robot

Abstract

To allow a robot to pass through an automatic door which opens when detecting an object having moved within a predetermined area.SOLUTION: A processor 11 drops a moving speed at which an own apparatus heads for an automatic door, forces a detection unit 16 to regularly detect an open quantity of the automatic door, and determines whether the open quantity falls below a threshold equivalent to the width of the own apparatus. When determining that the detected open quantity falls below the threshold equivalent to the width of the own apparatus, the processor 11 determines whether the own apparatus has come out of a non-contact range within which the owe apparatus does not come into contact with the automatic door. When determining that the own apparatus has come out of the non-contact range R1, the processor 11 forces the own apparatus to change directions so as to return to the non-contact range. The processor 11 then determines whether the detected open quantity of the automatic door has reached the threshold equivalent to the width of the own apparatus. When determining that the detected open quantity has reached the threshold, the processor 11 raises the moving speed at which the own apparatus heads for the automatic door.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a technology for a robot passing through an automatic door. [Background technology]

[0002] Autonomous robots are expected to be used in a variety of fields. For a robot to navigate autonomously, it is important that it be able to avoid obstacles.

[0003] Patent Document 1 discloses a robot that detects changes over time in the position of dynamic obstacles in the surrounding area, and based on the detection results, generates a function that represents changes over time in the passage cost required to pass through the grid corresponding to the position of the obstacle, and registers this in memory.

[0004] When a robot described in Patent Document 1 is designated as a destination grid on a two-dimensional grid map stored in memory, it estimates the travel time required to travel from its current location to that grid. The robot then calculates the passage cost required to pass through that grid based on the estimated travel time and a function registered for the designated grid. The robot calculates a route on the grid map so that the route cost, including at least the calculated passage cost, is minimized. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-68895 Summary of the Invention [Problem to be solved by the invention]

[0006] An example of an obstacle is an automatic door, which detects an object entering a predetermined area and controls its opening and closing accordingly. Object detection sensors include heat ray, light ray, and ultrasonic sensors. Some automatic doors detect the movement of a person attempting to pass through by detecting changes over time in the physical quantities sensed by these sensors.

[0007] The technology described in Patent Document 1 does not consider the possibility that the behavior of the automatic door will change when the robot itself is detected.

[0008] One of the objectives of the present invention is to allow a robot to pass through an automatic door that opens when it detects a moving object in a predetermined area. [Means for solving the problem]

[0009] The present invention is directed to a method for detecting an object moving in a predetermined area and then detecting a moving speed toward the automatic door after entering the area in order to pass through the automatic door that opens when the object moving in the area is detected. First speed Drop, the opening amount of the automatic door and the opening amount is detected. is the width of the device It was set based on Below the threshold If the device determines that it has left a predetermined non-contact range in the area where it does not come into contact with the automatic door, the device controls the direction of movement so that it returns to the inside of the non-contact range. If the device determines that it has not left the non-contact range, the device continues to detect the amount of opening while maintaining movement inside the non-contact range. When the threshold value is reached, the moving speed toward the automatic door is to a second speed that is faster than the first speed A robot that lifts a robot is provided as a first aspect.

[0010] According to the robot of the first aspect, the user can cause the robot to pass through an automatic door that opens when it detects an object that has moved in a predetermined area.

[0013] No. 1 of In the robot of the aspect, the configuration is such that it determines whether the opening amount of the automatic door has reached the threshold value based on the result of detecting the reflected light of the laser light irradiated toward the automatic door. 2 This may be adopted as an embodiment.

[0014] No. 2 According to the robot of the aspect (1), the user can make the robot detect an automatic door that reflects laser light and pass through it. In the robot of the first aspect, a configuration may be adopted as a third aspect in which the current opening amount of the automatic door is calculated based on the detection results of a three-dimensional sensor, and it is determined whether the calculated opening amount has reached the threshold value. The robot of the third aspect can pass through the automatic door based on the three-dimensional shape of the automatic door sensed by the three-dimensional sensor.

