JP2003015740A - Traveling controller for traveling object for work - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the traveling controller of an autonomic traveling service car (traveling object for a work) for performing a clearing, waxing, and painting work all over while traveling in a prescribed work area. SOLUTION: This traveling controller is provided with a gyro sensor for measuring the direction of a traveling object, a distance meter for measuring a distance between the traveling object and an obstacle, a guide for playing the role of a reference wall for allowing the traveling object to measure the lateral position or traveling direction by using the distance meter, a traveling and direction calculating means for calculating either the lateral position or traveling direction of the traveling object or both by measuring a distance between the traveling object and the guide, and a condition discriminating means for discriminating a condition for allowing the traveling object to start the execution of the position and direction calculating means.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a movement control device for an autonomous traveling work vehicle (working vehicle) that travels in a predetermined work area to perform cleaning, wax application, and other work without interruption.

[0002]

2. Description of the Related Art In order for a moving body to perform a specific work to work in a designated area without any trouble, a side obstacle is used as a moving body control device for controlling the moving body to reciprocate at a desired interval. It has a distance sensor that measures the distance to an object, runs parallel to the wall while controlling the direction so that the distance to the side wall is constant, and when the end of the work area is reached, the desired distance is set. A control device for making a U-turn and running again parallel to the wall is known (Japanese Patent Laid-Open No. 8-286).
747).

However, since the above-mentioned known device is a system for measuring the self-position by measuring the distance to the wall, for example, when working in a supermarket or a department store, the side is a merchandise store and clothes etc. If various products are displayed and there is no target wall,
Since the straightness is impaired, there is a problem that it is impossible to work. In a very large gymnasium or the like, the distance to the wall may be outside the measurement range of the ultrasonic rangefinder, which makes it difficult to use. Even if you try to maintain straightness using a gyro sensor in such a place, it will deviate from the target trajectory due to the deviation of the installation angle at the start of work and the accumulation of measurement errors of the gyro sensor during traveling, Practical application is difficult.

On the other hand, unlike the above-mentioned device, there is also developed a device in which a laser projector is arranged on one side of the work area, a laser light receiver is provided on the moving body, and the moving body travels along the laser beam. Has been done. In this device, a plurality of laser light projectors are arranged corresponding to a plurality of orbits of zigzag travel, and every time the moving body makes a U-turn,
Some laser projectors move over one side of the work area.

However, it is difficult to always install a laser projector in this device when working in a supermarket or a department store or the like, and when installing it before work, it is necessary to adjust the optical axis. There is a problem that it takes time. Also, in the case of moving the laser projector, a precise guide rail and a moving carriage are required to move the optical axis so that the optical axis does not shift, which requires a lot of time for installation and is expensive in cost. There is a problem that becomes.

On the other hand, in Japanese Patent Laid-Open No. 8-234838, when the distance to the wall is larger than a reference value, the distance is measured a plurality of times until the traveling distance reaches a predetermined value. It describes that the minimum data among them is adopted and fed back to the wall copy traveling control, and it also shows that a partition etc. is additionally arranged in the section where there is no reference pillar etc. between the set traveling distances. Has been done.

This control method is effective in an environment in which pillars of the same size are arranged parallel to the target trajectory at regular intervals, but in the case of a department store or a supermarket passageway, there are no fixed pillars. Since product stands and product shelves are randomly placed, when this method is adopted, it is necessary to install a large number of partitions at regular intervals, which is not practical in view of work efficiency.

Further, in Japanese Patent Laid-Open No. 8-84696,
It has a distance sensor that measures the distance to the wall and a direction sensor that detects the direction, and when traveling along the wall near the wall, the distance to the wall detected by the distance sensor maintains the reference distance. When the vehicle is traveled as described above and the distance to the wall is larger than the reference distance by a predetermined value or more, the control method is switched so that the vehicle travels straight based on the azimuth detected by the azimuth sensor.

In this method, it is determined whether the distance sensor or the direction sensor is used based on the distance from the wall. Therefore, when performing zigzag running work, the use of the distance sensor is limited to running near the wall. For the following traveling lane, only the azimuth sensor is controlled, and if the traveling area is wide, the azimuth deviation due to the accumulated error of the gyro sensor cannot be ignored.

[0010]

Therefore, in the present invention, when working in the aisles of a supermarket or a department store, there is no target wall on the side of the product section and a place where product stands or product shelves are randomly placed. Also, even if the distance to the wall is outside the measurement range of the ultrasonic rangefinder in a large gym, etc., the minimum guide equipment can be installed to efficiently and inexpensively drive the work area zigzag. It is an object to provide a moving body control device capable of performing work.

