Patent Publication Number: US-2016239019-A1

Title: Autonomous search system, operation terminal, mobile search device, and search control method

Description:
FIELD 
     The present invention relates to an autonomous search system, an operation terminal, a mobile search device, and a search control method for the autonomous search system, where the operation terminal and the mobile search device are used to search for a search object to be searched for. 
     BACKGROUND 
     In the past, a remote control robot device remotely controlled by an operator has been known (for example, refer to Patent Literature 1). In this remote control robot device, the remote control by the operator and an autonomous movement of the robot itself are coordinated to achieve a stable movement. Additionally, the remote control robot device has an ultrasonic sensor to detect the surrounding circumstances of the robot and determines whether an obstacle is in the way based on distance data measured with the ultrasonic sensor. When determining that an obstacle is in the way, the remote control robot device autonomously avoids the obstacle in a case where no remote control is given by the operator. 
     CITATION LIST 
     Patent Literature 
     
         
         Patent Literature 1: Japanese Laid-open Patent Publication No. 6-155350 
       
    
     SUMMARY 
     Technical Problem 
     As described above, while autonomously moving, a remote control robot device disclosed in Patent Literature 1 avoids an obstacle as an action provided in advance, in a case where no remote control is given by an operator. Here, while a mobile search device such as the remote control robot device is autonomously moving, in order to cause the mobile search device to carry out an action other than the avoidance of an obstacle, an instruction for carrying out a predetermined action relative to a predetermined object needs to be provided in advance. For example, when an instruction is provided for the autonomous movement of the mobile search device, it is typically considered to provide an action program for carrying out a predetermined action relative to a predetermined object (e.g., an action program for gripping a drill) as an executive instruction (e.g., an instruction for gripping a drill). In this case, however, because the instruction is provided for carrying out the predetermined action relative to the predetermined object, when an object differs from the predetermined one, the predetermined action cannot be carried out relative to that different object. Taking this into account, the action programs and the executive instructions need to be prepared by the number of combinations of predetermined objects and predetermined actions. Therefore, it is difficult to use for multiple purposes. 
     Considering this situation, an object of the present invention is to provide an autonomous search system, an operation terminal, a mobile search device, and a search control method that can be used for multiple purposes. 
     Solution to Problem 
     According to an aspect of the present invention, an autonomous search system comprising: an operation terminal; and a mobile search device configured to search for a search object while moving based on information transmitted from the operation terminal. The operation terminal includes: an input unit to which the search object and a predetermined action to be carried out relative to the search object can be separately input; a terminal-side communication unit that transmits, to the mobile search device, the search object input on the input unit as object data and transmits, to the mobile search device, the predetermined action input on the input unit as action data; and a terminal-side controller connected to the input unit and the terminal-side communication unit. The mobile search device includes: an object detector that detects the search object; an action unit capable of carrying out the predetermined action relative to the search object; a device-side communication unit capable of receiving the object data and the action data transmitted from the operation terminal; a storage unit storing an autonomous movement program that causes the mobile search device to autonomously move and a recognition program that compares the object data and object detection data detected by the object detector; and a device-side controller connected to the object detector, the action unit, the device-side communication unit, and the storage unit. While the mobile search device is autonomously moving through the execution of the autonomous movement program, the device-side controller executes the recognition program to compare the object data received by the device-side communication unit with the object detection data detected by the object detector, and in a case where the object data and the object detection data are determined to match with each other as a result of the comparison, carries out the predetermined action relative to the search object using the action unit based on the action data received by the device-side communication unit. 
     According to this configuration, the search object (e.g., a drill) and the predetermined action (e.g., gripping) can be separately input on the input unit of the operation terminal. Thus, the mobile search device can carry out the input predetermined action relative to the input search object. Here, in a case where the search object is changed to another search object, it is only required to change the search object input on the input unit to another different search object but the input predetermined action does not need to be changed. As a result, the mobile search device can carry out the input predetermined action relative to the another search object that has been input. As described above, the search object and the predetermined action are combined as necessary while being input (given as an instruction) on the input unit of the operation terminal such that a flexible instruction can be provided to the mobile search device. Accordingly, it is no longer necessary to provide an instruction for carrying out a predetermined action relative to a search object (e.g., an instruction for gripping a drill), thereby achieving use for multiple purposes in a wider range. 
     Advantageously, in the autonomous search system, the storage unit further stores object sample data in regard to the search object, the operation terminal transmits, as the object data to be transmitted to the mobile search device, an object specification signal that specifies the object sample data stored in the storage unit of the mobile search device, and upon acquiring the object specification signal received by the device-side communication unit, the device-side controller acquires, from the storage unit, the object sample data specified by the object specification signal. 
