JP2008198061A - Self-propelled device guiding system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To efficiently guide a self-propelled device to a charging device or a light emission device in a self-propelled device guiding system having a self-propelled device and the charging device or the light emitting device guiding the self-propelled device. <P>SOLUTION: The self-propelled device (security robot 4) is provided with a CPU 481. The CPU executes a rotation control program 483e making the security robot 4 turn so that a light signal M is received by a front face side light receiving sensor C. The CPU 481 executes a determination program 483d determining a light signal M receiving condition in a plurality of previously set determination timing in a duration from the start of light reception to the end of it for the light signal of a signal period. As to the front face side light receiving sensor C, on which the CPU 481 executing the determination program 483d determines reception of the light signal M in at least one determination timing among a plurality of determination timing, reception of the light signal M is determined by the rotation control program 483e. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a self-propelled device guidance system.

Conventionally, a self-propelled device that travels based on a predetermined traveling pattern and performs a given function or mission is known.
Such a self-propelled device is, for example, guided to a predetermined charging device in order to charge a storage battery that stores a drive power source of the self-propelled device, and can autonomously travel to the charging device. .

Specifically, for example, sensors are arranged on the front left side and front right side of the self-propelled device main body so that the detection areas partially overlap, and only the sensors arranged on the left side of the front are from the target (for example, the charging device). When the emitted light is received, it rotates in the left direction, and only the sensor arranged on the right side of the front rotates right when it receives the light emitted from the target, and it is arranged on the right side of the front with the sensor arranged on the left side of the front. A self-propelled device that goes straight when both sensors receive light emitted from a target has been proposed (see, for example, Patent Document 1).
Japanese Patent Laid-Open No. 10-3314

  However, a self-propelled device such as that shown in Patent Document 1 is rotated when it is determined that the position of the charging device has changed if light reception by the sensor is interrupted due to the influence of noise or the like. If it disappears, it will be judged that the position of the charging device has returned to the original position, and a sensitive correction operation such as rotation will be performed, so there is a problem that the charging device is not efficiently guided.

  An object of the present invention is a self-propelled device guidance system including a self-propelled device and a charging device or a light-emitting device that guides the self-propelled device. There is to guide.

In order to solve the above-mentioned problem, the invention described in claim 1
A self-propelled device that autonomously travels on a predetermined floor surface, and a charging device that emits an optical signal for guiding the self-propelled device and supplies electric power for charging to the self-propelled device. In the self-propelled device guidance system provided,
The charging device is:
The self-propelled device is detachable, and when the self-propelled device is attached, a contact terminal that supplies power for the charging to the self-propelled device;
A light emitting means for emitting the optical signal at a constant period,
The self-propelled device is
A terminal that is in contact with the contact terminal and receives supply of power for the charging from the contact terminal;
A plurality of first light receiving means for receiving the optical signal emitted by the light emitting means are arranged at predetermined intervals along the entire circumference of the side surface, and a second light receiving means for receiving the optical signal emitted by the light emitting means. A light-receiving unit that is directed at the traveling direction of the self-propelled device and is arranged at equal intervals from two adjacent first light-receiving units of the plurality of first light-receiving units;
When the optical signal is received by the first light receiving means and / or the second light receiving means, the second light receiving means and the two first light receiving means arranged on the left and right of the second light receiving means, Rotation control means for rotating the self-propelled device so that the optical signal is received by the three front side light receiving means,
When light reception of one period of light signal emitted by the light emitting means is started by the front side light receiving means, immediately after the start of light reception of the light signal for one period and immediately before the end of light reception of the light signal for one period Determining means for determining the light receiving state of the optical signal for each of the three front side light receiving means at the two determination timings;
Storage means for storing the determination result by the determination means,
The rotation control unit is configured to determine that the optical signal is not received at any one of the two determination timings by the determination unit with respect to reception of the optical signal in one cycle. For the side light receiving means, the storage means determines that the light signal is received by the determination means at all the two determination timings with respect to light reception of the optical signal in the cycle immediately before the one cycle. If stored, it is determined that the optical signal having the one cycle is received.

The invention described in claim 2
In a self-propelled device guidance system comprising a self-propelled device that autonomously travels on a predetermined floor and a light emitting device that emits an optical signal for guiding the self-propelled device,
The light emitting device
A light emitting means for emitting the optical signal at a constant period;
The self-propelled device is
A plurality of light receiving means for receiving the light signal emitted by the light emitting means, and a plurality of light receiving parts disposed along the entire side surface;
When the light signal is received by the light receiving means, the optical signal is received by a plurality of front side light receiving means facing the front side of the traveling direction of the self-propelled device among the plurality of light receiving means. Rotation control means for rotating the self-propelled device;
When light reception of the light signal for one cycle emitted by the light emitting device is started by the light receiving device, a plurality of determination timings set in advance between the start of light reception of the light signal for one cycle and the end of light reception And determining means for determining the light receiving state of the optical signal for each of the plurality of front side light receiving means,
The rotation control means receives the optical signal for the front side light receiving means that is determined by the determination means to receive the optical signal at at least one of the plurality of determination timings. It is characterized by judging that it is.

