JP4838824B2 - Specific position guidance control method for autonomous mobile robot - Google Patents

Description

The present invention relates to a specific position guidance control method for an autonomous mobile robot.

Industrial robots such as articulated arm robots and transfer robots have been known for a long time and are often used in factories and the like. Industrial robots are limited in their purpose of use such as welding, painting, transportation, etc., and can be fixed at one place, such as arm robots, or can be routed as in transport robots. Most of them moved in order.

In recent years, autonomous mobile robots have been announced. Autonomous mobile robots can move freely within a predetermined space, coexist with humans in the human living environment, and work such as simple work, dangerous work, and difficult work in industrial and production activities. Can help and act. For example, examples of the work include maintenance work in a nuclear power plant, a thermal power plant, etc., cleaning work in a high-rise building, rescue activity at a disaster site such as a fire site, and the like.

In addition, it is installed as an autonomous mobile robot in the homes of elderly people living alone, cleaning the room, managing the physical condition of the resident, and indoor safety when the resident is away from home. Life support robots that are closely related to human life such as confirmation have been announced. The life support type robot is positioned as a robot applicable to general households.

Each of the above-described autonomous mobile robots is an electric robot that uses electricity as power, and it is necessary to periodically supply power to the robot.

In the case of a fixed robot such as the arm robot described above, it is possible to always supply power from a power supply. In the case of a robot that moves along a predetermined route, such as a transfer robot, via a power cable. It is possible to always supply power, and it is possible to supply power by providing a power supply device in the middle of the route.

On the other hand, in the case of an autonomous mobile robot, it is possible to always supply power via a power cable, but there is a risk that the power cable may be pulled out, entangled with an obstacle, or damaged. Therefore, in the autonomous mobile robot as described above, a method using a rechargeable battery as a power source is common.

The problem here is charging work. Most of the autonomous mobile robots used in the above-mentioned applications perform predetermined tasks by continuing to operate automatically, and from this point of view, there is a problem in automating charging operations. It becomes. If the user replaces the battery each time it is charged, or connects the battery to the charger each time, the user is bothered and the work efficiency is reduced. In the case of a life support robot, it is necessary to constantly check the status of the resident and the house, and automatic charging is an essential function especially when using the answering machine function.

Therefore, as a method for automatically charging the battery of the autonomous mobile robot, a method using a so-called charging device has been proposed. The charging device is a device for charging the battery of the robot. Some of the robots are arranged on the charging device during standby.

When the predetermined condition such as the remaining battery level, the continuous driving time, and a command from the user is met, the autonomous mobile robot interrupts the work currently in progress and proceeds to the charging device. In the charging device, a charging battery provided in the robot is charged by correctly connecting a charging terminal provided in advance in the robot and a power supply terminal provided in advance in the charging device. Is.

Here, in order to automatically perform the charging operation using the charging device, the autonomous mobile robot is accurately guided to the charging device, the robot detects the position of the charging device, and the robot Positioning between the charging device and the charging device, the charging terminal provided in the robot and the power supply terminal provided in the charging device must be correctly connected.

In view of this, the autonomous mobile robot detects the distance and direction of the charging device relative to the autonomous mobile robot, and guides the autonomous mobile robot to the charger device in that direction. The autonomous mobile robot captures the visibility identification data provided in the charging device with a camera, and calculates the positional relationship and distance between itself and the charging device based on the captured image. By providing the shape of the autonomous mobile robot and / or the shape of the charging device and the engagement portion of the charging device with the autonomous mobile robot, the autonomous mobile robot can make the charging device only in a specific direction. It is configured to allow entry.

The above method is the same when the autonomous mobile robot needs to be accessed at an arbitrary position from an arbitrary direction.
JP 2001-125641 A JP-A-7-191755

The autonomous mobile robot can move while avoiding obstacles by autonomously moving, and can easily move toward the position by detecting the position of the charging device. However, the charging terminal of the autonomous mobile robot and the power supply terminal of the charging device must be correctly connected, and the direction in which the autonomous mobile robot enters the charging device is limited.

To solve the above problem, the conventional invention only indicates the relative distance and direction of the robot and the charging device, and cannot instruct the robot to enter the charging device from a specific direction. .

