JP2007004434A - Mobile robot system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mobile robot system having high return capability to home position without using a reflective tape, etc. <P>SOLUTION: Mobile path information of the combinations of moving straightforward, backward, and turning left and right by 90 degrees is given in advance to a wheel robot 1. When one of users 200 of fixed position transmits position information to a station PC 102 using a radio communication means, a corresponding predetermined path is instructed to the robot 1, and the robot 1 moves along the above path to the vicinity of the user 200. As a return path, a motion reverse to the motion in the forward path is instructed to the robot 1, so as to return to the fixed position in the station 100. In this case, by moving on the return path with the reverse motion to the forward path, highly accurate return to home position becomes possible. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a mobile robot system having a function of automatically conveying articles and the like.

  Conventionally, in a mobile robot system that moves unattended on a flat road surface such as a factory, route display means such as a reflective tape and a marker indicating the route is arranged on the floor surface, and these are sensors attached to the mobile robot. It is common for a mobile robot to move while detecting and confirming the route.

  As a method that does not use the route display means, there is known a technology for confirming a moving route using an image recognition technology using a camera. Regarding this technique, for example, the technique described in Patent Document 1 is known.

  In addition, since a mobile robot generally operates using a battery as a power source, a mechanism for supplying power to the battery is required. In order to enhance the practicality of the mobile robot, a technique is required that automatically supplies power to the battery. In this case, when the electromotive force of the battery of the mobile robot decreases, the mobile robot automatically moves to the power supply position so that charging is automatically performed by the power supply means, and the power receiving terminal is further connected to the power supply terminal of the power supply device. It is desirable to have a system that can be connected to the PC and automatically receive power.

  In this regard, a technique is generally performed in which a marker or the like is arranged on the floor near the power feeding position and control is performed to detect the robot posture by an origin sensor.

Japanese Patent Laid-Open No. 2004-216552

  However, in existing offices and stores, the installation of guidance means such as sticking reflective tape to the floor is not desirable from the viewpoint of aesthetic problems and inability to handle carpeted floors. Is not suitable for use in mobile robots.

  Also, the conventional automatic power feeding method for a mobile robot using a battery as a power source requires a complicated algorithm using an origin sensor from the positioning of the robot to the power feeding position to the start of power feeding until the operation is completed. Is not practical because it takes a lot of time.

  If image recognition technology is used, these problems can be solved, but a more complicated and expensive mechanism is required both in terms of hardware and software, and it is preferable from the viewpoint of spreading at low cost. Absent.

  On the other hand, mobile robots that move autonomously and are equipped with an automatic charging function are being considered for use in fire detection applications and security applications that detect the intrusion of suspicious individuals. It was a problem in practical use.

  The present invention is a mobile robot system that can move autonomously, and is configured to be realized at low cost, but can accurately move on a set route without using a reflective tape on the floor, An object is to provide a technique capable of performing an automatic power feeding operation. An object of the present invention is to solve the above-mentioned conventional problems and to provide a robot system that can be easily installed in an existing office or store and can be operated efficiently.

  The mobile robot system of the present invention is a robot system including a mobile robot having a function of reciprocating a predetermined route, and the mobile robot includes: (1) a mobile device that moves by rotating in a straight line and stopping; (2) a control device for performing the movement of the route in the return path by an operation reverse to the operation in the outward route; and (3) a storage device storing the information of the route and the control logic of the control performed by the control device; It is characterized by providing.

  According to the above invention, the movement of the mobile robot is performed by a combination of straight movement and direction change by rotation (turning) after stopping. In other words, the movement is performed by a combination of operations such as going straight ahead, then stopping, rotating direction change in this stopped state, and further going straight if necessary.

  By adopting such a movement form, it is possible to obtain a mobile robot system with high origin return accuracy without using special sensing means, coupled with the movement of the return path by the reverse movement with respect to the movement of the forward path described later. it can.

