JP2003114719A - Mobile robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect obstacles in all directions by using a simplified structure in a mobile robot driven by a travelling gear provided on a platform 3. SOLUTION: In this mobile cleaning robot 1, a pressure cylinder 2 is supported on the platform 3 through an X-axis table mechanism 5 and a Y-axis table mechanism 4. Springs 54, 44 elastically repulsive to displacement in the X- and Y-directions and potentiometers 50, 40 for detecting displacement in the X- and Y-directions are linked to the mechanisms 5 and 4. The travelling direction of the robot 1 is controlled according to signals detected by the potentiometers 50, 40.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot which is self-propelled by the operation of a traveling mechanism provided on a machine base.

[0002]

2. Description of the Related Art Conventionally, there is known a self-propelled robot that automatically decides a traveling direction while avoiding an obstacle, and drives a rotating brush during traveling to move the floor surface. It is applied as a cleaning robot for cleaning
(For example, JP-A-7-88453). In such a self-propelled robot, an ultrasonic sensor, a contact pressure sensor, or the like is used to detect an obstacle.

[0003]

However, in a self-propelled robot using a contact-type pressure-sensitive sensor, a protrusion of a pressure-sensitive roller is arranged so that an azimuth where an obstacle can be detected comes into contact with the obstacle. There is a problem that obstacles in all directions cannot be detected because the direction is restricted. or,
In self-propelled robots that use ultrasonic sensors, not only are there restrictions on the direction of obstacle detection, but obstacles are thin objects such as desk legs, and soft objects such as cloth-covered surfaces.
Furthermore, there is a problem that it is difficult to detect an object arranged obliquely with respect to the emission direction of ultrasonic waves. It is possible to detect obstacles in all directions by mounting a large number of sensors around the robot, but the increase in the number of sensors causes a problem of complicated structure.

Therefore, an object of the present invention is to provide a self-propelled robot capable of detecting obstacles in all directions with a simple structure.

[0005]

The self-propelled robot according to the present invention is self-propelled by the operation of a traveling mechanism provided on the machine base (3), and the outermost peripheral wall is on the machine base (3). Is supported by the pressure-receiving cylinder (2), and the pressure-receiving cylinder (2) detects an acting force in the X-axis direction and the Y-axis direction orthogonal to the central axis of the pressure-receiving cylinder (2). 12) and Y-axis force sensor
(13) are connected, and the traveling direction is controlled based on the detection signals of the force sensors (12) and (13).

In the above-described self-propelled robot of the present invention, the mechanical system provided on the machine base (3) is surrounded by the pressure receiving cylindrical body (2), and the pressure receiving cylindrical body (2) itself forms the outermost peripheral wall. is doing. Therefore, when there is an obstacle in the traveling direction, the outer peripheral surface of the pressure-receiving cylinder (2) first comes into contact with the obstacle and receives a reaction force in the radial direction from the obstacle. Here, since the outer peripheral surface of the pressure receiving cylindrical body (2) faces in all directions, no matter which direction the obstacle exists, it always comes into contact with the obstacle. The radial reaction force acting on the pressure receiving cylindrical body (2) is detected by the X-axis force sensor (12) and the Y-axis force sensor (13), and a control signal for the traveling mechanism is generated based on the detection signal. It

In the concrete structure, X is displayed on the machine base (3).
The pressure receiving cylindrical body (2) is supported via the axis table mechanism (5) and the Y axis table mechanism (4), and the X axis table mechanism is provided.
(5) and the Y-axis table mechanism (4) include elastic means for exerting elastic repulsive force on displacement in the X-axis direction and Y-axis direction, and displacement amount detection means for detecting displacement amounts in the X-axis direction and Y-axis direction. The X-axis force sensor (12) and the Y-axis force sensor (13) are configured by the elastic means and the displacement amount detecting means. In this specific structure, the X-axis table mechanism (5) is displaced in the X-axis direction against the elastic means by the radial reaction force acting on the pressure receiving cylindrical body (2), and the Y-axis table mechanism ( 4) is displaced in the Y-axis direction against the elastic means. Then, the displacement amount in the X-axis direction and the displacement amount in the Y-axis direction are detected by the displacement amount detecting means. Therefore, the product of the displacement amount in the X-axis direction and the elastic coefficient in the X-axis direction is detected as the acting force in the X-axis direction, and the product of the displacement amount in the Y-axis direction and the elastic coefficient in the Y-axis direction is in the Y-axis direction. It is detected as an acting force.