     According to this configuration, it is only required to store the object sample data to the storage unit of the mobile search device and transmit the object specification signal from the operation terminal. Accordingly, a communication traffic volume from the operation terminal to the mobile search device can be suppressed, whereby the instruction can be quickly provided to the mobile search device from the operation terminal. 
     Advantageously, in the autonomous search system, the operation terminal transmits, as the object data to be transmitted to the mobile search device, object sample data in regard to the search object, and the device-side controller acquires the object sample data received by the device-side communication unit. 
     According to this configuration, the object sample data can be transmitted to the mobile search device from the operation terminal. Therefore, even in a case where the object sample data is not stored in the storage unit of the mobile search device in advance, the predetermined action can be carried out relative to the search object in the transmitted object sample data. 
     Advantageously, in the autonomous search system, the storage unit further stores an action program in regard to the predetermined action, the operation terminal transmits, as the action data to be transmitted to the mobile search device, an action specification signal that specifies the action program stored in the storage unit of the mobile search device, and upon acquiring the action specification signal received by the device-side communication unit, the device-side controller acquires, from the storage unit, the action program specified by the object specification signal. 
     According to this configuration, it is only required to store the action program to the storage unit of the mobile search device and transmit the action specification signal from the operation terminal. Accordingly, a communication traffic volume from the operation terminal to the mobile search device can be suppressed, whereby the instruction can be quickly provided to the mobile search device from the operation terminal. 
     Advantageously, in the autonomous search system, the operation terminal transmits, as the action data to be transmitted to the mobile search device, an action program in regard to the predetermined action, and the device-side controller acquires the action program received by the device-side communication unit. 
     According to this configuration, the action program can be transmitted to the mobile search device from the operation terminal. Therefore, even in a case where the action program is not stored in the storage unit of the mobile search device in advance, the predetermined action in regard to the transmitted action program can be carried out relative to the search object. 
     Advantageously, in the autonomous search system, the storage unit associates the object data and the action data with each other to accumulate, both of which are transmitted from the operation terminal, and while the mobile search device is autonomously moving through the execution of the autonomous movement program, the device-side controller executes the recognition program to compare the object data accumulated in the storage unit with the object detection data detected by the object detector, and in a case where the object data and the object detection data are determined to match with each other as a result of the comparison, carries out the predetermined action relative to the search object using the action unit based on the action data accumulated in the storage unit. 
     According to this configuration, even in a case where the object data and the action data are not input to the mobile search device from the operation terminal, based on the object data and the action data that have been input in the past, the mobile search device can carry out the predetermined action relative to the search object while autonomously moving. Thus, the mobile search device can learn the action based on the input from the operation terminal. 
     Advantageously, in the autonomous search system, the object detector includes at least one of a camera capable of imaging the surroundings of the mobile search device, a scanner capable of measuring a space around the mobile search device, a microphone capable of detecting a sound around the mobile search device, and an odor measuring device capable of detecting an odor around the mobile search device. 
     According to this configuration, the search object can be detected by at least one of the camera, the scanner, the microphone, and the odor measuring device. 
     Advantageously, in the autonomous search system, remote control that remotely controls the mobile search device can be input to the input unit, and upon acquiring the input of the remote control received by the device-side communication unit, the device-side controller carries out the control based on the input of the remote control by giving precedence thereto over the control during the autonomous movement. 
     According to this configuration, the control based on the remote control of the mobile search device by the operation terminal can be carried out by taking precedence over the control while the mobile search device is autonomously moving. As a result, the mobile search device can be remotely controlled by the operator operating the operation terminal, whereby the control through the remote control by the operator and the control while the mobile search device is autonomously moving can be coordinated. 
     Advantageously, in the autonomous search system, the operation terminal further includes a display unit that displays information input from the input unit, and the display unit displays a search object input field to which the search object is input and an action input field to which the predetermined action is input. 
     According to this configuration, the search object input field for inputting the search object and the action input field for inputting the predetermined action can be displayed on the display unit. Accordingly, the operator operating the operation terminal can favorably input the search object and the predetermined action through the input unit while visually confirming the display unit. 
     According to another aspect of the present invention, an operation terminal configured to operate a mobile search device that searches for a search object while moving, the operation terminal comprising: an input unit to which the search object and a predetermined action to be carried out relative to the search object can be separately input; a terminal-side communication unit that transmits, to the mobile search device, the search object input on the input unit as object data and transmits, to the mobile search device, the predetermined action input on the input unit as action data; and a terminal-side controller connected to the input unit and the terminal-side communication unit. 