[0015] No. 1 of In the robot of the aspect, a configuration may be adopted as a fourth aspect in which it is determined whether the amount of opening of the automatic door has reached the threshold value based on the detection results of the reflected waves of the sound waves sent toward the automatic door.

[0016] According to the robot of the fourth aspect, the user can make the robot detect an automatic door that reflects sound waves and pass through it.

[0017] In the robot according to any one of the first to fourth aspects, Explanation radiation is in front The threshold is reached, and The amount of opening of the automatic door detected at the current detection timing is compared with the amount of opening of the automatic door detected at least one detection timing before. When the opening amount of the automatic door increases, the moving speed toward the automatic door is to the second speed The configuration of raising the temperature may be adopted as a fifth aspect.

[0018] According to the robot of the fifth aspect, the user can make the robot reduce the possibility of collision with the automatic door due to a temporary error in the result of sensing the amount of opening of the automatic door. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of a robot 1. [Figure 2] FIG. 2 is a diagram showing an example of an area DB 121. [Figure 3] FIG. 10 is a diagram showing an example of an area in which an automatic door detects an object. [Figure 4] 1A and 1B are diagrams showing examples of the appearance of a robot 1. [Figure 5] FIG. 2 is a diagram showing an example of the configuration of a three-dimensional sensor 161. [Figure 6] FIG. 2 is a diagram showing an example of the configuration of an ultrasonic sensor 162. [Figure 7] FIG. 2 is a flow chart showing an example of the flow of the operation of the robot 1. [Figure 8]FIG. 10 is a flow diagram showing an example of automatic door response control of the robot 1. [Figure 9] FIG. 10 is a diagram showing an example of the behavior of the robot 1 until the automatic door satisfies the conditions. [Figure 10] 10A and 10B are diagrams for explaining examples of conditions based on the amount of opening of an automatic door. DETAILED DESCRIPTION OF THE INVENTION

[0020] <Embodiment> <Robot configuration> Fig. 1 is a diagram showing an example of the configuration of a robot 1. The robot 1 shown in Fig. 1 has a processor 11, a memory 12, a communication unit 13, an operation unit 14, a display unit 15, a detection unit 16, and a movement unit 17. These components are connected to each other so that they can communicate with each other, for example, by a bus.

[0021] The processor 11 reads and executes a computer program (hereinafter simply referred to as a program) stored in the memory 12 to control each part of the robot 1. The processor 11 is, for example, a CPU (Central Processing Unit).

[0022] The communication unit 13 is a communication circuit that connects the robot 1 to other devices via wire or wirelessly so that they can communicate with each other.

[0023] The operation unit 14 is equipped with operation buttons, a touch panel, and other operators for issuing various instructions, and receives an operation and sends a signal corresponding to the operation content to the processor 11. This operation is, for example, pressing an operation button, a gesture on the touch panel, or the like.

[0024] The display unit 15 has a display screen such as a liquid crystal display, and displays images under the control of the processor 11. A transparent touch panel of the operation unit 14 may be placed on top of the display screen. Note that the robot 1 does not necessarily have to have the operation unit 14 and the display unit 15. The robot 1 may be operated by an external device via the communication unit 13, or may present information to an external device.

[0025] The memory 12 is a storage means for storing an operating system, various programs, data, etc., which are loaded into the processor 11. The memory 12 includes a RAM (Random Access Memory) and a ROM (Read Only Memory). The memory 12 may also include a solid state drive, a hard disk drive, etc.

[0026] The memory 12 also stores an area DB 121 and a map DB 122. The map DB 122 is a database that stores two-dimensional coordinates or three-dimensional coordinates that indicate the positions of various structures such as buildings, walls, and roads on a map.

[0027] Fig. 2 is a diagram showing an example of the area DB 121. The area DB 121 is a database that stores information about areas where an object is detected by an automatic door. The area DB 121 shown in Fig. 2 has an automatic door ID column, a coordinate column, an area column, and a model column.

