JP7002744B2 - Mobile platform system - Google Patents

Description

The present invention relates to, for example, a mobile platform system that provides various services such as air purification based on a predetermined predicted operation while moving a floor surface or the like by mounting a service device indoors or the like.

Conventionally, some self-propelled electronic devices have various functions such as an air cleaning function and an ion generation function in addition to a general cleaning function.

For example, in Patent Document 1, a self-propelled electronic device equipped with a cleaning function, an air purifying function, and an ion generating unit is notified to the outside when an abnormal temperature is detected by the measurement of the temperature measuring unit, and the own machine also moves. Self-propelled electronic devices are disclosed.

Patent Document 2 discloses a cooperation system between an air conditioner and a self-propelled vacuum cleaner. In this system, a self-propelled vacuum cleaner sends a start signal to the air conditioner to drive and control the air conditioner. It also has a dirt detection sensor and operates with air conditioning based on the detection signal.

Further, Patent Document 3 discloses a system including a self-propelled air purifier and an electric device having a dirt detection sensor. When the system receives the detection signal, it moves to the position corresponding to the electrical equipment and cleans the air at the destination.

On the other hand, today, IoT (Internet Of Things) utilizing a home network is constructed indoors as represented by smart homes, and various information appliances such as air conditioners and lighting fixtures can be remotely controlled.

As a technique of this type, for example, Patent Document 4 discloses a home appliance management system that shares state information acquired from home appliances with a plurality of home appliances connected to a network.

Further, Patent Document 5 discloses a home appliance recognition system that controls home appliances by a so-called home gateway. In this system, the device recognition function unit recognizes that the model of the transmitted power ON / OFF signal is the model of the electronic device when the electronic device is reacting, and all the controls corresponding to the recognized model. Command information is downloaded and controlled.

Japanese Unexamined Patent Publication No. 2013-146310 JP-A-2015-197250 Japanese Unexamined Patent Publication No. 2017-44408 International Publication WO2016 / 052018A1 Japanese Unexamined Patent Publication No. 2009-288859

However, in the above-mentioned conventional technique, it has not been realized to predict the current state of the environment such as room pollution by a time-series continuous spatial map. In other words, even if a spatial map were to be used, it was difficult to grasp the current situation and carry out the prediction operation.

Furthermore, as mentioned above, there is a technology for controlling multiple information appliances in a room by installing it in a room, such as a home gateway, but a self-propelled moving object is like an indoor IoT hub. It has not been realized to perform optimum drive control of peripheral home appliances based on spatial maps, room environment information, etc., and prediction results when playing a role.

In addition, it has not been realized to propose the installation time and installation location of home appliances based on the prediction results obtained by the prediction operation based on the spatial map that is continuous in time series.

If the above is realized, it will be possible to realize an unprecedented high value-added service and provide a comfortable lifestyle to the user by moving the moving body indoors. For example, it is expected to provide a service as an environmental refresher that prepares the environment based on the predicted operation.

The present invention has been made in view of such a problem, and an object of the present invention is to mount a service device for providing a service to a user on a mobile body and automatically drive the vehicle indoors or the like while comforting the user. It is to provide a new lifestyle.

In order to solve the above problems, the mobile platform system according to the first aspect of the present invention moves by mounting a service device that provides a predetermined service to a user by driving a predetermined device and the service device. A mobile platform system consisting of a moving body, the moving body includes a map generation unit that generates a spatial map, a sensor unit that performs various sensing, and a storage unit that stores the spatial map in chronological order. , A course determination unit that predicts and determines a patrol course with reference to a spatial map stored in the storage unit, a drive control unit that drives and controls movement based on the patrol course, and the sensor in the process of movement. The measurement control unit that performs measurement by the unit, the update unit that updates the patrol course based on the measurement result and stores it in the storage unit, the camera unit, and the image signal captured by the camera unit are image-processed. The service device includes an image processing unit that obtains image data, an ozone ion generation unit that generates ozone ions, a temperature sensor that measures temperature, a humidity sensor that measures humidity, and an air pollution degree. The odor sensor that measures the CO2 concentration, the CO2 sensor that measures the CO2 concentration, the illuminance sensor that measures the illuminance, and at least the temperature sensor, the humidity sensor, the CO2 sensor, the odor sensor, and the measurement operation by the illuminance sensor. A measurement control unit for controlling is provided, and the map generation unit generates a three-dimensional first spatial map based on the image data obtained by the image processing unit, and based on the first spatial map. A two-dimensional second space map is generated, the first space map is stored as the space map in the storage unit together with at least date and time information of imaging by the camera unit, and the course determination unit at least Based on the date and time information of the determination of the patrol course, the first spatial map corresponding to the date and time information correlating with the date and time information is extracted from the storage unit, and the first spatial map is extracted based on the extracted first spatial map. The patrol course is predicted and determined, the map generation unit specifies the installation location of the external device on the first space map, the external device installation location information is stored in the storage unit, and the service device is the service device. When mounted on the moving body, the power is supplied from the moving body or the power supply unit, and during the patrol of the moving body, the measurement control unit receives the temperature sensor, the humidity sensor, and the CO2. Measurement by at least one of the sensor, the odor sensor, and the illuminance sensor. The determination is performed, and the measurement result is transmitted to the moving body as environmental information. In the moving body, the map generation unit associates the environmental information on the first spatial map and stores it in the storage unit. The moving body has the setting location and installation time of the external device based on the date and time information, the external device installation location information, and the environmental information associated with the first spatial map stored in the storage unit. It is further equipped with a prediction unit that predicts and proposes.

In the mobile platform system according to the second aspect of the present invention, in the first aspect, the mobile body or the service device measures the distance to the external device, specifies the installation location of the external device, and specifies the installation location of the external device. Further, it has a remote control unit that transmits a remote control signal to the external device.

