Development of Attachable Modules for Robotizing Daily Items - Person Following Shopping Cart Robot

摘要

We introduces a development of attachable module for robotizing daily items. We aim at realization of robotizing daily items aiming at popularization in a robot's everyday life. We set the shopping cart as the concrete target. The aim of this study is to develop a porting system for large-sized facilities, where the object item is autonomously carried by a person following ("after you") porting robot. The driving module and the sensor module are developed for development of a shopping cart robot. The outdoor running of the robot is attained by reforming a drive mechanism. Manual control is needed for the risk aversion at the time of a reckless run, or an operation test. The driving mechanism is used the compatible system which can change manual control and automatic control. This sensor has stereo camera and is used for person following system. The following system is the method of using together distance information and the information on a color. Template matching using the HSV color system as information on a color is performed. We do the operation test about the driving mechanism, the compatible control system, and the person following operation, and performed the check of the robot of movement. By the experiment, while the shopping cart robot carried baggage, we check that it was possible to perform following operation.