  If you do not perform movement control using image recognition technology for images taken by cameras or technology that recognizes markers with sensors, it is a technically important issue how to accurately grasp your own movement route It becomes. As a method of answering this problem without using an expensive azimuth detection sensor or the like, the present invention employs movement control that combines the above-described straight travel and stop rotation.

  A technique for maintaining accurate straight travel can be easily realized at each stage as compared with a technique for accurately tracing a predetermined curved path. The control of the rotation angle in the rotation after stopping is the same. For this reason, by moving by this combination, it is possible to pursue a trace to a set path with higher accuracy while using a technique as low as possible.

  In the present invention, when the route is reciprocated, the return (return) movement is performed by the reverse operation of the outward movement. By adopting this reverse operation, it is possible to realize accurate return to origin in the reciprocating movement of a predetermined route.

  The reverse operation of the forward movement on the return path means that the direction of the mobile robot during the movement on the forward path is maintained as it is on the return path, and the movement of the mobile device is a completely reverse movement. For example, an operation observed when a captured moving image is reproduced in the reverse rotation corresponds to the reverse operation in the present invention.

  For example, when a human makes a round trip along a predetermined route, the body is usually moved 180 degrees at the end of the forward path and moved in the return path. When the basic operation is to move the front of the body in the moving direction, such an operation is inevitably performed. However, this is not the reverse operation.

  Hereinafter, the superiority of this reverse operation will be described. According to the knowledge of the present inventor, in the case of autonomous movement that does not use image processing or position control by detecting a marker, the forward end point is rotated by 180 degrees, that is, the traveling direction is rotated by 180 degrees, and the backward traveling direction is A slight rotation error that occurs when the direction of front is changed causes a deviation in the azimuth of the return path, which is a major factor that causes a mismatch between the forward path and the return path.

  That is, with the 180 degree rotation described above, the deviation from the forward path due to a slight azimuth shift occurring at the forward path end point (return path start point) gradually increases as the return path is moved. go. In particular, when the path is bent in a complicated manner, the degree becomes remarkable.

  When the present invention is adopted, first, since the operation for changing the direction by 180 degrees is not performed at the end point of the forward path, the slight deviation of the direction that occurs when the direction is changed by 180 degrees does not occur. Further, in the backward movement due to the reverse operation, the azimuth shift during the straight movement that occurs in the forward path becomes a reverse shift and is canceled. For this reason, the deviation of the origin return position when returning to the starting point can be reduced.

  Hereinafter, a mechanism for canceling the deviation will be described with a specific example. For example, consider a case where a mobile robot having left and right wheels + auxiliary wheels goes straight, rotates 90 degrees clockwise as viewed from above, and reciprocates along a straight path.

  At this time, it is assumed that the wear state of the right wheel is slightly advanced with respect to the left wheel. In this case, due to the difference in the wear state, a deviation from the ideal movement path occurs slightly in the right direction from the traveling direction when traveling straight. In the movement due to the reverse movement on the return path, the movement proceeds backward, and the roles of the left and right wheels are reversed, so that a slight deviation in the left direction of the traveling direction occurs, and the deviation is offset between the going and returning directions. As a result, the deviation from the ideal route during straight traveling is canceled out in the reciprocating movement.

  Thus, even if there is a shift in the left-right direction during straight travel for some reason, the influence can be canceled by moving the return path by the reverse operation of the forward path.

  As described above, in the present invention, the deviation from the set route in the reciprocating movement of the predetermined route can hardly occur in principle even if control for correcting the deviation is not performed. Therefore, it is possible to realize a mobile robot having an excellent function of accurately returning to the starting point by using hardware that can be manufactured at low cost and a control program that is simple and requires less capacity.

  In particular, in an autonomous movement system that does not use image information or marker information, when a low-cost device is used as the moving device, deviation during movement is apt to occur, but the reverse operation in the above-described movement in the backward path is adopted. Thus, this deviation can be canceled, thereby obtaining a mobile robot system that achieves both low cost and a function capable of accurately performing the origin return.