Therefore, in view of such problems, the present invention provides a specific position guidance device for an autonomous mobile robot that allows an autonomous mobile robot to enter an arbitrary place from an arbitrary direction in an arbitrary direction with a smooth operation. The purpose is to do.

Further, in view of such a problem, the present invention provides a specific position of the autonomous mobile robot in which the autonomous mobile robot can access the charging device in an arbitrary direction from an arbitrary direction when charging the autonomous mobile robot. An object is to provide a guidance device.

Furthermore, in view of such problems, the present invention provides a method for controlling the specific position of an autonomous mobile robot that allows an autonomous mobile robot to enter an arbitrary place from an arbitrary direction in an arbitrary direction with a smooth operation. The purpose is to provide.

Further, in view of such a problem, the present invention provides a specific position of the autonomous mobile robot in which the autonomous mobile robot can access the charging device in an arbitrary direction from an arbitrary direction when charging the autonomous mobile robot. It is an object to provide a guidance control method.

To achieve the above object, the present invention provides a specific position guidance control method for an autonomous mobile robot that guides an autonomous mobile robot to a specific position arbitrarily selected by a user, and moves the autonomous mobile robot. A moving step, an imaging step of photographing a situation around the autonomous mobile robot with an imaging device provided with the fisheye lens and mounted on the autonomous mobile robot, and the surrounding situation photographed in the imaging step A marker extracting step of extracting a marker provided above the specific position and indicating one point at a position other than two points and a straight line connecting the two points; and the marker extracting step. When the marker cannot be extracted, the imaging device is used until the point is located on a line other than the straight line connecting the two points. An imaging device tilting step of tilting, said the direction calculation step of calculating a direction of the specific position on the basis of the markers extracted by the marker extracting step, with the autonomous mobile robot on the basis of the marker specific A distance calculating step for calculating a distance between positions, a posture direction calculating step for calculating a posture direction of the autonomous mobile robot and the robot entering the specific position based on the marker, and a direction calculating step. The calculated direction of the specific position, the distance between the autonomous mobile robot calculated in the distance calculating step and the specific position, and the autonomous mobile robot calculated in the posture direction calculating step And the position at which the autonomous mobile robot starts to enter the specific position based on the posture direction of the specific position toward the robot. An approach start position calculating step for calculating coordinates of the start position, and moving the autonomous mobile robot to the approach start position while changing in the posture direction, from the approach start position to the specific position It is possible to provide a specific position guidance control method for an autonomous mobile robot characterized in that it is made to enter a specific position.

Examples of the control method include an imaging device tilting step that tilts the imaging device for marker extraction when the marker cannot be extracted after the marker extraction step.

According to this configuration, the position of the marker can be found even when the marker cannot be extracted.

The specific position is a charging device that charges the battery of the autonomous mobile robot, and illustrates a specific position guidance control method that starts specific position guidance control when a predetermined condition is satisfied during normal operation. Can do.

For example, the predetermined condition may be a standby instruction issued by a user to the autonomous mobile robot.

Further, as the predetermined condition, for example, the continuous operation time of the autonomous mobile robot has exceeded a certain time.

Further, as the predetermined condition, it can be exemplified that the remaining battery level of the autonomous mobile robot is below a predetermined amount.

According to the present invention, it is possible to provide a specific position guidance control method for an autonomous mobile robot that allows an autonomous mobile robot to enter an arbitrary place from an arbitrary direction in an arbitrary direction with a smooth operation.

Also, according to the present invention, there is provided a specific position guidance control method for a self-supporting mobile robot that allows the mobile device to access the charging device in any direction from any direction when charging the autonomous mobile robot. Can be provided.

Embodiments of the present invention will be described with reference to the drawings.
FIG. 1 shows a schematic perspective view of an example of guiding an autonomous mobile robot to a charging device using the autonomous mobile robot specific position guidance device according to the present invention.
An autonomous mobile robot A shown in FIG. 1 is a humanoid robot, and has a head 1, a torso 2, a pair of arms 3, and a drive unit 4 instead of a human foot. Although the autonomous mobile robot A is not limited to this, it is a life support robot here, and coexists in the living environment of the user and the user. The robot A operates as a helper who sometimes helps the user as a partner of the user's life, such as management of the physical condition of the user, management of life, management of absence, etc.