Further, in the process of advancing the pressure receiving cylindrical body (2) while contacting the wall surface of the obstacle, the X axis table mechanism (5) and / or
Alternatively, since the Y-axis table mechanism (4) can be maintained in a slightly displaced state in the X-axis direction and / or the Y-axis direction,
A stable amount of displacement can be measured. Furthermore, even if the pressure receiving cylindrical body (2) collides with an obstacle, a shock absorbing force is mitigated because the elastic means provides a cushioning effect.

Also, in a specific configuration, an X-axis force sensor
(12) The operation of the traveling mechanism is controlled so that the traveling force proceeds in a direction orthogonal to the resultant direction of the X-axis force and the Y-axis force detected by the Y-axis force sensor (13). As a result, the traveling direction is always set to the direction orthogonal to the direction of the force received from the wall surface of the obstacle, and the traveling route along the wall surface is realized.

Further, in a specific configuration, the pressure receiving cylindrical body (2)
By adopting a structure in which the pressure receiving cylindrical body (2) is rotatably supported about its central axis, the pressure receiving cylindrical body (2) is freely rotated by friction with the wall surface while traveling while the pressure receiving cylindrical body (2) is in contact with the wall surface. Therefore, not only the force in the X-axis direction and the force in the Y-axis direction can be accurately detected, but also the traveling force is not hindered by the frictional resistance force.

Further, in a concrete configuration, the machine base (3) is
Dust collector (8) that sucks in dust on the floor, and pressure receiving cylinder
A cleaning mechanism (80) is mounted that can be exposed to the outside of the outer peripheral surface of (2). In the specific configuration, the cleaning mechanism (80)
As the vehicle runs along the wall surface, dust in the corners is swept up to the dust collector (8) side, and these dust are collected.
It is sucked by (8).

Further, in a concrete configuration, the traveling mechanism includes a pair of left and right wheels (31) and (32) which are independently driven to rotate, and the traveling mechanism includes a traveling distance based on a rotation angle of each wheel. Are connected to each other. by this,
It becomes possible to travel along an arc line and feedback control of the travel distance becomes possible.

Further, in a specific structure, the traveling mechanism includes:
One or a plurality of sweeper members (7) (72) (74) are provided for preventing dust from adhering to the ground contact surfaces of both wheels (31) (32). This prevents dirt from adhering to the ground contact surface of both wheels (31) (32), so that both wheels (31) (32)
Is rotated by an angle (rotation number) according to the traveling distance, and the traveling distance can be accurately detected based on the rotation angles of the wheels (31) (32).

Further, in a specific configuration, the traveling mechanism includes:
A plurality of dust scraping blades (76) (77) are provided for scraping off dust adhering to the ground contact surfaces of both wheels (31) (32). As a result, it is possible to scrape off the dust adhering to the ground contact surface of both wheels (31) (32), so that both wheels (31) (32) will rotate by an angle (rotation number) according to the mileage,
The traveling distance can be accurately detected based on the rotation angles of both wheels (31) (32).

Further, in a specific structure, both wheels (31) (32)
By rotating the wheels in the same direction to travel on a straight line and by rotating both wheels (31) and (32) in the opposite direction to change direction, the operation along the arc line is realized. To do. According to the specific configuration, the wheels (31) and (32) are rotated on the straight line by rotating the wheels (31) and (32) by the same angle in the same direction without giving a difference in rotation angle to the wheels (31) and (32). Since the mileage increases only by the movement, both wheels (31) (3
High detection accuracy can be obtained when the traveling distance is detected based on the rotation angle of 2).

Further, in a specific configuration, the X-axis force sensor
Based on the detection signals of (12) and Y-axis force sensor (13)
After traveling along the traveling route along (9), the operation of the self-propelled mechanism is controlled so that the traveling route is gradually set to the inside. As a result, a travel route that covers the entire area inside the wall surface is set.