[0011]

In order to solve the above problems, the present invention has the following constitution. That is, the movement control device for a work moving body according to the present invention reciprocates the work moving body at an appropriate interval so that the work moving body performing a predetermined work can work in a designated range without exception. A moving body control device for controlling the movement of the moving body, a gyro sensor for measuring the direction of the moving body, a distance meter for measuring the distance between the moving body and an obstacle, and the moving body using a range finder for a lateral direction. By measuring the distance between the guide and the guide that plays the role of a reference wall for measuring the position or the moving direction of the mobile body, one or both of the lateral position and the moving direction of the mobile body can be measured. It is characterized by comprising a moving / direction calculating means for calculating and a condition judging means for judging a condition for the moving body to start executing the position / direction calculating means.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, more detailed description will be given based on the embodiments of the present invention. 1 and the following figures show an example of an embodiment of the present invention. This work moving body 1 is an ultrasonic sensor 3a, 3b, 3 for measuring a distance from an obstacle.
c, 3d, and a working unit 5 for applying a wax to the floor surface. FIG. 2 is a plan view of the infrared remote controller.
Is used to remotely control the mobile body 1 and set a work area and a travel route. As a signal, similar to the method often used in infrared remote controllers of home appliances such as televisions, the time interval between pulses in repetition of pulsed light emission (pulse width T = 562.5 μsec) of an infrared light emitting LED Uses a binary code of 0 and 1.

For example, when the time interval between pulses is long (for example, 3T = 1687.5 μsec), it is 1, and when it is short (for example, T = 562.5 μsec), it is 0.
And Then, a plurality of commands are expressed using the code of the combination of 0 and 1. Finally, a signal obtained by modulating the continuous pulse light emission at 38 KHz is output as an infrared remote control signal.

FIG. 3 shows the structure of the moving body 1, and FIG. 4 shows a block diagram of the moving body. The left and right wheels 6a and 6b are
The traveling motors 7a and 7b are driven independently of each other, and the traveling motors 7a and 7b are controlled by the control unit 10 in the rotation direction and the rotation speed based on the outputs of the traveling encoders 8a and 8b. If the left and right wheels rotate in the same direction, the wheels will move forward or backward, and the vehicle will travel on a curve due to the difference in the left and right rotational speeds. When the left and right wheels are rotated in opposite directions, turning is performed on the spot. Furthermore, the control unit 10
Calculates the traveling distance by calculating the cumulative value of the outputs of the left and right traveling encoders 8a and 8b, and the gyro sensor 4
Based on the output of, the direction of the work moving body 1 is calculated, the position of the work moving body is calculated, and the stop position and the direction are controlled.

Further, the control unit 10 includes a front ultrasonic sensor 3
An obstacle ahead is detected based on the values of a and 3b, and traveling control such as traveling stop and U-turn is performed. In addition, the distance to a side obstacle is measured when moving forward or backward based on the values of the left and right ultrasonic sensors 3c and 3d. In addition, according to the input from the infrared remote control receiver 13, it controls forward movement, backward movement, curve, turning, and each operation such as position correction and traveling direction correction described later, and calculates the traveling distance and direction when setting the area. Based on the value, a work parameter required for work execution is calculated and stored in the storage unit 14. When the work is executed, the traveling control and the work unit 5 are controlled based on the work parameters stored in the storage unit 14.

Infrared remote control signal receivers 13a, 13
b, 13c and 13d first demodulate the infrared remote control signal modulated at 38 KHz and output it to the control unit 10 as binary code data. An example of an infrared remote control signal receiving IC having this function is "IS1U60" manufactured by Sharp Corporation. The infrared remote control transmitters 15a and 15b are controlled by the controller 10 and output infrared remote control signals.

FIG. 5a is a perspective view of the guide 20, and FIG.
b is a view of the communication control unit 21 of the guide 20 as seen from the back,
Further, FIG. 6 shows a block diagram of the guide 20, respectively.
In this guide 20, a communication control unit 21 is provided on the back surface side of an ultrasonic wave reflection plate 24 supported in a standing state on the floor, and an infrared remote control signal transmission unit 22 is provided on the front surface side of the ultrasonic wave reflection plate 24. An infrared remote control signal reception unit 23 is provided. The communication control unit 21 is provided with a battery 25, a power supply unit 26, a liquid crystal display unit 27, and a command selection switch 28.