The head 1 is equipped with a front camera 11 for recognizing the user and a ceiling camera 12 for recognizing his / her position in the room. The ceiling camera 12 is provided on the crown 10 and includes a fisheye lens 121. By providing the fisheye lens 121, it is possible to recognize the entire room or the entire room with one image. Further, it is possible to exemplify a device using an imaging means such as a CCD instead of the camera.

The arm 3 has a first joint 31 that hits the human elbow and a second joint 32 that hits the human wrist, and is supported so as to be rotatable about the joints 31 and 32, respectively. Further, a chuck portion 33 that can grasp an object is provided at the end of the second joint 32 so that a number of operations can be performed.

As the drive unit 4, one that can move without causing the autonomous mobile robot A to fall down or lose its posture can be widely used. Here, the thing which moves by rotating the wheel provided in the bottom face using the motor 42 mentioned later is employ | adopted.

The autonomous mobile robot A is charged by the charging device CH, and is disposed in the same floor FL, reaches the entry start position Sp before entering the charging device CH, and from there reaches a predetermined posture. In this direction (here, forward or backward, which is easier to face from the current position of the robot A), the vehicle proceeds straight or backward into the charging device CH.

Above the charging device CH, the relative orientation directions of the autonomous mobile robot A and the entrance CH1 of the charging device CH based on the captured image taken by the ceiling camera 12, the mutual positional relationship, A marker MK used for calculating the mutual distance is provided.

The marker MK is attached to the height of the autonomous mobile robot A, in other words, at a position H higher than the distance h from the floor surface to the fisheye lens 121. Regardless of the position of the autonomous mobile robot A, the attachment position H of the marker MK can widely employ the position where the marker MK appears in the captured image through the fisheye lens 121. In this embodiment, the marker MK is attached to the support column CH2 provided in the charging device CH. However, the autonomous mobile robot A enters the charging device CH in terms of the shape and number of the support columns. What does not get in the way and what does not get in the way of the marker MK in the captured image can be widely adopted.

FIG. 2 shows an enlarged view of the marker. The marker MK shown in FIG. 2 includes, but is not limited to, three identification members including a first identification member MK1, a second identification member MK2, and a third identification member MK3. Each identification member is a member that emits light, such as an LED. Assume that the marker MK is used as the marker in the embodiment shown in FIG. In the marker MK shown in FIG. 2, a second identification member MK2 and a third identification member MK3 are connected and supported by a first support member MS1. Further, the first identification member MK1 is supported via a second support member MS2 attached at an elevation angle θ at a right angle in plan view from an intermediate portion of the first support member MS1. The first support member MS1 is arranged perpendicular to the entry direction α of the autonomous mobile robot A and parallel to the floor surface. In addition, the first identification member MK1 is disposed so as to be directly above or substantially above the fisheye lens 121 when the autonomous mobile robot A stops at the charging position of the charging device CH.

Even if images are taken via the ceiling camera 12 provided in the autonomous mobile robot A by the arrangement method of the identification members MK1, MK2, and MK3, the identification members MK1, MK2, and MK3 are displayed in a superimposed manner in the captured image. It will never be done. This is because the ceiling camera 12 is equipped with the fisheye lens 121, and when the image is taken through the fisheye lens 121, the first identification is performed when the identification members MK1, MK2, and MK3 are arranged in a plane parallel to the floor surface. There is a possibility that the member MK1 and the second or third identification member MK2 and MK3 interfere with each other and appear completely hidden in some cases. In order to prevent this, the second support member MS2 is attached to the first support member MS1 at an elevation angle θ, and the elevation angle θ is interfered by each identification member MK1, MK2, MK3 regardless of the location of the autonomous mobile robot A. Thus, it is possible to widely adopt an angle that can be prevented from disappearing.

