JP3931679B2 - Mobile robot - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a mobile robot that automatically travels in a predetermined area.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, so-called self-guided mobile robots have been developed that automatically move by adding moving means, sensors, and movement control means.
[0003]
[Problems to be solved by the invention]
However, since the conventional mobile robot uses time for the end determination, the travel is continued even though the travel of the area is finished, or the area that has not yet traveled remains. It was hard to say that it was working efficiently because the driving ended.
[0004]
The present invention solves the above-described conventional problems, and an object of the present invention is to provide a mobile robot that can perform work efficiently without performing complicated control.
[0005]
[Means for Solving the Problems]
In order to solve the above-described conventional problems, a mobile work robot according to the present invention includes a traveling means and a moving direction changing means for moving a main body, and boundary detection for detecting an area boundary by detecting an obstacle around the main body. And a movement control means for controlling the movement of the main body by controlling the traveling means and the moving direction changing means, and the movement control means repeatedly travels back and forth by repeating straight movement and reversal of the main body in the region. , Moving the main body by a predetermined width W in a direction substantially perpendicular to the reciprocating direction, and at least a boundary of a region where the boundary detection means cannot advance further forward and sideward of the main body, when detecting two consecutive, the control section 10 ends the movement, after the boundary detecting means, detects a region which can not be advanced further into a front and side of the body to the first round of When the vehicle travels in the reverse direction, the boundary detection means detects whether there is an obstacle on the side of the main body, and if it does not detect the obstacle, the front of the first main body Rotate approximately 90 degrees and move a predetermined width W1 smaller than the predetermined width W in a direction where no obstacle can be detected. Thereafter, the vehicle travels continuously in the direction traveled by the predetermined width before the movement of W1 .
[0006]
Accordingly, since the boundary of the region can be detected with a simple configuration and without performing complicated movement control , a mobile robot that efficiently travels in the region can be realized.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
The invention according to claim 1 is a traveling means and a moving direction changing means for moving the main body, a boundary detecting means for detecting a boundary of the region by detecting an obstacle around the main body, the traveling means and the moving direction. A movement control means for controlling the movement of the main body by controlling the conversion means, and the movement control means is substantially perpendicular to the reciprocating direction while reciprocating the main body in the region by repeating the rectilinear movement and reversing. The main body is moved by a predetermined width W in the direction of, and the boundary detection means detects a boundary of an area where it cannot advance further forward and sideward of the main body at least twice. , the control section 10 ends the movement, the boundary detecting means, after a region which can not be advanced further into a front and side of the body is detected in the first round is inverted traveling and turning, the inversion run When the boundary detection means detects whether or not there is an obstacle on the side of the main body, and if it does not detect it, it can not advance further forward and forward of the first main body After clearing that the area has been detected and rotating about 90 degrees in the direction in which no obstacle is detected and moving a predetermined width W1 smaller than the predetermined width W, but before moving the predetermined width W1 By using a mobile robot that continues to travel in the direction that it was traveling, it is possible to detect the boundary of the region without complicated movement control with a simple configuration, so that it is possible to move and travel efficiently within the region. I can do it. Further, if the vehicle is moved by a predetermined distance W1 smaller than the predetermined distance W, the area of the uncleaned area is reduced when the boundary of the obstacle on the side is bent at an acute angle, and the traveling and cleaning area is reduced. It is more widespread and can move and travel within the area efficiently regardless of the shape of the obstacle.
[0008]
In the invention described in claim 2 , in particular, the main body described in claim 1 performs work such as dust collection while moving in the region, so that the work can be performed while moving and traveling. It becomes possible to use, and usability improves.
[0009]
【Example】
Hereinafter, a case where the embodiment of the present invention is applied to a self-propelled cleaner will be described as an example with reference to the drawings.