Next, the operation of this embodiment will be described. As illustrated in FIG. 7, the moving body 1 performs so-called zigzag traveling in which a traveling route reciprocates within a designated range at predetermined intervals. FIG. 7 shows a case where the vehicle travels back and forth while moving laterally from the left side to the right side at predetermined intervals. In addition, the vehicle may travel back and forth while moving laterally from the right side to the left side at predetermined intervals.

The guide 20 is placed beside the work start position in the work area, and the orientation thereof is adjusted so that the ultrasonic reflecting plate 24 is parallel to each traveling lane of zigzag traveling. A plurality of methods are conceivable as a method of determining the timing for performing the lateral position correction and the traveling direction correction using the guide. In advance, which method is to be used is selected from a plurality of methods using the infrared remote controller 2 and stored in the storage unit 14. This method is as follows.

(First Method) First, as the first method,
A method for performing the correction operation at the start of the forward path of zigzag traveling will be described. In FIG. 7, the positions A, B, and C are the starting points of the outward path. The mobile unit 1 is running in zigzag,
When the strokes A, B, and C are reached, the traveling direction correction operation is first performed, and then the lateral position correction operation is performed.

FIG. 8 is a diagram for explaining the principle of the traveling direction correcting operation. In the traveling direction correction operation, first, the distance D1 to the ultrasonic reflecting plate 24 of the guide 20, that is, the side obstacle on the start side (left side in this case) of the zigzag work is measured. Next, go straight for a predetermined distance L (for example, 15 cm) and again the obstacle on the same side, that is, the ultrasonic reflection plate 2 of the guide 20.
The distance D2 up to 4 is measured. The control unit 10 has D1, D
Based on the values of 2 and L, the value of the deviation angle θ in the traveling direction of the guide 20 and the moving body 1 is calculated from the following equation. θ = sin ⁻¹ {(D2-D1) / L} (1)

Then, while the angle is measured by the gyro sensor, the turning operation is performed by the angle θ to make the traveling direction of the guide 20 and the moving body 1 parallel to each other. Then, the output value of the gyro sensor in this state is newly set as the reference direction.
This is the end of the travel correction operation. Next, the lateral position correction operation is started.

FIG. 9 is a diagram for explaining the principle of the lateral position correction operation. Calculated distance to the guide 20 at the target position calculated from the preset lateral movement pitch value P for zigzag traveling, the current number of traveling lanes N, and the measured distance D ₀ to the guide at the start of zigzag traveling. Is DT. DT = D ₀ + (N-1) · P (2)

The moving body 1 at the start of the lateral position correcting operation is shown by a solid line in FIG. First, the distance D ₃ from the side obstacle on the zigzag work start side (left side in the illustrated example), that is, the guide 20 to the ultrasonic reflection plate 24 is measured. Next, a 90 degree turn is performed. The moving body 1 after turning is shown by a broken line in the figure.

After turning, the vehicle travels straight for a distance (DT-D ₃ ). If DT is larger than D ₃ , go straight in the direction away from the guide, and if DT is smaller than D ₃ ,
Go straight toward the guide. Then, it turns 90 degrees in the opposite direction to the previous time. The moving body 1 after turning is shown by a dashed line in the figure. Thus, the lateral position correction operation is completed. The 90-degree turn is performed based on the value of the gyro sensor.

In this method, the lateral position / traveling direction correction operation is automatically performed at the start of the outward travel, so that the infrared remote control signal transmitting section 22 which is the communication means of the guide 20,
The infrared remote control signal reception unit 23 and the infrared remote control signal transmission unit 15 which is the communication means of the mobile unit 1 are not used.
Therefore, when only this method is used, each of the above communication means can be omitted, resulting in cost reduction. Further, since the guide 20 only needs to have a function as an ultrasonic reflection plate, a cardboard box or a partition can be used.

Further, in the above description, the guide is placed on the zigzag work starting side and the lateral position / traveling direction correcting operation is performed on the obstacle on the work starting side, but as another method,
The guide can be placed on the work end side, and the lateral position / traveling direction correction operation can be performed on the obstacle on the work end side. At this time, the equation (2) is replaced with the following equation (3). DT = D ₀ − (N−1) · P (3)

Which side of the obstacle is to be corrected is selected in advance using the infrared remote controller 2 and stored in the storage unit 14. Further, in the above description, the correction operation performs both the lateral position correction and the traveling direction correction, but it is also possible to perform only one of them. Which correction operation is performed is selected in advance by using the infrared remote controller 2 and stored in the storage unit 14.