Further, in a concrete configuration, by proceeding along the traveling route along the wall surface (9), a map of the region surrounded by the wall surface (9) is created, and the traveling route is gradually inwardly filled with the map. It is equipped with a control means for setting. As a result, the entire area inside the wall surface can be reliably driven without leaving any area.

Further, in a concrete configuration, in the process of traveling in a predetermined area surrounded by the wall surface (9),
Each time the vehicle travels a predetermined distance while traveling along the wall surface (9) based on the detection signals of the X-axis force sensor (12) and the Y-axis force sensor (13), the wall surface (9) A control means is provided for creating a map of a small area extending along the map and setting a travel route for filling the map. According to this specific configuration, the predetermined area is divided into a plurality of small areas and the travel route is set for each small area. Therefore, the position recognition based on the detection of the travel distance is suppressed to a small error within the small area. As a result, it is possible to drive the entire area without exhaustion.

[0019]

The self-propelled robot according to the present invention has a simple structure in which a single X-axis force sensor (12) and a single Y-axis force sensor (13) are connected to the pressure receiving cylindrical body (2), respectively. Obstacles in all directions can be detected.

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, an embodiment in which the present invention is applied to a self-propelled cleaning robot will be specifically described with reference to the drawings. As shown in FIG. 1, a self-propelled cleaning robot according to the present invention.
(1) has a pressure receiving cylinder (2) at its outermost periphery, and is self-propelled by a pair of left and right wheels (31) (32) provided inside the pressure receiving cylinder (2). A cleaning mechanism (80) for sweeping dust at the corners by the rotation of the brush (82) while traveling along (9) is provided so as to be able to project outward from the outer peripheral surface of the pressure receiving cylindrical body (2). There is.

As shown in FIG. 2, on the back surface of the machine base (3) horizontally arranged inside the pressure receiving cylinder (2), the dust collected by the cleaning mechanism (80) is sucked in (81). A dust collector (8) for drawing in from is attached. Further, casters (17) and (17) are attached to the back surface of the machine base (3) in the front and rear of the traveling direction.

As shown in FIGS. 3 and 4, the left wheel (31) and the right wheel (32) provided on both sides of the machine base (3) are respectively supported by bearings (34) on the machine base (3). The driven pulley (35) is fixed to the other end of each axle (33). The driven pulley (35) is connected to the driving pulley (37) via the belt (36). Further, a left wheel motor (14) and a right wheel motor (15) are connected to the left and right driving pulleys (37) (37), respectively. still,
The left wheel motor (14) and the right wheel motor (15) respectively,
A rotary encoder (not shown) for detecting the rotation angles of the left wheel (31) and the right wheel (32) is built in.

On the surface of the machine base (3), a Y-axis table mechanism (4) which can be displaced in the Y-axis direction orthogonal to the rotation axes of both wheels (31) (32) is provided, and On the shaft table mechanism (4), there is provided an X-axis table mechanism (5) which can be displaced in the X-axis direction parallel to the rotation axes of both wheels (31) (32). The Y-axis table mechanism (4) is installed on the machine base (3) and extends in the Y-axis direction with two guide shafts (42) (42) and the guide shafts (42) (4).
2) a Y-axis table (41) slidably supported in the Y-axis direction, and the Y-axis table (41) is a pair mounted on both ends of a shaft (43) penetrating in the Y-axis direction. Are elastically urged toward the neutral point in the Y-axis direction by the springs (44) (44). The X-axis table mechanism (5) is installed on the Y-axis table (41) of the Y-axis table mechanism (4), and has two guide shafts (52) (52) extending in the X-axis direction and the guide shafts (52). 52) (52)
X-axis table supported slidably in the X-axis direction by
(51), the X-axis table (51) is a pair of springs attached to both ends of a shaft (53) penetrating in the X-axis direction.
(54) By (54), it is elastically biased toward the neutral point in the X-axis direction.