  In the present invention, it is preferable to set a predetermined angle such as 90 degrees or 45 degrees in advance for rotation after stopping. By doing so, angle control during rotation can be performed more easily and more accurately. Of course, any angle can be set.

  In the present invention, examples of the moving device of the mobile robot include a device using wheels, a device using an endless track, and a combination of both. Among these, a moving device using wheels is preferable because it is low-cost and easy to control.

  In the present invention, it is preferable that a plurality of predetermined routes are set, and the mobile robot further includes a receiving device that receives a routing signal that specifies any of the set routes. According to this aspect, it is possible to designate a predetermined route from among the plurality of routes that have been set and cause the mobile robot to perform autonomous reciprocal movement of the route.

  As a remote control technology that can be used for this technology, it is possible to use an infrared remote control technology used in home appliances such as a television, or an infrared communication technology installed in some mobile phones. The ability to employ such a widely used remote control technology is useful in pursuing low costs.

  In the present invention, the mobile robot further includes a station having a charging function for the mobile robot, and the mobile robot is provided with a protruding power receiving portion having a tapered structure or a reverse shape of the protruding shape, and the station. It is preferable that the power supply unit having the concave shape or the protruding shape is disposed.

  According to this aspect, for example, when the protruding shape part on the mobile robot side approaches the concave shape part on the station side, even if the relative positions of the two are slightly different, the complementary mutual shapes become physical guides. , Can help the combination of both.

  When the present invention is adopted, the origin can be returned with high accuracy. Therefore, when the mobile robot reciprocates along a predetermined route and returns to the station by combining the above-described contact structure for power feeding, it is autonomous. It is possible to realize automatic transition to a charged state by movement with high practicality. In addition, the arrangement | positioning relationship of a protrusion shape part and a concave shape part should just set the other to the mobile robot side, when the other is set to the station side and the other is set to the station side.

  In the configuration including the station, the round trip of the predetermined route starts from (1) the state coupled to the station, (2) ends in the state coupled to the station, and (3) in the coupled state, It is preferable to charge the battery built in the mobile robot.

  According to this aspect, the mobile robot can be automatically charged in a standby state other than the reciprocating movement of the predetermined route. Thereby, the mobile robot can always be in a fully charged state, and operation failure due to running out of battery can be avoided.

  In the present invention, the mobile robot includes one or more types of sensor devices selected from a temperature detection device, a smoke detection device, an object detection device, a light detection device, and a sound detection device, and an output signal or an output signal of the sensor device. It is preferable to further include transmission means for transmitting the responded signal to the outside. According to this aspect, the system using the present invention can be used for security purposes for monitoring fires, intruders, accidents, and the like.

  According to the present invention, it is possible to provide a robot system that solves the above-described problems of the prior art and that can be easily introduced and efficiently operated in existing offices and stores. Further, according to the present invention, in a mobile robot system capable of autonomous movement, it is possible to accurately move on a set route without using a reflective tape or the like on the floor, although the configuration can be realized at low cost. It is possible to provide a technology excellent in the origin return function.

  In addition, according to the present invention, a technique capable of performing an automatic power feeding operation to a mobile robot is provided. In addition, the present invention can be realized by a simple configuration that does not require image processing or complicated servo control, and thus has an advantage of high reliability and low maintenance cost.

1. First Embodiment (1) Configuration of Embodiment FIG. 1 is a schematic diagram showing a robot system using the present invention. In the configuration shown in FIG. 1, the station PC 102 is a normal personal computer, and a control algorithm program to be described later is installed. The station PC 102 is connected to the wireless communication device 102b and can perform communication using an appropriate communication form (for example, an existing communication form using radio waves or infrared rays). In this example, the wireless communication device 102 b has a function of performing wireless communication using a high frequency with the user 200 and performing communication using infrared rays to the robot 1.