(Second Method) The second method corresponds to claim 2 of the appended claims, and this method moves the moving object to a preset vertical position (correction start vertical position). It is a method of executing the traveling direction correction and the lateral position correction when 1 is reached. The vertical position to be corrected is set using the infrared remote controller and stored in the storage unit 14. Then, it is necessary to place the guide 20 in the correction start vertical position in advance. Based on the mileage calculation value calculated from the integrated value of the travel encoder,
The vertical position is calculated, and when the stored correction start vertical position is reached, the vertical position is temporarily stopped and the same correction operation as in the first method is executed.

In this method, the guide can be placed midway in the vertical direction so that correction can be performed even in the middle of the straight traveling lane. Therefore, the distance in the vertical direction is large, and the gyro sensor can be used before returning to the starting position of the outward path. This is effective when the cumulative error of becomes too large.

Also in this case, as in the first method, the infrared remote control signal transmitting section 22, which is the communication means of the guide 20,
Since the infrared remote control signal reception unit 23 and the infrared remote control signal transmission unit 15 which is the communication means of the mobile unit 1 are not used, the above functions can be omitted and the cost can be reduced.
Further, since the guide 20 only needs to have a function as an ultrasonic reflection plate, a cardboard box or a partition can be used.

(Third Method) This third method corresponds to the third aspect of the present invention, and periodically outputs the correction request command signal from the infrared remote control signal transmitting section 22 of the guide 20. Then, when the infrared remote control signal receiving unit 13 of the moving body 1 receives the correction request command signal, the traveling direction correcting operation and the lateral position correcting operation are performed as in the first method. In this method, it is not necessary to set the correction start vertical position in advance and the place where the guide 20 is placed does not need to be accurate, so that there is an advantage that preparation for work can be easily performed.

In this method, since the infrared remote control signal receiving unit 23 of the guide 20 and the infrared remote control signal transmitting unit 15 which is the communication means of the mobile unit 1 are not used, the above function can be omitted and the cost can be reduced.

(Fourth Method) Since the infrared remote control signal receiving section 13 of the mobile unit 1 is distributed around the mobile unit so as to receive the signals output from the infrared remote controller 2 from all directions, In the third method, as shown in FIG. 10, when working continuously in two zigzag traveling areas having different directions, the correction request command signal output from the guide 20B for one working area is This will cause one of the work areas to enter the moving body 1 which is moving, and start the correction operation at an incorrect timing. In order to solve this, in the fourth method, the moving body 1 uses the guide 20.
The correction request command signal is output only when passing in front of.

The infrared remote control signal transmitter 15 installed on the side surface of the mobile unit 1 periodically outputs a guide activation signal composed of a binary code different from the correction request command signal, and the infrared remote controller of the guide 20. When the signal receiving unit 23 receives the guide activation signal, the infrared remote control signal transmitting unit 22 of the guide 20 outputs a correction request command signal. Then, when the infrared remote control signal receiving unit 13 of the mobile unit 1 receives the correction request command signal, the traveling direction correction operation and the lateral position correction operation are performed.

(Fifth Method) This method is also a method for solving the problems of the third method, like the above-described fourth method, and the side surface of the moving body 1 reflects infrared rays (for example, a metal surface). It is effective when the plane is parallel to the traveling direction and is composed of white paint, etc.).

Infrared remote control signal transmitter 2 of the guide 20
2, a moving body detection signal composed of a binary code different from the correction command signal is periodically transmitted, and when the infrared remote control signal receiving unit 23 of the guide 20 receives the moving body detection signal, the infrared remote control signal transmission A correction request command signal is transmitted from the unit 22. Then, when the infrared remote control signal receiving unit 13 of the mobile unit 1 receives the correction request command signal, the traveling direction correction operation and the lateral position correction operation are performed.

Since the infrared remote control signal receiving unit 23 is installed on the same surface as the infrared remote control signal transmitting unit 22, it does not normally receive signals, but when the moving body 1 passes in front of the guide 20. The infrared remote control signal is reflected on the side surface of the moving body 1, and the infrared remote control signal receiving section 2
It is incident on 3. As a result, the guide 20 detects the presence of the moving body 1 and transmits a correction request signal. in this way,
Since the infrared remote control signal transmitting unit 15 of the mobile unit 1 is not used, the above function can be omitted and the cost can be reduced. Further, although the infrared remote control signal is used as the moving body detection signal, a laser beam may be used when more accurate position accuracy is required.