     According to this configuration, by inputting the search object and the predetermined action separately, the search object and the predetermined action can be combined as necessary while being input (given as an instruction) on the input unit. As a result, a flexible instruction can be provided to the mobile search device, thereby achieving use for multiple purposes in a wider range. 
     According to still another aspect of the present invention, a mobile search device configured to search for a search object while autonomously moving based on information transmitted from an operation terminal, the mobile search device comparing, while autonomously moving, object data for the search object received from the operation terminal with object detection data obtained while detecting the search object, and in a case where the object data and the object detection data are determined to match with each other as a result of the comparison, carrying out a predetermined action relative to the search object. 
     According to this configuration, during the autonomous movement, the predetermined action can be carried out relative to the search object matching the object data transmitted from the operation terminal. 
     According to still another aspect of the present invention, a search control method for an autonomous search system comprising an operation terminal and a mobile search device configured to search for a search object while moving based on information transmitted from the operation terminal, the search control method comprising: a data transmission process of transmitting, to the mobile search device, the search object input on the operation terminal as object data and transmitting, to the mobile search device, a predetermined action to be carried out relative to the search object, which has been input on the operation terminal, as action data; an autonomous movement process of causing the mobile search device to autonomously move; a comparison process of comparing, while the mobile search device is autonomously moving, the object data received by the mobile search device with object detection data detected by an object detector provided in the mobile search device; and an action process of causing the mobile search device to carry out the predetermined action relative to the search object in a case where the search object in the object data and the object detection data are determined to match with each other. 
     According to this configuration, the search object and the predetermined action input on the operation terminal can be transmitted to the mobile search device as the object data and the action data, respectively. Accordingly, based on the received object data and action data, the mobile search device can carry out the predetermined action relative to the search object. At this time, the search object and the predetermined action are combined as necessary while being input (given as an instruction) to the operation terminal. As a result, a flexible instruction can be provided to the mobile search device, thereby achieving use for multiple purposes in a wider range. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a schematic configuration diagram of an autonomous search system according to an embodiment. 
         FIG. 2  is an explanatory diagram illustrating an exemplary input screen. 
         FIG. 3  is a flowchart in regard to a search control method for the autonomous search system according to the embodiment. 
         FIG. 4  is an explanatory diagram illustrating an exemplary action of the autonomous search system. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     An embodiment according to the present invention will be described in detail based on the drawings. The embodiment is not construed to limit the invention. Note that the embodiment described below includes components that can be replaced and are easily replaced by those skilled in the art or substantially the same components. 
     Embodiment 
       FIG. 1  is a schematic configuration diagram of an autonomous search system according to the embodiment, whereas  FIG. 2  is an explanatory diagram illustrating an exemplary input screen.  FIG. 3  is a flowchart in regard to a search control method for the autonomous search system according to the embodiment, whereas  FIG. 4  is an explanatory diagram illustrating an exemplary action of the autonomous search system. 
     As illustrated in  FIG. 1 , the autonomous search system  1  according to the embodiment includes an operation terminal  10  and a mobile search device  11  and serves as a system in which an instruction is provided to the mobile search device  11  from the operation terminal  10  and the mobile search device  11  in turn moves based on the provided instruction to search for a search object. 
     The operation terminal  10  is a terminal operated by an operator and includes an input unit  21 , a display unit  22 , a terminal-side storage unit  23 , a terminal-side communication unit  24 , and a terminal-side controller  25 . 
     Information can be input to the input unit  21  and the input unit  21  is operated by the operator. The operator operates the input unit  21  to input information to be transmitted to the mobile search device  11 . Specifically, the operator operates the input unit  21  to input information on a search object to be searched for by the mobile search device  11  or to input information on a predetermined action to be carried out by the mobile search device  11  relative to a search object. 
     The display unit  22  outputs information to display such that the operator can visually confirm the information. The operator operates the input unit  21  while visually confirming the display unit  22 . The display unit  22  also displays information transmitted from the mobile search device  11 . Specifically, the operator visually confirms a predetermined input screen displayed on the display unit  22  to input information on a search object or input information on a predetermined action to be carried out relative to a search object. Additionally, the operator visually confirms information displayed on the display unit  22  to subsequently input predetermined information. 
     The terminal-side storage unit  23  stores various types of information and, for example, stores information to be transmitted to the mobile search device  11  or the like. The information to be transmitted to the mobile search device  11  includes object sample data D 1  serving as data in regard to a search object and an action program D 2  serving as data in regard to a predetermined action to be carried out relative to a search object. 