[0028] The automatic door ID column in the area DB 121 is a column for storing an automatic door ID, which is identification information that uniquely identifies each automatic door.

[0029] The coordinates field is a field for storing the coordinates of the automatic door identified by the corresponding automatic door ID. These coordinates are included in the map stored in the map DB 122.

[0030] The area field stores the area in which the automatic door identified by the corresponding automatic door ID detects an object. This area includes information on the position and size of the automatic door relative to its coordinates.

[0031] The model column is a column for storing the model of the automatic door identified by the corresponding automatic door ID. The stored model information may be identification information for that model, or information such as the specifications of that model of automatic door. Note that the model column does not necessarily have to be included in the area DB 121.

[0032] Figure 3 is a diagram showing an example of the area in which an automatic door detects an object. Figure 3 shows the layout of sliding doors 2a and 2b included in the automatic door configuration and detection area R0, which is the area in which the automatic door detects an object, in a plan view. The bottom side in Figure 3 is the near side, or forward.

[0033] The automatic door shown in Figure 3 has sliding door 2a located on the left side as viewed from the front, and sliding door 2b located on the right side as viewed from the front. The sliding doors 2a and 2b open when they move away from each other, and close when they move towards each other.

[0034] The automatic door has a detection area R0 in front. The detection area R0 is a predetermined area where a sensor equipped on the automatic door detects objects. This sensor detects when an object enters the detection area R0 or when an object moves within the detection area R0. When the sensor detects an object moving within the detection area R0, the control unit (not shown) of the automatic door drives the sliding doors 2a and 2b to open them.

[0035] On the other hand, when the sensor does not detect an object moving within the detection area R0 for a certain period of time, the control unit of the automatic door drives the sliding doors 2a and 2b to close them.

[0036] The detection area R0 is divided into a non-contact area R1 and a contact area R2 depending on the width and depth of the robot 1. The contact area R2 is the area where the robot 1 will come into contact with at least one of the sliding doors 2a, 2b when the robot 1 enters while the sliding doors 2a, 2b are closed. The non-contact area R1 is the area obtained by excluding the contact area R2 from the detection area R0. In other words, the non-contact area R1 is the area where the robot 1 will not come into contact with either of the sliding doors 2a, 2b when the robot 1 enters while the sliding doors 2a, 2b are closed.

[0037] FIG. 4 is a diagram showing an example of the appearance of the robot 1. In the following figures, the space in which each component is arranged is represented as an xyz right-handed coordinate space. Among the coordinate symbols shown in the figures, a dot in a circle represents an arrow pointing from the back of the page to the front. The direction along the x-axis in space is referred to as the x-axis direction. Furthermore, within the x-axis direction, the direction in which the x component increases is referred to as the +x direction, and the direction in which the x component decreases is referred to as the -x direction. Regarding the y and z components, the y-axis direction, +y direction, -y direction, z-axis direction, +z direction, and -z direction are defined in accordance with the above definitions.

[0038] The -z direction is the direction of gravity, i.e., downward, and the +z direction is upward. The +x direction is the direction in which the robot 1 moves forward, and the -x direction is the direction in which the robot 1 moves backward. The y-axis direction is perpendicular to the direction in which the robot 1 moves, i.e., the width direction.

[0039] 4(a), 4(b), and 4(c) show a plan view, a front view, and a side view, respectively, of the robot 1. As shown in FIG. 4(b), a three-dimensional sensor 161, an ultrasonic sensor 162, and a two-dimensional sensor 163 are provided on the front side (the +x direction side) of the robot 1.

[0040] Additionally, tires of the moving unit 17 are provided on the bottom surface of the robot 1. The moving unit 17 has one tire on each side, an axle that rotatably supports the tires, and a drive device such as a motor (not shown) that rotates and drives the axle. Note that the moving unit 17 is not limited to having one tire on each side, and may have another tire (training wheel) on the rear (-x direction) side, for example, as shown in FIG. 4. Either tire of the moving unit 17 may have a steering function that changes the direction of movement under the control of the processor 11 shown in FIG. 1.