  The station PC 102 is used when setting (storing) a predetermined movement route for the robot 1. As a method of setting the movement route, there is a method of inputting a forward traveling sequence such as going straight ahead for a predetermined distance → rotating a predetermined angle in a predetermined turning direction → going straight for a predetermined distance →. This setting content is sent from the station PC 102 to the robot 1 and stored in a storage device in the robot 1 (memory in the control unit 8 described later).

  Hereinafter, an example of the robot 1 will be described. FIG. 2 is a schematic diagram showing an example of the appearance of the robot 1. FIG. 3 is a block diagram showing the internal configuration of the robot. As shown in FIG. 2, the robot 1 is a wheel-type box-type mobile robot having an article transport unit 16 for mounting a tea set or the like on the top thereof.

  As shown in FIG. 3, the robot 1 includes a drive system that rotates the shaft 3 of the drive wheel 2 by a motor 5 via a gear reducer 4 at a symmetrical position at the lower part of the main body. The left and right drive wheels 2 are independently driven by the electric motor 5. The movement of each electric motor 5 is individually controlled by two drivers 7 that operate based on a control signal from a control device 8 incorporating a microcomputer.

  In this configuration, the forward / backward / left / right turn is enabled by changing the rotational speed and the rotational direction of the left / right drive wheels 2. In addition, this robot 1 has auxiliary wheels 6 such as a free caster in order to move stably.

  This robot 1 has a non-contact type obstacle detection means 12 such as a photoelectric touch sensor on the front surface, and temporarily stops when an obstacle ahead of a certain distance is detected during forward movement, and the obstacle disappears. The rearward movement can be continued. In addition, an activation unit 10 for instructing the operation start of the robot 1 and a fire detection sensor 15 for detecting a fire are provided. Although not shown in the drawings, in the event of a fire, the fire detection sensor 15 is equipped with a mechanism that detects a fire and issues an alarm.

  The control device 8 includes a CPU, a memory, a timer, and an interface. The CPU executes an operation algorithm of the robot 1 described later, and further controls various operations of the robot 1. The memory stores a program for executing an operation algorithm, which will be described later, various data necessary for executing the operation algorithm, and data of a set movement route. In addition, this memory stores temporary data in various calculations. The timer is used in control when shifting to the charged state. The interface has a function of transmitting communication data sent from the wireless communication device 1 b to the CPU and sending an instruction signal from the CPU to the driver 7.

  The movement along the set route is performed by a combination of straight advance and stop rotation (turning). At this time, the left and right drive wheels 2 are rotated at the same time so as to go straight, and the control device 8 counts the number of rotations (total rotation angle), thereby recognizing the moving distance during straight travel. Further, the left and right drive wheels 2 are rotated in the reverse direction. At this time, the control device 8 recognizes the rotational direction from the relationship of reverse rotation of the left and right drive wheels 2 and recognizes the rotated angle from the reverse rotation speed (total rotation angle).

  The robot 1 has a built-in battery 9 as a power source and a power source for the control device. Moreover, the power receiving part provided with the power receiving terminal 12 utilized when charging this battery 9 is provided. Corresponding to the power receiving terminal 12 on the robot 1 side, a power feeding terminal 113 is arranged in the station 100. The station 100 is provided with a power supply device 109 for charging the battery 9.

  FIG. 4 is a perspective view showing the external appearance of the power receiving unit and the station power feeding unit of the robot 1. As shown in FIG. 4, a cut-out guide portion 11 having an isosceles trapezoidal cross section is disposed at the rear portion of the robot 1. A power receiving terminal 13 is arranged inside the notched guide portion 11 (inside the concave shape).

  On the other hand, a protruding guide 111 having a shape (reverse shape) for receiving the guide 11 is disposed at the end of the station 100, and a power supply terminal 113 is disposed in a position corresponding to the power receiving terminal 13. Has been.