The invention described in claim 3
In the self-propelled device guidance system according to claim 2,
A plurality of the light receiving means, a plurality of first light receiving means arranged at predetermined intervals along the entire side surface of the light receiving portion, and a plurality of the light receiving portions facing the traveling direction of the self-propelled device and on the side surface of the light receiving portion. Second light receiving means arranged at equal intervals from two adjacent first light receiving means of the first light receiving means,
The plurality of front side light receiving means are the second light receiving means and the two first light receiving means arranged on the left and right sides of the second light receiving means.

The invention according to claim 4
In the self-propelled device guidance system according to claim 2 or 3,
The determination timing includes immediately after the start of light reception of the optical signal for one cycle and immediately before the end of light reception of the optical signal for the one cycle.

According to the first aspect of the present invention, when the determination unit starts to receive the optical signal for one cycle emitted by the light emitting unit by the light receiving unit, immediately after the light reception of the optical signal for the one cycle starts. The light reception state of the optical signal can be determined for each of the three front-side light receiving means at two determination timings immediately before the end of light reception of the optical signal for one period, and the rotation control means can For the front-side light receiving means that is determined not to receive the optical signal at one of the two determination timings by the determination means with respect to the reception of the optical signal, the period immediately before the one period If it is determined in the storage means that the optical signal is received at all of the two determination timings by the determination means with respect to the reception of the optical signal, the optical signal having the one cycle is stored. It can be determined that you are receiving.
That is, even if there is a discontinuity in light reception by the front light receiving means between the start of light reception of one cycle of light signal and the end of light reception, the time between the start of light reception of the light signal of one cycle and the end of light reception is one. And when the light signal is determined to be received by the front side light receiving means during the period of the part, and the front side from the start of light reception of the optical signal in the cycle immediately before the one cycle to the end of light reception If there is no interruption in the light reception by the light receiving means, the front side light receiving means is determined to receive the optical signal, so that it is possible to suppress performing a sensitive correction operation, The self-propelled device can be efficiently guided to the charging device.

  Further, since the front side light receiving means includes three light receiving means including the second light receiving means and the two first light receiving means arranged on the left and right of the second light receiving means, the self-propelled device is reliably charged. Since the optical signal emitted from the device can be received, the self-propelled device can be reliably guided to the charging device.

  In addition, since the determination timing is two times, immediately after the start of light reception of the optical signal for one cycle and immediately before the end of light reception of the optical signal for one cycle, the light reception state of the optical signal is more accurately checked. be able to.

According to the second aspect of the present invention, when the determination unit starts to receive the optical signal for one cycle emitted by the light emitting unit by the light receiving unit, the light reception starts from the start of receiving the optical signal for the one cycle. The light receiving state of the optical signal can be determined for each of the plurality of front-side light receiving means at a plurality of determination timings set in advance until the end, and the rotation control means determines a plurality of determination timings by the determining means. For the front side light receiving means determined to receive the optical signal at at least one of the determination timings, it can be determined that the optical signal is received.
That is, even if there is an interruption in the light reception by the front light receiving means from the start of light reception to the end of light reception, the light signal is received by the front light receiving means during a part of the period from the start of light reception to the end of light reception. If it is determined that the light is received, the front-side light receiving means determines that the light signal is received, so that it is possible to suppress a sensitive correction operation, and it is possible to efficiently The traveling device can be guided to the light emitting device.

  According to the invention described in claim 3, it is needless to say that the same effect as that of the invention described in claim 2 can be obtained. The front side light receiving means includes the second light receiving means and the left and right sides of the second light receiving means. The first light receiving means and the three first light receiving means arranged in the self-propelled device can reliably receive the light signal emitted from the light emitting device, and the self-propelled device is surely self-propelled. The device can be guided to the light emitting device.

  According to the invention described in claim 4, it is needless to say that the same effect as that of the invention described in claim 2 or 3 can be obtained. Since it includes immediately before the end of light signal reception for one cycle, it is possible to more accurately check the light reception state of the light signal.

Hereinafter, the best mode of a self-propelled device guidance system according to the present invention will be described in detail with reference to the drawings. The scope of the invention is not limited to the illustrated example.
In this embodiment, a security robot is exemplified as a self-propelled device, and a charging device is exemplified as a light emitting device.

<Self-propelled device guidance system>
First, the configuration of the self-propelled device guidance system 1 will be described with reference to FIGS.
For example, as shown in FIG. 1, the self-propelled device guidance system 1 autonomously travels on a floor surface F of a predetermined room R based on a predetermined travel pattern, and monitors suspicious persons entering the room R. And a charging device 2 that emits an optical signal M for guiding the security robot 4 and supplies the security robot 4 with electric power for charging.

<Configuration of charging device>
For example, as shown in FIGS. 1 and 2, the charging device 2 includes a main body 20 formed in a quadrangular prism shape, a contact terminal 21 disposed in front of the main body 20, and light from the front of the main body 20. The light emitting unit 22 that emits the signal M, and the like are configured.
Here, let one side surface substantially orthogonal to the floor surface F in the main-body part 20 be a front side (front surface), and let one side surface facing a front surface be a rear side. Further, a direction orthogonal to the front-rear direction and substantially parallel to the floor surface F is defined as the left-right direction, and a direction orthogonal to both the front-rear direction and the left-right direction is defined as the up-down direction.

(Contact terminal)
For example, the security robot 4 is detachably attached to the contact terminal 21. When the security robot 4 is attached, the contact terminal 21 supplies the security robot 4 with power for charging a storage battery (not shown) of the security robot 4.

