JP2000242335A - Autonomous travel robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain the autonomous travel robot which can play a requested role while freely moving by providing various detecting means such as an obstacle detecting means, a detecting means for detecting the distance to a body by itself, and a fall preventing means. SOLUTION: The robot approaches another device (robot, etc.), performs beam sensor detection while moving slowly, and stops on the detecting operation. An optical sensor 1 or transmission type beam sensor 2 detects an obstacle, an ultrasonic distance sensor 3 detects the distance to the obstacle, and control is so performed that distances successively detected by the ultrasonic distance sensor 3 become equal to each other. Then the lateral movement quantity is calculated from the distance measured by the sensor 3 and a specified distance and the robot advances by about one meter. Consequently, the robot moves while avoiding obstacles (including a moving body) such as other bodies present before it through self-recognition and self-judgement to play its role.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled robot, and more particularly to a self-propelled robot capable of traveling freely while reaching a distance between the self-machine and an opposing machine (an opposing object such as an obstacle) and reaching a target place. It relates to an autonomous mobile robot.

[0002]

2. Description of the Related Art A system or apparatus has been proposed in which a self-propelled robot runs in a specific field such as a gymnasium, a ground, a hotel lobby, etc., and performs various operations such as carrying and cleaning luggage. As a technique for automatically steering a moving object such as a self-propelled robot or a vehicle in such a case or the like, for example, there is an "automatic vehicle steering method and an automatic steering apparatus thereof" disclosed in Japanese Patent Application Laid-Open No. 3-230203. . This automatic steering device is used in mobile stations such as vehicles.
Azimuth measuring means for detecting the traveling direction, storage means for storing a set course from the departure point to the target point, and detecting means for measuring a positional deviation from the set course when passing a predetermined check point. Calculating means for calculating an azimuth error of the azimuth measuring means from the position deviation and the traveling distance, and subtracting the azimuth error from the output from the azimuth measuring means so as to travel in a direction obtained by subtracting the azimuth error. The angle is controlled.

[0003]

However, in such a conventional automatic steering apparatus, an error when passing a check point while a robot moves on a course in a predetermined field, and an azimuth measurement. Because it adopts a method of performing forward or backward movement while adjusting the difference from the measurement result of the means, it moves while correcting the fixed traveling direction in the field and where the robot itself is currently It is possible to determine whether the robot is completely away from the field and goes to a completely different area, there is no longer a checkpoint and it can no longer detect the deviation of its position, and finally where the robot itself is There was a problem that was lost.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to use a self-sensor function to move freely in an area where an obstacle or a stepped portion exists, and to fulfill a required role. It is to provide an autonomous mobile robot that can perform.

[0005]

In order to achieve the above object, the present invention provides an obstacle detecting means for detecting an obstacle in front of and behind a robot, and a distance between an object on a side of the robot. It has various detecting means, such as a distance detecting means for detecting a fall and a fall prevention detecting means, and searches for the surrounding conditions to move while performing slowing and stopping operations, and to play the role of a robot.

With such a configuration and function, the autonomous mobile robot of the present invention moves while avoiding obstacles (including moving objects) such as other objects in the traveling direction and performs its role.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention according to claim 1 of the present invention is an obstacle detecting means provided at a front portion of a robot body for detecting an obstacle in the traveling direction of the robot, and an obstacle detecting means provided at a side portion of the robot body. A distance detecting means for detecting a distance between the object and a laterally facing object, a fall prevention detecting means for preventing a robot from falling, and a control means for controlling a running operation based on a detection result from each detecting means. And with
It has the action of:

According to a second aspect of the present invention, there is provided the autonomous mobile robot according to the first aspect, further comprising edge detecting means for detecting an edge of the obstacle adjacent to the obstacle detecting means, wherein the edge of the obstacle is detected. The robot enters the bottleneck on the basis of the detection result of, and proceeds on the bottleneck by referring to the detection result of the distance detecting means. It is said that the robot can proceed on the bottleneck by its own measurement results and judgment. Has an action.

