JP4975693B2 - Mobile robot apparatus and mobile robot control method - Google Patents

Description

  The present invention relates to, for example, a mobile robot apparatus including a mobile robot that moves with a distance from a person and a control method for the mobile robot.

Conventionally, as a mobile robot as described above, for example, there is a mobile robot of a type that follows the position of a person who moves ahead while measuring the position of the person going ahead.
In this follow-up type mobile robot, in order to avoid a collision with a preceding person, the movement paths of the person and the mobile robot are shifted from each other, or the distance between the person and the mobile robot is kept constant. A movement route is generated (for example, refer to Patent Documents 1 and 2).
JP 2006-146491 JP 2007-213367

However, in any of the follow-up type mobile robots described above, it is difficult for the person in front to grasp the situation of the mobile robot following from behind, and an approximate person is not aware of the back mobile robot. Therefore, it is inevitable that attention will be reduced.
Further, in the follow-up type mobile robot described above, in order to shift the movement route or maintain the distance from the person, high-precision instruments and sensors for measuring each velocity vector of the person and the mobile robot. In addition, it is necessary to sufficiently enhance the autonomous functions such as the environment recognition function and behavior control function of the mobile robot, and the structure is complicated.

Furthermore, in order to simplify the structure, when the mobile robot is moved by the operation of a preceding person, it is necessary to steer the mobile robot while grasping the posture and orientation of the mobile robot, which is difficult. In addition, there is a problem that it becomes complicated, and it has been a conventional problem to solve these problems.
The present invention has been made by paying attention to the above-described conventional problems, and can avoid a reduction in attention to the surroundings of a person who acts with a mobile robot, and in addition, a highly accurate instrument. It is possible to move the mobile robot toward the target with a simple operation without the need for sensors and sensors, and without possessing high autonomous functions, resulting in improved reliability and structure. It is an object of the present invention to provide a mobile robot apparatus and a mobile robot control method capable of realizing the simplification.

  A mobile robot apparatus according to claim 1 of the present invention is a mobile robot, a self-position measuring unit that is mounted on the mobile robot and obtains its own position, and an accompanying person that moves with the mobile robot. A companion position measuring unit for obtaining the position of the mobile robot, a movement path detection unit mounted on the mobile robot for detecting a movable region of the mobile robot, and a mobile robot that is carried by the companion and set in advance. A controller that transmits a movement distance by a trigger operation of the accompanying person, and the position data of the accompanying person obtained by the accompanying person position measuring unit mounted on the mobile robot and the movement of the mobile robot that is transmitted from the controller Based on the distance data, a straight line passing through each position of the companion and the mobile robot, and a distance farther than the mobile robot. Based on the calculation unit that calculates a target point and updates it as a new movement target point, the position data of the new movement target point updated by the calculation unit, and the data obtained by the movement path detection unit, the new movement target It is characterized by having a control unit that generates a movement route to a point and moves the mobile robot, and the configuration of this mobile robot device is a means for solving the above-described conventional problems .

  According to a second aspect of the present invention, there is provided a mobile robot apparatus including a mobile robot, a self-position measuring unit that is mounted on the mobile robot and obtains the position of the mobile robot, and moves with the mobile robot. A companion position measurement unit for obtaining the position of the companion, a movement path detection unit that is mounted on the mobile robot and detects a movable region of the mobile robot, and is carried by the companion, and the accompaniment position measurement. An appropriate position on the straight line passing through the position of the mobile robot obtained by the self-position measuring unit and far from the mobile robot is transmitted as a movement target point of the mobile robot. And the controller mounted on the mobile robot, based on the data transmitted from the controller and the data obtained by the travel path detector, A calculation unit that calculates and updates position data of a moving target point, and a control unit that generates a movement path from the position data of the moving target point updated by the calculation unit to the moving target point and moves the mobile robot The configuration of the mobile robot apparatus is used as a means for solving the above-described conventional problems.

  In the mobile robot apparatus of the present invention, for example, a GPS (Global Positioning System) can be used as a self-position measuring unit for obtaining the self-position of the mobile robot and a companion position measuring unit for obtaining the position of the companion. Self-position recognition by dead reckoning may be used for mobile robots, and image recognition and detection by a laser range finder may be used for accompanying persons.

  Further, for example, a laser range finder, a stereo camera, or a three-dimensional ultrasonic sensor can be used for the movement path detection unit, and it is desirable to use a combination of a plurality of sensors having different characteristics (ranges and methods). Specifically, it is desirable to combine a laser range finder suitable for short distance information acquisition with a stereo camera suitable for long distance and wide angle information acquisition.