  According to this structure, if the notch-shaped guide portion 11 of the robot 1 is in a range in contact with the protruding guide portion 111 of the station 100, the guide portion 11 of the robot 1 is pressed against the station 100 side to The guide part 111 is guided and guided in contact with the notch guide part 11, and the power receiving terminal 13 and the corresponding power supply terminal 113 can be brought into contact with each other with certainty. In this way, it is possible to quickly return to the origin and automatically supply power to the robot 1 after reciprocating along a predetermined route.

  In the initial state of the robot 1, the guide unit 11 of the robot 1 and the guide unit 111 on the station 100 side are accurately fitted, and the reciprocating movement of the robot 1 along a predetermined route is started from this state.

  When the present invention is used, the robot 1 is moved backward by the reverse operation without changing the direction at the same speed as the forwardly moved route. Therefore, when returning to the station 100, the positioning error in the vicinity of the fixed position is detected. Can be minimized. For this reason, by determining the width of the guide portion so that this error falls within the range of the width of the guide portion, the automatic power feeding can be easily realized.

(2) Operation of Embodiment Here, an outline of the operation will be described by taking as an example a case where a mobile robot transports a drink (tea) to a user and performs a service. First, any of a plurality of users 200 sends information regarding the name and quantity of an article requested to the station PC 102 by using wireless transmission means 200a such as an infrared remote controller together with information (for example, a table number) indicating the position of the user. Send to.

  The station PC 102 receives this signal by the wireless communication device 102 a, captures it inside, and further displays the content on the display unit (display) 103. The operator 101 looks at this display and places the requested article (for example, tea) manually or automatically on the robot 1 at a fixed position in the station 100, and further operates the station PC to move the robot 1 to a predetermined position. Instruct the route. This instruction is sent from the wireless communication device 102b of the station PC 102 to the wireless communication device 1b of the robot.

  Then, the operator 101 presses the activation means 10 such as a push button switch attached on the robot 1 and starts conveying the article. This conveyance is performed according to the designated route, and the robot 1 stops in the vicinity of the user 200 (the end point of the outward route).

  The user 200 receives the article mounted on the robot 1 and then presses the activation unit 10. As a result, the robot 1 moves backward on the designated route by a reverse operation, and automatically returns to a fixed position in the station 100. In this return path, the robot 1 moves so as to move backward in the forward path. In this way, the provision service of the ordered goods with respect to the user 200 can be performed.

  Hereinafter, an example of a control algorithm in the station PC 102 in the above-described operation will be described. FIG. 5 is a flowchart showing an example of the control procedure of the station PC. The station PC 102 first initializes the system in step S101, and then waits for the generation of a user request by wireless communication using an infrared remote controller or the like in step S102.

  When the user data is received, the determination in step S102 is YES, and the process proceeds to step S103, where the user identification number, the code indicating the requested article, and the number information are acquired. In step S104, the information is displayed on the display unit 103 of the station PC.

  Next, in step 105, it is determined whether or not the robot 1 is already conveying an article. This determination is made based on whether or not the robot 1 is in a fixed position in the station 100 (that is, whether or not the robot 1 is being charged or is in a state where charging is possible). If the robot 1 is in a fixed position, the process proceeds to step S106, and if not, the determination in step S105 is repeated.

  If the robot 1 is at a fixed position, the operator 101 mounts the requested article on the upper part of the robot 1 based on the screen information on the display unit 103 (step S106). At this time, the article may be automatically mounted using an arm robot (not shown).

  When the requested article is mounted on the robot 1, the process proceeds to step S107, and the user identification number is sent to the robot 1 using the wireless communication means 102a. Thereafter, the process returns to step 102 and waits for the next request.

  Next, an example of a robot control algorithm will be described. FIG. 6 is a flowchart showing a control procedure of the moving operation of the robot. First, after the system is initialized in step S10, it is determined in step S11 whether or not the robot is in a fixed position. This determination is made by contact sensors 14b (rear left side) and 14a (rear right side) installed on the left and right sides of the rear part of the robot.