FIG. 3 shows an enlarged view of another example of the marker shown in FIG.
The marker MK ′ shown in FIG. 3 is obtained by omitting the second identification member MK2 and the third identification member MK3 from the marker MK shown in FIG. Other parts are composed of the same members, and substantially the same parts are denoted by the same reference numerals. The marker MK ′ can obtain the same effect as the marker MK in the positional relationship between both end portions MS11, MS12 of the first support member MS1 and the first identification member MK1, and the second identification member MK2, The configuration is simplified as much as the number 3 of the identification member MK3 is omitted, thereby contributing to weight reduction and cost reduction.
In addition, by configuring the MS1 with LEDs on the line, the center of gravity of the MS1 can be determined and the same effect as the MK can be obtained, and this configuration is advantageous in that the area of the LED is increased for image acquisition. There is a characteristic.

In the above-described embodiment, the description has been given by using MK having three identification members (MK1, MK2, MK3) and MK ′ having two identification members (MK1, MS1) as markers, but the present invention is not limited to this. Rather, it is possible to widely use images obtained by the ceiling camera 12 from which images for calculating various data representing the relative relationship between the autonomous mobile robot A and the charging device CH can be obtained. However, in this embodiment, a marker MK having three identification members is used.

FIG. 4 is a block diagram showing a schematic configuration of the specific position guidance control device of the autonomous mobile robot shown in FIG.
The autonomous mobile robot A transmits a captured image captured by the ceiling camera 12 via the fisheye lens 121 to the image processing means 5. In the image processing means 5, the position of the marker MK is detected based on the captured image, and the relative attitude between the autonomous mobile robot A and the entrance CH1 of the charging device CH based on the position of the marker MK. The direction, relative positional relationship and distance are calculated. Also, the entry start position Sp when the autonomous mobile robot A starts entering the charging device CH is calculated.

Various data calculated by the image processing means 5 is transmitted to the control device Cont, and the control device Cont outputs a drive signal to the drive control means 41 based on the various data transmitted, and the drive control means 41 When the driving signal is received, the motor 42 of the driving unit 4 is driven based on the driving signal to guide the autonomous mobile robot A to the charging device CH entry start position Sp, and the autonomous mobile robot A can be charged to the charging device CH. Keep the correct posture direction.

FIG. 5 shows a plan view of a guide route when the autonomous mobile robot shown in FIG. 1 is guided to the charging device. In the figure, the arrow indicates the autonomous mobile robot A, and the direction of the arrow indicates the front direction (posture direction) of the robot A.
The position of the autonomous mobile robot A is P1, and the position of the charging device CH is R1. First, the autonomous mobile robot A captures an image with the ceiling camera 12. The image at that time is Pic1. In the image Pic1, the front of the autonomous mobile robot A is the lower side in the drawing.

Based on the image at this time, the coordinates of the current position of the user, the coordinates of the charging device CH, the coordinates of the approach start position Sp, the distance between the autonomous mobile robot A and the charging device CH, the autonomous mobile robot A and the charging The attitude direction of the entrance of the device CH is calculated. At that time, routes Line1 and Line2 from the current location P1 to the charging device CH via the entry start position Sp are set.

The autonomous mobile robot A starts to move according to the set routes Line1 and Line2. At this time, the autonomous mobile robot A moves on the route Line while changing the posture direction from the approach start position Sp to the posture direction when entering the charging device CH. Further, a captured image is taken at a predetermined timing while moving along the path Line1, and the direction, distance, posture direction, and path are calculated from the image, and the process proceeds while checking whether the path is moving along the correct path. The captured images at the positions P2, P3, and P4 are Pic2, Pic3, and Pic4.

FIG. 6 shows a flowchart of an example of entering the charging mode, which is an example of the case where the specific position guidance device operates from the normal operation of the autonomous mobile robot to guide the autonomous mobile robot to the specific position.
The autonomous mobile robot A performs a normal driving operation for performing the given work as described above (step S1). At this time, it is determined whether or not a standby command is issued to the autonomous mobile robot A from a remote controller or the like (not shown) from the user (step S2). When a standby command is issued from the user (YES in step S2), the charging mode is entered (step S6). When the standby command is not issued from the user (NO in step S2), it is determined whether or not it is within the normal operation time (step S3). Here, the normal operation time is a work time zone of the robot A determined in advance according to the life cycle of the user and the work of the robot A.