The movement path detection unit measures a geometric shape from the vicinity of the mobile robot to a distant place, evaluates the height of the measured geometric shape in particular, creates a three-dimensional map, and obtains the height of the three-dimensional map thus obtained. Using the data such as the depth information, the movable area is detected by recognizing the presence or absence of the obstacle in the map.
In addition, the controller carried by the companion selects at least a button for transmitting a movement target point update command, a button for selecting the speed (including stop) of the robot, and a distance from the mobile robot to the movement target point. These signals are transmitted to the arithmetic unit of the mobile robot by wireless LAN together with the position information from the companion position measuring unit for determining the position of the companion.

  Furthermore, the control unit for moving the mobile robot includes a route generation module that generates a movement route from the position data of the movement target point updated by the calculation unit, a vehicle control module that determines each rotation speed and steering angle of the wheels, A drive module that rotationally drives a plurality of wheels by a signal from the vehicle control module can be provided, and the path generation module uses, for example, a potential field using the 3D map created by the movement path detection unit. A moving route is generated using the generation method and the steepest descent method.

  On the other hand, the invention according to claim 3 of the present invention is a method for controlling a mobile robot in the mobile robot apparatus according to claim 1 described above, wherein the accompanying person moves to a position opposite to the direction in which the mobile robot is advanced. Subsequently, the movement distance of the mobile robot set in advance is transmitted by a trigger operation of the controller by the companion, and the position data of the companion obtained by the companion position measurement unit in the calculation unit of the mobile robot Based on the movement distance data of the robot transmitted from the controller, a movement target point on a straight line passing through each position of the accompanying person and the mobile robot and far from the mobile robot is calculated, and a new movement The position of the new moving target point updated by the calculation unit is updated by the control unit of the mobile robot. And moving the mobile robot along the movement path generated based on the data obtained by the movement path detection unit and the movement path detection unit. The companion moves to a position opposite to the direction in which the mobile robot is advanced next, and thereafter the mobile robot is moved by repeating the above operation.

  According to a fourth aspect of the present invention, there is provided a mobile robot control method for the mobile robot apparatus according to the second aspect, wherein the accompanying person moves to a position opposite to a direction in which the mobile robot is advanced. Then, on the straight line passing through the position of the mobile robot obtained by the self-position measuring unit from the position of the companion obtained by the companion position measuring unit by the controller carried by the companion and the mobile robot An appropriate position farther away than the mobile robot is transmitted as a movement target point of the mobile robot, and the control unit of the mobile robot transmits the movement path generated based on the position data of the movement target point updated by the calculation in the calculation unit. The mobile robot is moved along, and the mobile robot is advanced when the mobile robot is moving or when it reaches the new movement target point and stops. Toward the companion who is moved to the position opposite to the, later, it has a configuration for moving the mobile robot repeats the above operation.

  In the mobile robot control method according to claim 3 of the present invention, first, as shown in FIG. 6A, the accompanying person P moves to a position opposite to the direction in which the mobile robot 10 is advanced (the upward direction in the figure). Subsequently, when the controller P by the companion P performs, for example, a target point update button on operation (trigger operation), a preset movement distance of the mobile robot is transmitted to the calculation unit of the mobile robot 10. Then, the mobile robot 10 on the extension line of the straight line 1 passing through the positions of the companion P and the mobile robot 10 based on the position data of the companion P and the movement distance transmitted from the controller in the calculation unit of the mobile robot 10. The movement target point T1 is calculated and updated as a new movement target point.

  In response to this, the control unit of the mobile robot 10 generates the movement route R based on the position data of the new movement target point T1 updated by the calculation in the calculation unit and the data obtained by the movement route detection unit, and moves As shown in FIGS. 6B and 6C, the robot 10 moves along the generated movement route R, and the accompanying person P follows the moving robot 10. .

  Then, as shown in FIG. 6 (d), the mobile robot 10 is moved while the mobile robot 10 is moving toward the new movement target point T1 or when it reaches the new movement target point T1 and stops. The companion P moves to a position on the opposite side of the next advancing direction (upward left direction in the figure), and the controller of the mobile robot 10 causes the position data of the companion P to be operated by the trigger operation of the controller as described above. Then, based on the movement distance transmitted from the controller, the movement target point T2 of the mobile robot 10 on the extension line of the straight line l passing through the positions of the companion P and the mobile robot 10 is calculated and updated as a new movement target point. Thereafter, the mobile robot 10 is moved by repeating the above operations.