     The terminal-side communication unit  24  communicates with the mobile search device  11  to transmit information to the mobile search device  11  or to receive information from the mobile search device  11 . The communication between the terminal-side communication unit  24  and the mobile search device  11  is not particularly limited and may be wired communication or wireless communication. 
     The terminal-side controller  25  is connected to each of the input unit  21 , the display unit  22 , the terminal-side storage unit  23 , and the terminal-side communication unit  24  to control the respective units. For example, based on information input from the input unit  21 , the terminal-side controller  25  transmits predetermined information to the mobile search device  11  through the terminal-side communication unit  24 . 
     Specifically, when information in regard to a search object is input from the input unit  21 , the terminal-side controller  25  transmits the input search object to the mobile search device  11  as the object data. The object data serves as the object sample data D 1  stored in the terminal-side storage unit  23  of the operation terminal  10  or an object specification signal specifying the object sample data D 1  stored in the mobile search device  11 . In other words, in the case of transmitting the object sample data D 1  stored in the terminal-side storage unit  23  to the mobile search device  11 , when information in regard to a search object is input from the input unit  21 , the terminal-side controller  25  reads the object sample data D 1  corresponding to the input search object from the terminal-side storage unit  23  to transmit the read object sample data D 1  to the mobile search device  11 . Meanwhile, in the case of specifying the object sample data D 1  stored in the mobile search device  11 , when information in regard to a search object is input from the input unit  21 , the terminal-side controller  25  generates an object specification signal corresponding to the input search object to transmit the generated object specification signal to the mobile search device  11 . 
     Additionally, when information in regard to a predetermined action is input from the input unit  21 , the terminal-side controller  25  transmits the input predetermined action to the mobile search device  11  as the action data. The action data serves as the action program D 2  stored in the terminal-side storage unit  23  of the operation terminal  10  or an action specification signal specifying the action program D 2  stored in the mobile search device  11 . In other words, in the case of transmitting the action program D 2  stored in the terminal-side storage unit  23  to the mobile search device  11 , when information in regard to a predetermined action is input from the input unit  21 , the terminal-side controller  25  reads the action program D 2  corresponding to the input predetermined action from the terminal-side storage unit  23  to transmit the read action program D 2  to the mobile search device  11 . Meanwhile, in the case of specifying the action program D 2  stored in the mobile search device  11 , when information in regard to a predetermined action is input from the input unit  21 , the terminal-side controller  25  generates an action specification signal corresponding to the input predetermined action to transmit the generated action specification signal to the mobile search device  11 . 
     As described above, when a search object and a predetermined action are input through the input unit  21 , the operation terminal  10  can provide, to the mobile search device  11 , an instruction for carrying out the predetermined action relative to the search object. 
     Next, the mobile search device  11  will be described. The mobile search device  11  is a device that searches for a search object while autonomously moving and capable of carrying out a predetermined action relative to a search object. The mobile search device  11  is, for example, an autonomous movement type robot and includes a movement unit  31 , an action unit  32 , an object detector  33 , a device-side storage unit  34 , a device-side communication unit  35 , and a device-side controller  36 . 
     The movement unit  31  is used to move the mobile search device  11  and, for example, may be configured by wheels including a driving wheel or alternatively, may be configured by a crawler belt. The movement of the movement unit  31  is controlled by the device-side controller  36  connected thereto. 
     The action unit  32  is used to carry out a predetermined action relative to a search object. The action unit  32  is, for example, an arm capable of gripping a search object. The action unit  32  is not limited to the arm and may be any mechanism as long as the mechanism can carry out a predetermined action relative to a search object. 
     The object detector  33  is used to detect a search object and configured by including, for example, a camera  41  and a microphone  42 . The camera  41  is capable of imaging the surroundings of the mobile search device  11 . The microphone  42  is capable of collecting sounds around the mobile search device  11 . The object detector  33  may be any detector as long as the detector can detect a search object. For example, the object detector  33  may include an odor measuring device capable of measuring an odor around the mobile search device  11  or a scanner capable of recognizing a space around the mobile search device  11 . 
     The device-side storage unit  34  stores various types of information and, for example, stores information such as a program executed by the mobile search device  11  and data used by the mobile search device  11 . Specifically, the device-side storage unit  34  stores object sample data D 1  in regard to a search object, an action program D 2  in regard to a predetermined action to be carried out relative to a search object, an autonomous movement program D 3  for carrying out the autonomous movement of the movement unit  31 , a recognition program D 4  for recognizing a search object, and the like. Hereinafter, each of the object sample data D 1 , the action program D 2 , the autonomous movement program D 3 , and the recognition program D 4  will be described. The object sample data D 1  and the action program D 2  stored in the device-side storage unit  34  are similar to the object sample data D 1  and the action program D 2  stored in the terminal-side storage unit  23 , respectively. 
