JPH0749381A - Moving robot - Google Patents

Abstract

PURPOSE:To move a robot while avoiding obstacles by disposing upper and lower obstacle sensors alternately on the right and left of a robot body thereby detecting obstacles, e.g. a chair or a desk, automatically. CONSTITUTION:Each of the upper and lower obstacle detection sensors 14, 13 comprises an ultrasonic transmission means and means for receiving the ultrasonic wave reflected on an obstacle. The sensors 13, 14 detect an obstacle at the lower part and the upper part of robot body 10, respectively. The sensors 13, 14 are disposed in zigzag so that a thin pipe standing on the floor face can be detected by any one sensor thus detecting the obstacle by means of the robot body 10. When an obstacle is encountered during the movement of the robot body 10, the obstacle is detected by both sensors 13, 14 which then deliver signals to a movement control means 15. The movement control means 15 controls a motor control means 12 to avoid the obstacle thus allowing the movement of the robot body 10 while avoiding the obstacle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile robot capable of detecting an obstacle, moving around the obstacle, moving in a room, and cleaning the room.

[0002]

2. Description of the Related Art A conventional structure will be described with reference to FIGS. In the figure, reference numeral 1 is a main body for performing work such as cleaning, 2
Is a battery for moving and cleaning, 3 is a suction tool for sucking dust, 4 is a fan motor for sucking dust from the suction tool 3, 5 is a dust box for collecting dust, and 6 is for moving A traveling means including traveling wheels,
Reference numeral 7 is a lower obstacle sensor which is an ultrasonic sensor for detecting an obstacle in the lower portion, 8 is an upper obstacle sensor which is an ultrasonic sensor which is attached upward to detect an obstacle in the upper portion, and 9 is the upper obstacle. It is composed of movement control means for controlling movement by signals from the object sensor 8 and the lower obstacle sensor 7. With the above-mentioned structure, the main body 1 is moved by the traveling means 6 by the power source of the battery 2, while the suction tool 3 and the fan motor 4 suck dust and collect the dust in the dust box 5 for cleaning or the like. In addition, the lower obstacle sensor 7
Detects an obstacle on the lower side, an upper obstacle sensor 8 detects an obstacle on the upper side, and also sends a signal to the movement control means 9.
With this signal, the movement control means 9 controls the traveling means 6 so as to avoid obstacles, and the main body 1 performs work movement such as cleaning while avoiding obstacles.

[0003]

However, in the above structure, if a sufficient detection range is required for the width of the main body, it is necessary to provide a large number of ultrasonic sensors for detecting the upper obstacle and for detecting the lower obstacle. . Further, there is a problem in that when dust is collected or water enters the ultrasonic sensor mounted upward, the obstacle cannot be detected stably and malfunction occurs.

An object of claim 1 of the present invention is to solve the above-mentioned conventional problems, and to provide a mobile robot capable of automatically detecting an obstacle and avoiding the obstacle.

Further, an object of claim 2 of the present invention is to solve the above-mentioned conventional problems and to detect an obstacle on an upper part of a desk or the like and prevent malfunction of the obstacle sensor due to intrusion of water. It provides a mobile robot that can

An object of claim 3 of the present invention is to solve the above-mentioned problems of the prior art. It is possible to prevent dust from accumulating in the obstacle sensor and to prevent water from entering the obstacle sensor, and to detect and obstruct the obstacle stably. It is intended to provide a mobile robot capable of doing so.

[0007]

In order to achieve the object of claim 1, the present invention provides a moving robot main body, running wheels in the main body, and motor control means for driving the running wheels. A plurality of lower obstacle sensors for detecting lower obstacles of the main body, an upper obstacle sensor for detecting upper obstacles of the main body, and a lower obstacle sensor and a signal output from the upper obstacle sensor according to the signals. It is constituted by a movement control means for controlling the motor control means to move the main body while avoiding an obstacle, and the lower obstacle sensor and the upper obstacle sensor are arranged alternately in the left-right direction of the main body. The mobile robot has a characteristic configuration.

In order to achieve the object of claim 2, the present invention mounts the upper obstacle sensor on the main body in a substantially upward direction and discharges water to a horn provided so as to surround the sensor. The mobile robot according to claim 1, further comprising draining means.

Further, in order to achieve the object of the above-mentioned claim 3, the present invention arranges the lower obstacle sensor and the upper obstacle sensor at the lower part of the main body, and changes the obstacle detection direction of the upper obstacle sensor. The mobile robot according to claim 1, wherein a plate is arranged in the vicinity of the upper obstacle sensor.

[0010]

According to the structure of claim 1, the lower obstacle sensor for detecting an obstacle and the upper obstacle sensor arranged alternately with the lower obstacle sensor detect obstacles such as chairs and desk feet. Then you can move around.