  On the other hand, in the mobile robot control method according to claim 4 of the present invention, a straight line passing through the position of the mobile robot 10 from the position of the companion P by, for example, turning on the target point update button of the controller by the companion P. When the appropriate position on the extension line of l is transmitted as a new movement target point T1 of the mobile robot 10, the control unit of the mobile robot 10 determines the movement route R based on the position data of the new movement target point T1 updated by the calculation unit. Then, the mobile robot 10 moves along the generated movement route R, and the accompanying person P follows the mobile robot 10.

Then, while the mobile robot 10 is moving toward the new movement target point T1 or at a stage where it reaches the new movement target point T1 and stops, the direction in which the mobile robot 10 is advanced next (in the upper left direction in the figure). The companion P moves to a position opposite to (), and the mobile robot 10 is moved by repeating the trigger operation of the controller as described above.
That is, in the mobile robot control method according to the present invention, the companion P follows the mobile robot 10, that is, the companion P moves along with the mobile robot 10 while looking forward. It can be avoided that the attention to the surroundings of the person P is reduced.

  In addition, since the companion P controls the mobile robot 10 from the rear in most of the processes, the mobile robot 10 can be moved toward the new target points T1 and T2 with a simple operation as seen, and completely Compared to a mobile robot that travels autonomously, reliability and simplification of the structure are achieved by the amount that does not require highly accurate instruments and high autonomous functions.

  Since the mobile robot apparatus according to claims 1 and 2 of the present invention and the mobile robot control method according to claims 3 and 4 have the above-described configurations, respectively, the attention to the surroundings of a person accompanying the mobile robot is reduced. In addition, the mobile robot can be aimed at the target with a simple operation as it is seen without requiring high-precision instruments and sensors or possessing high autonomous functions. It can be moved and thus has a very good effect that it is possible to improve reliability and simplify the structure.

Hereinafter, a mobile robot apparatus and a mobile robot control method according to the present invention will be described with reference to the drawings.
1 to 5 show an embodiment of a mobile robot apparatus according to the present invention.
As shown in FIGS. 1 and 2, the mobile robot apparatus 1 includes a mobile robot 10, a robot GPS (self-position measuring unit) 11 that is mounted on the mobile robot 10 and obtains its own position, and the mobile robot 10. A companion GPS (accompaniment position measurement unit) 12 for determining the position of the companion P moving with the movement, a movement path detection unit 13 mounted on the mobile robot 10 to detect the movable region, and the companion P And the controller 14 for transmitting the preset moving distance of the mobile robot 10 by the trigger operation of the companion P, the position data of the companion P mounted on the mobile robot 10 and obtained by the companion GPS 12 and Based on the movement distance data of the mobile robot 10 transmitted from the controller 14, the calculation unit 15 that updates a new movement target point of the mobile robot 10. A control unit 16 for generating a movement path to the movement target point based on the position data of the movement target point updated by the calculation unit 15 and the data obtained by the movement path detection unit 13 and moving the mobile robot 10. Yes.

  In this case, the movement path detection unit 13 includes a laser range finder 13a and an obstacle detection module 13b. The laser range finder 13a measures a geometric shape from the vicinity of the mobile robot 10 to a distance, and the obstacle detection module. In 13b, a 3D map is created by evaluating particularly the height of the measured geometric shape, and from the obtained data such as the height information of the 3D map, the presence or absence of an obstacle in the map is recognized and moved. Detect the route.

The controller 14 also includes a controller main body 14a, a wireless LAN module 14b, a communication module 14c, a button for inputting a movement target point update command, and a button for selecting the speed (including stop) of the mobile robot 10. And a button for selecting a preset movement distance L of the mobile robot 10 (buttons are not shown).
Further, as shown in FIG. 3, the calculation unit 15 is based on the position of the accompanying person P and the moving distance L of the mobile robot 10 transmitted from the controller 14 via the wireless LAN module 14b and the communication module 14c. A movement target point T which is a straight line passing through each position of P and the mobile robot 10 and is further away from the mobile robot is calculated and updated as a new movement target point.