     The object sample data D 1  is sample data used to specify a search object to be searched for by the mobile search device  11 . The object sample data D 1  is prepared in accordance with the object detector  33  that detects a search object. Specifically, when the camera  41  is used as the object detector  33 , image data of the search object is prepared as the object sample data D 1 . Meanwhile, when the microphone  42  is used as the object detector  33 , acoustic data of a sound emitting from the search object is prepared as the object sample data D 1 . The object sample data D 1  can be prepared in accordance with the object detector  33  and thus is not limited to the aforementioned data. For example, the object sample data D 1  may be odor data of an odor emitting from a search object corresponding to the odor measuring device, or alternatively, may be three-dimensional data of a search object corresponding to the scanner. 
     The action program D 2  is a program for causing the action unit  32  of the mobile search device  11  to carry out a predetermined action. In a case where the action unit  32  is an arm, the action program D 2  serves as, for example, an action program D 2  for carrying out a gripping action that grips a search object with the arm, or an action program D 2  for carrying out a pull action that pulls a search object with the arm. In a case where the action unit  32  is a different action unit  32  instead of being an arm, an action program D 2  corresponding to the different action unit  32  may be prepared. 
     The autonomous movement program D 3  is a program for causing the mobile search device  11  to autonomously move to search for a search object. In a case where acoustic data is provided as the object sample data D 1  for a search object, for example, the autonomous movement program D 3  serves as an autonomous movement program D 3  for collecting sounds of the surroundings using the microphone  42  and then causing the mobile search device  11  to autonomously move in a direction in which a sound corresponding to the acoustic data is emitting (direction of arrival). Here, in order to identify the direction of arrival of the sound, a microphone array including a plurality of microphones is used as the microphone  42 . Accordingly, the device-side controller  36  identifies the direction of arrival of the sound based on time differences among detection signals detected by the respective microphones. Meanwhile, in a case where image data is provided as the object sample data D 1  for a search object, for example, the autonomous movement program D 3  serves as an autonomous movement program D 3  for causing the mobile search device  11  to autonomously move while imaging the surroundings using the camera  41  until the captured imaging data matches the image data. The autonomous movement program D 3  is not limited to the aforementioned examples and may be any program as long as the program is capable of causing the mobile search device  11  to autonomously move to search for a search object. 
     The recognition program D 4  is a program for comparing object detection data serving as data in regard to a search object detected by the object detector  33  with the object sample data D 1 . In a case where acoustic data is provided as the object sample data D 1  for a search object, for example, the recognition program D 4  serves as a recognition program D 4  for separating a sound source of the search object from acoustic detection data serving as the object detection data obtained by collecting sounds using the microphone  42  and then comparing the acoustic detection data representing the separated sound source of the search object with the acoustic data. Meanwhile, in a case where image data is provided as the object sample data D 1  for a search object, for example, the recognition program D 4  serves as a recognition program D 4  for imaging the surroundings using the camera  41  and then comparing the captured imaging data with the image data. The recognition program D 4  is also not limited to the aforementioned examples and may be any program as long as the program is capable of comparing the object detection data detected by the object detector  33  with the object sample data D 1 . Subsequently, when the object detection data is found to match the object sample data D 1  through the comparison by the recognition program D 4 , the device-side controller  36  executes the action program D 2 . 
     Furthermore, the device-side storage unit  34  has a learning function. In other words, instructions provided from the operation terminal  10  are accumulated in the device-side storage unit  34 . Specifically, instructions in which the object data and the action data transmitted from the operation terminal  10  are associated with each other are accumulated in the device-side storage unit  34 . Accordingly, based on the instructions stored in the device-side storage unit  34 , the device-side controller  36  can autonomously search using the mobile search device  11 . At this time, multiple instructions are stored in the device-side storage unit  34 . Here, for example, in a case where a first instruction for carrying out a predetermined action relative to a search object and a second instruction for carrying out a different predetermined action relative to the same search object are stored in the device-side storage unit  34 , predetermined priorities may be set for the first instruction and the second instruction. 
     The device-side communication unit  35  communicates with the operation terminal  10  to transmit information to the operation terminal  10  or to receive information from the operation terminal  10 . As described above, the communication between the device-side communication unit  35  and the operation terminal  10  is not particularly limited and may be wired communication or wireless communication. 