The mobile platform system according to the third aspect of the present invention further includes a charging station in the second aspect, and the mobile body and the service device have a communication unit that communicates with an external server device via the charging station. Further, the mobile body or the service device acquires infrared remote control information related to the remote control signal corresponding to the external device or information related to the Bluetooth (registered trademark) signal from the external server device via the charging station. do.

In the mobile platform system according to the fourth aspect of the present invention, in the first to third aspects, the predictor makes the proposal by at least one of e-mail transmission, voice output, light emission, or a predetermined operation. conduct.

In the mobile platform system according to the fifth aspect of the present invention, in the first to fourth aspects, the mobile body has a person detecting unit for detecting the presence of a person and an environment specifying unit for specifying the environment. Further, when the presence of a person is detected by the person detection unit, the environment specifying unit identifies the environment related to the person, and the prediction unit executes a prediction operation to predict an operation for realizing the environment. The service device or the external device is driven according to the environment.

In the first to fifth aspects of the mobile platform system according to the sixth aspect of the present invention, the mobile body has a schedule management unit for managing a person's schedule and an environment specifying unit for specifying the environment. Further, when the schedule management unit detects a predetermined timing, the environment specifying unit identifies an environment that matches the schedule, and the prediction unit executes a prediction operation to predict an operation that realizes the environment. , The service device or the external device is driven according to the environment.

When the mobile platform system according to the seventh aspect of the present invention receives feedback from the user regarding the operation based on the predicted operation in the fifth or sixth aspect, the information related to the feedback is used as the spatial map. Is stored in the storage unit in association with.

In the first to seventh aspects, the mobile platform system according to the eighth aspect of the present invention is a main control that transmits a control signal for remotely driving and controlling another mobile platform system based on the spatial map. Further equipped with a part.

In the mobile platform system according to the ninth aspect of the present invention, in the first to eighth aspects, the service device has a function of a robot arm, and the external device is gripped and moved by the robot arm.

According to the present invention, a service device that provides a service to a user is mounted on a mobile body to automatically travel in a room or the like, and is driven based on a predicted operation using a spatial map to provide an optimum service to the user. It is possible to provide a mobile platform system that provides and also provides a comfortable lifestyle.

It is a block diagram of the mobile platform system of 1st Embodiment of this invention. It is a block diagram which shows the detailed structure of the control system of the moving body of this system. It is a block diagram which shows the detailed structure of the control system of the service equipment of this system. It is a block diagram which shows the detailed structure of the control system of the charging station of the same system. It is a flowchart which shows the processing procedure of the space map generation by this system. It is a figure which shows an example of data which concerns on a spatial map. It is a figure which shows the display example of a space map. It is a conceptual diagram explaining the control of an external device by this system. It is a block diagram which shows the structure of the control system of the remote control unit installed in the external device which is remotely driven and controlled by this system. It is a figure which shows the structure which realizes the distance calculation between a moving body and an external device. It is a figure explaining the characteristic of a light emitting part and a light receiving part. It is a figure explaining the characteristic of a light emitting part and a light receiving part. It is a figure explaining the principle of distance calculation between a moving body and an external device. It is a flowchart which shows the flow of operation by this system. It is a block diagram which shows a part of the structure of the control system of the mobile body of the mobile body platform system which concerns on 2nd Embodiment of this invention. It is a flowchart for demonstrating operation by the mobile platform system which concerns on 2nd Embodiment of this invention. It is a block diagram which shows a part of the structure of the control system of the mobile body of the mobile body platform system which concerns on 3rd Embodiment of this invention. It is a flowchart for demonstrating operation by the mobile platform system which concerns on 3rd Embodiment of this invention. It is a block diagram of the mobile platform system which concerns on 4th Embodiment of this invention. It is a block diagram of the mobile platform system which concerns on 5th Embodiment of this invention.

Hereinafter, the first to fifth embodiments of the present invention will be described with reference to the drawings.

The mobile platform system according to the embodiment of the present invention first generates a spatial map by spatial recognition, predicts a contaminated part or the like based on a plurality of spatial maps continuous in time series, and predicts the prediction result. One of the features is to carry out optimum drive control of external equipment such as own equipment (including service equipment) and peripheral home appliances based on the above.

Secondly, one of the features is to propose the optimum installation time, installation location, etc. of external devices such as home appliances based on the prediction results obtained by the prediction operation.

Thirdly, one of the features is that the mobile body also plays a role of a hub of IoT in driving and controlling a plurality of external devices such as home appliances. In that case, the mobile platform system communicates with the remote control unit attached to the external device, confirms the installation position of each external device, and then executes the remote control of those external devices.

Fourth, by using a robot arm or the like as a service device, it is also characterized by generating a spatial map including the height direction and calculating a patrol course by detecting the height using a depth camera or the like. In that case, an additional unit suitable for the user's taste, such as an AI speaker, can be appropriately attached to the robot arm or the like and utilized.

Hereinafter, the first to fifth embodiments will be described in detail.

<First Embodiment>
FIG. 1 shows and describes a configuration of a mobile platform system according to the first embodiment of the present invention. As shown in the figure, the mobile platform system moves a service device 2 that provides a predetermined service to a user by driving a predetermined device according to a program, and a service device 2 mounted on the floor surface or the like. It consists of a moving body 1. A mobile platform may be defined by adding up to the charging station 3 to these configurations. In the mobile platform system, the charging station 3 can freely communicate with the server device 4 on the cloud network 5 by wireless communication or the like.

In such a configuration, the moving body 1 is equipped with various sensors described in detail later, generates a spatial map based on image data obtained by shooting, and refers to the accumulated spatial map for a patrol course. Is determined, and the vehicle runs on the floor surface of the room or the like according to the patrol course by driving the omni wheel or the like. The service device 2 is mounted on the upper part of the mobile body 1 via a connector portion (not shown here). This connector portion includes a power terminal and a signal terminal. The service device 2 receives power from the mobile body 1 via the connector unit, charges the power supply unit composed of a battery (not shown) or the like, and exchanges various control signals. The service device 2 is driven by the power supply from the mobile body 1 or the power supply from the power supply unit.