[0041] Fig. 5 is a diagram showing an example of the configuration of three-dimensional sensor 161. Three-dimensional sensor 161 shown in Fig. 5 is, for example, a LiDAR (Light Detection and Ranging).

[0042] This three-dimensional sensor 161 has a light-emitting element that generates laser light and an optical system that changes the traveling direction of the generated laser light to cause the laser light to scan a space where an object exists. The laser light generated by the light-emitting element in this three-dimensional sensor 161 is, for example, a pulsed laser in the near-infrared wavelength band.

[0043] The angle of view of the detection range caused by scanning of the laser light emitted from this three-dimensional sensor 161 is, for example, 60 degrees horizontally and 50 degrees vertically. The optical system that causes the laser light to scan the space in this three-dimensional sensor 161 is, for example, an electromagnetically driven MEMS (Micro Electro Mechanical System). This optical system periodically performs Lissajous scanning of the laser light, for example, up and down and left and right.

[0044] The scanning mode of the optical system is not limited to Lissajous scanning, and the optical system may perform so-called raster scanning, in which after one-dimensional scanning in the vertical or horizontal direction to obtain information corresponding to a line, the scanning point is shifted in a direction perpendicular to the line and another one-dimensional scanning is repeated.

[0045] Furthermore, this optical system may use a separate optical system or a CCD / CMOS image sensor system to handle the laser light, but it is preferable to use a coaxial optical system.

[0046] The three-dimensional sensor 161 also has a light receiving element that receives reflected light that is returned when the laser light that scans the space is reflected by an object. The light receiving element is, for example, a photodiode.

[0047] This three-dimensional sensor 161 uses the so-called optical pulse time-of-flight (ToF) method, which measures distance from the time it takes for an irradiated laser beam to reflect off an object and return. This three-dimensional sensor 161 measures the distance at each coordinate on the Lissajous figure based on a combination of the time at which the beam passes through the coordinate and the intensity of the received light corresponding to that coordinate, and generates a distance image.

[0048] The three-dimensional sensor 161 shown in FIG. 5(a) detects at least a range equivalent to the width W1 of the robot 1.

[0049] The height H1 from the ground G of the three-dimensional sensor 161 shown in Figure 5(b) is, for example, 580 millimeters. Because this three-dimensional sensor 161 scans a space facing diagonally downward, for example, of an object standing upright at a position a distance L2 in the +x direction, the height H2 of area J that falls within the angle of view is lower than height H1. For example, when distance L2 is 2 meters, height H2 is 295 millimeters.

[0050] Note that the detection range of this three-dimensional sensor 161 is the space ahead of the robot 1, so there may be a blind spot directly below the three-dimensional sensor 161. For example, the three-dimensional sensor 161 shown in Fig. 5(b) does not detect an object on the ground G that is located up to a distance L1 ahead of the three-dimensional sensor 161. Distance L1 is, for example, 200 millimeters.

[0051] 6 is a diagram showing an example of the configuration of the ultrasonic sensor 162. The ultrasonic sensor 162 has a wave transmitting device that transmits ultrasonic waves and a wave receiving device that receives reflected waves that are returned after being reflected by an object. As shown in FIG. 6, two ultrasonic sensors 162 are arranged, one on each side of the front (+x direction) of the robot 1. Compared to the three-dimensional sensor 161, the ultrasonic sensors 162 may have a detection range limited to short distances. Each of the left and right ultrasonic sensors 162 detects objects present in a range Rs in front of the robot 1.

[0052] Although the ultrasonic sensor 162 may detect an object located at a position farther than the range Rs, the ultrasonic waves transmitted from the left and right ultrasonic sensors 162 may interfere with each other.

[0053] Because the ultrasonic sensor 162 uses ultrasonic waves, it can detect an automatic door that is the detection target, even if it is made of a material that transmits or diffuses laser light, as long as it is made of a material that reflects ultrasonic waves. Note that the robot 1 may also have a sensor that uses sound waves other than ultrasonic waves. In other words, this robot 1, which has a sensor that uses sound waves including ultrasonic waves, is an example of a robot that detects the reflected waves of sound waves sent toward an automatic door.