[0010]
Example 1
FIG. 1 is an overall view of a self-propelled cleaner according to a first embodiment of the present invention, and FIG. 2 is a block diagram of the same. In FIG. 1, 1 is a main body of a self-propelled cleaner that performs cleaning while moving, and moves in a cleaning area. Reference numerals 2 and 3 denote left and right drive motors (moving direction changing means), and each output shaft drives left and right traveling wheels (traveling means) 4 and 5. The left drive motor 2 and the right drive motor 3 are independently controlled for rotation to move the main body 1 and also serve as a moving direction changing means. Reference numeral 6 denotes a movement control means for controlling the left and right drive motors 2 and 3 in accordance with various inputs and controlling the movement of the main body 1, and includes a microcomputer and other control circuits. Reference numeral 7 denotes boundary detection means for detecting and recognizing distances to obstacles in front of and on the side of the main body using an optical sensor or the like, and detecting the boundary of the region. Reference numeral 8 denotes direction recognition means for recognizing the direction in which the main body is facing by a gyro or the like. Reference numeral 9 denotes a cleaning nozzle for cleaning the floor surface, which sucks dust by the vacuum pressure generated by the fan motor 10. Reference numeral 11 denotes a power source made of a battery or the like, which supplies power to the main body 1.
[0011]
The traveling operation of the main body 1 having the above configuration will be described with reference to FIG. First, starting from the starting point A1, the left and right drive motors 2 and 3 are driven to advance. After recognizing an obstacle and turning to the left by 90 ° at the point B1 where the boundary is detected, the vehicle moves forward by a predetermined distance W, and then moves again by changing the movement direction by 90 ° to the left. At the point C1 where the obstacle is recognized and the boundary is detected, the moving direction is changed 90 ° rightward and advanced by a predetermined distance w, and the moving direction is changed 90 ° rightward and advanced again. Thus, the main body 1 is moved so that the distance between the forward path and the backward path becomes a predetermined width by repeating the inversion. At this time, as in the case of the point D1, if it is impossible to move forward even if the boundary of the area is detected in front and side of the main body and the moving direction is changed, the direction is further changed and the route d1 that has been advanced so far is changed. Now move in the opposite direction. And if the obstacle is recognized at the front and the side of the main body at the point E1, the boundary is detected, and it is impossible to move forward even if the moving direction is changed again, the boundary of the area that cannot be moved further is determined. If it is detected twice or more consecutively in front of and at the side, it is determined that the cleaning region has ended and cleaning is ended. Therefore, when the cleaning area as shown in FIG. 4 is started from the start point A2, it is not possible to move forward even if the moving direction is changed at the point D2, but it is advanced by moving forward in the reverse direction on the route d2 to reach the point E2. And the cleaning operation can be completed without causing an uncleaned area.
[0012]
In addition, the boundary of the region that cannot be further advanced is detected once in the front and side of the main body, and then the boundary of the region that cannot be further advanced again is determined as the front and side of the main body. If the boundary of the area that can be advanced is detected before the detection, the fact that the boundary of the area that cannot advance further is detected at the front and side of the main body is reset, so that the stable area It is the one that secures traveling and work inside.
[0013]
The predetermined distance W is experimentally determined in advance as an optimum value.
[0014]
Hereinafter, an example of the travel control algorithm in the movement control means 6 will be described with reference to FIG.
[0015]
In step 1, the left and right drive motors 2 and 3 are driven to move the main body 1 forward. In step 2, it is determined whether or not there is an obstacle in front of the main body 1 by looking at the input of the boundary detection means 7. If there is an obstacle, the process proceeds to step 3, and if there is no obstacle, the process returns to step 1. In step 3, the left and right drive motors 2, 3 are stopped to stop the main body 1. In step 4, it is determined whether there is an obstacle in the traveling direction by looking at the input of the boundary detection means 7. If there is no obstacle, the process proceeds to step 5, and if there is an obstacle, the process proceeds to step 9. In step 5, the side flag is cleared.
[0016]
In step 6, the main body 1 is rotated by 90 ° in the direction of travel. In step 7, the main body 1 is advanced by a predetermined distance w. In step 8, the main body 1 is rotated 90 ° in the same direction as in step 6, and then the process returns to step 1. In step 9, it is determined whether or not the side flag is set. If it is not set, the process proceeds to step 10, and if the side flag is set, the process is terminated. In step 10, the side flag is set, and the process proceeds to step 6.