(Sixth Method) This method is also a method for solving the problems of the third method, like the fifth method, and the side surface of the moving body 1 is less likely to reflect infrared rays. Is effective in the case where it is constituted by a curved surface or an inclined surface and is reflected in a direction different from that of the guide 20.

Infrared remote control signal transmitter 2 of the guide 20
2 periodically outputs a moving body detection signal composed of a binary code different from the correction request command signal, and when the infrared remote control signal receiving unit 13 of the moving body 1 receives the moving body detection signal, the moving body detection signal is received. A guide activation signal is transmitted from the infrared remote control signal transmission unit 15 of No. 1. When the infrared remote control signal receiving unit 23 of the guide 20 receives the guide activation signal, the infrared remote control signal transmitting unit 22 of the guide 20 outputs a correction request command signal. Then, when the infrared remote control signal receiving unit 13 of the mobile unit 1 receives the correction request command signal, the traveling direction correction operation and the lateral position correction operation are performed. This method contributes to the reduction of the power consumption of the moving body 1 because the frequency of the infrared remote control signal output from the moving body 1 is lower than that of the fourth method.

(Seventh Method) This method is also a method for solving the problem of the third method, like the sixth method, and the side surface of the moving body 1 is made of a member that does not easily reflect infrared rays. Or when it is composed of a curved surface or an inclined surface and is reflected in a direction different from that of the guide 20, it is not necessary to output the infrared remote control signal of the moving body 1. This is a method that contributes to cost reduction and power consumption reduction of the mobile unit 1.

In this method, a reflection plate for reflecting infrared rays is previously installed on the opposite side of the installation position of the guide 20 across the work area. The infrared remote control signal transmission unit 22 of the guide 20 periodically outputs a moving body detection signal composed of a binary code different from the correction request command signal, and the moving body detection signal is reflected by the reflecting plate and is guided by the guide 20. The infrared remote control signal receiving unit 23 is incident and received. When the infrared remote control signal reception unit 23 stops receiving the mobile body detection signal when the mobile body detection signal is output, it is considered that the mobile body 1 has entered between the guide 20 and the reflector, and the infrared remote control signal transmission unit 22 issues a correction request command. Send a signal. Then, when the infrared remote control signal receiving unit 13 of the mobile unit 1 receives the correction request command signal, the traveling direction correction operation and the lateral position correction operation are performed. Here, an infrared remote control signal is used as the moving body detection signal, but a laser beam may be used if more accurate position accuracy is required.

As described above, the first to seventh methods can be preselected by the user using the command selection switch 28 of the guide 20 and the liquid crystal display 27. This is the end of the description of the method for determining the timing for performing the traveling direction correction operation and the lateral position correction operation.

In the above embodiment, the infrared communication function between the moving body 1 and the guide 20 is used to control the traveling direction correcting operation and the lateral position correcting operation, as well as the moving body 1
Of the work stroke, for example, designation of the vertical end position of zigzag traveling, designation of operation after the end of zigzag traveling, designation of direction change during straight traveling, and the like can be performed.

The command selection switch 28 and the liquid crystal display 27 of the guide 20 can also be used to select the type of command signal to be transmitted from the guide 20, and the user can select a moving object from a plurality of commands. It is possible to select the command to be sent to 1.

The command types include zigzag end position designation and stop command after zigzag end designation zigzag end position designation and straight ahead command after zigzag end designation zigzag end position designation and right direction change command after zigzag end designation zigzag end position designation and zigzag end left There is a direction change command zigzag running start command, etc.

The guide 20 includes the fourth method to the seventh method.
When it is detected that the moving body 1 has passed in front of the guide 20 in accordance with the method of (1), the command selected from among the following is transmitted. Is a command for requesting to set the vertical end position of zigzag traveling to the current position, and when the zigzag traveling is completed after finishing the preset number of round trips, the work is finished and stopped. It is a command requesting to do so. Is a command requesting that the vertical end position of the zigzag traveling be set to the current position, and
When the zigzag traveling is completed after the preset number of round trips is completed, the command is a request to continue the straight traveling as it is. Is a command requesting to set the vertical end position of the zigzag running to the current position,
When the zigzag travel is completed after the preset number of round trips is completed, the command is a request to stop the vehicle, turn 90 degrees to the right, and then start straight traveling. Is a command for requesting to set the vertical end position of zigzag traveling to the current position, and when the preset number of round trips is completed and the zigzag traveling is completed, stop temporarily and move to the left. It is a command requesting to start straight traveling after turning 90 degrees. Is a command requesting to start zigzag running.