     The device-side controller  36  is connected to each of the movement unit  31 , the action unit  32 , the object detector  33 , the device-side storage unit  34 , and the device-side communication unit  35  to control the respective units. For example, the device-side controller  36  acquires information received by the device-side communication unit  35  to control the mobile search device  11  based on the acquired information. Specifically, the device-side controller  36  acquires an instruction provided from the operation terminal  10  to control the mobile search device  11  based on the acquired instruction. 
     More specifically, upon acquiring the object data transmitted from the operation terminal  10 , the device-side controller  36  acquires that object data as the object sample data D 1  in a case where that object data is the object sample data D 1 , while acquiring the object sample data D 1  stored in the device-side storage unit  34  in a case where that object data is the object specification signal. Subsequently, the device-side controller  36  executes the autonomous movement program D 3  and the recognition program D 4  to cause the mobile search device  11  to autonomously search for a search object based on the object sample data D 1 . 
     Meanwhile, upon acquiring the action data transmitted from the operation terminal  10 , the device-side controller  36  acquires that action data as the action program D 2  in a case where that action data is the action program D 2 , while acquiring the action program D 2  stored in the device-side storage unit  34  in a case where that action data is the action specification signal. Subsequently, when the comparison by the recognition program D 4  between the object detection data and the object sample data D 1  is found to have a matching result, the device-side controller  36  executes the action program D 2  to carry out a predetermined action relative to a search object using the action unit  32 . Once the predetermined action is completed, the device-side controller  36  transmits an action result to the operation terminal  10 . 
     As described above, based on the instruction provided from the operation terminal  10  for carrying out a predetermined action relative to a search object, the mobile search device  11  can carry out the autonomous search and the predetermined action. 
     Hereinafter, an example where the device-side controller  36  executes the action program D 2  will be described. In a case where the action unit  32  is an arm, the action program D 2  serves as an action program D 2  for carrying out a gripping action that grips a search object with the arm. When the device-side controller  36  executes the action program D 2 , the device-side controller  36  estimates a position of the search object using a position of the mobile search device  11  as a reference. The position is estimated based on a distance sensor separately provided in the mobile search device  11  or based on an image captured by the camera  41 . Thereafter, based on a positional relationship between the mobile search device  11  and the search object, the device-side controller  36  sets a target position relative to the search object for the arm. Subsequently, the device-side controller  36  controls the operation of the arm such that the arm is located at the target position. Specifically, in a case where the arm includes a plurality of joints, the device-side controller  36  controls the arm such that joint angles of the respective joints thereof match such joint angles that enable the arm to be located at the target position. Once the arm is located at the target position, the device-side controller  36  causes the arm to carry out the gripping action. As described above, the device-side controller  36  executes the action program D 2  for carrying out the gripping action to thereby cause the arm to grip the search object. When the gripping action has been completed, the device-side controller  36  transmits the action result of the gripping action to the operation terminal  10 . 
     Next, an example of an input screen  50  displayed on the display unit  22  of the operation terminal  10  will be described with reference to  FIG. 2 . The input screen  50  illustrated in  FIG. 2  serves as an input screen  50  for inputting an instruction to the mobile search device  11 . In other words, the input screen  50  serves as an input screen  50  for inputting a search object and a predetermined action. A search object input field  51  and an action input field  52  are displayed on this input screen  50 . The search object input field  51  is a field for inputting a search object and displays search objects registered in advance or a search object to be newly registered as selectable options. The action input field  52  is a field for inputting a predetermined action and displays predetermined actions registered in advance or a predetermined action to be newly registered as selectable options. The input of a search object and the input of a predetermined action are not particularly limited and a predetermined text string may be input to the respective fields  51  and  52  for a search. Once a search object and a predetermined action are input on the input screen  50 , the terminal-side controller  25  transmits the input search object and predetermined action to the mobile search device  11  as the object data and the action data, respectively. 
     The search object input field  51  and the action input field  52  have been displayed on the single input screen  50 . However, the configuration is not limited thereto and, for example, the search object input field  51  and the action input field  52  may be individually displayed on separate input screens. 
     Next, a control flow in regard to the search control method for the autonomous search system  1  will be described with reference to  FIG. 3 . First, a search object and a predetermined action are input to the operation terminal  10  through the input unit  21  during operation by the operator (step S 1 ). Once the search object and the predetermined action are input, the operation terminal  10  transmits the object data for the input search object and the action data for the input predetermined action to the mobile search device  11  (data transmission process). 