[0017]
In the above explanation, the reciprocating motion including the movement of the predetermined width W is performed, but the zigzag motion composed only of the forward movement and the reversal moves the distance of twice the rotation radius in the lateral direction during the reversal. However, the same effect can be obtained. In this case, since the number of rotations is small, it is effective in terms of efficiency.
[0018]
Further, the same effect can be obtained even when the boundary detecting means of this embodiment recognizes a magnetic tape (boundary specifying means) that specifies the boundary of the region and detects that there is a boundary. In this case, since the cleaning area does not necessarily have to be a closed space, the cleanable area can be expanded. Of course, there is no problem even if one of the obstacle and the boundary designating means is recognized to detect the presence of the boundary.
[0019]
Further, the same effect can be obtained even when the boundary detection means of the present embodiment recognizes a step and detects that there is a boundary. In this case, the cleanable area can be widened, and there is no need to process the step, which is effective in terms of efficiency. Of course, there is no problem even if any one of the obstacle, the boundary designating means, or the step is recognized to detect that there is a boundary.
[0020]
(Example 2)
When the convex cleaning region as shown in FIG. 6 is started from the start point A3, the work can be finished without causing any unfinished work, but when starting from the start point A4 shown in FIG. In this case, since the cleaning is finished, the shaded portion is left behind, and it is necessary to consider the starting point depending on the shape of the room.
[0021]
A traveling operation of the main body 1 for solving the above problem will be described with reference to FIG. First, starting from the starting point A5, the forward movement and the rotation are repeated as in the first embodiment. At this time, when the boundary detection means detects the boundary of the region that cannot move forward even if the moving direction is changed as in the point D5 (as the first time), the direction is further changed. It changes to the reverse direction of the path | route d5, ie, e5 direction, and moves forward. At this time, the side surface of the main body 1 on the traveling direction side (in this case, the left side of the main body) is checked, and when reaching the point E5 where the obstacle is no longer detected, the moving direction is changed to the direction where the obstacle is no longer detected. Just move forward. Thereafter, when the rotation and the forward movement are repeated in the same manner, the point F5 cannot be advanced even if the movement direction is changed again, and the path f5 is advanced in the reverse direction. At this time, the vehicle moves forward while checking the side surface on the traveling direction side, but cannot move forward even if the moving direction is changed at the point G5 where the obstacle is detected. Assuming that the detection means detects twice in succession on the front and side of the main body, it is determined that the cleaning region has ended, and the cleaning is ended.
[0022]
The predetermined distance W is experimentally determined in advance as an optimum value.
[0023]
Hereinafter, an example of the travel control algorithm in the movement control means 6 will be described with reference to FIG.
[0024]
In step 11, the left and right drive motors 2, 3 are driven to advance the main body 1. In step 12, it is determined whether or not the side flag is set. If it is set, the process proceeds to step 13, and if it is not set, the process proceeds to step 18. In step 13, it is determined whether or not there is a side surface on the traveling direction side. If there is no side surface, the process proceeds to step 14, and if it exists, the process proceeds to step 18. In step 14, the side flag is cleared. In step 15, the moving direction is rotated 90 ° toward the traveling direction. In step 16, the main body 1 is advanced by a predetermined distance w.
[0025]
In step 17, it is rotated 90 ° in the opposite direction to that in step 15 . In step 18, it is determined whether there is an obstacle in front of the main body 1 by looking at the input of the obstacle detection means 7. If there is an obstacle, the process proceeds to step 19, and if there is no obstacle, the process returns to step 11. In step 19, the left and right drive motors 2, 3 are stopped to stop the main body 1. In step 20, it is determined whether or not there is an obstacle in the traveling direction by looking at the input of the obstacle detection means 7. If there is no obstacle, the process proceeds to step 21, and if there is an obstacle, the process proceeds to step 25. In step 21, the side flag is cleared. In step 22, the main body 1 is rotated 90 ° in the direction of travel.