[0054] The two-dimensional sensor 163 shown in FIG. 4 is a LiDAR like the three-dimensional sensor 161, but its optical system changes the traveling direction of laser light only in the horizontal direction, not in the vertical direction. The optical system used in this two-dimensional sensor 163 is, for example, a mirror that rotates around an axis parallel to the z-axis direction. This two-dimensional sensor 163 reflects laser light generated by a light-emitting element using a rotating mirror, and sequentially irradiates the laser light onto a predetermined area, such as a fan shape, spreading out in front of the robot 1. This two-dimensional sensor 163 then receives the reflected light with a light-receiving element such as a photodiode, and detects an object reflecting the laser light at a predetermined height in front of the robot 1.

[0055] The three-dimensional sensor 161 and two-dimensional sensor 163 of the robot 1 both sense objects using laser light. In other words, the robot 1 is an example of a robot that senses the reflected light of laser light irradiated toward an automatic door.

[0056] <Robot movement> 7 is a flow diagram showing an example of the flow of the operation of the robot 1. The processor 11 of the robot 1 determines whether or not a destination input has been received from an external device via the communication unit 13 or from the operation unit 14 (step S101). While it is determined that a destination input has not been received (step S101; NO), the processor 11 continues this determination.

[0057] On the other hand, if it is determined that the input of the destination has been accepted (step S101; YES), the processor 11 refers to the map DB 122 and creates a route (referred to as a travel route) for traveling from the current location to the destination (step S102). Then, the processor 11 controls the movement unit 17 to move the device toward the destination along the created travel route (step S103). This movement is limited to, for example, a predetermined time or distance.

[0058] After moving the robot 1 for a predetermined time or the like, the processor 11 determines whether the robot 1 has arrived at the destination (step S104). The processor 11 may perform a process called SLAM (Simultaneous Localization and Mapping) based on a range image generated using the sensing results of the three-dimensional sensor 161, for example. This SLAM is a process of estimating the position of the robot 1 based on a range image generated by sensing the surroundings of the robot 1 and creating a map showing the surroundings of the robot 1. When performing SLAM, the robot 1 may refer to the map DB 122.

[0059] If it is determined that the device itself has arrived at the destination (step S104; YES), processor 11 ends the process.

[0060] On the other hand, if it is determined that the device has not arrived at the destination (step S104; NO), processor 11 determines whether the device has entered an area detected by the automatic door, that is, for example, detection area R0 shown in Fig. 3 (step S105). If it is determined that the device has not entered detection area R0 (step S105; NO), processor 11 returns the process to step S103.

[0061] On the other hand, when it is determined that the device itself has entered the detection area R0 (step S105; YES), processor 11 executes control corresponding to an automatic door (referred to as automatic door compatible control) (step S200). When the automatic door compatible control ends, processor 11 returns the process to step S103.

[0062] 8 is a flow diagram showing an example of automatic door countermeasure control of the robot 1. After starting the automatic door countermeasure control, the processor 11 reduces the moving speed of the robot 1 toward the automatic door that detects the entered detection area R0 (step S201). In this step S201, the reduced moving speed includes zero. In other words, in this step S201, the robot 1 may stop.

[0063] Next, processor 11 periodically detects the amount of opening of the automatic door using detection unit 16, and determines whether the amount of opening is less than a threshold value corresponding to the width of the device (step S202). Here, the amount of opening of the automatic door is, for example, the distance between sliding doors 2a and 2b shown in Fig. 3. The threshold value corresponding to the width of the device is, for example, width W1 shown in Fig. 4 or 5.

[0064] The processor 11 continues this determination while determining that the detected amount of opening is not less than the threshold value corresponding to the width of the own device (step S202; NO).