As a predetermined device mounted on the service device 2, various devices such as an air purifying device and a lighting device can be adopted. The charging station 3 is electrically connected to the moving body 1 when the moving body 1 enters the pit, and charges the power supply unit of the moving body 1.

Further, the information acquired by the mobile body 1 and the service device 2 by measurement (sensing), the generated spatial map, the environmental information, etc. will be described in detail later, but will be transferred to the server device 4 on the cloud network 5 via the charging station 3. Is also transmitted and stored in the charging station 3 and the server device 4. Therefore, the stored data can be shared between a plurality of mobile platform systems or even with an external device.

FIG. 2 shows and describes a detailed configuration of a mobile control system in the mobile platform system according to the first embodiment of the present invention.

As shown in the figure, the moving body 1 includes a control unit 11 such as a CPU (Central Processing Unit) that controls the entire moving body, and the control unit 11 includes a connector unit 12 and a camera unit 24 (RGB). It is connected to a camera unit 13 and a depth camera unit 14), a sensor unit 15, a storage unit 20, a communication unit 21, and a power supply unit 22. In detail, the sensor unit 15 includes an infrared distance measuring sensor 16, an ultrasonic distance measuring sensor 17, a temperature sensor 18, an illuminance sensor 19, and the like.

The communication unit 21 is a communication interface for communicating with the server device 4 and the like on the cloud network 5 via the charging station 3. The power supply unit 22 supplies power to each unit, and is charged by the charging station 3 at the time of pitting into the charging station 3. The connector portion 12 includes at least a power terminal and a signal terminal. The connector portion 12 is connected to the connector portion of the service device 2. The mobile body 1 supplies electric power to the service device 2 via the electric power terminal. The service device 2 receives the power supply from the mobile body 1 and charges the power supply unit described later. Further, the mobile body 1 exchanges various control signals with the service device 2 via the signal terminal.

Further, in the camera unit 24, the RGB camera unit 13 includes an image pickup device such as a CCD (Charge Coupled Device), images a room or the like, and outputs an image signal. The depth camera unit 14 measures the depth.

The storage unit 20 is composed of a memory such as a RAM (Random Access Memory) or a ROM (Read Only Memory), an HDD (Hard Disc Drive), or the like, and stores a program 23 executed by the control unit 11. Further, the storage unit 20 stores the generated spatial map and the information associated therewith in time series. The stored contents are updated as appropriate.

More specifically, each element of the sensor unit 15 is provided in front of the moving body 1 (for floor surface measurement) and front / rear / left / right (for proximity measurement) in this example. In this example, the ultrasonic ranging sensor 17 is provided at one place in front of the moving body 1 and is used for proximity measurement. The temperature sensor 18 is a sensor that measures the temperature inside the moving body 1 and the temperature inside the room or the like. The illuminance sensor 19 is a sensor that measures the illuminance around the moving body 1.

In such a configuration, the control unit 11 executes the program 23 of the storage unit 20 to determine the main control unit 11a, the image processing unit 11b, the drive control unit 11c, the map generation unit 11d, the remote control unit 11e, and the course. It functions as a unit 11f, a measurement control unit 11g, an update unit 11h, and a prediction unit 11i.

More specifically, the main control unit 11a controls overall control such as transmission of a control signal to the service device 2. The image processing unit 11b executes image processing on the image signal obtained by imaging by the RGB camera unit 13 and the depth camera unit 14, and stores the image data obtained by the processing in the storage unit 20. The drive control unit 11c drives and controls the moving body 1 so as to move according to the patrol course determined by the prediction operation described later. For example, by driving and controlling an omni wheel or the like, patrol in a room or the like of the moving body 1 is realized.

The map generation unit 11d generates a three-dimensional first spatial map based on the image data obtained by the image processing unit 11b, and creates a two-dimensional second spatial map in real time based on the first spatial map. The first spatial map is stored in the storage unit 20 together with at least the date and time information of imaging by the RGB camera unit 13 and the like. Further, the map generation unit 11d stores the installation location information of the external device and the like in the storage unit 20 in association with each other on the spatial map. Further, the map generation unit 11d stores the environmental information and the like on the spatial map in the storage unit 20 in association with each other. The acquisition of installation location information of external devices and the acquisition of environmental information will be described in detail later.

The remote control unit 11e remotely drives and controls an external device such as an air conditioner (air conditioner) or a heater, or another mobile platform system (slave unit). More specifically, remote control of the external device is realized by transmitting a control signal for the external device to the service device 2 side and transmitting the control signal from the service device 2 to the external device by an infrared remote control signal or the like. At this time, the mobile body 1 or the service device 2 communicates with the external server device 4 via the charging station 3 and acquires infrared remote control information or the like related to the remote control signal corresponding to the external device from the server device 4. You may.

The course determination unit 11f determines the patrol course with reference to the spatial map stored in the storage unit 20. More specifically, the course determination unit 11f extracts a spatial map corresponding to the date and time information correlating with the date and time information from the storage unit 20 based on at least the date and time information of the determination of the patrol course, and uses the extracted spatial map as the extracted spatial map. Predict and determine the traveling course based on it. For example, when the date and time of the patrol course decision is April 1, the course determination unit 11f predicts and determines the optimum patrol course by referring to the spatial map for two weeks before and after April 1 for the past three years. do.

The measurement control unit 11g controls the sensor unit 15 to perform measurement in the process of patrol in the room or the like of the moving body 1. The update unit 11h updates the patrol course based on the result of the measurement by the measurement control unit 11g and stores it in the storage unit 20.