If it is not the normal operation time (NO in step S3), the charging mode is entered (step S6). If it is within the normal operation time (YES in step S3), the remaining battery level of the autonomous mobile robot A is detected (step S4). When the remaining amount of the battery is equal to or less than the predetermined amount (NO in step S4), the charging mode is entered (step S6). When the battery remaining amount is equal to or greater than the predetermined amount (step S4: YES), the continuous operation time of the autonomous mobile robot A is detected (step S5) When the continuous operation time exceeds the predetermined time (step S5) If YES, the charging mode is entered (step S6) If the operation time does not exceed the predetermined time (NO in step S5), the operation returns to the normal operation (step S1).

After entering the charging mode in step S6, the autonomous mobile robot A moves to the charging device CH at that time. After charging is completed (step S7), it is determined whether or not the standby command from the user has been canceled (step S8). If the standby command from the user has not been released (NO in step S8), the process ends. Further, when the standby command is released (in the case of YES at step S8), it is determined whether it is within the normal operation time (step S9). If it is not within the normal operation time (NO in step S9), the process returns to step S9 and continues to stand by until the normal operation time is reached. If it is within the normal operation time (YES in step S9), the process returns to step S1 to resume normal operation.

The above is the operation procedure for switching from the normal operation to the charging mode. At the time of switching to the charging mode, the autonomous mobile robot A is guided to the charging device CH by the specific position guiding device. In the example of the flowchart shown in FIG. 6, the charging mode is taken as an example, but the present invention is not limited to this, and the charging mode can be replaced with another operation. In addition, as a condition for switching from the normal operation to the charging mode, the command from the user, the operation time, the battery remaining amount, the one using the continuous operation time is exemplified, but it is not limited to this, these alone ones, Necessary conditions such as a combination of a plurality of elements and a combination of other conditions can be widely adopted.

FIG. 7 shows a flowchart of an example of an operation procedure of the autonomous mobile robot in the charging mode.
First, an image around the autonomous mobile robot A is captured by the ceiling camera 12 provided on the head 1 of the autonomous mobile robot A to obtain a captured image (step S11). The marker MK in the captured image captured in step S11 is extracted (step S12). The first, second, and third identification members MK1, MK2, and MK3 are identified based on the arrangement, color, and the like of the marker MK (step S13). Based on the identified marker MK, the relative direction and the relative distance between the autonomous mobile robot A and the charging device CH and the attitude direction of the entrance of the autonomous mobile robot A and the charging device CH are calculated (step S14). Based on the data calculated in step S14, the coordinates of the entry start position are calculated (step S15).

The coordinates of the self position are measured using odometry (step S16). The distance between the entry start position Sp and the self position is calculated (step S17). It is determined whether the target to be achieved by the control device (here, whether the autonomous mobile robot A has reached the entry start position Sp) has been achieved (step S18). If the target has not been achieved (NO in step S18), a command (here, a drive command for moving to the entry start position Sp) is issued to the drive control means 41 of the autonomous mobile robot A (step S110). . Then, it moves (step S111), returns to step S11 again, and repeats from acquisition of an image. If the target is achieved (YES in step S18), it is determined whether or not there is a next target (here, entering from the entry start position Sp to the charging device CH) (step S19). If there is no next target (NO in step S19), the process is terminated. If there is a next target (YES in step S19), the process returns to step S11 and is repeated from the image acquisition. By repeating the above, the autonomous mobile robot A can be guided to the charging device CH.

FIG. 8 is a schematic perspective view of an autonomous mobile robot provided with another example of a specific position guidance control device for an autonomous mobile robot according to the present invention, and FIG. 9 is a schematic configuration of the autonomous mobile robot shown in FIG. A block diagram is shown.
In FIG. 8, the autonomous mobile robot B has a structure capable of tilting the head 1 ′. Other portions have the same structure as the autonomous mobile robot A shown in FIG. 1, and the same portions are denoted by the same reference numerals.

The autonomous mobile robot B shown in FIG. 8 cannot recognize the marker MK in the image of the ceiling camera 12 provided on the head 1 ′, or it is difficult to recognize the marker MK even if it can be recognized. In the case of an image as shown in PicA, the range that can be captured by the camera 12 is changed by tilting the head 1 'so that the marker MK can be captured in the image (image PicB). .