According to a third aspect of the present invention, in the autonomous mobile robot according to the first aspect, a distance detecting means is provided at a front portion and a rear portion of the robot main body to approach an obstacle in a front-rear direction. The distance is defined, and has an effect that an obstacle can be avoided or a bottleneck can be advanced by detecting the approaching distance of the robot.

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing a circuit configuration of a control system for controlling the entire operation of the autonomous mobile robot according to the present invention. In FIG. 1, reference numeral 1 denotes an optical sensor, which can perform optical space communication and obstacle detection. Reference numeral 2 denotes a transmission beam sensor, and reference numeral 3 denotes an ultrasonic distance sensor as distance detecting means. Reference numeral 4 denotes an image sensor to which an imaging camera 5 is connected. Reference numeral 6 denotes a reflection type beam sensor which detects an edge of an object. Numeral 7 denotes an arithmetic processing means which controls the detection operation of each of the above sensors and controls the operation of the entire control system of the robot.

Reference numeral 8 denotes a drive for driving the robot and its control mechanism. In the robot drive control mechanism 8, 9 is a motor driver for operating a drive mechanism for running the robot, 10 is a brake for applying a brake during running, 11 is an emergency stop switch for stopping the robot in an emergency, and 12 is a travel distance of the robot. A gyro sensor for detecting a change in direction of the robot; a bumper switch for detecting that the robot has collided with an opposing object;
Reference numeral 5 denotes a beam sensor for preventing the robot from falling from the stepped portion, and reference numeral 16 denotes a traveling control means for controlling the operation of the entire robot drive control mechanism 8 relating to the traveling of the robot. The traveling control means 16 is connected to the arithmetic processing means 7, and the operation is controlled by the arithmetic processing means 7.

[0013] The robot is equipped with various peripheral devices for supporting its traveling and work execution.
Is an IC card reader / writer for inputting / outputting robot operation programs and commands, 18 is a direction indicator for indicating the traveling direction, 19 is a wireless communication unit for transmitting and receiving data and commands by wireless communication, and 20 is a voice message. A voice synthesizer to generate, 21 is a charging control unit for controlling a charging operation of a battery which is an energy source of the robot, and 22 is a peripheral device control means for controlling the operation of the above peripheral devices. The peripheral device control unit 22 is connected to the arithmetic processing unit 7, and the operation is controlled by the arithmetic processing unit 7.

FIG. 2 is a schematic plan view of the robot showing the sensor mounting positions of the robot having the above-described control system. The robot according to the present embodiment is used for collecting garbage on a platform or a stadium of a station or the like, and FIG. 2 also shows a shooter 35 as a partner device for performing the task. Have been. In FIG. 2, reference numeral 25 denotes a robot main body. In FIG. 2, the upper side corresponds to the front of the robot, and the lower side corresponds to the rear. Two optical sensors 1 are provided on the front part of the robot main body 25 in a symmetrical positional relationship, and have a function as an obstacle detecting means for detecting an obstacle in the traveling direction of the robot. In this optical sensor 1, infrared light is used as light. A total of four transmission beam sensors 2 are provided on each of the left and right sides of the robot body 25, one on each side and the front and back.
It has a function as a distance detecting means for detecting a distance between a plurality of objects (for example, other devices, a building, a wall, a wall, a pillar, and the like) which are provided sideways. An infrared beam is used as the transmission beam, and is usually used when accessing another device, and is used to correct the alignment between the other device and the traveling direction of the robot by receiving a signal from the other device. Is done. A total of four transmission beam sensors 2 are provided, two on each of the left and right sides at the intermediate portion in the front-rear direction of the robot body 25.