Then, the prediction unit 11i determines a suitable installation location and installation time of the external device based on the date and time information, the external device installation location information, the environmental information, etc. associated with the spatial map stored in the storage unit 20. Predict and make certain suggestions. The prediction unit 11i may perform the proposed operation by, for example, sending an e-mail, outputting voice, emitting light, or at least a predetermined operation. Here, the environmental information includes various information such as temperature, humidity, odor, and CO2 concentration in each region of the room. However, the present invention is not limited to this. If there is feedback from the user on the proposal, the information of the feedback is also saved in correspondence with the spatial map. For example, when the air conditioner is controlled based on the predicted operation and the feedback that the user is comfortable is received by voice or operation, the information is also saved in association with the spatial map.

FIG. 3 shows and describes a detailed configuration of a control system of a service device in the mobile platform system according to the first embodiment of the present invention.

As shown in the figure, the service device 2 includes a control unit 31 such as a CPU that controls the entire service device 2. The control unit 31 includes a sensor unit 32, a remote control unit 36, a connector unit 39, a communication unit 40, an ozone ion generation unit 42, a storage unit 43, a projection unit 44, and the like. In detail, the sensor unit 32 includes a temperature sensor 33, a humidity sensor 34, an odor sensor 45, a CO2 sensor 35, a power supply unit 46, a power supply control unit 47, and the like. Specifically, the temperature sensor 33 measures the ambient temperature of the service device 2. The humidity sensor 34 measures the humidity around the moving body 1. The odor sensor 45 measures the degree of air pollution. The CO2 sensor 35 measures the CO2 (carbon dioxide) concentration around the service device 2. The remote control unit 36 includes a light emitting unit 37 and a light receiving unit 38.

The communication unit 40 is a communication interface that communicates with the server device 4 or the like on the cloud network 5 or the like via the charging station 3. The ozone ion generation unit 42 generates ozone and ions. The storage unit 43 is composed of a memory such as a RAM or a ROM, an HDD, or the like, and stores a program 41 executed by the control unit 31. The projection unit 44 realizes a projector function, and projects a projected image on a desk, a wall surface, or the like. Here, an example in which the projection unit 44 is mounted in one service device 2 is shown, but the present invention is not limited to this, and the projection unit 44 is mounted in another service device, and the other service device is mounted on the service device, which is a so-called heavy box. It may be mounted on the surface and configured to be electrically connected.

The connector unit 39 includes at least a power terminal and a control terminal. When the connector unit 39 is connected to the connector unit 12 of the mobile body 1, the service device 2 receives electric power via the power terminal and charges the power supply unit 46 under the control of the power supply control unit 47. Further, the service device 2 exchanges a control signal with the mobile body 1 via the control terminal.

The remote control unit 36 identifies the installation location of the external device by measuring the distance and direction from the remote control unit installed in the external device such as an air conditioner or a heater, and at the time of remote control, a predetermined remote control signal. Is sent. As the remote control signal, if the light emitting unit 37 and the light receiving unit 38 are compatible with infrared rays, an infrared remote control signal is transmitted. If the light emitting unit 37 and the light receiving unit 38 are compatible with Bluetooth (registered trademark), a Bluetooth (registered trademark) signal is transmitted.

In such a configuration, the control unit 31 executes the program 41 of the storage unit 43 to execute the main control unit 31a, the measurement control unit 31b, the remote control unit 31c, the projection control unit 31d, and the ozone ion generation control unit. It functions as 31e and the like.

The main control unit 31a controls overall control such as transmission of a control signal to the mobile body 1. The measurement control unit 31b controls at least the measurement operation by the temperature sensor 33, the humidity sensor 34, and the CO2 sensor 35. The remote control unit 31c remotely controls an external device or another mobile platform system by sending a remote control signal from the remote control unit 36. The projection control unit 31d controls the projection of an image on a wall surface or the like by the projection unit 44. Then, the ozone ion generation control unit 31e controls the generation of ozone and ions by the ozone ion generation unit 42.

When the service device 2 is mounted on the mobile body 1, it receives power from the mobile body 1 and receives a temperature sensor 33 and a humidity sensor under the control of the measurement control unit 31b during patrol in the room or the like of the mobile body 1. Measurement is performed by 34, the odor sensor 45, and the CO2 sensor 35, and the measurement result is transmitted to the mobile body 1 as environmental information. In the mobile body 1, the map generation unit 11d described above associates environmental information on the spatial map and stores it in the storage unit 43. There are various kinds of environmental information such as temperature distribution, humidity distribution, and pollen accumulation state. The service device 2 can charge the power supply unit 46 under the control of the power supply control unit 47, but can also be driven by the power supply from the power supply unit 46. The spatial map generated by the map generation unit 11d and the environmental information associated therewith are periodically transmitted from the moving body 1 to the charging station 3, and further transmitted from the charging station 3 to the server device 4 on the cloud network 5. .. For example, the charging station 3 stores a spatial map for several weeks and environmental information accompanying the space map, and the server device 4 on the cloud network 5 stores the spatial map for several years and the environmental information associated therewith. I remember. The mobile body 1 periodically downloads the latest spatial map and associated environmental information from the server device 4 on the cloud network 5 via the charging station 3 or the charging station 3 and uses it for the prediction operation.

Further, the service device 2 also functions as a so-called stand-alone home electric appliance by receiving power supply from the internal power supply unit 46 even when it is not mounted on the mobile body 1. Even in that case, the service device 2 performs measurement by the temperature sensor 33, the humidity sensor 34, the odor sensor 45, and the CO2 sensor 35 under the control of the measurement control unit 31b at the place where the service device 2 is installed, and generates ozone ions. The control unit 31e controls the generation of ozone and ions by the ozone / ion generation unit 42 based on the measurement results.