(Light emitting part)
The light emitting unit 22 includes, for example, an infrared LED, and emits an optical signal M at a constant cycle as a light emitting unit, for example.
The optical signal M for one cycle includes, for example, a custom code, a data code, an inverted data code, an end bit, and the like. For example, from the start of light emission of the optical signal M for one cycle to the end of light emission. For example, the light emission time is 108 milliseconds.

<Configuration of security robot>
For example, as shown in FIGS. 1, 3, and 4, the security robot 4 autonomously travels on a main body 40 formed in a substantially rectangular shape in plan view, and the security robot 4 on a floor surface F in a predetermined room R. A traveling unit 41 for monitoring, a monitoring unit 42 for monitoring a suspicious person or the like that the security robot 4 enters a predetermined room R, a charging unit 43 for charging the security robot 4, and a predetermined instruction by the user An input unit 44 for inputting the information, a light receiving unit 45 for the security robot 4 to detect the charging device 2, a time measuring unit 46 for the security robot 4 to measure time, and for storing predetermined information A memory unit 47, a control unit 48 for controlling these units, and the like are configured.
Here, the direction along the traveling direction of the security robot 4 is the front-rear direction, the traveling direction side is the front side (front), and the opposite side of the traveling direction is the rear side. Further, a direction orthogonal to the front-rear direction and substantially parallel to the floor surface F is defined as the left-right direction, and a direction orthogonal to both the front-rear direction and the left-right direction is defined as the up-down direction.

(Main body)
The main body 40 is, for example, for protecting the traveling unit 41, the control unit 48, and the like from impacts and dust, and is provided so as to cover the traveling unit 41, the control unit 48, and the like.
Specifically, as shown in FIGS. 1 and 3, for example, the main body 40 includes a housing 401, a left cover member 402L disposed from the front left side of the security robot 4 to the front side of the left side, And a right cover member 402R disposed from the front right side of the security robot 4 to the front side of the right side.

(Traveling part)
The traveling unit 41 includes, for example, a left caterpillar 411L and a right caterpillar 411R, a left traveling motor 412L and a right traveling motor 412R, an obstacle detection sensor 413, and the like.

  The left caterpillar 411L and the right caterpillar 411R are disposed on the left side and the right side of the security robot 4, for example.

For example, the left traveling motor 412L and the right traveling motor 412R function as drive sources that cause the security robot 4 to travel, and also function as drive sources that rotate the security robot 4 (turn left or turn right).
Specifically, the left travel motor 412L and the right travel motor 412R rotate the left caterpillar 411L and the right caterpillar 411R, respectively, via predetermined drive transmission members in accordance with a control signal input from the control unit 48.

The obstacle detection sensor 413 detects, for example, an obstacle located in front or side of the security robot 4 and outputs the obstacle detection signal to the control unit 48.
Specifically, the obstacle detection sensor 413 is a contact sensor that detects an obstacle based on contact between the left cover member 402L or the right cover member 402R and the obstacle, for example.

(Monitoring Department)
The monitoring unit 42 includes, for example, an imaging lens 421, an imaging element 422, a signal processing unit 423, and the like.

  The imaging lens 421 is disposed, for example, in front of the main body 40 of the security robot 4.

  The imaging element 422 is an imaging element such as a complementary metal-oxide semiconductor (CMOS) type image sensor or a charge coupled device (CCD) type image sensor. For example, according to a control signal input from the control unit 48, for example, an imaging lens The subject image input via 421 is photoelectrically converted into image data and output to the signal processing unit 423.

  The signal processing unit 423 performs predetermined image processing, for example, on the image data input from the image sensor 422 according to the control signal input from the control unit 48, and outputs the processed image data to the control unit 48.

(Charging part)
The charging unit 43 includes, for example, a terminal 431, an electric energy sensor 432, and the like.

  The terminal 431 is disposed, for example, in front of the main body 40 of the security robot 4, contacts the contact terminal 21 of the charging device 2, and power for charging a storage battery (not shown) of the security robot 4 from the contact terminal 21. Receive the supply. end

  For example, the power amount sensor 432 detects the amount of power stored in the storage battery (not shown) of the security robot 4 and outputs the power amount detection signal to the control unit 48.

(Input section)
The input unit 44 includes, for example, various function keys and the like, and outputs a pressing signal accompanying a user key operation to the control unit 48.

(Light receiving section)
The light receiving unit 45 includes, for example, a plurality of light receiving sensors 452 serving as a light receiving unit that receives the optical signal M emitted from the light emitting unit 22 of the charging device 2 along the entire side surface.
Specifically, the light receiving unit 45 is disposed, for example, on the upper surface of the main body 40 of the security robot 4. For example, a plurality of light receiving sensors disposed along the entire circumference of the protruding portion 451 and the protruding portion 451. 452 and the like.

The protruding portion 451 is formed in, for example, a cylindrical shape, and is provided so as to protrude from the upper surface of the main body portion 40 of the security robot 4, for example.
The shape of the protruding portion 451 is not limited to a columnar shape, but may be a substantially circular shape (for example, a columnar shape or a cylindrical shape) in a plan view, or a polygon shape (for example, a polygonal column shape or the like) It may be a polygonal cylinder or the like.