When the mobile unit 1 receives the command signals up to the above, in addition to the traveling-direction / lateral-direction position correction operation, the mobile unit 1 starts an operation in accordance with the commands (1) to (3).

By providing a plurality of guides 20, combining the commands from the above to arranging them at appropriate positions, it is possible to automatically move between a plurality of zigzag work areas and continue the work. One example is shown in FIG.
Shown in.

When the moving body 1 passes in front of the guide 20a, a command signal from the guide 20a is transmitted. When the mobile unit 1 receives the command signal from the mobile unit 1, the mobile unit 1 starts the zigzag traveling after performing the traveling direction / lateral direction position correcting operation. Then, when passing in front of the guide 20b while traveling in zigzag,
A command signal from the guide 20b is transmitted. Mobile 1
When receiving the command signal of (1), after performing the traveling direction / horizontal direction position correcting operation, the position is judged to be the vertical end position of the zigzag traveling, the U-turn operation is performed, and the next traveling lane is started.

When the last lane of the number of traveling lanes set and stored in advance is passed in front of the guide 20b and a command signal is received, the traveling direction / lateral direction position correcting operation is performed. , Make a 90 degree right turn and then start going straight. Then, when the vehicle passes in front of the guide 20c while traveling straight, a command signal from the guide 20c is transmitted, and when the mobile body 1 receives the command signal of, the vehicle 1 performs a traveling direction / lateral direction position correcting operation, and then performs zigzag traveling. Start. Then, when passing in front of the guide 20d during zigzag traveling, a command signal from the guide 20d is transmitted. When the mobile unit 1 receives the command signal of
After performing the lateral position correction operation, the position is determined as the vertical end position of the zigzag running, the U-turn operation is performed, and the process moves to the next running lane.

Then, when the last lane of the number of traveling lanes set and stored in advance is passed in front of the guide 20d and a command signal of is received, after the traveling direction / lateral direction position correction operation is performed. , Make a 90 degree right turn and then start going straight. Then, when the vehicle passes in front of the guide 20e while traveling straight, a command signal from the guide 20e is transmitted, and when the mobile body 1 receives the command signal of, the traveling direction / lateral direction position correcting operation is performed, and then the zigzag traveling is performed. Start. Then, when passing in front of the guide 20f during zigzag traveling, a command signal from the guide 20f is transmitted. When the mobile unit 1 receives the command signal of
After performing the lateral position correction operation, the position is determined as the vertical end position of the zigzag running, the U-turn operation is performed, and the process moves to the next running lane. Then, when the vehicle passes the last lane of the number of traveling lanes set and stored in advance while passing in front of the guide 20f and receives a command signal of, the operation is finished.

[Second Embodiment] Next, a second embodiment different from the above will be described. In the second embodiment, ultrasonic sensors 3e and 3f are added to the configuration of the moving body 1 of the first embodiment, and as shown in FIG. 12, the distance to the obstacle on the side of the moving body 1 is increased. Two ultrasonic sensors are provided on each of the right and left sides. 3c and 3e are provided to measure the distance to the left side obstacle, and 3d and 3f are provided to measure the distance to the right side obstacle. The difference from the first embodiment is the traveling direction correction operation.

In the traveling direction correcting operation of the present embodiment, the distance between the zigzag work start side (in this case, the left side) obstacle, that is, the ultrasonic reflector 24 of the guide 20 and the ultrasonic sensors 3e, 3c. Measure D ₁ and D ₂ . Control unit 1
For 0, the value of the deviation angle θ between the guide 20 and the moving body 1 in the traveling direction is calculated from the above equation (1) based on the values of D ₁ and D ₂ and the distance L between the ultrasonic sensors. Then, while the angle is measured by the gyro sensor, the turning operation is performed by the angle θ to make the traveling directions of the guide 20 and the moving body 1 parallel to each other. The output value of the gyro sensor in this state is set as the reference direction.
This is the end of the traveling direction correction operation.

[Third Embodiment] Next, a third embodiment will be described. In the first and second embodiments, since the guide 20 does not have a moving function, the width of the zigzag work area is limited to the measurable distance of the ultrasonic sensor (for example, 10 m). By preparing a plurality of guides 20 and installing them on both sides of the work area, and selecting a guide closer to the moving body 1 from the distance data measured by the moving body 1 to use, the width can be doubled. You can widen it, but if you want more, you need to think of another way.

