Robot system and autonomous mobile robot

• US 7,218,993 B2
• Filed: 01/04/2005
• Issued: 05/15/2007
• Est. Priority Date: 10/04/2002
• Status: Expired due to Fees

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: Yasukawa, Yusuke, Hino, Masayasu
• Primary Examiner(s): Black; Thomas
• Assistant Examiner(s): Marc; McDieunel
• Application Number:
  US11/028,445
• Publication Number:
  US 20050159841A1
• Time in Patent Office: 861 Days
• Field of Search: 700/245
• US Class Current: 700/245
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0285 using signals transmitted via a public communication network, e.g. GSM network

Abstract

A robot system is provided and includes an autonomous mobile robot. In the system in which monitoring is performed using the autonomous mobile robot which travels along a predetermined path, an interval between the time when a user requests transmission of images and the time when the user obtains the images may be reduced. The autonomous mobile robot travels along a predetermined path at predetermined times, a camera takes photographs at predetermined locations during the travel along the predetermined path, images taken by the camera are stored, and the stored images are sent to a requesting cell phone in response to a transmission request from the cell phone.

Claims

1. A robot system comprising an autonomous mobile robot which is freely movable and station which wirelessly communicates with the autonomous mobile robot, wherein:

the autonomous mobile robot comprises;

a travel mechanism which moves the robot,

a camera which photographs surroundings,

a control section which makes the autonomous mobile robot travel along a predetermined path at predetermined times through a plurality of rooms and makes the camera take photographs at predetermined locations during the travel along the predetermined path through the plurality of rooms, and

a sending section which sends the images taken by the camera to the station; and

the station comprises;

a receiving section which receives the images sent from the autonomous mobile robot,

a storage section which stores the images received by the receiving section, and

a communications section which communicates with external devices via a communications line and sends the images stored in the storage section to a requesting external device in response to a transmission request from the external device.

2. The robot system according to claim 1, wherein the camera takes moving images as well as still images.

3. The robot system according to claim 1, wherein the sending section sends images via a wireless LAN.

4. The robot system according to claim 1, wherein:

the autonomous mobile robot comprises a storage section which stores the images taken by the camera; and

the sending section sends the images stored in the storage section when communications with the receiving section are enabled.

5. The robot system according to claim 1, wherein the autonomous mobile robot in the robot system comprises a suspicious-object detecting section which detects suspicious objects whose existence is not expected.

6. The robot system according to any of claim 5, wherein the control section makes the camera photograph any suspicious object detected by the suspicious-object detecting section.

7. The robot system according to claim 5, wherein:

the sending section notifies the station about any suspicious object detected by the suspicious-object detecting section; and

when the receiving section of the station receives the notification about the detection of the suspicious object, the communications section of the station sends a message about the detection of the suspicious object to an external device.

8. The robot system according to claim 1, wherein:

the autonomous mobile robot comprises a sound sensor which collects sounds;

the control section makes the sound sensor collect sounds at predetermined locations when the autonomous mobile robot is traveling along the predetermined path, and the sending section sends the sounds collected by the sound sensor to the station;

the receiving section receives the sounds sent from the autonomous mobile robot, the storage section stores the sounds received by the receiving section, and the communications section sends the sounds stored in the storage section to the requesting external device.

9. The robot system according to claim 1, wherein:

the autonomous mobile robot comprises an environmental sensor which detects conditions of surrounding environment, the control section makes the environmental sensor detect conditions of surrounding environment at predetermined locations when the autonomous mobile robot is traveling along the predetermined path, and the sending section sends environmental information obtained by the environmental sensor to the station; and

the receiving section receives the environmental information sent from the autonomous mobile robot, the storage section stores the environmental information received by the receiving section, and the communications section sends the environmental information stored in the storage section to the requesting external device.