  For example, the light receiving sensor 452 receives the optical signal M emitted by the light emitting unit 22 of the charging device 2 and outputs the received light signal to the control unit 48.

Specifically, the plurality of light receiving sensors 452 are, for example, first light receiving sensors 452a serving as first light receiving units arranged at a predetermined interval along the entire side surface of the protruding portion 451, for example, The second light receiving means is arranged as a second light receiving means which is disposed at an equal interval from two adjacent first light receiving sensors 452a among the plurality of first light receiving sensors 452a on the side surface of the protruding portion 451 so as to face the traveling direction of the security robot 4. 2 light receiving sensor 452b.
Here, of the plurality of light receiving sensors 452, the second light receiving sensor 452b facing the front side in the traveling direction of the security robot 4 and the two first light receiving sensors 452a arranged on the left and right of the second light receiving sensor 452b are arranged. Hereinafter, it is referred to as “front side light receiving sensor (front side light receiving means) C”.
Note that the number of the first light receiving sensors 452a is not limited to six and may be arbitrary as long as it is plural.

(Timekeeping Department)
The timer 46 performs, for example, a given timing process according to the control signal input from the controller 48 and outputs time information to the controller 48.

(Memory part)
The memory unit 47 is configured by, for example, a nonvolatile memory or the like, and stores given information in accordance with a control signal input from the control unit 48.
Specifically, the memory unit 47 stores a determination result data table 47a as shown in FIG. 4, for example.

  The determination result data table 47a stores, for example, a determination result (described later) by the CPU 481 that has executed the determination program 483d as a storage unit.

(Control part)
For example, as shown in FIG. 4, the control unit 48 includes a CPU (Central Processing Unit) 481, a RAM (Random Access Memory) 482, a storage unit 483, and the like.

  The CPU 481 performs various control operations according to various processing programs for the security robot 4 stored in the storage unit 483, for example.

  The RAM 482 includes, for example, a program storage area for expanding a processing program executed by the CPU 481, a data storage area for storing input data, a processing result generated when the processing program is executed, and the like.

  The storage unit 483 includes, for example, a system program that can be executed by the security robot 4, various processing programs that can be executed by the system program, data that is used when these various processing programs are executed, and processing results that are arithmetically processed by the CPU 481. The data etc. are memorized. Note that the program is stored in the storage unit 483 in the form of a computer-readable program code.

  Specifically, the storage unit 483 stores, for example, a determination program 483a, a random travel control program 483b, an analysis program 483c, a determination program 483d, a rotation control program 483e, a straight travel control program 483f, and the like. is doing.

For example, the determination program 483a causes the CPU 481 to realize a function of determining whether or not a preset charging timing of the security robot 4 has come.
Specifically, for example, when the CPU 481 determines that the amount of power stored in the storage battery (not shown) of the security robot 4 has become a certain amount or less based on the power amount detection signal input from the power amount sensor 432. Then, it is determined that the charging timing of the security robot 4 has come.

For example, the random traveling control program 483b causes the CPU 481 to realize a function of controlling each part of the security robot 4 such as the traveling unit 41 in order to cause the security robot 4 to travel randomly.
Specifically, for example, the CPU 481 causes the security robot 4 to run at random when it is determined by the CPU 481 that has executed the determination program 483a that the charging timing of the security robot 4 is set in advance.

The analysis program 483c, for example, from the light receiving sensor 452 whenever the light receiving sensor 452 receives the optical signal M when it is determined by the CPU 481 that executes the determining program 483a that the charging timing of the security robot 4 is preset. The CPU 481 realizes a function of analyzing a code included in the optical signal M based on the received light reception signal.
Here, in order for the CPU 481 to analyze the code included in the optical signal M in one cycle, the at least one light receiving sensor 452 of the plurality of light receiving sensors 452 is interrupted from the start of light reception to the end of light reception. Instead, it is necessary to receive the optical signal M of the one cycle.

For example, when the light receiving sensor 452 starts to receive the optical signal M for one cycle emitted by the light emitting unit 22 of the charging device 2, the determination program 483d receives the light from the start of receiving the optical signal M for the one cycle. The light reception state of the optical signal M is determined for each of a plurality of (three) front-side light reception sensors 452 at a plurality of determination timings set in advance until the end, and the determination results are stored in the determination result data table 47a. The CPU 481 realizes the function to be stored.
Specifically, the plurality of determination timings set in advance from the start of light reception to the end of light reception for one cycle of the optical signal M are, for example, as shown in FIG. Assume that it is two times immediately after the start of light reception and immediately before the end of light reception of the optical signal M for one cycle.
Here, the light reception start of the optical signal M for one cycle is specified by receiving a custom code included in the optical signal M, for example.
In addition, the end of light reception of the optical signal M for one cycle takes into account the light emission time (for example, 108 milliseconds) from the start of light emission to the end of light emission of the optical signal M for one cycle. The time from the start of light reception of the optical signal M is determined by measuring the time by the timer 46.
The CPU 481 functions as a determination unit by executing the determination program 483d.

  For example, when the light signal M is received by the light receiving sensor 452, the rotation control program 483e is configured so that each part of the security robot 4 such as the traveling unit 41 is directed so that the traveling direction of the security robot 4 is directed in the direction in which the light signal M arrives. The CPU 481 has a function of rotating the security robot 4 so that the optical signal M is received by the plural (three) front-side light receiving sensors C among the plural (seven) light receiving sensors 452. make it happen.