[0026]
In step 23, the main body 1 is advanced by a predetermined distance w. In step 24, the main body 1 is rotated by 90 ° in the same direction as in step 22, and then the process returns to step 11. In step 25, it is determined whether or not the side flag is set. If it is not set, the process proceeds to step 26, and if the side flag is set, the process is terminated. In step 26, the side flag is set, and the process proceeds to step 22.
[0027]
In the above description, when the obstacle is not recognized and the point E5 is reached where the obstacle is not detected when there is no side border, the movement direction is changed to the side direction where the obstacle is no longer detected. Although the vehicle is advanced by a predetermined distance W, it may be advanced by a predetermined distance W1 smaller than W as shown in FIG. In this way, when the boundary (obstacle) is bent at an acute angle, the area of the uncleaned region S shown in FIG. 10 is reduced, and the traveling and cleaning region is further expanded.
[0028]
Further, in the above description, when the obstacle is not recognized and the point of movement E5 is reached when the obstacle is not detected when there is no side boundary, the rotation direction of the main body is changed when the moving direction is changed to the lateral direction where the obstacle is no longer detected. However, as shown in FIG. 11, the obstacle (area) and the main body 1 may be rotated so as to be parallel and travel along the obstacle (area). . In this way, optimal travel can be realized regardless of the shape of the obstacle (region), and the operation according to the shape of the work region can be performed more than when the rotation angle is 90 °. This is effective in terms of efficiency because there is no leftover.
[0029]
In the first and second embodiments, the self-propelled cleaner has been described as an example. However, the work is not limited to the cleaner, and any operation such as cleaning may be performed.
[0030]
【The invention's effect】
As described above, according to the invention described in claim 1-2, without complicated movement control with a simple structure, automatically and efficiently move the region, it is possible to travel. Moreover, it can move and travel efficiently regardless of the shape of the region.
[Brief description of the drawings]
FIG. 1 is a perspective view showing the structure of a mobile robot in Embodiment 1 of the present invention. FIG. 2 is a block diagram of the mobile robot. FIG. 3 is an explanatory diagram of movement control of the mobile robot. FIG. 5 is a flowchart showing the processing contents of the movement control means of the mobile robot. FIG. 6 is an explanatory diagram of the movement control operation of the mobile robot according to the second embodiment of the present invention. FIG. 7 is an operation explanatory diagram of another movement control of the mobile robot. FIG. 8 is an operation explanatory diagram of another movement control of the mobile robot. FIG. Flowchart shown [FIG. 10] Rotation operation explanatory diagram when moving in the traveling direction of the mobile robot. [FIG. 11] Rotation operation explanatory diagram when the mobile robot moves in the traveling direction.
1 Main body 2, 3 Drive motor (moving direction changing means)
4, 5 Traveling wheels (traveling means)
6 Movement control means 7 Boundary detection means 8 Direction recognition means 9 Cleaning nozzle 10 Fan motor 11 Power supply

Claims (2)

Traveling means and moving direction changing means for moving the main body, boundary detecting means for detecting the boundary of the region by detecting obstacles around the main body, and movement of the main body by controlling the traveling means and moving direction changing means The movement control means controls the main body in a direction substantially perpendicular to the reciprocating direction while repeatedly reciprocating the main body in the region. When the boundary detection unit detects the boundary of the region that cannot be advanced further forward and to the side of the main body at least twice in succession, the movement ends and the boundary is moved. After the first detection of the region in which the detection means cannot advance further forward and sideward of the main body, the direction change is made and the vehicle travels in the reverse direction. Detects whether there is an obstacle on the side of the main body, and if it does not detect it, clears that it has detected a region where it can not advance further forward and side of the first main body. Rotate approximately 90 degrees in the direction in which no obstacle is detected, move a predetermined width W1 smaller than the predetermined width W, and then move toward the direction in which the vehicle traveled before moving the predetermined width W1. A mobile robot that continues to travel. The mobile robot according to claim 1, wherein the main body performs operations such as dust collection while moving in the area.

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