The schematic configuration of the autonomous mobile robot B is substantially the same as that of the autonomous mobile robot A, but includes a head tilt control means 13 and a tilt motor 131. When the marker MK is not extracted when the image processing unit 5 extracts the marker MK based on the captured image captured by the camera 12, the control device Cont sends the head 1 to the head tilt control unit 13. Output tilt signal for tilting '. The head tilt control means 13 that has received the tilt signal drives the motor 131 to tilt the head 1 ′.

FIG. 10 shows a flowchart of another example of the operation procedure of the autonomous mobile robot in the charging mode of another example of the autonomous mobile robot.
The procedure for the autonomous mobile robot B to enter the charging mode from the normal operation is the same as the procedure shown in the flowchart of FIG.

First, an image around the autonomous mobile robot B is taken by the ceiling camera 12 provided on the head 1 ′ of the autonomous mobile robot B to obtain a captured image (step S21).
The marker MK in the captured image captured in step S21 is extracted (step S22). It is determined whether or not the marker MK has been extracted (step S23). If the marker MK cannot be extracted, the head 1 'is tilted to change the imaging range (step S24). afterwards. Returning to step S21 again, the image acquisition is performed again. If the marker MK can be extracted, the first, second, and third identification members MK1, MK2, and MK3 are identified based on the arrangement, color, and the like of the marker MK (step S25). Based on the identified marker MK, the relative direction and the relative distance between the autonomous mobile robot B and the charging device CH and the attitude direction of the entrance of the autonomous mobile robot B and the charging device CH are calculated (step S26). Based on the data calculated in step S26, the coordinates of the entry start position are calculated (step S27).

The coordinates of the self position are measured using odometry or the like (step S28). The distance between the entry start position Sp and the self position is calculated (step S29). It is determined whether a target to be achieved by the control device (here, whether the autonomous mobile robot B has reached the entry start position Sp) has been achieved (step S210). If the target has not been achieved (NO in step S210), a command (here, a drive command for moving to the entry start position) is issued to the drive control means 41 of the autonomous mobile robot B (step S212). Thereafter, the autonomous mobile robot B moves (step S213), returns to step S21 again, and repeats from the acquisition of the image. If the target is achieved (YES in step S210), it is determined whether or not there is a next target (here, entering from the entry start position Sp to the charging device CH) (step S211). If there is no next target (NO in step S211), the process ends. If there is a next target (YES in step S211), the process returns to step S21 and repeats from acquisition of an image. By repeating the above, the autonomous mobile robot B can be guided to the charging device CH.

In the above-described embodiment, the description has been made using the light emitting member as the identification member of the marker MK. However, the present invention is not limited to this, and a wide variety of members that can recognize each identification member as a different object such as color coding or different sizes. Can be adopted.
Further, each identification member MK1, MK2, and MK3 of the marker MK may change the light emission color or determine the light emission order in accordance with an instruction from the autonomous mobile robot A (B).

In the above-described embodiment, a fisheye lens is used as a lens of a ceiling camera provided as an imaging unit. However, the present invention is not limited to this. For example, an entire room is photographed as a single image like an omnidirectional lens. A wide range of lenses can be used.

In the above-described embodiment, the method of tilting the head of the robot is shown as a method of changing the imaging range of the ceiling camera provided as the imaging means. However, the method is not limited to this, and the entire robot is tilted In addition to this, those that can change the imaging range, such as those that tilt the head and those that tilt only the ceiling camera, can be widely adopted.

ADVANTAGE OF THE INVENTION According to this invention, the specific position guidance apparatus of the autonomous mobile robot which an autonomous mobile robot can approach to arbitrary places with arbitrary directions from arbitrary directions can be provided.

Further, according to the present invention, when charging an autonomous mobile robot, the autonomous mobile robot can access the charging device in any direction from any direction to the charging device. Can be provided.

Furthermore, according to the present invention, it is possible to provide a specific position guidance control method for an autonomous mobile robot that allows an autonomous mobile robot to enter an arbitrary place from an arbitrary direction in an arbitrary direction with a smooth operation.