  Specifically, for example, based on the analysis result by the CPU 481 that executes the analysis program 483c, the CPU 481 converts the optical signal M received by the light receiving sensor 452 into the optical signal M emitted by the light emitting unit 22 of the charging device 2. For example, as shown in FIG. 6, the security robot 4 is rotated so that the optical signal M is received by the three front-side reception sensors C.

  Further, for example, after rotating the security robot 4 so that the optical signal M is received by the three front-side reception sensors C, the rotation control program 483e is plural (twice) by the CPU 481 that executes the determination program 483d. For the front side light receiving sensor C determined to receive the optical signal M at at least one of the determination timings, it is determined that the optical signal M is received, while the determination program 483d is executed. The front side light receiving sensor C determined by the executed CPU 481 not to receive the optical signal M at all of the plurality (two times) of determination timings is determined as not receiving the optical signal M. Each part of the security robot 4 such as the traveling part 41 is controlled so that the optical signal M is received by the (three) front side light receiving sensors C. To, a function to rotate the security robot 4, to realize the CPU481.

Specifically, the CPU 481 transmits the optical signal M for the front-side light receiving sensor C that is determined to receive the optical signal M at all two determination timings, for example, by the CPU 481 that has executed the determination program 483d. Judge that it is receiving light.
Further, for example, as shown in FIG. 7, the CPU 481 executes the optical signal at one of the two determination timings by the CPU 481 that has executed the determination program 483 d regarding the reception of the optical signal M in one cycle. For the front side light receiving sensor C determined not to receive M (for example, the right side front side light receiving sensor C in FIG. 7), the determination program 483d regarding the reception of the optical signal M in the cycle immediately before the one cycle. If it is stored in the determination result data table 47a that the optical signal M is determined to be received at all of the two determination timings by the CPU 481 that executed the above, the optical signal M of the one cycle is received. Judge that it is.
For example, the CPU 481 receives at least one front-side light receiving sensor C among the three front-side light receiving sensors C at all the determination timings regarding the reception of the light signal M in one cycle. And the light signal M received by the at least one front side light receiving sensor C based on the analysis result by the CPU 481 that executed the analysis program 483c is In the case where it is determined that the light signal M is emitted by the light emitting unit 22, the remaining front-side reception sensor C among the three front-side light reception sensors C receives the optical signal M of the one cycle. If it is determined that the security robot 4 is, the security robot 4 is not rotated.

On the other hand, for example, as shown in FIG. 8, the CPU 481 does not receive the optical signal M at all of the two determination timings by the CPU 481 that has executed the determination program 483 d regarding the reception of the optical signal M in one cycle. For the determined front-side light receiving sensor C (for example, the right-side front-side light receiving sensor C in FIG. 8), the CPU 481 that has executed the determination program 483d for the light reception of the optical signal M in the period immediately before the one period performs twice. Even if the determination result data table 47a stores that the optical signal M is received at all the determination timings, the optical signal M having the one cycle is not received. to decide.
For example, the CPU 481 receives at least one front-side light receiving sensor C among the three front-side light receiving sensors C at all the determination timings regarding the reception of the light signal M in one cycle. And the light signal M received by the at least one front side light receiving sensor C based on the analysis result by the CPU 481 that executed the analysis program 483c is Even when it is determined that the optical signal M is emitted by the light emitting unit 22, the remaining front-side reception sensor C among the three front-side light reception sensors C receives the optical signal M of the one cycle. If it is determined that it is not, the security robot 4 is rotated so that the light signal M is received by the three front side light receiving sensors C.
The CPU 481 functions as a rotation control unit by executing the rotation control program 483e.

  The straight traveling control program 483f is, for example, the CPU 481 that has executed the rotation control program 483e rotates the security robot 4 so that the light signal M is received by the three front side light receiving sensors C, and then proceeds straight through the security robot 4. By running, the CPU 481 realizes the function of running the security robot 4 toward the charging device 2.

<Charging process>
Next, processing related to charging of the security robot 4 included in the self-propelled device guidance system 1 will be described with reference to the flowcharts of FIGS. 9 and 10.

  First, the CPU 481 of the security robot 4 executes the determination program 483a to determine whether or not the preset charging timing of the security robot 4 has been reached (step S11).

  If it is determined in step S11 that the preset timing for charging the security robot 4 is not reached (step S11; No), the CPU 481 repeats the processes in and after step S11.

  On the other hand, if it is determined in step S11 that the preset charging timing of the security robot 4 has been reached (step S11; Yes), the random travel control program 483b is executed to cause the security robot 4 to travel randomly (step S12). Then, the analysis program 483c is executed to determine whether or not the light signal M emitted from the light emitting unit 22 of the charging device 2 is received by the light receiving sensor 452 (step S13).

  If it is determined in step S13 that the light signal M emitted from the light emitting unit 22 of the charging device 2 is not received by the light receiving sensor 452 (step S13; No), the CPU 481 repeats the processes in and after step S12.