     Upon receiving the object data and the action data, the mobile search device  11  acquires the object sample data D 1  and the action program D 2  based on the object data and the action data, respectively (step S 2 ). Upon acquiring the object sample data D 1 , the mobile search device  11  executes the autonomous movement program D 3  and the recognition program D 4  to autonomously search for the search object based on the object sample data D 1  (autonomous movement process). Note that the operator can remotely control the mobile search device  11  using the operation terminal  10  while the mobile search device  11  is autonomously moving. Accordingly, the remote control is input to the operation terminal  10  through the input unit  21  during operation by the operator. The operation terminal  10  transmits the input remote control to the mobile search device  11 . Upon acquiring the input of the remote control, the device-side controller  36  of the mobile terminal device  11  terminates to carry out the movement control based on the autonomous movement program D 3  and gives precedence to the action control based on the input of the remote control to carry out. 
     While autonomously moving or being remotely controlled, the mobile search device  11  compares the object sample data D 1  with the object detection data detected by the object detector  33  (step S 3 : comparison process). Subsequently, in a case where the object sample data D 1  and the object detection data are determined to match with each other as a result of the comparison by the recognition program D 4  (step S 4 : Yes), the mobile search device  11  executes the action program D 2  (step S 5 : action process). On the other hand, in a case where the object sample data D 1  and the object detection data are not determined to match with each other as a result of the comparison by the recognition program D 4  (step S 4 : No), the mobile search device  11  proceeds to step S 3  again. When the action program D 2  is executed in step S 5 , the mobile search device  11  moves the action unit  32  to carry out the predetermined action relative to the search object. After the predetermined action is completed by the action unit  32 , the mobile search device  11  transmits the action result to the operation terminal  10  (step S 6 ). 
     Next, exemplary operation of the operation terminal  10  and an exemplary action of the mobile search device  11  using the autonomous search system  1  will be described with reference to  FIG. 4 . The operator operates the operation terminal  10  to input a “handle of car door” as a search object and “gripping” as a predetermined action (step S 101 ). Thereafter, the operator transmits, to the mobile search device  11 , a “first instruction” for carrying out the action of “gripping” relative to the “handle of car door”, which have been input on the operation terminal  10 . The mobile search device  11  then searches for a “handle of car door” as a search object based on the “first instruction” (step S 102 ). Subsequently, upon discovering a “handle of car door” (step S 103 ), the mobile search device  11  carries out the action of “gripping” as a predetermined action relative to the “handle of car door” (step S 104 ). After completing the gripping action, the mobile search device  11  transmits the action result to the operation terminal  10  (step S 105 ). Upon acquiring the action result, the operation terminal  10  displays the action result on the display unit  22  (step S 106 ). 
     Following this, the operator confirms the action result and then operates the operation terminal  10  to input the “handle of car door” as a search object and “pulling” as a predetermined action (step S 107 ). Thereafter, the operator transmits, to the mobile search device  11 , a “second instruction” for carrying out the action of “pulling” relative to the “handle of car door”, which have been input on the operation terminal  10 . The mobile search device  11  then searches for a “handle of car door” as a search object based on the “second instruction” (step S 108 ). At this time, because the mobile search device  11  has already discovered the “handle of car door” in the “first instruction” (step S 109 ), the mobile search device  11  immediately carries out the action of “pulling” as a predetermined action relative to the “handle of car door” (step S 110 ). After completing the pulling action, the mobile search device  11  transmits the action result to the operation terminal  10  (step S 111 ). Upon acquiring the action result, the operation terminal  10  displays the action result on the display unit  22  (step S 112 ). 
     As described above, the instruction by the operator and the movement/search and the predetermined action by the mobile search device  11  are repeatedly carried out to thereby achieve the autonomous search carried out by the mobile search device  11 . 
     As described thus far, according to the configuration of the embodiment, the search object and the predetermined action can be separately input on the input unit  21  of the operation terminal  10 . Thus, the mobile search device  11  can carry out the input predetermined action relative to the input search object. At this time, in a case where the search object is changed to another search object, it is only required to change the search object input on the input unit  21  to another different search object but the input predetermined action does not need to be changed. As a result, the mobile search device  11  can carry out the input predetermined action relative to the another search object that has been input. As described above, the search object and the predetermined action are combined as necessary while being input (given as an instruction) on the input unit  21  of the operation terminal  10  such that a flexible instruction can be provided to the mobile search device  11 . Accordingly, the autonomous search system  1  can be used for multiple purposes in a wider range. 