FIG. 4 shows and describes a detailed configuration of the charging station 3.

As shown in the figure, the charging station 3 includes a control unit 91 including a CPU or the like that controls the entire charging station 3. The control unit 91 is connected to a power supply unit 92, a communication unit 93, a power supply unit 94, a storage unit 95, a display unit 96, and an operation unit 97. When the mobile body 1 pits into the charging station 3, the power feeding unit 92 is electrically connected to the moving body 1 and supplies power to the moving body 1. The communication unit 93 is a communication interface that communicates with the server device 4 and the like via the cloud network 5. The power supply unit 94 is composed of a battery or the like, and supplies power to each unit. The storage unit 95 is, for example, a storage device that stores a spatial map for several weeks and environmental information associated therewith. In this example, the display unit 96 is composed of an LED or the like indicating an operating state. Then, the operation unit 97 performs various operation inputs.

The control unit 91 functions as a main control unit 91a, a display control unit 91b, and the like by executing the program of the storage unit 95. The main control unit 91a downloads the spatial map transmitted from the mobile body 1 and the environmental information associated therewith to the storage unit 95, and uploads the spatial map and the environment information associated therewith to the server device 4 on the cloud network 5 via the communication unit 93. Control. The display control unit 91b controls various displays on the display unit 96.

Hereinafter, a processing procedure by generating a spatial map by the mobile platform system according to the first embodiment of the present invention will be described with reference to the flowchart of FIG.

When the process is started, the map generation unit 11d of the moving body 1 generates a spatial map and stores it in the storage unit 20 (S1). More specifically, the image signal obtained by imaging by the RGB camera unit 13 and the depth camera unit 14 is image-processed by the image processing unit 11b to output image data, and the map generation unit 11d is based on the image data. Generates a static 3D map, and then generates a 2D map based on the 3D map in real time. That is, all the image data is generated and stored as 3D data, and 2D data is appropriately generated in real time. The spatial map stored in the storage unit 20 in this way includes GCM (global cost map), which is map data (room shape, etc.) that is not normally rewritten, and map data (for example, map data during operation of the moving body 1). It includes an LCM (local cost map) that reflects the sudden appearance of a person or the location of an obstacle in a room or the like.

In the moving body 1, the course determination unit 11f refers to the spatial map continuously stored in time series as accumulated data from the storage unit 20 as shown in FIG. 6 (S2), and predicts the patrol course. Determine (S3). The mobile body 1 downloads the latest spatial map within a few weeks from the server device 4 on the cloud network 5 via, for example, the charging station 3 or the charging station 3, stores it in the storage unit 20, and stores it based on them. By performing the predictive action, the location of obstacles and the like is grasped, and the patrol course is determined so as to avoid them. In the patrol course, the room is approximately regarded as a convex hull, and its apex is defined as a patrol point. The spatial map is shown, for example, in FIG. In the example shown in the figure, an LCM 201 in an area that cannot be entered due to an obstacle or the like is observed on the GCM 200.

The mobile body 1 patrols the room or the like under the control of the drive control unit 11c according to the determined patrol course. In the process of this patrol, the indoor environment is measured by the sensor unit 15 under the control of the measurement control unit 11g (S4). Then, based on the newly measured indoor environment, the patrol course is changed (S5), the stored contents of the storage unit 20 are updated and stored (S6), and a series of processes related to the spatial map generation is completed. When the electric power of the power supply unit 22 becomes equal to or less than the specified value during the patrol, the return course may be switched to and the charging station 3 may be pitted to charge.

In the above processing, the patrol course generated based on the spatial map generated and accumulated by the map generation unit 11d is based on the output of various sensors of the sensor unit 15 such as the infrared distance measuring sensor 16 and the ultrasonic distance measuring sensor 17. It means learning based on the latest LCM generated and optimizing it.

Next, FIG. 8 conceptually shows and describes a state of control of an external device by the mobile platform system according to the first embodiment of the present invention.

As shown in the figure, the service device 2 is mounted on the mobile body 1. In this state, the mobile body 1 moves on the floor surface or the like, but can communicate with various external devices installed in the room or the like and remotely control the external device. Here, as an example, a remote control unit 6 is installed in each of the air conditioner 100, the heater 102, and the air purifier 101, and the mobile platform system communicates with the remote control unit 6. , Those external devices can be controlled remotely. In this remote control, first, the installation location of each external device is specified, and the external device is driven and controlled by transmitting a remote control signal to the specified location.

For example, when the remote control signal is an infrared remote control signal, the infrared remote control information corresponding to the external device to be controlled may be downloaded from the server device 4 on the cloud network 5 and used as appropriate. Further, when the external device is located in the area where the infrared remote control signal does not reach, the external device may be moved to the installation location of the external device and remotely controlled.

Next, FIG. 9 shows and describes a configuration of a control system of a remote control unit 6 installed in an external device that is remotely driven and controlled by the mobile platform system according to the first embodiment of the present invention.

As shown in the figure, the remote control unit 6 includes a control unit 51 such as a CPU. The control unit 51 is connected to the communication unit 53, the power supply unit 54, and the remote control unit 52. When, for example, a communication environment such as WiFi or Bluetooth (registered trademark) is prepared indoors, the communication unit 53 realizes communication or the like utilizing the communication environment. The power supply unit 54 is composed of a button battery or the like. The remote control unit 52 includes a light emitting unit 55 and a light receiving unit 56, and performs light emission / reception of distance measuring light from a mobile platform system and reception of an infrared remote control signal. The control unit 51 functions as a main control unit 51a and a remote control unit 51b. The main control unit 51a performs comprehensive control. Then, the remote control unit 51b remotely controls the target external device. In this example, an example in which the service device 2 includes the remote control unit 36 is shown, but the present invention is not limited to this, and even if the mobile body 1 includes the remote control unit 36, or an accessory unit to the mobile body 1. It may be mounted on the moving body 1.