  On the other hand, if it is determined in step S13 that the light signal M emitted from the light emitting unit 22 of the charging device 2 is received by the light receiving sensor 452 (step S13; Yes), the CPU 481 executes the rotation control program 483e to execute 3 The security robot 4 is rotated so that the optical signal M is received by the two front side light receiving sensors C (step S14), and the straight traveling control program 483f is executed to cause the security robot 4 to travel straight (step S15).

  Next, the CPU 481 determines whether or not the front-side light receiving sensor C has started to receive the optical signal M with one cycle (step S16).

If it is determined in step S16 that the front-side light receiving sensor C has not started receiving the light signal M with one cycle (step S16; No), the CPU 481 repeats the processing from step S13.
Here, for example, the CPU 481 uses the front-side light emitting sensor C for one period of the optical signal for a period equivalent to the light emission time (for example, 108 milliseconds) from the light emission start to the light emission end of the light signal M for one period. If it is determined repeatedly whether or not the light reception of M has been started, and if it is not determined during the period that the light reception of the optical signal M of one cycle has been started by the front side light reception sensor C, step S13 The subsequent processing is repeated.

  On the other hand, if it is determined in step S16 that the front side light receiving sensor C has started receiving the light signal M of one cycle (step S16; Yes), the CPU 481 executes the determination program 483d to receive the light signal M. The state is determined, and the determination result is stored in the determination result data table 47a (step S17).

Next, the CPU 481 executes the analysis program 483c, analyzes the optical signal M having one cycle in which light reception is started in step S16, and the light signal M is emitted by the light emitting unit 22 of the charging device 2. It is determined whether or not the signal is M (step S18).
Here, the case where it is determined that the signal is not the light signal M emitted by the light emitting unit 22 of the charging device 2 is, for example, received by one or all of the front side light receiving sensors C of the three front side light receiving sensors C. When the code included in the optical signal M is analyzed and it is determined that the optical signal M is not emitted by the light emitting unit 22, all the front-side light-receiving sensors among the three front-side light-receiving sensors C due to the influence of noise or the like One of the cases where the reception of the optical signal M by C fails and the code included in the optical signal M cannot be analyzed.

  If it is determined in step S18 that the light signal M is not emitted by the light emitting unit 22 of the charging device 2 (step S18; No), the CPU 481 repeats the processing from step S12.

  On the other hand, if it is determined in step S18 that the light signal M is emitted from the light emitting unit 22 of the charging device 2 (step S18; Yes), the CPU 481 determines that all of the three front side light receiving sensors C are in step S17. The front side light receiving sensor C determines whether or not it is determined that the light signal M is received at all the determination timings of the two determination timings (step S19).

  In step S19, in step S17, it is determined that all the front light receiving sensors C among the three front light receiving sensors C are receiving the optical signal M at all the determination timings of the two determination timings. If it is determined that it has been performed (step S19; Yes), the CPU 481 proceeds to the process of step S23.

  On the other hand, in step S19, in step S17, all the front light receiving sensors C of the three front light receiving sensors C receive the optical signal M at all the determination timings of the two determination timings. If it is determined that it is not determined (step S19; No), the CPU 481 determines in step S17 that the optical signal is not received at all the determination timings of the two determination timings. It is determined whether or not C is present (step S20).

  In step S20, if it is determined in step S17 that there is a front side light receiving sensor C that is determined not to receive an optical signal at all the determination timings of the two determination timings (step S20; Yes), the CPU 481. Repeats the processing after step S14.

  On the other hand, if it is determined in step S20 that there is no front side light receiving sensor C determined not to receive the optical signal at all the determination timings in the two determination timings (step S20; No). The CPU 481 immediately before the one cycle for the front-side light receiving sensor C determined not to receive the optical signal M at one of the two determination timings in step S17. A determination result relating to light reception of the optical signal M of the period is acquired from the determination result data table 47a (step S21), and the acquired determination result is the optical signal M at all the determination timings of the two determination timings. It is determined whether or not the determination result is determined to be received (step S22).

  If it is determined in step S22 that the acquired determination result is not a determination result determined that the optical signal M is received at all the determination timings of the two determination timings (step S22; No). The CPU 481 repeats the processes after step S14.

  On the other hand, if it is determined in step S22 that the acquired determination result is a determination result determined that the optical signal M is received at all the determination timings of the two determination timings (step S22; Yes), the CPU 481 executes the straight traveling control program 483f to cause the security robot 4 to travel straight (step S23), and whether the terminal 431 contacts the contact terminal 21 of the charging device 2 electrically or by a switch. It is determined whether or not (step S24).

  If it is determined in step S24 that the terminal 431 has come into contact with the contact terminal 21 of the charging device 2 (step S24; Yes), the CPU 481 ends this process.

  On the other hand, if it is determined in step S24 that the terminal 431 is not in contact with the contact terminal 21 of the charging device 2 (step S24; No), the CPU 481 repeats the processing from step S13.