Also, according to the present invention, there is provided a specific position guidance control method for a self-supporting mobile robot that allows the mobile device to access the charging device in any direction from any direction when charging the autonomous mobile robot. Can be provided.

It is a schematic perspective view of one example of guiding an autonomous mobile robot to a charging device using the specific position guidance device of the autonomous mobile robot according to the present invention. It is an enlarged view of the marker used in FIG. It is an enlarged view of the other example of the marker shown in FIG. It is a block diagram showing schematic structure of the specific position guidance apparatus of the autonomous mobile robot shown in FIG. It is a top view of the guidance path | route when guiding the autonomous mobile robot shown in FIG. 1 to a charging device. It is a flowchart of an example which rushes into charge mode which is an example in case a specific position guidance apparatus operate | moves from the normal driving | operation of an autonomous mobile robot, and guides an autonomous mobile robot to a specific position. It is a flowchart of an example of the operation | movement procedure of the autonomous mobile robot at the time of charge mode. It is a schematic perspective view of the autonomous mobile robot provided with another example of the specific position guidance device for an autonomous mobile robot according to the present invention. FIG. 9 is a block diagram illustrating a schematic height of the autonomous mobile robot illustrated in FIG. 8. It is a flowchart of the other example of the operation | movement procedure of the autonomous mobile robot at the time of charge mode of the other example of an autonomous mobile robot.

Explanation of symbols

A Autonomous Mobile Robot 1 Head 11 Front Camera 12 Ceiling Camera 121 Fisheye Lens 13 Head Tilt Control Unit 131 Head Tilt Motor 2 Body 3 Arm 31 First Joint 32 Second Joint 33 Chuck 4 Drive 41 Drive Control Means 42 Motor 5 Image processing means CH Charging device MK Marker

Claims (5)

A specific position guidance control method for an autonomous mobile robot for guiding an autonomous mobile robot to a specific position arbitrarily selected by a user,
A moving step of moving the autonomous mobile robot;
An imaging step of photographing a situation around the autonomous mobile robot with an imaging device equipped with a fisheye lens and mounted on the autonomous mobile robot;
A marker provided above the specific position from the image of the surrounding situation photographed in the imaging step, and indicating a point other than two points and a straight line connecting the two points A marker extraction step for extracting
An imaging device tilting step in which the imaging device is tilted until the point in the image is located on a line other than the straight line connecting the two points in order to extract a marker when the marker cannot be extracted in the marker extraction step; ,
A direction calculating step of calculating the direction of the specific position based on the marker extracted in the marker extracting step;
A distance calculating step of calculating a distance between the autonomous mobile robot and the specific position based on the marker;
A posture direction calculating step for calculating a posture direction in which the autonomous mobile robot and the robot approach the specific position based on the marker;
The direction of the specific position calculated in the direction calculation step, the distance between the autonomous mobile robot calculated in the distance calculation step and the specific position, and the posture direction calculation step. An entry start for calculating coordinates of an entry start position, which is a position at which the autonomous mobile robot starts entering the specified position based on the autonomous moving robot and a posture direction of the specified position where the robot enters. A position calculating step;
Have
A specific position guidance control method for an autonomous mobile robot, wherein the autonomous mobile robot is moved to the entry start position while changing in the posture direction, and is made to enter the specific position from the entry start position. The autonomous mobile robot according to claim 1, wherein the specific position is a charging device that charges a battery of the autonomous mobile robot, and starts the specific position guidance control when a predetermined condition is satisfied during normal operation. Specific position guidance control method. The specific position guidance control method for an autonomous mobile robot according to claim 2 , wherein one of the predetermined conditions is a standby instruction in a charging device issued by a user to the autonomous mobile robot. Wherein one predetermined condition is specified position guidance control method of the autonomous mobile robot according to claim 2 or claim 3 continuous operation time of the autonomous mobile robot is that in excess of a predetermined time. The specific position guidance control of the autonomous mobile robot according to any one of claims 2 to 4 , wherein one of the predetermined conditions is that a remaining battery level of the autonomous mobile robot is less than a predetermined amount. Method.

Images