Here, with reference to FIGS. 10 to 13, the mechanism of light emission and light reception of the remote control unit 36 and the remote control unit 52 will be further referred to. As shown in FIGS. 10 to 12, when a general infrared remote control light receiving module is adopted as the light receiving units 38 and 55, the intensity of light cannot be discriminated and a modulated pulse of a predetermined frequency cannot be discriminated. Will be demodulated. In this example, when the light emitting units 37 and 56 blink 23 times in 600 μs, the light receiving units 38 and 55 detect it and perform inverting output. However, when a general infrared remote control light receiving module is adopted as the light receiving units 38 and 55, the same voltage output is output on the light receiving units 38 and 55 side when a predetermined blinking pulse is received regardless of the intensity of light emission. Therefore, in the mobile platform system of the present embodiment, the distance is recognized based on the ID number included in the output signal and the amount of infrared light output by the light emitting units 37 and 56, and the farthest of the obtained data is obtained. Treat only infrared data as valid. The amount of infrared light of the light emitting units 37 and 56 is adjusted by the current value.
For example, as shown in FIGS. 13 (a) to 13 (c).
When the ID number is 001 and the amount of infrared light is 1/3, "0010103": 1 m (FIG. 13 (a)).
When the ID number is 001 and the amount of infrared light is 2/3, "0010203": 2 m (FIG. 13 (b)).
When the ID number is 001 and the amount of infrared light is 3/3, "0010303": 3 m (FIG. 13 (c)).
Is recognized by the light receiving units 38 and 55, and the farthest data "0010303" is treated as valid. If infrared data is emitted from the same direction, the data may collide and be combined and cannot be read as correct data. However, in the present embodiment, the communication units 40 and 53 synchronize with each other. It solves this problem. In addition to the above, if a slit is provided on the light emitting unit 37, 56 or the light receiving unit 38, 55 side, infrared rays other than a predetermined angle can be blocked, so that the direction can be calculated.

Next, with reference to the flowchart of FIG. 14, the flow of operations related to the patrol in the room by the mobile platform system according to the first embodiment of the present invention and the drive control of the service device or the external device will be described in detail. ..

In the moving body 1, the course determination unit 11f downloads the latest stored data from the server device 4 on the cloud network 5 via the charging station 3 or the charging station 3 and stores the latest stored data in the storage unit 20 at that time. The spatial map continuously stored in the series is referred to as accumulated data, and the patrol course is predicted and determined (S11). For example, by reading out a spatial map within several weeks from the storage unit 20 and performing a prediction operation, the location of obstacles and the like is grasped, and a patrol course is determined so as to avoid them. In the patrol course, the room is approximately regarded as a convex hull, and its apex is defined as a patrol point.

The mobile body 1 patrols the room under the control of the drive control unit 11c according to the determined patrol course (S12). In the process of this patrol, the indoor environment is measured by the sensor unit 15 under the control of the measurement control unit 11g (S13).

Then, the prediction unit 11i performs a prediction operation to see if the service device 2 can sufficiently cope with the improvement of the indoor environment (S14). Here, when it is determined that the response is possible by the prediction operation by the prediction unit 11i (S15 is branched to Yes), a control signal is sent to the service device 2 to drive and control the service device 2 (S16). .. On the other hand, if it is determined that it cannot be handled by the prediction operation by the prediction unit 11i (S15 is branched to No), the external device to be remotely controlled is specified and remotely controlled under the control of the remote control unit 11e. (S17).
In this way, a series of processes is completed.

Here, when the service device 2 can sufficiently deal with the situation, the degree of air pollution is low, and the action of the ozone ion generation unit 42 of the service device 2 sufficiently eliminates the air pollution based on the accumulated past results. When possible, etc. The case where the service device 2 cannot handle the case means that the temperature and humidity are high and the action of the air conditioner 100 is required, or the degree of air pollution is high and the ozone / ion generation unit 42 of the service device 2 cannot solve the problem. There is. However, it is not limited to these.

More specifically, for example, when the external device is an air conditioner 100, it takes time for the room to reach a comfortable temperature even if the cooling and heating are operated. Therefore, the prediction unit 11i refers to the past history (for example, 12 months x 3 years or 1 season ago), and realizes energy saving by moving the power-on times of cooling and heating back and forth. At this time, since the place where it is easy to warm up, the place where it is hard to warm up, etc. are stored in the storage unit 20 in association with the spatial map as environmental information, what kind of pattern should be driven from the past history (for example, start time). , Air volume, wind direction, etc.), or whether it is more efficient to drive the circulator and air purifier at the same time, etc., and the drive can be controlled.

Further, when the external device is the air purifier 102, the prediction unit 11i detected the scattering of pollen in the air at the positions (x, y, z) in the room on the past XX days. It is possible to make a prediction that the air should be cleaned mainly in the place, and drive control based on the prediction result.

Alternatively, when the external device is the smart speaker 103, the prediction unit 11i can predict from the history information that the user tends to use the smart speaker 103 at a predetermined place in a predetermined time zone, and therefore moves based on the prediction result. By moving the body 1, the smart speaker 103 can be used at the optimum place for each time zone.

As described above, according to the first embodiment of the present invention, a spatial map is generated by spatial recognition, and a contaminated location or the like is predicted based on a plurality of spatial maps continuous in time series, and the prediction result thereof. Based on this, it is possible to perform optimum drive control of the own machine (including service equipment) and peripheral external equipment (home appliances, etc.).