X-axis table (51) of X-axis table mechanism (5)
A cylindrical boss (55) is projectingly provided on the upper side, and a cylindrical shaft of the pressure receiving cylindrical body (2) is mounted on the boss (55) through a bearing ring (6).
(21) is rotatably supported. Therefore, the pressure receiving cylinder
(2) is supported on the machine base (3) so as to be rotatable about the boss (55) and displaceable in the X-axis and Y-axis directions, and elastic repulsive force is applied to the displacement. Will be.

A Y-axis linear potentiometer (40) for measuring the amount of displacement of the Y-axis table (41) in the Y-axis direction is provided on the machine base (3), and on the Y-axis table (41). , An X-axis linear potentiometer (50) for measuring the displacement of the X-axis table (51) in the X-axis direction is provided. Thus,
Spring (44) and Y equipped on the Y-axis table mechanism (4)
The axis linear potentiometer (40) constitutes a Y-axis force sensor, and the spring (54) and the X-axis linear potentiometer (50) equipped on the X-axis table mechanism (5) constitute an X-axis force sensor. become.

On the machine base (3), a driving pulley (83) linked to the brush motor (16) is provided as a cleaning mechanism (80), and the rotary shaft of the driving pulley (83) is Swing arm (84)
The base end of the swing arm is swingably supported, and the swing arm is
The driven pulley (85) is pivotally supported by the tip of the (84)
A belt (86) is stretched between the (83) and the driven pulley (85). On the back side of the driven pulley (85), as shown in Fig. 4, the brush (82)
Is planted downwards. The swing arm (84) is rotationally biased counterclockwise by an elastic member (not shown). Therefore, when the driving pulley (83) is rotated by driving the brush motor (16), the rotation is transmitted to the driven pulley (85) via the belt (86), and the brush (82) is rotationally driven. .

As shown in FIGS. 5 and 6, on the back surface of the machine base (3), the right wheel (32) is surrounded, and a front sweeper member made of a brush is provided on the front side and the outer side of the right wheel (32), respectively. (7) and side sweeper members (72) are provided, and both sweeper members (7)
(72) is fixed to the machine base (3) via support pieces (71) and (73), respectively. Here, the front sweeper member (7) is attached in an inclined posture in which the end portion on the dust collecting device (8) side retracts toward the suction port (81). In addition, on the back surface of the machine base (3), a lateral sweeper member (74) made of a brush is provided outside the left wheel (31).
The sweeper member (74) is fixed to the machine base (3) through the support piece (75).

Therefore, in the process of traveling on the floor, both wheels are
(31) Even if dust is scattered in the front or side of (32),
These dusts are excluded by the sweeper members (7) (72) (74) and do not adhere to the ground contact surfaces of both wheels (31) (32).
Here, since the front sweeper member (7) provided in front of the right wheel (32) has the receding angle as described above, the front dust is collected by the dust collector (7) by the sweeper member (7). You will be guided toward the suction port (81) of 8). A cleaning mechanism (80) equipped with a brush (82) is provided in front of the left wheel (31), and dust on the front side is collected by rotating the brush (82).
Since it is swept toward the suction port (81) of (8), the deployment of the front sweeper member is omitted.

Furthermore, in the machine base (3), dust scraping blades (76) (76) (for scraping dust adhering to the ground contact surface of the wheels at the front and rear positions of the wheels (31) (32) 77) (77) is projected toward the ground contact surface of the wheel. Therefore, even if dust adheres to the ground contact surface of the wheels (31) (32), these dusts
(31) It is scraped off with the rotation of (32).

According to the above-mentioned structure, the wheels (31) (32) do not step on dust and travel, so that both wheels (31) (32) are
It will rotate by the rotation angle according to the mileage, and the accurate mileage can be obtained by calculating the mileage based on the rotation angle of both wheels (31) (32), and as a result, the self position Can be accurately recognized.

FIG. 7 shows the construction of the control system of the self-propelled cleaning robot (1), which is constituted by the spring (54) of the X-axis table mechanism (5) and the X-axis linear potentiometer (50). Axial force sensor (12) and the Y-axis table mechanism
Spring (44) of (4) and Y-axis linear potentiometer (4
The Y-axis force sensor (13) composed of 0) is connected to the input port of the microcomputer (11), and the output port of the microcomputer (11) is connected to the left wheel motor (14) and the right wheel motor. Wheel motor (15) and brush motor (1
6) is connected. The rotation angle detection signal obtained from each wheel motor is supplied to the input port of the microcomputer (11). A memory (10) is connected to the input / output port of the microcomputer (11).