On the other hand, in cleaning work, wax application work, lawn mowing work, etc., which require the work area to be covered thoroughly,
It is necessary to overlap the work width with the adjacent running lane so that there is no work remaining, but in the case of wax application work, if the vertical distance of zigzag running is too large, the wax applied to the adjacent lane will become semi-dry. In this state, multiple coatings will be applied, which may significantly impair the coating quality.
Therefore, as shown in FIG. 14, when the width of the passage is wide, it may be convenient to set the vertical direction of the zigzag traveling in the width direction of the passage. In this case, the width of the work area for zigzag running is the longitudinal direction of the passage, and in the case of a supermarket or the like, the length of the passage may reach 100 m or more.

In order to cope with such a work area, the third
In the embodiment of the present invention, the guide 20 is provided with a moving function, and when the moving body 1 and the guide 20 are too close or too far apart,
By moving the guide 20 in the width direction of the zigzag area, it is possible to continue the work, and it is possible to greatly expand the width of the zigzag work area in which the work can be performed without manpower.

16 and 17 show the structure of the guide 20 in this embodiment. In the figure, 21 is a communication movement control unit, 22 is an infrared remote control signal transmission unit, 23 is an infrared remote control signal reception unit, and 24 is an ultrasonic reflection plate. Further, 25 is a battery, 26 is a power supply unit, 32a and 32b are wheels, 33a and 33b are traveling motors, and 29a and 29b.
Is a running encoder, 30 is a caster, and 31 is a gyro sensor.

The operation of this embodiment will be described with reference to FIG. The moving body 1 is first placed at the work starting point A, and the guide 20 is placed on the work ending direction side at an arbitrary distance within the measurable distance range of the ultrasonic sensor.

As described in the first method of the first embodiment, the moving body 1 corrects the traveling direction with the guide 20 as a reference before starting the outward path. When the distance to the guide 20 measured during traveling direction correction is smaller than a predetermined value, the infrared remote controller signal transmission unit 15 transmits a guide movement request signal after the traveling direction correction operation is completed. . When the infrared remote control receiver 23 receives the guide movement request signal, the guide 20 moves straight in a direction away from the moving body 1 by a predetermined distance based on the outputs of the gyro sensor 31 and the traveling encoder 29. After that, when the moving body 1 approaches the guide 20, the operation of moving the guide 20 away from the moving body 1 is repeated according to the above procedure, thereby performing work in a wide work area. This method is a method in which the guide 20 guides the moving body 1, and the guide 20 does not run in the area where the moving body 1 has finished the work. For example, after the
This is an effective method when you must not run on the floor after work.

FIG. 15 shows another operation method of this embodiment. In this example, the guide 20 is placed at the point B on the start side of the zigzag traveling at the start of work. Mobile unit 1
Before the start of the outward path, the traveling direction is corrected with the guide 20 as a reference. Then, when traveling in zigzag and the distance to the guide 20 measured during traveling direction correction becomes larger than a predetermined value, a guide movement request signal is transmitted from the infrared remote control signal transmission unit 15 after the traveling direction correction operation is completed. . When the infrared remote controller receiver 23 receives the guide movement request signal, the guide 20 advances straight in a direction approaching the moving body 1 by a predetermined distance based on the outputs of the gyro sensor 31 and the traveling encoder 29. After that, when the moving body 1 separates from the guide 20, the guide 20 is guided by the above procedure.
By repeating the operation of approaching the moving body 1,
Perform work in a wide work area.

This method is a method in which the guide 20 follows the moving body 1 and cannot be used when the vehicle must not run on the floor after the work such as wax application work, but after the work such as cleaning work. This is an advantageous method when the vehicle can run on the floor and there is no extra space on the end side of the work.

Which of the above two methods is to be used is preset and stored in the storage unit 14 of the mobile unit 1.

In the above method, the guide 20 is controlled to go straight on the basis of the output of the gyro sensor 31. Regarding the accumulated error of the gyro sensor, which is the subject of the present invention, the travel distance and travel of the guide 20 during work are Since the time is smaller than the traveling distance and traveling time of the moving body 1 which travels back and forth, if the traveling distance of the guide 20 is within a predetermined range (for example, within 50 m), the accumulated error of the gyro sensor of the guide 20 becomes a problem. It is possible to hold it in a range that does not happen.

In the above description, the movement of the guide 20 is controlled only based on the output of the gyro sensor 31, but a guide mark previously installed on the floor is detected by an optical sensor or a magnetic sensor. It is also possible to use a method of moving straight along with the guide, such as a method of moving straight, or a method of moving straight while detecting with an optical sensor using a laser beam as a guide, and the moving distance of the guide 20 causes a cumulative error of the gyro sensor 31. It is effective for such a large distance.