According to the self-propelled device guidance system 1 of the present invention described above, the security robot 4 autonomously running on the floor F in the predetermined room R, and the optical signal M for guiding the security robot 4 are emitted. And a charging device 2 that supplies power to the security robot 4 for charging.
The charging device 2 is detachably attachable to the security robot 4 and includes a contact terminal 21 that supplies power for charging the security robot 4 when the security robot 4 is attached. Can be emitted at a constant cycle.
In addition, the security robot 4 is in contact with the contact terminal 21 and receives a power supply 431 for charging from the contact terminal 21 and a first light receiving sensor 452a that receives the light signal M emitted from the light emitting unit 22. Are arranged at predetermined intervals along the entire circumference of the side surface, and the second light receiving sensor 452b that receives the light signal M emitted by the light emitting unit 22 faces the traveling direction of the security robot and the plurality of first light receiving sensors 452a. Light receiving units 45 arranged at equal intervals from two adjacent first light receiving sensors 452a, and the CPU 481 that executes the rotation control program 483e performs first light receiving sensor 452a and / or second light receiving. When the optical signal M is received by the sensor 452b, the second light receiving sensor 452b and the left and right of the second light receiving sensor 452b The security robot 4 can be rotated so that the optical signal M is received by the two first light receiving sensors 452a and the three front light receiving sensors C, and the CPU 481 that executes the determination program 483d When light reception of the light signal M for one cycle emitted by the light emitting unit 22 by the front side light receiving sensor C is started, immediately after the start of light reception of the light signal M for one cycle and the light signal M for one cycle. The light reception state of the optical signal M can be determined for each of the three front-side light reception sensors C at two determination timings immediately before the end of light reception, and the determination by the CPU 481 that has executed the determination program 483d is performed based on the determination result data table 47a. The result can be stored, and further, the CPU 481 that has executed the rotation control program 483e has one cycle. For the front side light receiving sensor C that is determined not to receive the optical signal M at any one of the two determination timings by the CPU 481 that has executed the determination program 483d regarding the light reception of the signal M, It is stored in the determination result data table 47a that the CPU 481 executing the determination program 483d determines that the optical signal M is received at all two determination timings with respect to the reception of the optical signal M in the period immediately before the period. If it is, it can be determined that the optical signal M having the one cycle is received.
That is, even if there is an interruption in light reception by the front-side light receiving sensor C from the start of light reception of the optical signal M in one cycle to the end of light reception, from the start of light reception of the optical signal M in one cycle to the end of light reception. It is a case where it is determined that the optical signal M is received by the front side light receiving sensor C in a part of the period from the start of light reception of the optical signal M in the cycle immediately before the one cycle to the end of light reception. If there is no interruption in the light reception by the front side light receiving sensor C, the front side light receiving sensor C is judged to receive the optical signal M, so that it is suppressed from performing a sensitive correction operation. As a result, the security robot 4 can be efficiently guided to the charging device 2.

  The front side light receiving sensor C includes three light receiving sensors 452 including a second light receiving sensor 452b and two first light receiving sensors 452a arranged on the left and right sides of the second light receiving sensor 452b. Since the optical signal M emitted from the charging device 2 can be reliably received, the security robot 4 can be reliably guided to the charging device 2.

  The determination timing is two times, immediately after the start of light reception of the optical signal M for one cycle and immediately before the end of light reception of the optical signal M for one cycle. It can be done accurately.

  The present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the gist thereof.

The self-propelled device is not limited to the security robot 4 and may be any device that can autonomously travel.
Moreover, the light-emitting device is not limited to the charging device 2 and may be any device as long as it is a device for guiding a self-propelled device.

  The light receiving sensor 452 constituting the front side light receiving sensor C is not limited to the three light receiving sensors 452 including the second light receiving sensor 452b and the two first light receiving sensors 452a arranged on the left and right sides of the second light receiving sensor 452b. The plurality of light receiving sensors 452 facing the front side in the traveling direction of the security robot 4 are arbitrary.

The determination timing is not limited to two times immediately after the start of light reception of the optical signal M for one cycle and immediately before the end of light reception of the optical signal M for one cycle, but at least immediately after the start of light reception of the optical signal M for one cycle. And immediately before the end of light reception of the optical signal M for one cycle is optional.
Here, when the determination timing is three times or more, the CPU 481 that has executed the rotation control program 483e determines a part of the determination timings among a plurality of (three or more) determination timings regarding the reception of the optical signal M in one cycle. With respect to the front side light receiving sensor C that is determined not to receive the optical signal M, the light reception of the optical signal M in the period immediately before the one period is all in a plurality of (three or more) determination timings. When it is determined that the optical signal M is received in the determination result data table 47a, it is determined that the optical signal M having the one cycle is received.

  Furthermore, the determination timing does not need to include immediately after the start of light reception of the optical signal M for one cycle and immediately before the end of light reception of the optical signal M for one cycle, but from the start of light reception of the optical signal M for one cycle. Any timing may be used as long as it is a plurality of timings until the end of light reception.

The CPU 481 determines that the optical signal M is not received at some (one of) determination timings among a plurality of (two times) determination timings regarding the reception of the optical signal M in one cycle. Regarding the light receiving sensor C, it is determined in the determination result data table 47a that it is determined that the optical signal M is received at all of a plurality of (two times) determination timings regarding the reception of the optical signal M in the period immediately before the one period. In the case of being stored, it is determined that the optical signal M of the one cycle is received, but a plurality of determinations are performed regardless of the reception of the optical signal M of the cycle immediately before the one cycle. The front-side light receiving sensor C that is determined to receive the optical signal M at at least one of the timings may be determined to receive the optical signal M.
In this case, the determination result regarding the reception of the optical signal M in the cycle immediately before the one cycle is not necessary, and therefore the security robot 4 does not need to include the determination result data table 47a.

