit 32 may detect a moving body moving within the work area 1 as another autonomous mobile robot depending on the detection results of the moving body detection unit 34 and the temperature detection unit 35.

[0029] The travel control unit 33 controls the autonomous travel of the work robot 2. When the robot detection unit 32 detects another robot, the travel control unit 33 in this embodiment controls the travel so as to avoid collision with the other robot, depending on the positional relationship with the other robot.

[0030] The moving object detection unit 34 detects a moving object by performing image analysis on the image captured by the camera 27. In this embodiment, the moving object is detected using image processing, but other means such as a laser may also be used. Furthermore, by performing image analysis on the image captured by a surveillance camera installed in the work area 1, detection information such as the position of a moving object detected by a surveillance system or the like (not shown) installed in the facility may be acquired by wireless communication.

[0031] The temperature detection unit 35 is realized by the thermography 28, and detects the surface temperature of the detected moving object.

[0032] The control unit 36 ​​cooperates with the other components 31-35 to cause the working robot 2 to carry out the work in accordance with the work plan.

[0033] Each of the components 31 to 36 in the working robot 2 is realized by the cooperative operation of a computer mounted on the working robot 2 and a program running on a CPU 21 mounted on the computer.

[0034] Furthermore, the programs used in the present embodiment can be provided not only by communication means, but also by being stored in a computer-readable recording medium such as a USB memory. The programs provided from the communication means or recording medium are installed in a computer, and various processes are realized by the CPU 21 of the computer sequentially executing the programs.

[0035] Next, the operation of this embodiment will be described.

[0036] First, before the work robot 2 starts a predetermined task in the work area 1, the information and programs necessary to perform the task, such as layout information of the work area 1 and task plan information including the travel route when performing the task, must be stored in the work robot 2. Here, it is assumed that the preparations necessary to perform the task have been completed. It is also assumed that the work robot 2 can perform the predetermined task without any problems by following the task plan, unless it encounters another robot during the task. It is assumed that the predetermined task is performed, for example, after the shopping mall closes. In other words, there are no visitors in the work area 1.

[0037] Furthermore, this embodiment has a feature in the driving control when encountering another robot. The other robot is not necessarily one that drives using the functional configuration shown in Fig. 3 or the driving control shown in Fig. 4, like the work robot 2. In other words, the other robot may be a robot made by a different manufacturer than the work robot 2, or may be a different model even if made by the same manufacturer.

[0038] In the following, the travel control performed when the work robot 2 is performing work in this embodiment will be explained using the flowchart shown in Fig. 4. However, for ease of explanation, unless otherwise specified, the explanation will be given on the assumption that the other robots, like the work robot 2, are equipped with Bluetooth functionality and are capable of wireless communication with the work robot 2 via Bluetooth. And, when the work robot 2 detects another robot, it means that the other robot is present within the work area 1, and the other robot is performing some kind of work within the work area 1, like the work robot 2.

[0039] The travel control process shown in FIG. 4 is repeatedly performed until the work is completed (step 100).

[0040] While the work robot 2 is performing work, the transmitter 311 in the wireless communication processing unit 31 searches for other robots by sending a connection request via Bluetooth (step 110). This may be the process when starting a so-called pairing mode. When a communication partner responding to the transmitted connection request is detected, the robot detection unit 32 detects the communication partner as another robot. When another robot is detected in this way (Y in step 120), the distance measurement unit 312 measures the distance to the other robot (step 130).

[0041] In this embodiment, it is sufficient if the robot can search for and detect the presence of the other robot. Therefore, it is not necessary to complete pairing and establish a wireless communication line connection. In this embodiment, it is sufficient if the work robot 2 can use Bluetooth to detect Bluetooth devices, i.e., other robots equipped with Bluetooth functionality.

[0042] In addition, if no other robots are detected (N in step 120), in Fig. 4, other methods are used to detect other robots. However, as described above, for the sake of convenience, it is assumed here that only other robots equipped with Bluetooth functions are present in the working area 1. Therefore, if it is clear that only other robots equipped with Bluetooth functions are present, the process may return to step 100 to continue searching for other robots.