[0065] On the other hand, if it is determined that the detected amount of opening is less than the threshold value corresponding to the width of the device (step S202; YES), the processor 11 determines whether the device has left the range in which it does not come into contact with the automatic door, i.e., for example, the non-contact range R1 shown in Figure 3 (step S203).

[0066] When determining that the own device has left the non-contact range R1 (step S203; YES), processor 11 changes the direction of the own device so that the device returns to the non-contact range R1 (step S204), and proceeds to step S205.

[0067] On the other hand, if it is determined that the own device has not left the non-contact range R1 (step S203; NO), the processor 11 proceeds to step S205 without executing step S204.

[0068] The processor 11 determines whether the detected opening amount of the automatic door reaches a threshold value corresponding to the width of the device (step S205).

[0069] As described above, the robot 1 has at least one of the three-dimensional sensor 161 and the two-dimensional sensor 163 in the detection unit 16. Both the three-dimensional sensor 161 and the two-dimensional sensor 163 detect reflected light of a laser beam. Therefore, the robot 1 is an example of a robot that determines whether the amount of opening of an automatic door has reached a threshold value corresponding to the width of the robot itself, based on the detection result of reflected light of a laser beam irradiated toward the automatic door.

[0070] As described above, the robot 1 has an ultrasonic sensor 162 in the detection unit 16. The ultrasonic sensor 162 detects the reflected waves of the sound waves transmitted toward the automatic door. Therefore, the robot 1 is an example of a robot that determines whether the opening amount of the automatic door has reached a threshold value corresponding to the width of the robot itself, based on the detection result of the reflected waves of the sound waves transmitted toward the automatic door.

[0071] If it is determined that the detected opening amount does not reach the threshold value (step S205; NO), the process returns to step S203.

[0072] As a result, the robot 1 moves or stops and waits inside the non-contact range R1 until the detected amount of opening of the automatic door changes from less than the threshold corresponding to the width of the robot 1 to reach that threshold. In other words, this robot 1 is an example of a robot that moves within a range within a predetermined area where the automatic door detects an object without coming into contact with the automatic door when the amount of opening of the automatic door is less than the threshold corresponding to the width of the robot 1. This movement may be continuous or intermittent.

[0073] Figure 9 shows an example of the behavior of the robot 1 until the automatic door satisfies the conditions. In Figure 9, the robot 1 is represented by a triangle. As shown in Figure 9(a), when the robot 1 enters the detection area R0 of the automatic door, the processor 11 of the robot 1 slows down the movement speed of the robot 1 as described above, and periodically detects the amount of opening of the automatic door.

[0074] Here, after it is determined in step S202 that the opening amount is less than the threshold value corresponding to the width, processor 11 continues to move its own device intermittently so as not to leave non-contact range R1 until it is determined in step S205 that the opening amount has reached the threshold value corresponding to the width. In other words, processor 11 moves its own device intermittently within non-contact range R1 until the opening amount of the automatic door changes from being less than the threshold value corresponding to the width of its own device to reaching that threshold value.

[0075] For example, the robot 1 repeats moving and stopping as shown in FIG. 9(b) until the detected amount of opening changes as described above. In the example shown in FIG. 9(b), the robot 1 moves to seven different locations in the x-axis direction of the non-contact range R1 in order and stops. Then, when the robot 1 moves in the +x direction and reaches a position where it leaves the non-contact range R1, it either stops and waits at that position or changes its direction of movement to the -x direction. Also, when the robot 1 moves in the -x direction and reaches a position where it leaves the non-contact range R1, it either stops and waits at that position or changes its direction of movement to the +x direction.

[0076] Returning to the description of Fig. 8, on the other hand, when it is determined that the detected opening amount has reached the threshold value (step S205; YES), the processor 11 increases the moving speed toward the automatic door (step S206).

[0077] When the moving speed of the own device is increased, processor 11 determines whether the own device has left the detection area R0 and passed through the automatic door (step S207). If it is determined that the own device has not passed through the automatic door (step S207; NO), processor 11 continues this determination process.

[0078] On the other hand, if it is determined that the device itself has passed through an automatic door (step S207; YES), processor 11 ends the automatic door response control and returns the process to the caller of this control.