     Additionally, according to the configuration of the embodiment, it is possible to store the object sample data D 1  to the device-side storage unit  34  of the mobile search device  11  and transmit the object specification signal from the operation terminal  10 . Accordingly, a communication traffic volume from the operation terminal  10  to the mobile search device  11  can be suppressed, whereby the instruction can be quickly provided to the mobile search device  11  from the operation terminal  10 . 
     According to the configuration of the embodiment, the object sample data D 1  can be also transmitted to the mobile search device  11  from the operation terminal  10 . Therefore, even in a case where the object sample data D 1  is not stored in the device-side storage unit  34  of the mobile search device  11  in advance, the predetermined action can be carried out relative to the search object in the transmitted object sample data D 1 . 
     Furthermore, according to the configuration of the embodiment, it is possible to store the action program D 2  to the device-side storage unit  34  of the mobile search device  11  and transmit the action specification signal from the operation terminal  10 . Accordingly, a communication traffic volume from the operation terminal  10  to the mobile search device  11  can be suppressed, whereby the instruction can be quickly provided to the mobile search device  11  from the operation terminal  10 . 
     According to the configuration of the embodiment, the action program D 2  can be also transmitted to the mobile search device  11  from the operation terminal  10 . Therefore, even in a case where the action program D 2  is not stored in the device-side storage unit  34  of the mobile search device  11  in advance, the predetermined action in regard to the transmitted action program D 2  can be carried out relative to the search object. 
     According to the configuration of the embodiment, because the mobile search device  11  has the learning function, even in a case where no instruction is given to the mobile search device  11  from the operation terminal  10 , the mobile search device  11  can also carry out the predetermined action relative to the search object based on an instruction in the past while autonomously moving. 
     Additionally, according to the configuration of the embodiment, the camera  41  and the microphone  42  can be applied as the object detector  33 . In addition to the camera  41  and the microphone  42 , the scanner and the odor measuring device can be applied as well. 
     According to the configuration of the embodiment, the remote control by the operator is also available while the mobile search device  11  is autonomously moving. Therefore, the control through the remote control by the operator and the control while the mobile search device  11  is autonomously moving can be coordinated. 
     Furthermore, according to the configuration of the embodiment, the search object input field  51  and the action input field  52  can be displayed on the display unit  22 . As a result, the operator operating the operation terminal  10  can favorably input the search object and the predetermined action through the input unit  21  while visually confirming the display unit  22 . 
     In the embodiment, the mobile search device  11  has carried out the predetermined action relative to the search object in a case where the object data and the object detection data are determined to match with each other. However, a determination result may be transmitted to the operation terminal  10  prior to carrying out the predetermined action. Specifically, when the device-side controller  36  determines that the object data and the object detection data match with each other, the mobile search device  11  transmits the determination result to the operation terminal  10  while blocking the action unit  32  from carrying out the predetermined action relative to the search object until acquiring, from the operation terminal  10 , input of the permission for carrying out the predetermined action. Meanwhile, the operation terminal  10  displays the received determination result on the display unit  22 . When the operator inputs the permission for carrying out the predetermined action through the input unit  21 , the operation terminal  10  transmits the permission for carrying out the predetermined action to the mobile search device  11 . Upon acquiring the input of the permission for carrying out the predetermined action, the mobile search device  11  carries out the predetermined action relative to the search object. According to this configuration, the predetermined action relative to the search object can be carried out depending on the determination of the operator. 
     REFERENCE SIGNS LIST 
     
         
         
           
               1  AUTONOMOUS SEARCH SYSTEM 
               10  OPERATION TERMINAL 
               11  MOBILE SEARCH DEVICE 
               21  INPUT UNIT 
               22  DISPLAY UNIT 
               23  TERMINAL-SIDE STORAGE UNIT 
               24  TERMINAL-SIDE COMMUNICATION UNIT 
               25  TERMINAL-SIDE CONTROLLER 
               31  MOVEMENT UNIT 
               32  ACTION UNIT 
               33  OBJECT DETECTOR 
               34  DEVICE-SIDE STORAGE UNIT 
               35  DEVICE-SIDE COMMUNICATION UNIT 
               36  DEVICE-SIDE CONTROLLER 
               41  CAMERA 
               42  MICROPHONE 
               50  INPUT SCREEN 
               51  SEARCH OBJECT INPUT FIELD 
               52  ACTION INPUT FIELD 
             D 1  OBJECT SAMPLE DATA 
             D 2  ACTION PROGRAM 
             D 3  AUTONOMOUS MOVEMENT PROGRAM 
             D 4  RECOGNITION PROGRAM