  When the security robot 4 is rotated so that the traveling direction of the security robot 4 is directed in the direction in which the optical signal M arrives, the optical signal M is rotated by the three front side light receiving sensors C. Instead, the light signal M may be rotated so that the light signal M is received by two or three of the three front side light receiving sensors C.

It is a top view which shows the structure of the self-propelled apparatus guidance system in this invention. It is a perspective view of the charging device in the present invention. It is a perspective view of the security robot in the present invention. It is a block diagram which shows the functional structure of the security robot in this invention. It is a figure for demonstrating the optical signal for one period, and the determination timing. It is a figure for demonstrating the method of rotation of the security robot in this invention. It is a figure which shows an example when it is judged that the signal of one period is received. It is a figure which shows an example when it is judged that the signal of one period is not received. It is a flowchart for demonstrating the 1st process regarding charge of the security robot with which the self-propelled apparatus guidance system in the present invention is provided. It is a flowchart for demonstrating the 2nd process regarding charge of the security robot with which the self-propelled apparatus guidance system in this invention is provided.

Explanation of symbols

1 Self-propelled device guidance system 2 Charging device (light emitting device)
4 Security robot (self-propelled device)
21 Contact terminal 22 Light emitting part (light emitting means)
45 Light-receiving part 47a Judgment result data table (storage means)
431 Terminal 452a First light receiving sensor (light receiving means, first light receiving means)
452b Second light receiving sensor (light receiving means, second light receiving means)
481 CPU (rotation control means, determination means)
482d determination program (determination means)
483e Rotation control program (rotation control means)
C Front side light receiving sensor (front side light receiving means)
R Indoor F Floor

Claims (4)

A self-propelled device that autonomously travels on a predetermined floor surface, and a charging device that emits an optical signal for guiding the self-propelled device and supplies electric power for charging to the self-propelled device. In the self-propelled device guidance system provided,
The charging device is:
The self-propelled device is detachable, and when the self-propelled device is attached, a contact terminal that supplies power for the charging to the self-propelled device;
A light emitting means for emitting the optical signal at a constant period,
The self-propelled device is
A terminal that is in contact with the contact terminal and receives supply of power for the charging from the contact terminal;
A plurality of first light receiving means for receiving the optical signal emitted by the light emitting means are arranged at predetermined intervals along the entire circumference of the side surface, and a second light receiving means for receiving the optical signal emitted by the light emitting means. A light-receiving unit that is directed at the traveling direction of the self-propelled device and is arranged at equal intervals from two adjacent first light-receiving units of the plurality of first light-receiving units;
When the optical signal is received by the first light receiving means and / or the second light receiving means, the second light receiving means and the two first light receiving means arranged on the left and right of the second light receiving means, Rotation control means for rotating the self-propelled device so that the optical signal is received by the three front side light receiving means,
When light reception of one period of light signal emitted by the light emitting means is started by the front side light receiving means, immediately after the start of light reception of the light signal for one period and immediately before the end of light reception of the light signal for one period Determining means for determining the light receiving state of the optical signal for each of the three front side light receiving means at the two determination timings;
Storage means for storing the determination result by the determination means,
The rotation control unit is configured to determine that the optical signal is not received at any one of the two determination timings by the determination unit with respect to reception of the optical signal in one cycle. For the side light receiving means, the storage means determines that the light signal is received by the determination means at all the two determination timings with respect to light reception of the optical signal in the cycle immediately before the one cycle. If stored, the self-propelled device guidance system determines that the optical signal having the one cycle is received. In a self-propelled device guidance system comprising a self-propelled device that autonomously travels on a predetermined floor and a light emitting device that emits an optical signal for guiding the self-propelled device,
The light emitting device
A light emitting means for emitting the optical signal at a constant period;
The self-propelled device is
A plurality of light receiving means for receiving the light signal emitted by the light emitting means, and a plurality of light receiving parts disposed along the entire side surface;
When the light signal is received by the light receiving means, the optical signal is received by a plurality of front side light receiving means facing the front side of the traveling direction of the self-propelled device among the plurality of light receiving means. Rotation control means for rotating the self-propelled device;
When light reception of the light signal for one cycle emitted by the light emitting device is started by the light receiving device, a plurality of determination timings set in advance between the start of light reception of the light signal for one cycle and the end of light reception And determining means for determining the light receiving state of the optical signal for each of the plurality of front side light receiving means,
The rotation control means receives the optical signal for the front side light receiving means that is determined by the determination means to receive the optical signal at at least one of the plurality of determination timings. A self-propelled device guidance system characterized by judging that In the self-propelled device guidance system according to claim 2,
A plurality of the light receiving means, a plurality of first light receiving means arranged at predetermined intervals along the entire side surface of the light receiving portion, and a plurality of the light receiving portions facing the traveling direction of the self-propelled device and on the side surface of the light receiving portion. Second light receiving means arranged at equal intervals from two adjacent first light receiving means of the first light receiving means,
The plurality of front side light receiving means are the second light receiving means and the two first light receiving means arranged on the left and right sides of the second light receiving means. In the self-propelled device guidance system according to claim 2 or 3,
The self-propelled device guidance system, wherein the determination timing includes immediately after the start of light reception of the optical signal for one period and immediately before the end of light reception of the optical signal for the one period.

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