[0043] In this embodiment, the working robot 2 is controlled to travel so as not to collide with other robots working in the same work area 1. To achieve this, two types of thresholds, a first distance and a second distance, are set for the distance between the working robot 2 and the other robots. Since the working robot 2 and the other robots move together during work, the distance between them changes from moment to moment and may sometimes approach each other. The first distance refers to the distance at which the other robot approaches the working robot 2 and there is a possibility that the working robot 2 will collide with the other robot if it continues to travel as it is. The second distance refers to the distance at which the working robot 2 has stopped to avoid a collision, and the other robot has approached even closer than the first distance, and there is a possibility that the working robot 2 will collide with the other robot if it continues to stop at its current position.

[0044] Therefore, if the measured distance to the other robot has not approached the first distance (N in step 140), it is determined that there is no risk of collision, and the working robot 2 continues traveling as is and returns to step 100.

[0045] On the other hand, if the measured distance to the other robot comes within the first distance (Y in step 140), control unit 36 ​​determines that a possibility of collision has arisen. As a result, driving control unit 33 stops the driving of work robot 2 in accordance with an instruction from control unit 36 ​​(step 150). This is because if the work robot 2 continues to drive as it is, there is a possibility that it will eventually collide with the other robot, so control unit 36 ​​stops work robot 2 once to allow the other robot to pass. Also, by stopping the robot, it is possible to avoid deviating from the preset driving route for work.

[0046] Then, the distance measurement unit 312 measures the distance to the other robot while the work robot 2 is stopped (step 160). If the measured distance to the other robot is not close to the second distance (N in step 170), it is determined that there is a low possibility of a collision with the other robot, and the process returns to step .

[0047] On the other hand, suppose that the measured distance between the robot and the other robot is further reduced and the other robot approaches within the second distance. The fact that the other robot is further approaching means that the control unit 36 ​​judges that there is a possibility of collision if the robot stops as it is (Y in step 170). In this case (Y in step 170), the travel control unit 33 makes the working robot 2 travel in a direction other than the direction in which the other robot is detected, in other words, in a direction other than the direction in which the other robot is approaching, in accordance with an instruction from the control unit 36 ​​(step 180). In other words, the working robot avoids collision by running away from the approaching other robot. It is preferable that the direction in which the working robot starts traveling coincides with the travel route for work. However, if the working robot cannot travel in that direction, it will deviate from the travel route for work, but it is possible to reliably avoid collision. In this case, the control unit 36 ​​may control the working robot to return to the original planned travel route when the distance between the working robot and the other robot becomes equal to or greater than the first distance (N in step 140). Then, the process proceeds to step 130.

[0048] Next, the distance measurement unit 312 measures the distance to the other robot (step 130). If the measured distance to the other robot becomes equal to or greater than the first distance (N in step 140), it is determined that there is no longer any possibility of collision, and if the traveling control unit 33 had stopped the traveling of the work robot 2, it starts the traveling (step 190) and returns to step 100.

[0049] According to this embodiment, it is possible to detect other robots using Bluetooth, and to control the running of the robot so as to avoid collision with the other robots.

[0050] There may be a case where a plurality of other robots are present in the working area 1. In this case, the traveling control for avoiding collisions as described above may be performed for each of the other robots.

[0051] Incidentally, in the above description, for the sake of convenience, it has been assumed that only autonomous robots equipped with Bluetooth functionality are present in the work area 1. However, in reality, the other robots are not necessarily autonomous robots equipped with Bluetooth functionality. Therefore, this embodiment is also applicable to cases where the wireless communication processing unit 31 does not find a communication partner.

[0052] That is, the transmitter 311 in the wireless communication processing unit 31 searches for other robots by sending a connection request via Bluetooth (step 110), but if the wireless communication processing unit 31 does not detect other robots (N in step 120), the moving object detection unit 34 analyzes the image captured by the camera 27 to detect other moving objects. If the moving object detection unit 34 does not detect a moving object (N in step 200), it can be determined that other robots included in the moving objects do not exist within the working area 1, so the process returns to step 100.