The ultrasonic distance sensor 3 is a robot body 25
There are a total of four on each side, two on each side, one on each side, and has a function as an obstacle detection / distance detection means for detecting an obstacle and detecting a distance between the robot and the obstacle. Further, two ultrasonic distance sensors 3 are provided as ultrasonic distance sensors 3b on the rear surface of the robot body 25 in a symmetrical positional relationship, and have a function of performing distance control when the robot approaches the charger. . A sensor 23 for infrared light communication is provided on the rear surface of the robot body 25 adjacent to the ultrasonic distance sensor 3b.

The image sensor 4 and the imaging camera 5 are provided on the head of the robot main body 25, and have a function of capturing an approaching object in the field of view while the robot is moving and detecting an edge of the opposing object. A total of two reflective beam sensors 6 are provided, one on each side, on both the left and right sides of the robot body 25. Obstacle detection and opposing objects are performed independently or in cooperation with the image sensor 4 and the imaging camera 5. Edge detection function. An infrared beam is used as the reflection beam, and has an optical communication function in addition to the above-described obstacle detection and edge detection functions. The reflection type beam sensor 6 is also provided on both left and right sides of the robot body 25 as an infrared reflection type beam sensor 6a. A total of four infrared reflection beam sensors 6a are provided on each of the right and left sides of the robot body 25, two on each side, and have an obstacle detection function. The falling-prevention beam sensor 15 is mounted on the robot body 2.
5 are provided at both the left and right corners before and after. An infrared reflection type beam sensor is used as the fall prevention beam sensor 15, and a total of four beams are provided at each of the front, rear, left and right corners of the robot body 25, and have a fall prevention detection function.

Also, the 1 attached to the shooter 35
Each control function is also provided in the secondary reservoir control unit. In the shooter 35 of FIG. 2, reference numerals 28 and 29 denote infrared transmitting beam sensors, which irradiate an infrared beam and serve as a position marker in the traveling direction when the infrared beam is received by the receiver on the robot side. ing. Also, 30 and 31 are infrared light communication sensors,
Communication with the optical obstacle sensor 6a on the robot side controls the reception or transfer of dust.

The operation of the autonomous mobile robot having the above configuration will be described below. In the running operation of the robot, the robot approaches another device (a robot or the like), detects the beam sensor while moving slowly, and stops by the detection operation. At this time, a condition can be set for the number of times of detection of the beam sensor or the position of the detection sensor. Then, the obstacle is detected by the function of the optical sensor 1 or the transmission beam sensor 2, the distance to the obstacle is further measured by the ultrasonic distance sensor 3, and the distances detected by the ultrasonic distance sensors 3 before and after are substantially the same. Control to be distance. Then, a lateral movement amount is calculated from the distance measured by the ultrasonic distance sensor 3 and the designated distance, and the vehicle moves forward by approximately 1 meter. In such an operation, the number of centimeters or more of the error amount in the operation of correcting the position or posture of the robot can be considered and set in advance.

In the operation of correcting the position or posture of the robot, when the robot moves away from another device, it performs a spin turn at an appropriate angle (for example, 20 degrees) toward the device. On the other hand, when approaching the device, a suitable angle (for example, 20
Degree) Spin turn. Then, after the spin-turn, with respect to the movement amount to be moved in the lateral direction (this is D), it retreats by D ÷ (sin20), and the same angle in the opposite direction to the previous spin-turn operation ( (20 degrees). Then, while retreating, check the optical sensor 1 or the transmission beam sensor 2,
The correction operation is completed by matching the measured values of the ultrasonic distance sensor 3. The rotation angle of the spin turn may be a value other than 20 degrees.

Thus, when the robot advances along a wall or enters a narrow space, for example, the distance between the robot and the side wall can be kept constant, and the posture of the robot can be made parallel to the wall. Can travel along the wall.