  Furthermore, the control unit 16 that moves the mobile robot 10 generates a movement route based on the position data of the movement target point T calculated and updated by the calculation unit 15 and the data obtained by the movement route detection unit 13. A generation module 16a, a vehicle control module 16b that determines the number of rotations of the plurality of wheels in the mobile robot 10, and a drive module 16c that rotationally drives the plurality of wheels according to a signal from the vehicle control module 16b. In the route generation module 16a, the movement route R is generated using the potential field generation method and the steepest descent method using the three-dimensional map created by the movement route detection unit 13.

Next, the control point of the mobile robot 10 will be described.
First, as shown in FIG. 5A, the companion P moves to a position opposite to the direction in which the mobile robot 10 is advanced (the upward direction in the figure), and then, in step S1 of FIG. When the target point update button on the controller 14 is turned on (triggered) by P, the preset movement distance L1 of the mobile robot 10 is transmitted to the calculation unit 15 of the mobile robot 10, In step S2, it is determined that there is an update signal for the movement target point (Yes), and in steps S3 and S4, processing by the calculation unit 15 of the mobile robot 10 is performed.

  In the calculation unit 15 of the mobile robot 10, the position data of the companion P obtained by the measurement by the companion GPS 12 in step S5, the movement distance L1 transmitted from the controller 14, and the measurement by the robot GPS 11 in step S9. The obtained position of the mobile robot 10 is input, and based on these data, the position data of the movement target point T1 of the mobile robot 10 on the extension line of the straight line 1 passing through the positions of the accompanying person P and the mobile robot 10 ( Coordinates; Xt, Yt) are calculated and updated as new movement target points.

  Next, in steps S10 and S11, in addition to the position data of the new movement target point T1 updated by the calculation of the calculation unit 15, the laser range finder 13a and the obstacle detection module 13b of the movement path detection unit 13 in steps S6 to S8. Based on the environmental map obtained in each of the processes, the route generation module 16a of the control unit 16 generates the movement route R using the potential field generation method and the steepest descent method. In step S12, the vehicle control module 16b Thus, the respective rotational speeds of the plurality of wheels in the mobile robot 10 are set, and when the plurality of wheels are rotationally driven by the drive module 16c receiving the signal from the vehicle control module 16b in step S13, the mobile robot 10 moves along the generated movement route R; Ri, so that the associated user P is associated in a form that follows the mobile robot 10.

  Then, while this mobile robot 10 moves to the new movement target point T1 or at the stage where it reaches the new movement target point T1 and stops, as shown in FIG. The companion P moves to a position on the opposite side to the (upward direction in the drawing), and in the same manner as described above, the triggering of the target point update button of the controller 17 causes the calculation unit 15 of the mobile robot 10 to be operated. The movement distance L2 of the mobile robot 10 set in advance is transmitted, and the calculation unit 15 moves the position of the mobile robot 10 at the position of the distance L2 on the extension line of the straight line l passing through the position of the companion P and the position of the mobile robot 10. The target point T2 is updated (t ← t + Δt), and then the operations so far (steps S1 to S13) are repeated, as shown in FIGS. 5C and 5D. As such, by moving the mobile robot 10 to the moving target point T4 through the moving target point T3, the mobile robot 10, so that the bypassing the obstacle W moves from the initial position to the movement target point T4.

As described above, in the mobile robot apparatus and the mobile robot control method according to this embodiment, the companion P follows the mobile robot 10, that is, the companion P follows the mobile robot 10 while watching the mobile robot 10. Therefore, it is possible to avoid a reduction in attention to the surroundings of the companion P.
In addition, since the companion P controls the mobile robot 10 from the rear in most of the processes, the mobile robot 10 is moved to the movement target points T1 to T4 while detouring the obstacle W only by performing a simple operation as seen. Compared with a mobile robot that travels completely autonomously, the reliability is improved and the structure is simplified by the amount that does not require highly accurate instruments and high autonomous functions.

  The configuration of the mobile robot device and the mobile robot control method according to the present invention is not limited to the configuration of the above-described embodiment. For example, in the controller 14, the companion P obtained by the companion GPS 12 is used. And an appropriate position (a distance L from the mobile robot 10) on the straight line l passing through the position of the mobile robot 10 and the position of the mobile robot 10 obtained by the robot GPS 11. Is calculated and transmitted to the calculation unit 15, and the calculation unit 15 updates the position data of the movement target point of the mobile robot 10 based on the data from the controller 14 and the data obtained by the movement path detection unit 13. May be.