[0053] On the other hand, if the moving object detection unit 34 detects a moving object (N in step 200), the robot detection unit 32 may detect the detected moving object as another robot. However, here, it is assumed that the moving object is a living thing such as a human being. For this reason, the control unit 36 ​​causes the temperature detection unit 35 to measure the surface temperature of the detected moving object (step 210). Then, the robot detection unit 32 determines whether the moving object is a robot or not based on the surface temperature of the moving object measured by the temperature detection unit 35. Here, if a temperature equal to or higher than a predetermined temperature is detected from the moving object, the robot detection unit 32 determines that the moving object is a living thing such as a human being (Y in step 220) and returns to step 100. The predetermined temperature may be set based on the standard body temperature of a living thing such as a human being. This is because it is considered that living things such as a human being have the ability to avoid the working robot 2 if it approaches, and therefore it is not necessary to make the working robot 2 perform running control for collision avoidance (steps 130 to 180). Of course, running control for collision avoidance may be applied to the working robot 2.

[0054] On the other hand, if a temperature equal to or higher than the predetermined temperature is not detected from the moving object, the robot detection unit 32 determines that the moving object is another robot. In this case (N in step 220), the robot detection unit 32 detects the moving object as another robot, and proceeds to step 130. The subsequent processing has already been described, so a description thereof will be omitted.

[0055] According to this embodiment, even if other robots are not detected by the wireless communication processing unit 31, by separately providing a moving object detection unit 34 and a temperature detection unit 35, it is possible to find other robots in the working area 1 even if the other robots are not equipped with Bluetooth functionality.

[0056] In addition to whether or not the other robot is equipped with Bluetooth functionality, it is also possible that a worker who enters working area 1 while the working robot 2 is working may be carrying a Bluetooth device. In this case, there is a possibility that the working robot 2 may detect the Bluetooth device carried by the worker in step 120. In this case, steps 210 to 230 may be included immediately after step 120, for example, to make it possible to distinguish between the worker and the working robot 2. [Explanation of symbols]

[0057] 1 work area, 2 work robot, 21 CPU, 22 ROM, 23 RAM, 24 storage, 25 work device, 26 short-range wireless communication interface (IF), 27 camera, 28 thermography, 29 internal bus, 31 wireless communication processing unit, 32 robot detection unit, 33 travel control unit, 34 moving object detection unit, 35 temperature detection unit, 36 control unit, 311 transmission unit, 312 distance measurement unit.

Claims

1. In an autonomous robot that performs a specified task within a specified space, A short-range wireless communication means; a detection means for detecting a communication partner detected by the short-range wireless communication means as another autonomous mobile robot moving within the space; a travel control means for controlling travel so as to avoid a collision with the other autonomous mobile robot in accordance with a positional relationship with the other autonomous mobile robot when the detection means detects the other autonomous mobile robot; a distance measuring means for measuring a distance between the other autonomous mobile robot detected by the detection means; having the traveling control means controls the other autonomous traveling robot to stop traveling when the other autonomous traveling robot approaches within a first distance, If the distance between the autonomous mobile robot and the other autonomous mobile robot has come within a second distance, which is shorter than the first distance, even after the autonomous mobile robot has stopped moving, a direction other than the direction in which the other autonomous mobile robot is approaching that coincides with the moving path planned for the work of the autonomous mobile robot is given priority, and if the autonomous mobile robot is unable to move in that direction, the autonomous mobile robot is controlled to move in a direction deviating from the moving path; When the autonomous robot is caused to travel in a direction deviating from the travel path, the autonomous robot is controlled to return to the travel path when the distance between the autonomous robot and the other autonomous robot becomes equal to or greater than a first distance. An autonomous robot characterized by the above.

2. 2. The autonomous mobile robot according to claim 1, wherein the detection means detects a communication partner in response to a connection request from the short-range wireless communication means as the other autonomous mobile robot.

3. The autonomous mobile robot according to claim 2, characterized in that, when the short-range wireless communication means realizes wireless communication via Bluetooth, the detection means detects a Bluetooth device searched for by the short-range wireless communication means as the other autonomous mobile robot.

4. A detection means for detecting a moving object is provided, the detection means, when the detection means detects the moving object, detects the moving object as the other autonomous mobile robot even when the short-range wireless communication means does not find a communication partner; 2. The autonomous robot according to claim 1 .

5. A temperature measuring means; a determination means for determining whether the moving object is a robot or not based on the surface temperature of the moving object measured by the temperature measurement means; having The autonomous mobile robot according to claim 4, characterized in that the detection means detects the robot as the other autonomous mobile robot when the discrimination means discriminates that the moving object is a robot even if the short-range wireless communication means does not find a communication partner.

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