When the robot reaches the target location next to the shooter 35, communication is performed between the infrared reflective beam sensor 6a on the robot side and the infrared light communication sensors 30 and 31 on the shooter 35 side. The positioning of the robot is performed. Communication is also performed between the transmission type beam sensor 2 on the robot side and the infrared transmission type beam sensors 28 and 29 on the shooter 35 side.
In this case, an infrared beam is emitted from the infrared transmission type beam sensors 28 and 29 on the shooter 35 side, and when the transmission type beam sensor 2 on the robot side receives this infrared beam, it becomes a position marker in the traveling direction. I have.

When the robot is positioned on the side of the shooter 35 as a result of the running control operation as described above, the robot throws the collected dust into the shooter 35, and when this is completed, the robot again performs its own control operation. While traveling, garbage collection work is continued.

[0023]

As described above, according to the present invention,
Various detection means such as an obstacle detection means for detecting an obstacle in front of and behind the robot, a distance detection means for detecting a distance between an object on the side of the robot, and a fall prevention detection means for the autonomous mobile robot. The robot moves while performing slowing and stopping operations by searching the surrounding conditions and performs the role of a robot. Therefore, obstacles such as other objects (moving) existing in the traveling direction based on self-recognition and judgment are determined. (Including an object), so that it can move and perform its role.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a circuit configuration of a control system for controlling the entire operation of an autonomous mobile robot according to the present invention.

FIG. 2 is a schematic plan view of the robot according to the embodiment, showing a sensor mounting position.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 optical sensor 2 transmission beam sensor 3 ultrasonic distance sensor 4 image sensor 5 imaging camera 6 reflection type beam sensor 7 arithmetic processing means 8 robot drive control mechanism 9 motor driver 10 brake 11 emergency stop switch 12 distance measurement encoder 13 gyro sensor 14 Bumper switch 15 Fall prevention beam sensor 16 Running control means 17 IC card reader / writer 18 Direction indicator 19 Wireless communication unit 20 Voice synthesis unit 21 Charging control unit 22 Peripheral device control means 25 Robot body 28, 29 Infrared transmission type beam sensor 30, 31 Infrared light communication sensor 35 Shooter

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Takemasa Uekubo 4-3-1 Tsunashima Higashi, Kohoku-ku, Yokohama-shi, Kanagawa Prefecture Inside Matsushita Communication Industrial Co., Ltd. (72) Inventor Haruo Ishikawa Kohoku, Yokohama-shi, Kanagawa Prefecture Matsushita Communication Industrial Co., Ltd., 4-3-1 Tsunashima Higashi, Ward (72) Inventor Genji Torii 1-4-1, Meieki Station, Nakamura-ku, Nagoya City, Aichi Prefecture Tokai Railway Company (72) Inventor Blue Masaaki Kiki 1-4-1 Meieki Station, Nakamura-ku, Nagoya-shi, Aichi F-term (reference) 5H301 AA02 AA10 BB05 BB11 CC03 CC06 DD01 DD07 DD16 EE31 FF07 FF13 GG03 GG06 GG08 GG09 GG10 GG11 GG12 GG23 GG28 GG29 LL01 LL11 MM09

Claims (3)

[Claims] An obstacle detecting means provided at a front portion of a robot body for detecting an obstacle in a traveling direction of the robot, and a distance between an object provided at a side portion of the robot body and facing sideways. A distance detecting means for detecting, a fall prevention detecting means for preventing the robot from falling, and a control means for controlling a traveling operation based on a detection result from each detecting means, and slowing down and stopping when an obstacle is detected An autonomous mobile robot that performs operations. 2. An edge detection means for detecting an edge of an obstacle adjacent to the obstacle detection means, wherein the vehicle enters a bottleneck based on the detection result of the edge of the obstacle and refers to the detection result of the distance detection means. The autonomous mobile robot according to claim 1, wherein the robot travels along the narrow road. 3. The autonomous mobile robot according to claim 1, wherein distance detection means is provided at a front portion and a rear portion of the robot main body to define an approach distance to an obstacle in a front-rear direction.