[0066]

As is apparent from the above description, the mobile unit control device according to the present invention has no target wall on the side of the merchandise store, such as when working in a supermarket or a department store aisle. Even in places where product shelves are randomly placed, and even when the distance to the wall is outside the measurement range of the ultrasonic rangefinder in a large gymnasium, the installation of the minimum guide equipment makes it cheaper. This makes it possible to perform zigzag traveling work efficiently in the work area.

[Brief description of drawings]

FIG. 1 is an external view of a work moving body.

FIG. 2 is a plan view of a controller.

FIG. 3 is a plan view showing a configuration of a work moving body.

FIG. 4 is a block diagram of a control system of a work moving body.

5A is a perspective view of a guide and FIG. 5B is a rear view of a communication control unit thereof.

FIG. 6 is a block diagram of a guide.

FIG. 7 is an explanatory diagram of a traveling method.

FIG. 8 is a diagram illustrating the principle of a traveling direction correction operation.

FIG. 9 is a diagram illustrating the principle of lateral position correction operation.

FIG. 10 is an explanatory diagram of a traveling method.

FIG. 11 is an explanatory diagram of a continuous work method in a work area.

FIG. 12 is a configuration explanatory view of a moving body different from the above.

FIG. 13 is a diagram illustrating the principle of the traveling direction correction operation.

FIG. 14 is an explanatory diagram of a work area.

FIG. 15 is an explanatory diagram of a work area.

FIG. 16 is a plan view showing the structure of a guide.

FIG. 17 is a block diagram of a guide.

[Explanation of symbols]

1 moving body 2 Remote controller 3 Ultrasonic sensor 4 Gyro sensor 5 Working department 6 wheels 7 Travel motor 8 Travel encoder 9 casters 10 Control unit 13 Remote control signal receiver 14 Memory 15 Remote control signal transmitter 20 guides 21 Communication control unit 22 Remote control signal transmitter 23 Remote control signal receiver 24 Ultrasonic reflector 25 batteries 26 power supply 27 Liquid crystal display 28 Command selection switch 29 Travel encoder 30 casters 31 gyro sensor 32 running wheels 33 traveling motor

Claims (6)

[Claims] 1. A moving body control device for performing control for reciprocating the moving body at a proper interval so that the working body for performing a predetermined work can work in a designated range without exception. , A gyro sensor that measures the direction of the moving body, a range finder for measuring the distance between the moving body and an obstacle, and a reference for the moving body to measure the lateral position or moving direction using the range finder. A guide that plays the role of a wall,
By measuring the distance between the moving body and the guide, the moving / direction calculating means for calculating one or both of the lateral position and moving direction of the moving body, and the moving body executing the position / direction calculating means. And a condition determining means for determining a condition for starting the movement control device for a work moving body. 2. The traveling body includes traveling distance measuring means for measuring traveling distance by measuring the number of rotations of wheels.
Equipped with a vertical position calculating means for calculating the vertical position based on the measured traveling distance, and a measurement position storing means for storing the horizontal position using the guide or the vertical position for starting the measurement of the moving direction. The condition determining means executes the position / direction calculating means when the vertical position stored in the measurement position storing means and the current vertical position calculated by the vertical position calculating means match. The movement control device for a work moving body according to claim 1, which is started. 3. The guide has command signal output means for outputting a command signal of at least one item to the moving body, and the moving body receives a command signal for receiving the command signal outputted from the guide. 3. The method according to claim 1, further comprising means, wherein the condition determination means starts execution of the position / direction calculation means when the moving body receives a correction request command signal as one of the command signals from the guide. Movement control device for the work moving body. 4. The movement control device for a work moving body according to claim 1, further comprising a passage detecting means for detecting that the moving body passes in front of the guide. 5. A command signal in which the guide transmits, as a command signal, a zigzag running longitudinal end position setting command, a straight ahead command, a right turn command, a left turn command, a zigzag run start command, etc. in addition to the correction request command. In addition to having an output means, a selection means for selecting these command signals is provided, and the user controls the operation of the moving body other than the reciprocating traveling by selecting the command by the command signal selection means and arranging it at an appropriate position. However, the movement control device for a work moving body according to claim 3 or 4, which controls movement between a plurality of zigzag travel areas. 6. The guide according to claim 1, wherein the guide is a second moving body having moving means and moves in a direction perpendicular to a target traveling direction of the work moving body which is the first moving body. A movement control device for a work movable body according to item 1.