[0079] By performing the above-described operations, the robot 1 can pass through the automatic door that opens when it detects an object moving in a predetermined area. Furthermore, the robot 1 does not come into contact with the automatic door during the period when it cannot pass through the automatic door because it has not detected an opening amount equivalent to the width of the robot 1 itself.

[0080] The configurations, shapes, sizes, and layout relationships described in the above embodiments are merely schematic illustrations to enable understanding and implementation of the present invention. Therefore, the present invention is not limited to the described embodiments, and can be modified in various forms without departing from the scope of the technical ideas set forth in the claims.

[0081] <Modification> The above is a description of the embodiment, but the contents of this embodiment can be modified as follows. In addition, the following modifications can be combined.

[0082] <1> In the above-described embodiment, the processor 11 of the robot 1 reduces the movement speed until the amount of opening of the automatic door detected by the detection unit 16 changes from less than a threshold corresponding to the width of the device to reach the threshold. However, the conditions under which the processor 11 controls the robot 1 are not limited to this. For example, the processor 11 may use, as a condition for determining whether to switch control, the amount of opening that has increased before the change in the amount of opening from less than the threshold to equal to or greater than the threshold.

[0083] Fig. 10 is a diagram for explaining an example of a condition based on the amount of opening of an automatic door. In Fig. 10, the state of the automatic door sensed the nth time is shown, as well as the state of the automatic door sensed the first and second times going back to that, i.e., the (n-1)th and (n-2)th times.

[0084] 10(a), the detection unit 16 of the robot 1 detects that the opening amount of the automatic door exceeds the width W1 of the device itself on the nth time. At this time, the processor 11 checks the state of the automatic door detected on the (n-1)th and (n-2)th times.

[0085] In both the (n-1)th and (n-2)th times, the opening amount of the automatic door is less than width W1 (i.e., the threshold value equivalent to the width of the device itself). However, in FIG. 10(a), the opening amount in the (n-2)th time is greater than the opening amount in the (n-1)th time, so processor 11 determines that the opening amount has increased immediately before. In this case, processor 11 determines that the condition based on the opening amount of the automatic door is satisfied, and increases the moving speed of robot 1 toward the automatic door.

[0086] 10(b), the opening amount for the (n-2)th time is smaller than the opening amount for the (n-1)th time. In this case, even if the opening amount of the automatic door sensed by the detection unit 16 for the nth time exceeds the width W1, the processor 11 determines that the opening amount just before has decreased, and therefore keeps the movement speed slow.

[0087] Although processor 11 compares the results of sensing the (n-1)th and (n-2)th times as the immediately preceding state of the automatic door, the results to be compared are not limited to this. For example, processor 11 may compare the results of sensing the (n-2)th and (n-3)th times.

[0088] Furthermore, processor 11 may compare the results sensed after the nth time as a change in the amount of opening of the automatic door immediately before. For example, processor 11 may compare the results sensed at the nth and (n+1)th times, or may compare the results sensed at the (n+1)th and (n+2)th times.

[0089] In other words, processor 11 determines the timing of switching control based on a first condition that the amount of opening of the automatic door sensed the (n-1)th time is less than a threshold and the amount of opening of the automatic door sensed the nth time is equal to or greater than a threshold. Then, processor 11 may determine the timing of switching control based on a second condition that the amount of opening of the automatic door continues to increase before or after the nth time.

[0090] In other words, this robot 1 is an example of a robot that increases its movement speed toward an automatic door when the opening amount of the automatic door reaches a threshold value corresponding to the width of the device from below this threshold value and the opening amount in front or behind is increasing.

[0091] According to this operation, even if the amount of opening of the automatic door suddenly exceeds the threshold in a single detection by the detection unit 16, if there is no increase in the amount of opening of the automatic door immediately before that, the processor 11 of the robot 1 will determine that the automatic door is not about to open. As a result, if a state in which the detection result fluctuates slightly, such as so-called chattering, occurs, the robot 1 will not attempt to pass through the automatic door, increasing the probability that the robot 1 will pass through the automatic door without colliding.