Further, it is possible to propose the installation time and the installation location of the home appliance based on the prediction result by the prediction operation by the prediction unit 11i. For example, if the history of installing fine heaters and circulators, which are external devices, can be confirmed on the past XX days, and there is a record that the season was comfortable, the prediction unit 11i proposes the installation of external devices. It is also possible to output the setting conditions such as the room temperature at the time of installation in the past. That is, the prediction unit 11i performs a prediction operation related to the installation of the external device based on the space map stored in the storage unit 20, home appliance installation location information, environmental information, etc. associated with the spatial map, and installs the external device. The time, place, setting conditions, etc. suitable for the above may be output. At that time, taking advantage of the characteristics of the mobile body, the user may be moved to a place suitable for actually installing the external device, and the user may be instructed by voice or display that the external device should be installed in the place. Further, when outputting the installation proposals of a plurality of external devices, the setting conditions such as the installation location and the set temperature of each may be output together.

Furthermore, the mobile platform system can also play the role of an IoT hub in driving and controlling a plurality of external devices (home appliances, etc.). Therefore, a so-called smart home can be realized by introducing a mobile platform system.

<Second Embodiment>
FIG. 15 shows and describes in detail a part of the configuration of the mobile control system of the mobile platform system according to the second embodiment of the present invention.

As shown in the figure, in addition to the configuration of FIG. 2, the moving body 1 also functions as a person detecting unit 11j for detecting the presence of a person and an environment specifying unit 11k for specifying the environment by the control unit 11. It is characterized by that. Since other configurations are the same as those in FIG. 2, illustration and description will be omitted.

Hereinafter, the operation by the mobile platform system according to the second embodiment of the present invention will be described with reference to the flowchart of FIG.

After taking a picture of the room with the RGB camera unit 13 or the like (S21), the presence of the person is detected by the person detection unit 11j (S22), the environment related to the person is specified by the environment identification unit 11k (S23), and the prediction is made. Part 11i predicts the operation (for example, external device control, etc.) that realizes the optimum environment for the recognized user by performing the prediction operation as described above (S24), and predicts the service device 2 or the external device. Drive control is performed according to the optimum environment (S25), and a series of processes is completed. As the control of the external device that realizes the above-mentioned optimum environment, various things such as adjustment of the room temperature and ON / OFF of the lighting can be supported.

As described above, according to the second embodiment of the present invention, in addition to the effects of the first embodiment described above, it is possible to provide a service that matches the attributes and preferences of the user.

<Third Embodiment>
FIG. 17 shows and describes in detail a part of the configuration of the mobile control system of the mobile platform system according to the third embodiment of the present invention.

As shown in the figure, in addition to the configuration of FIG. 2, the mobile body 1 also functions as a schedule management unit 11l in which the control unit 11 manages the schedule of a person and an environment specifying unit 11k for specifying the environment. It has a special feature. Since other configurations are the same as those in FIG. 2, illustration and description will be omitted.

Hereinafter, the operation by the mobile platform system according to the third embodiment of the present invention will be described with reference to the flowchart of FIG.

When the schedule management unit 11l refers to the schedule (S31) and the schedule management unit 11l detects a predetermined timing (S32 is Yes), the environment identification unit 11k identifies the environment that matches the schedule (S33) and makes a prediction. Part 11i predicts the operation (for example, external device control, etc.) that realizes the optimum environment for the user by performing the prediction operation as described above (S34), and adjusts the service device 2 or the external device to the optimum environment. It is driven (S35), and thus a series of processes is completed. As the control of the external device that realizes the optimum environment, it is possible to deal with various things such as adjusting the room temperature and turning on / off the lighting.

As described above, according to the third embodiment of the present invention, in addition to the effects of the first embodiment described above, it is possible to provide a service that matches the user's schedule.

<Fourth Embodiment>
FIG. 19 shows and describes a configuration of a mobile platform system according to a fourth embodiment of the present invention. The mobile platform system according to this embodiment is an example of adopting a robot arm as a service device.

As shown in the figure, the mobile body 71 is equipped with a service device 72 having a robot arm function. As described above, the mobile body 71 and the service device 72 are provided with predetermined connector portions, and when both connector portions are connected, the service device 72 receives power supplied from the mobile body 71 and receives power from the mobile body 71, such as a battery. Charges the power supply unit consisting of. Further, the service device 72 is driven and controlled by the mobile body 71 based on various control signals related to the driving of the robot arm. A particular feature of this example is that the RGB camera unit 73 and the depth camera unit 74 are provided in the grip portion of the robot arm portion.

In the above example, the moving object is provided with an RGB camera unit and a depth camera unit, but due to the height restrictions of the moving object itself and the restrictions on the angle of view of each camera, it is predetermined when shooting a room or the like. It was not possible to accurately detect obstacles above high. In this regard, in the mobile platform system according to the fourth embodiment, since the RGB camera unit 73 and the depth camera unit 74 are provided in the grip portion of the robot arm portion of the service device 72, even a higher obstacle can be detected and the height of the obstacle can be detected. The result can be reflected in the spatial map. Therefore, since the patrol course can be calculated in consideration of the height of the obstacle, it is possible to patrol the room accurately.

<Fifth Embodiment>
FIG. 20 shows and describes the configuration of the mobile platform system according to the fifth embodiment of the present invention. The mobile platform system according to this embodiment is an example of adopting a robot arm as a service device. Further, by grasping various external devices with the robot arm of the service device, the control and movement of the external devices are executed.

As shown in the figure, the mobile body 71 is equipped with a service device 72 having a robot arm function. As described above, the mobile body 71 and the service device 72 are provided with predetermined connector portions, and when both connector portions are connected, the service device 72 receives power supplied from the mobile body 71 and receives power from the mobile body 71, such as a battery. Charges the power supply unit consisting of. Further, the service device 72 is driven and controlled based on various control signals related to the driving of the robot arm from the mobile body 1.