  If the user ID is in a fixed position, the wireless communication means waits for transmission of the user identification number from the station PC 102 in step 12, and when the user identification number is acquired, in step 13, route information corresponding to the preset user identification number is set. To do. If the user identification number cannot be acquired, the determination in step S12 is repeated.

  When the route setting process in step S13 is completed, in step S14, the process waits for the activation button switch 10 installed on the upper part of the robot 1 to be pressed. When the activation command is received, in step S15, it automatically moves based on the set route information, conveys the article to a predetermined position near the user who requested it, and stops. When the user takes out the article and the start button switch 10 is pressed, the determination in step S16 is YES, and the robot 1 moves in the opposite direction to S15 in step S17 and moves so as to move backward along the same path as the forward path. And return to the vicinity of the fixed position in the station 100. Thereafter, the operation proceeds to the origin return mode (step S18).

  In the origin return mode, the notch-shaped guide portion 11 whose cross section of the rear portion of the robot 1 shown in FIG. 4 is an isosceles trapezoid is formed on the protrusion-shaped guide portion 111 of the station 100 having the opposite shape and the same height. Make contact. At this time, by performing the control described later, the power receiving terminal 13 can be coupled to the power feeding terminal 113 so that automatic power feeding can be reliably performed.

  FIG. 7 is a flowchart showing the control procedure shown in step S18 performed in the origin return mode. In the origin return mode of step S18, first, in step S20, it is checked whether a fixed time has elapsed using a timer built in the control device 8. If the elapsed time is within the fixed time, the process proceeds to step 21 and the fixed time is reached. If it has elapsed, since the return operation has not been completed within the predetermined time, it is determined that there is an error, and the process proceeds to the abnormal end step (step S27). In step S27, for example, an alarm is issued to notify that automatic recovery could not be achieved.

  On the other hand, when the process proceeds to step S21, the states of the left and right contact sensors 14b and 14a are examined to determine whether at least one is ON. If neither of the contact switches 14a or 14b is ON, the left and right drive wheels are moved back at the same speed (step S22), and the process returns to the previous stage of step S20.

  If either the left or right contact sensor 14b or 14a is ON, the process proceeds to step S23. If only the right sensor 14a is ON, the speed of the left driving wheel is slightly increased from the right side in step 24. Then, the robot 1 moves backward while making a correction for moving the left side of the robot 1 back faster. Conversely, if only the left sensor 14b is ON, in step 25, the speed of the right drive wheel is made slightly higher than the left side, and the robot moves backward while correcting the posture of the robot.

  After performing the process of step S24 or step S25, the process of step S20 and subsequent steps is performed again. Thus, the process of step S24 or step S25 is performed until the determination of step 23 is “contact sensors 14a and 14b are turned on” within the predetermined time limit. Then, in the determination of step 23, when “contact sensors 14a and 14b are turned on”, the return operation is completed (step S26), and the state shifts to a state where automatic power feeding is possible. At this time, the station PC 102 is notified of the completion of restoration, and the operation is completed.

  In this operation, it is possible to automatically return to a fixed position while absorbing positioning errors by the cooperative action of the shape of the guide portion 111 on the station 100 side and the guide portion 11 of the robot 1 having the opposite shape fitted thereto. it can. In this case, some errors that cannot be driven by one electronic control are absorbed by the physical shapes of the guide parts 11 and 111 that are complementary to each other. The terminals can be connected to each other.

  In the present embodiment, a commercially available infrared remote controller can be used as a communication device that designates a movement path for the robot 1. In order to specify the movement route, it is not necessary to use the station PC 102 as long as predetermined number information can be transmitted. By doing so, a simpler and easier-to-use system can be obtained.