Further, according to the second aspect of the invention, the obstacle on the upper portion of the desk or the like can be detected and the malfunction of the obstacle sensor due to the intrusion of water can be prevented.

According to the third aspect of the invention, it is possible to prevent dust from accumulating in the obstacle sensor and to prevent water from entering the obstacle sensor, and it is possible to stably detect the obstacle and move around.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows the configuration of that embodiment, and FIG. 2 is a plan view showing the arrangement of obstacle sensors of that embodiment. The configuration of this embodiment will be explained based on FIG. 1 and FIG. The moving robot main body 10, running wheels 11 in the main body 10, motor control means 12 for driving the running wheels 11, and the main body 10
Lower obstacle sensor 13 for detecting lower obstacles, an upper obstacle sensor 14 for detecting upper obstacles arranged alternately with the lower obstacle sensor 13, upper obstacle sensor 14 and the lower obstacle sensor The motor control means 12 is controlled by the signal of 13 and the movement control means 15 can move while avoiding obstacles. The lower obstacle sensor 13 and the upper obstacle sensor 14 are composed of a transmitting means 16 for transmitting ultrasonic waves and a receiving means 17 for receiving the ultrasonic waves emitted from the transmitting means and reflected by the obstacles.

Although the lower obstacle sensor 13 and the upper obstacle sensor 14 are mounted only in front of the main body 10 in the above embodiment, they may be arranged in front of and behind the main body 10 when they move back and forth. As the obstacle sensor, an optical sensor such as a photoelectric switch may be used instead of the ultrasonic sensor. Although the obstacle sensor is a transmission / reception independent type ultrasonic sensor, it may be replaced with a transmission / reception type ultrasonic sensor.

In the above structure, when the main body 10 is energized to start moving, the movement control means 15 sends a signal to the motor control means 12, and the motor control means 12 drives the traveling wheels 11. Moving. Further, the transmitting means 16 moves while radiating ultrasonic waves, so that the receiving means 17 detects an obstacle. If the ultrasonic wave has an obstacle while the main body is moving, the receiving means 17 can detect that the ultrasonic wave emitted from the transmitting means 16 is reflected back by the obstacle and can be detected. . Then, the lower obstacle sensor 13 detects an obstacle in the lower portion of the main body, and the upper obstacle sensor 14 detects an obstacle in the upper portion. Further, by arranging the upper obstacle sensor 14 and the lower obstacle sensor 13 in a staggered manner, an obstacle such as a thin pipe standing on the floor can be detected by either the lower obstacle sensor or the upper obstacle sensor. It can be detected, and the main body 10 can detect an obstacle. If there is an obstacle while moving the main unit,
The lower obstacle sensor 13 and the upper obstacle sensor 14 detect and send a signal to the movement control means 15. The motor control means 1 receives this signal so that the movement control means 15 can avoid obstacles.
2, the main body 10 can move while avoiding obstacles.

As described above, according to the present embodiment, by arranging the lower obstacle sensor 13 and the upper obstacle sensor 14 in an alternating manner, it is possible to configure a wide detection range with a small number of obstacle sensors. Obstacles such as chairs and desk legs can be detected and moved around.

FIG. 3 is a diagram showing an embodiment of claim 2 of the present invention, and shows a second embodiment based on this drawing. First
The same parts as those in the above embodiment are designated by the same reference numerals and the description thereof will be omitted. The difference is that the structure of the first embodiment has an obstacle sensor 18 mounted upward for detecting an obstacle such as a desk, and a discharge hole for discharging water to the horn of the obstacle sensor 18. That is, the water draining means 19 is provided.

In the above structure, the obstacle sensor 18 mounted upward forms a detection range upward and detects an obstacle on the upper part of a desk or the like. Further, if water accidentally enters the obstacle sensor 18, the water draining means 19 provided in the horn of the obstacle sensor 18 discharges the water that has entered the horn of the obstacle sensor through the drain hole. Discharge. That is, the water that has entered the obstacle sensor 18 can be removed by the water draining means 19.

As described above, according to this embodiment, the obstacle sensor 18 can detect an obstacle on the upper part of a desk or the like, and can prevent the obstacle sensor 18 from malfunctioning due to the intrusion of water. , It is possible to stably detect an obstacle, avoid the obstacle, and move.

FIG. 4 is a diagram showing an embodiment of claim 3 of the present invention, and shows a third embodiment based on this drawing. First
The same parts as those in the above embodiment are designated by the same reference numerals and the description thereof will be omitted. The difference is that in the configuration of the first embodiment, the reflection means 2 including a reflection plate that changes the detection direction of the upper obstacle sensor 14 is used.
0, the lower obstacle sensor 13 and the upper obstacle sensor 14 are provided so as to be arranged in the lower portion.