The robot arm of the service device 72 grips and moves the external device. In this example, as an external device, the AI speaker 81 is placed on the power supply unit 82 while being electrically connected, and the robot arm is gripped in the opening 83a of the housing portion 83 fixed to the power supply unit 82. It is gripped by inserting the part. Generally, the AI speaker 81 is expected to be used everywhere in the room, but since the moving body 1 can move in the room, it moves while following the user and according to the user's schedule. Since it can be moved, it is possible to use the optimum external device according to the user's daily life.

Although the first to fifth embodiments of the present invention have been described above, the present invention is not limited to this, and various improvements and changes can be made without departing from the spirit of the present invention.

For example, one mobile platform system serves as a commander, and multiple other mobile platform systems are subject to comprehensive management and commands such as response locations based on environmental information such as pollution status predicted by spatial maps. Of course, the work may be shared to improve the indoor environment.

1 ... mobile body, 2 ... service equipment, 3 ... charging station, 4 ... server device, 5 ... cloud network, 11 ... control unit, 11a ... main control unit, 11b ... image processing unit, 11c ... drive control unit, 11d ... Map generation unit, 11e ... remote control unit, 11f ... course determination unit, 11g ... measurement control unit, 11h ... update unit, 11i ... prediction unit, 12 ... connector unit, 13 ... RGB camera unit, 14 ... depth camera unit, 15 ... Sensor unit, 16 ... Infrared distance measurement sensor, 17 ... Ultrasonic distance measurement sensor, 18 ... Temperature sensor, 19 ... Illuminance sensor, 20 ... Storage unit, 21 ... Communication unit, 22 ... Power supply unit, 23 ... Program, 24 ... Camera part.

Claims (9)

A mobile platform system consisting of a service device that provides a predetermined service to a user by driving a predetermined device, and a mobile body that moves on the service device.
The moving body is
A map generator that generates a spatial map and
The sensor unit that performs various sensing and
A storage unit that stores the spatial map in chronological order,
A course determination unit that predicts and determines a patrol course with reference to the spatial map stored in the storage unit, and
A drive control unit that drives and controls movement based on the patrol course,
A measurement control unit that performs measurement by the sensor unit in the process of movement, and a measurement control unit.
An update unit that updates the patrol course based on the measurement result and stores it in the storage unit,
With the camera part
An image processing unit that obtains image data by image processing an image signal captured by the camera unit, and an image processing unit.
Equipped with
The service device is
Ozone ion generator that generates ozone ion and
A temperature sensor that measures temperature and
Humidity sensor to measure humidity and
An odor sensor that measures the degree of air pollution,
A CO2 sensor that measures CO2 concentration and
An illuminance sensor that measures illuminance and
At least the temperature sensor, the humidity sensor, the CO2 sensor, the odor sensor, and the measurement control unit that controls the measurement operation by the illuminance sensor.
Equipped with
The map generation unit generates a three-dimensional first spatial map based on the image data obtained by the image processing unit, and generates a two-dimensional second spatial map based on the first spatial map. Then, as the spatial map, the first spatial map is stored in the storage unit together with at least the date and time information of the image captured by the camera unit.
The course determination unit extracts the first spatial map corresponding to the date and time information correlating with the date and time information from the storage unit based on at least the date and time information of the determination of the patrol course, and extracts the first. Predict and determine the traveling course based on the spatial map of
The map generation unit identifies the installation location of the external device on the first space map, stores the external device installation location information in the storage unit, and stores the information.
When the service device is mounted on the moving body, the service device receives a power supply from the moving body or a power supply from the power supply unit, and during the patrol of the moving body, the measurement control unit receives the power supply from the temperature sensor. Measurement is performed by at least one of the humidity sensor, the CO2 sensor, the odor sensor, and the illuminance sensor, and the measurement result is transmitted to the moving body as environmental information.
In the moving body, the map generation unit associates the environment information on the first spatial map and stores it in the storage unit.
The mobile body has the setting location and installation of the external device based on the date and time information, the external device installation location information, and the environmental information associated with the first spatial map stored in the storage unit. A mobile platform system with a predictor that predicts and proposes timing. The mobile or the service device
The mobile platform system according to claim 1, further comprising a remote control unit that measures a distance to an external device, specifies an installation location of the external device, and transmits a remote control signal to the external device. With more charging stations
The mobile body and the service device further include a communication unit that communicates with an external server device via the charging station.
The mobile body or the service device claims to acquire infrared remote control information related to the remote control signal corresponding to the external device or information related to a Bluetooth (registered trademark) signal from the external server device via the charging station. The mobile platform system according to 2 . The mobile platform system according to any one of claims 1 to 3, wherein the prediction unit makes the proposal by transmitting e-mail, outputting voice, emitting light, or at least a predetermined operation. The moving body is
A person detection unit that detects the presence of a person,
Further equipped with an environment identification unit that specifies the environment,
When the presence of a person is detected by the person detection unit, the environment specifying unit identifies the environment related to the person, the prediction unit executes a prediction operation to predict the operation for realizing the environment, and the service device. The mobile platform system according to any one of claims 1 to 4, wherein the external device is driven according to the environment. The moving body is
The schedule management department that manages the schedule of people,
Further equipped with an environment identification unit that specifies the environment,
When the schedule management unit detects a predetermined timing, the environment specifying unit identifies an environment that matches the schedule, the prediction unit executes a prediction operation to predict an operation that realizes the environment, and the service. The mobile platform system according to any one of claims 1 to 5, which drives a device or an external device according to the environment. The mobile platform system according to claim 5 or 6 , wherein when feedback from a user is received regarding an operation based on the predicted operation, the information related to the feedback is stored in a storage unit in association with the spatial map. The movement according to any one of claims 1 to 7, further comprising a main control unit for transmitting a control signal for remotely driving and controlling another mobile platform system based on the first spatial map. Body platform system. The service device has the function of a robot arm and has a function of a robot arm.
The mobile platform system according to any one of claims 1 to 8, wherein an external device is gripped and moved by the robot arm.

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