2. Second Embodiment The mobile robot system of the present invention can be used in an automatic fire detection system. FIG. 8 is a conceptual diagram showing an outline of an automatic fire detection system using the invention. In this system, a fire detection means such as a temperature sensor or a smoke sensor is installed in the robot 1 to perform an automatic operation that reciprocates a predetermined route.

  When a fire is detected, information to that effect is transmitted from the wireless communication device 1b of the robot 1 to the wireless communication device 102b of the station PC 102. In response to this, the station PC 102 emits an alarm sound by the alarm device 151 and further operates the fire extinguishing equipment 152 such as a sprinkler to extinguish the fire. Further, the station PC 102 notifies the occurrence of fire to the user 202 and the fire department registered in advance using the public communication network 150.

  The mobile robot system using the present invention returns to the station after reciprocating a predetermined route, and shifts to the automatic charging mode (or standby mode). Accordingly, by appropriately setting the charging mode, the above-mentioned patrol for security can be performed without worrying about running out of the battery.

3. Third Embodiment The mobile robot system of the present invention can be used in an automatic intruder detection system. FIG. 9 is a conceptual diagram showing an outline of an automatic intruder detection system using the invention. In this system, the robot 1 is automatically operated to reciprocate a predetermined route.

  Then, when an intruder is found using the non-contact type obstacle detection sensor 12 (object detection sensor), information to that effect is transmitted from the wireless communication device 1b to the wireless communication device 102b of the station PC 102. In response to this, the station PC 102 emits an alarm sound at the alarm device 151 and further notifies the user 202 (or police or security company) registered in advance of the suspicious person intrusion using the public communication network 150.

  In the case of this aspect as well, it is possible to perform an operation of repeating the patrol while appropriately charging, so that a highly reliable crime prevention system can be constructed.

  As the sensing means, a light detection device that detects an abnormality by detecting strong light, a sound detection device that detects an abnormal sound, or the like can be used. Also, a plurality of sensing means can be used in combination as appropriate. Further, the sensor output may be directly output to the user 202. Alternatively, a camera may be attached to the mobile robot 1 and the captured image may be transmitted to the user 202.

4). 4th Embodiment The example which utilizes the conveyance robot 1 shown in FIGS. 1-4 for the provision service of the food / beverage in a karaoke box is demonstrated. In this case, as an initial setting, first, the station PC 102 is operated to set a route from the station 100 to each karaoke room for the transfer robot 1. The set route is identified by the room number of the karaoke room. Here, it is assumed that the user 200 is a customer in a karaoke room, and the wireless transmission means 200a and the wireless communication device 102b are wired telephones.

  The operation contents will be described below. First, a customer in a predetermined karaoke room makes a telephone call via the station PC 102 using the wireless transmission means 200a which is a wired telephone. The operator 101 who is a store clerk receives the telephone contact and confirms the room number and the order contents of the food and drink. When the ordered food and drink are ready, the operator 101 (or another store clerk) places it on the transfer robot 1 waiting at the station 100.

  Then, the operator 101 who is an employee of the store inputs the room number of the karaoke room for which the order has been placed to the station PC 102, and transmits the input information to the transport robot 1 from the wireless communication device 101b. Then, the start button switch 10 is pressed, and the transfer robot 1 moves to the designated karaoke room and stops in front of the karaoke room.

  A customer who orders food and drink recognizes the transport robot 1 through the door, opens the door, receives food and drink on the transport robot, and presses the start button switch 10. The transfer robot 1 whose start button switch has been pressed moves in a reverse direction on the path opposite to the forward path and returns to the station 100. In this way, food and drink are provided using the transfer robot 1.

  In a karaoke box, a customer may feel uncomfortable or uncomfortable when a third-party clerk enters the room to carry food and drink. When this embodiment is used, this situation can be avoided. In addition, the store side can reduce the labor cost in late-night business and the like, and can obtain a merit.