10. An autonomous mobile robot which is freely movable, comprising:

a travel mechanism which moves the robot;

a camera which photographs surroundings;

a control section which makes the autonomous mobile robot travel along a predetermined path at predetermined times through a plurality of rooms and makes the camera take photographs at predetermined locations during the travel along the predetermined path through the plurality of rooms;

a storage section which stores the images taken by the camera; and

a communications section which communicates with external devices via a communications line and sends the images stored in the storage section to a requesting external device in response to a transmission request from the external device.

11. The autonomous mobile robot according to claim 10, wherein the camera takes moving images as well as still images.

12. The autonomous mobile robot according to claim 10, comprising:

a storage section which stores the images taken by the camera, wherein

the communications section sends the images stored in the storage section when communications via the communications line are enabled.

13. The autonomous mobile robot according to claim 10, comprising a suspicious-object detecting section which detects suspicious objects whose existence is not expected.

14. The autonomous mobile robot according to claim 13, wherein the control section makes the camera photograph any suspicious object detected by the suspicious-object detecting section.

15. The autonomous mobile robot according to claim 13, wherein if any suspicious object is detected by the suspicious-object detecting section, the communications section sends a message about the detection of the suspicious object.

16. The autonomous mobile robot according to claim 10, comprising a sound sensor which collects sounds,

wherein the control section makes the sound sensor collect sounds at predetermined locations when the autonomous mobile robot is traveling along the predetermined path;

the storage section stores the sounds collected by the sound sensor; and

the communications section sends the sounds stored in the storage section to the requesting external device.

17. The autonomous mobile robot according to claim 10, comprising an environmental sensor which detects conditions of surrounding environment,

wherein:

the control section makes the environmental sensor detect conditions of surrounding environment at predetermined locations when the autonomous mobile robot is traveling along the predetermined path;

the storage section stores environmental information obtained by the environmental sensor; and

the communications section sends the environmental information stored in the storage section to the requesting external device.

18. An autonomous mobile robot which is freely movable, comprising:

a travel mechanism which moves the robot;

a camera which photographs surroundings;

a control section which makes the autonomous mobile robot travel along a predetermined path at predetermined times through a plurality of rooms and makes the camera take photographs at predetermined locations during the travel along the predetermined path through the plurality of rooms; and

a communications section which communicates with an external image server connected via a communications line and sends the images taken by the camera to the external image server, where the external image server sends images to external devices in response to requests from the external devices.

19. The autonomous mobile robot according to claim 18, comprising a sound sensor which collects sounds,

wherein the control section makes the sound sensor collect sounds at predetermined locations when the autonomous mobile robot is traveling along the predetermined path;

and the communications section sends the sounds collected by the sound sensor to the image server.

20. The autonomous mobile robot according to claim 18, comprising an environmental sensor which detects conditions of surrounding environment,

wherein:

the control section makes the environmental sensor detect conditions of surrounding environment at predetermined locations when the autonomous mobile robot is traveling along the predetermined path; and

the communications section sends environmental information obtained by the environmental sensor to the image server.

21. An autonomous mobile robot having a camera and a travel mechanism to freely move the robot, comprising:

a control section which makes the autonomous mobile robot patrol along a predetermined path at predetermined times through a plurality of rooms and makes the camera take photographs at predetermined locations during the patrol along the predetermined path through the plurality of rooms;

a storage section which stores the photographs taken by the camera; and

a communications section which communicates with external devices via a communications line and sends the photographs stored in the storage section to a requesting external device in response to a transmission request from the external device.

22. An autonomous mobile robot having a camera and a travel mechanism to freely move the robot, comprising:

a control section which makes the autonomous mobile robot patrol along a predetermined path at predetermined times through a plurality of rooms and makes the camera take photographs at predetermined locations during the patrol along the predetermined path through the plurality of rooms; and

a communications section which communicates with an external image server connected via a communications line and sends the photographs taken by the camera to the external image server, where the external image server sends photographs to external devices in response to requests from the external devices.