It is side explanatory drawing of the accompanying person who carried the mobile robot and controller which show one Embodiment of the mobile robot apparatus which concerns on this invention. It is a block diagram of the mobile robot apparatus in FIG. FIG. 2 is a simplified plane explanatory view showing a positional relationship between a mobile robot of the mobile robot apparatus in FIG. 1, a companion carrying a controller, and a movement target point. It is a flowchart which shows the mobile robot control point of the mobile robot apparatus in FIG. FIG. 4 is simplified plan explanatory views (a) to (d) illustrating a one-robot control point of the mobile robot apparatus in FIG. 1. FIG. 7 is a simplified plane explanatory view (a) to (d) showing other mobile robot control points of the mobile robot apparatus in FIG. 1.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mobile robot apparatus 10 Mobile robot 11 Robot GPS (Self-position measurement part)
12 Companion GPS (accompaniment position measurement unit)
13 Movement path detection unit 14 Controller 15 Calculation unit 16 Control unit L Movement distance l Straight line P Accompanying person R Movement path T (T1 to T4) Movement target point

Claims (4)

A mobile robot,
A self-position measuring unit that is mounted on this mobile robot and obtains its own position;
A companion position measuring unit for determining the position of the companion who moves with the mobile robot;
A movement path detection unit mounted on the mobile robot for detecting a movable area of the mobile robot;
A controller that is carried by the companion and transmits a preset movement distance of the mobile robot by a trigger operation of the companion;
Based on the position data of the accompanying person obtained by the accompanying person position measuring unit and the moving distance data of the moving robot transmitted from the controller, each of the accompanying person and the moving robot is mounted on the mobile robot. A calculation unit that calculates a movement target point that is a straight line passing through the position and farther than the mobile robot, and updates it as a new movement target point;
Based on the position data of the new movement target point updated by the calculation unit and the data obtained by the movement path detection unit, a control unit that generates a movement route to the new movement target point and moves the mobile robot A mobile robot apparatus characterized by comprising. A mobile robot,
A self-position measuring unit that is mounted on this mobile robot and obtains its own position;
A companion position measuring unit for determining the position of the companion who moves with the mobile robot;
A movement path detection unit mounted on the mobile robot for detecting a movable area of the mobile robot;
It is carried by the companion and is on a straight line passing through the position of the mobile robot obtained by the self-position measurement unit from the position of the companion obtained by the companion position measurement unit and farther than the mobile robot. A controller capable of appropriately transmitting a position as a movement target point of the mobile robot;
An arithmetic unit that is mounted on the mobile robot and calculates and updates position data of the movement target point of the mobile robot based on data transmitted from the controller and data obtained by the movement path detection unit;
A mobile robot apparatus comprising: a control unit configured to generate a movement path from the position data of the movement target point updated by the calculation unit to the movement target point and move the mobile robot. A method for controlling a mobile robot in the mobile robot apparatus according to claim 1,
The companion moves to a position opposite to the direction in which the mobile robot is advanced,
Then, by the trigger operation of the controller by the companion, the movement distance of the mobile robot set in advance is transmitted,
In the calculation unit of the mobile robot, based on the position data of the accompanying person obtained by the accompanying person position measuring unit and the movement distance data of the robot transmitted from the controller, each position of the accompanying person and the mobile robot A moving target point that is a straight line passing through and far from the mobile robot is updated as a new moving target point,
In the control unit of the mobile robot, the mobile robot is moved along the movement path generated based on the position data of the new movement target point updated by the calculation unit and the data obtained by the movement path detection unit,
When the mobile robot is moving or when it reaches the new movement target point and stops, the accompanying person moves to a position opposite to the direction in which the mobile robot is advanced next,
Thereafter, the mobile robot is moved by repeating the above-described operation. A method for controlling a mobile robot in the mobile robot apparatus according to claim 2,
The companion moves to a position opposite to the direction in which the mobile robot is advanced,
Subsequently, the controller carried by the companion is on a straight line passing through the position of the mobile robot obtained by the self-position measurement unit from the position of the companion obtained by the companion position measurement unit and more than the mobile robot. Sending an appropriate remote position as the moving target point of the mobile robot,
The control unit of the mobile robot moves the mobile robot along the movement path generated based on the position data of the movement target point updated by the calculation in the calculation unit,
When the mobile robot is moving or when it reaches the new movement target point and stops, the accompanying person moves to a position opposite to the direction in which the mobile robot is advanced next,
Thereafter, the mobile robot is moved by repeating the above-described operation.

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