In the above structure, the upper obstacle sensor 1
Reference numeral 4 is a reflecting means 20 which is attached downward and includes a reflecting plate.
The detection direction is changed to upward. The ultrasonic waves of the upper obstacle sensor are radiated upward by the reflecting means 20. When this emitted ultrasonic wave hits an obstacle and is reflected, it returns to the upper obstacle sensor 14 via the reflecting means. That is, by using the reflection means 20, the detection direction of the upper obstacle sensor 14 attached downward can be changed to detect the upper obstacle. Further, since the upper obstacle sensor 14 is attached downward, it is possible to prevent dust and water from entering. Also, by arranging the lower obstacle sensor and the upper obstacle sensor centrally in the lower part of the main body, an obstacle sensor having a wide detection range can be constructed with a small space. Will be easier.

As described above, according to the present embodiment, by providing the reflecting means 20 on the upper obstacle sensor 14 mounted downward, it is possible to prevent the entry of dust and water into the dust trap and water. It is possible to prevent malfunction of the obstacle sensor due to intrusion of the obstacle and to stably detect the obstacle and move around.

[0023]

As is clear from the above description, the first means of the present invention allows the lower obstacle sensor and the upper obstacle sensor to be arranged alternately so that a small number of obstacle sensors can detect a wide range. Can be configured to detect obstacles such as legs of chairs and desks and avoid movement.

The second means of the present invention makes it possible to detect an obstacle on the upper part of a desk or the like and prevent the obstacle sensor from malfunctioning due to intrusion of water, so that the obstacle can be detected stably. The mobile robot can move around obstacles.

Further, according to the third means of the present invention, by providing the reflecting means on the upper obstacle sensor mounted downward, it is possible to prevent the intrusion of dust and water, and to prevent the intrusion of dust and water. It is possible to provide a mobile robot capable of eliminating an erroneous operation of an obstacle sensor, stably detecting an obstacle, and moving around.

[Brief description of drawings]

FIG. 1 is a sectional view showing a first embodiment of a mobile robot of the present invention.

FIG. 2 is a plan view showing a first embodiment of the mobile robot of the present invention.

FIG. 3 is a sectional view showing a second embodiment of the mobile robot of the present invention.

FIG. 4 is a sectional view showing a third embodiment of the mobile robot of the present invention.

FIG. 5 is a sectional view showing a conventional mobile robot.

[Explanation of symbols]

 10 Main Body 11 Running Wheel 12 Motor Control Means 13 Lower Obstacle Sensor 14 Upper Obstacle Sensor 15 Movement Control Means 16 Transmitting Means 17 Receiving Means 18 Obstacle Sensors 19 Draining Means 20 Reflecting Means

 ─────────────────────────────────────────────────── (72) Inventor Hidetaka Yabuuchi 1006 Kadoma, Kadoma, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Mitsuyasu Ogawa, 1006 Kadoma, Kadoma City, Osaka Matsushita Electric Industrial Co., Ltd. (72) Inventor Toshiaki Fujiwara 1006 Kadoma, Kadoma-shi, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Inventor Osamu Eguchi, 1006 Kadoma, Kadoma City Osaka Prefecture Matsushita Electric Industrial Co., Ltd. 1006, Kadoma, Kadoma City, Fuchu Matsushita Electric Industrial Co., Ltd. (72) Takafumi Ishibashi 1006 Kadoma, Kadoma City, Osaka Prefecture Matsuda Electric Industrial Co., Ltd. (72) Yoshiki Kuroki 1006 Kadoma, Kadoma City, Osaka Matsushita Denki Sangyo Co., Ltd.

Claims (3)

[Claims] 1. A moving robot main body, running wheels in the main body, motor control means for driving the running wheels, and a plurality of lower obstacle sensors for detecting lower obstacles of the main body.
An upper obstacle sensor for detecting an upper obstacle of the main body, and controlling the motor control means according to signals output from the lower obstacle sensor and the upper obstacle sensor to avoid the main body from the obstacle. It consists of movement control means to move,
A mobile robot characterized in that the lower obstacle sensor and the upper obstacle sensor are arranged alternately in the left-right direction of the main body. 2. The mobile robot according to claim 1, further comprising: an upper obstacle sensor attached to the main body in a substantially upward direction and draining means for discharging water to a horn provided so as to surround the sensor. 3. The lower obstacle sensor and the upper obstacle sensor are arranged in the lower portion of the main body, and a reflector for changing the obstacle detection direction of the upper obstacle sensor is arranged in the vicinity of the upper obstacle sensor. Mobile robot.