  In this embodiment, the transport robot is equipped with a signal display means such as a rotating lamp, and when it arrives in front of the designated karaoke room, it is turned on so that the customer can be notified of the arrival. Also good.

  It is also possible to prepare a mechanism for preventing food and drink being transported from being stolen by a third party and receiving other customers of food and drink due to misunderstanding. In this case, food and drink to be transported are stored in the transport robot 1, and a lock mechanism that locks a door for performing this storage is disposed. Then, during the conveyance, the lock mechanism is turned on, and the lock mechanism is set to be turned off when it arrives at the end position of the forward path (in front of the designated karaoke room). By doing so, it is possible to prevent the food from being stolen in the middle of transportation and the receipt of other customers by the misunderstanding.

  Such a mechanism can be widely used as a technique for preventing receipt by other users due to theft or misunderstanding of a transported object transported by the transport robot 1.

  The above-mentioned invention is as an automatic transport system for various required items including tea utensils for customers and employees at stores or offices, and as an automatic fire detection system in an unattended state such as outside business hours. It can be used as an automatic intruder detection system.

1 is a schematic diagram showing a robot system. The schematic diagram which shows the external appearance of a robot. The block diagram which shows the internal structure of a robot. The perspective view which shows the external appearance of the power receiving part of a robot, and a station electric power feeding part. The flowchart which shows the control procedure of station PC. The flowchart which shows the control procedure of the movement operation | movement of a robot. The flowchart which shows the control procedure performed at the time of the origin return of a robot. The conceptual diagram of an automatic fire detection system. The conceptual diagram of an automatic intruder detection system.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Conveyance robot, 1b ... Wireless communication apparatus, 2 ... Drive wheel, 3 ... Axis, 4 ... Gear reducer, 5 ... Electric motor, 6 ... Auxiliary wheel, 7 ... Motor driver, 8 ... Control device, 9 ... Battery, DESCRIPTION OF SYMBOLS 10 ... Starting means (start button switch), 11 ... Notch-shaped guide part, 12 ... Front obstacle detection means, 13 ... Power receiving terminal, 14a ... Rear right contact sensor, 14b ... Rear left contact sensor, 15 ... Fire detection sensor , 16 ... Article mounting section, 100 ... Station, 101 ... Operator, 102 ... Station PC, 102a ... Wireless communication equipment, 102b ... Wireless communication equipment, 103 ... Display section, 109 ... Power feeding device, 111 ... Projection guide section, 113 ... Power supply terminal, 150 ... Public communication network, 151 ... Alarm, 152 ... Fire extinguishing equipment. 200 ... user, 200a ... wireless transmission means, 202 ... remote user.

Claims (5)

A robot system including a mobile robot having a function of reciprocating a predetermined route,
The mobile robot is
A moving device that moves in a straight line and stops and rotates;
A control device for performing movement in the return path of the path by an operation opposite to the operation in the outbound path;
A mobile robot system comprising: a storage device that stores information on the route and control logic of control performed by the control device. A plurality of the predetermined routes are set,
The mobile robot system according to claim 1, wherein the mobile robot further includes a receiving device that receives a route designation signal that designates one of the plurality of set routes. A station having a charging function for the mobile robot;
The mobile robot is provided with a power receiving unit having a concave shape having a protruding shape with a tapered structure, or an inverse shape of the protruding shape,
3. The mobile robot system according to claim 1, wherein the concave shape or the protruding power supply unit is disposed in the station. 4. The round trip of the predetermined route is
Starting from being coupled to the station,
Exits coupled to the station,
4. The mobile robot system according to claim 3, wherein in the coupled state, a battery built in the mobile robot is charged. 5. The mobile robot is
One or more types of sensor devices selected from a temperature detection device, a smoke detection device, an object detection device, a light detection device, and a sound detection device,
The mobile robot system according to claim 1, further comprising: a transmission unit that transmits an output signal of the sensor device or a signal in response to the output signal of the sensor device to the outside.

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