[0092] <2> In the above-described embodiment, the processor 11 is a CPU, but may have other configurations. For example, the processor 11 may be or include an FPGA (Field Programmable Gate Array). The processor 11 may also have an ASIC (Application Specific Integrated Circuit) or other programmable logic device and perform control using these. The processor 11 may also include a GPU (Graphics Processing Unit).

[0093] <3> The program executed by the processor 11 described above may be provided in a state stored in a computer-readable recording medium such as a magnetic recording medium such as a magnetic tape or a magnetic disk, an optical recording medium such as an optical disk, a magneto-optical recording medium, a semiconductor memory, etc. The program may also be downloaded via a communication line such as the Internet.

[0094] <4> In the above-described embodiment, the detection unit 16 of the robot 1 includes the three-dimensional sensor 161, the ultrasonic sensor 162, and the two-dimensional sensor 163, but this is not limited to this. For example, the detection unit 16 may include only one of these sensors, or may include two of these sensors. Furthermore, the detection unit 16 may include a sensor other than the three types of sensors described above. Furthermore, the number of each sensor is not limited to that shown in the embodiment.

[0095] <5> In the above-described embodiment, the movement direction of the robot 1 is either the +x direction or the -x direction, but this is not limited thereto. The robot 1 may move in a manner that changes the y component in addition to the x component. For example, the robot 1 may circle inside the non-contact range R1 until the detected amount of opening of the automatic door changes from less than the threshold to reaching the threshold. This circle may be centered, for example, around an axis within the non-contact range R1 that is parallel to the z-axis direction.

[0096] <6> In the above-described embodiment, the detection area R0 is divided into a non-contact area R1 and a contact area R2, but this division is not necessary. For example, after entering the detection area R0, the robot 1 may slow down its movement speed toward the automatic door, and maintain this movement speed while remaining inside the detection area R0 until the amount of opening of the automatic door reaches a threshold value corresponding to the width of the robot 1. [Explanation of symbols]

[0097] 1...robot, 11...processor, 12...memory, 121...area DB, 122...map DB, 13...communication unit, 14...operation unit, 15...display unit, 16...detection unit, 161...three-dimensional sensor, 162...ultrasonic sensor, 163...two-dimensional sensor, 17...movement unit, 2a, 2b...sliding door, L1...distance, L2...distance, H1...height, H2...height, R0...detection area, R1...non-contact range, R2...contact range.

Claims

1. a moving speed toward an automatic door that opens when an object moving in a predetermined area is detected after the vehicle enters the area is reduced to a first speed; The opening amount of the automatic door is detected, and while the opening amount is less than a threshold value set based on the width of the device itself, When it is determined that the device has left a predetermined non-contact range in the area where the device does not come into contact with the automatic door, the device controls the direction of movement so that the device returns to the inside of the non-contact range. If it is determined that the device itself has not left the non-contact range, the device continues to detect the amount of opening while maintaining movement within the non-contact range; When the opening amount reaches the threshold value, the robot increases the moving speed toward the automatic door to a second speed that is faster than the first speed.

2. A determination is made as to whether the opening amount of the automatic door has reached the threshold value based on the detection result of reflected light of a laser beam irradiated toward the automatic door. The robot of claim 1 .

3. Calculating the current opening amount of the automatic door based on the detection result of the three-dimensional sensor, and determining whether the calculated opening amount has reached the threshold value. The robot of claim 1 .

4. Based on the result of detecting the reflected wave of the sound wave transmitted toward the automatic door, it is determined whether the opening amount of the automatic door has reached the threshold value. The robot of claim 1 .

5. When the opening amount reaches the threshold value and the opening amount of the automatic door detected at the current detection timing is increased compared to the opening amount of the automatic door detected at least one detection timing immediately before, the moving speed toward the automatic door is increased to the second speed. The robot according to any one of claims 1 to 4.

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