Based on the detection signals from the X-axis force sensor (12) and the Y-axis force sensor (13), the microcomputer (11) first creates a control signal for self-propelled along the wall surface. , The left wheel motor (14) and the right wheel motor (15). That is, as shown in FIG. 8 (a), the component Fx in the X-axis direction of the reaction force F received from the wall surface (9) is X when the outer peripheral surface of the pressure receiving cylindrical body (2) is in contact with the wall surface (9). The axial force sensor (12) detects the Y-axis direction component Fy, and the Y-axis force sensor (13) detects the Y-axis direction component Fy so that the Y-axis direction component Fy becomes zero. , Turn the machine base (3),
It advances while maintaining this state. As a result, the self-propelled cleaning robot (1) runs along the wall surface (9).

As the vehicle travels along the wall surface (9), the cleaning mechanism (80) shown in FIG. 3 cleans the corners near the wall surface (9). For example, when cleaning the area inside the wall surface (9) shown in FIG. 9, the self-propelled cleaning robot (1) first uses A → B → shown in the figure.
A wall (9) is formed by a traveling route of C → D → E → F → G → H.
Clean nearby corners. In this process, dust in the corners is swept up by the cleaning mechanism (80) toward the dust collector (8), and these dusts are sucked into the dust collector (8).

Further, the wall surface is detected based on the detection of the rotation angles of the left wheel motor (14) and the right wheel motor (15) in this process.
The coordinate information of (9) is derived, and a map of the area surrounded by the wall surface (9) is created and registered in the memory (10). After that, based on the map registered in the memory (10), H → I → J → K → for filling the map.
A traveling route of L → M → N → O is generated, and a control signal for traveling along the traveling route is created. As a result,
The self-propelled cleaning robot (1) gradually travels along the inner traveling route, and in this process, dust on the floor is sucked by the dust collector (8) and the entire area inside the wall surface (9) is cleaned. It will be.

10 to 12 show a specific control procedure for traveling along the wall surface (9). First, FIG.
While performing the forward movement in step S1 of
At 2, it is judged whether or not the wall is touched based on the detection signals of the X-axis force sensor (12) and the Y-axis force sensor (13).
Here, when it is detected that the force component Fx in the X-axis direction is larger than the force component Fy in the Y-axis direction as a result of contact with the wall surface, the process proceeds to step S3 and the force component Fx in the X-axis direction.
Rotate until the value becomes zero, and perform the orthogonalization of the posture with respect to the wall surface. After that, the process proceeds to step S4, and the force is rotated until the force component Fy in the Y-axis direction becomes zero, and the posture is parallelized with respect to the wall surface. On the other hand, when it is detected in step S2 that the force component Fy in the Y-axis direction is larger than the force component Fx in the X-axis direction, the process proceeds to step S4 and Y
The rotation is performed until the axial force component Fy becomes zero, and the posture is parallelized with respect to the wall surface.

As a result, the self-propelled cleaning robot (1) is shown in FIG.
As shown in (b), the axles of both wheels (31) and (32) are in a posture orthogonal to the wall surface (9), and then step S5 in FIG.
At, the control operation of advancing along the wall is executed. In the control operation of advancing along the wall, as shown in FIG. 11, whether the front has come into contact with the wall (step S51), whether the right has come into contact with the wall (step S52), and has separated from the wall (step S52). S53), whether you have returned to the starting point
The determination of (step S54) is sequentially performed. Step S
If it is determined at 51 that the front has come into contact, the process returns to step S4 in FIG. 10 and the postures are parallelized. If it is determined in step S52 that the right side has contacted, the process proceeds to the wall search procedure described below. Also, when it is determined in step S53 that the player has left the wall, the process proceeds to the wall search procedure described later. Then, if it is determined NO in step S54, the process proceeds to step S55, and the motor control is continued so that a constant contact state is obtained on the left side. After that, when the answer is YES in step S54, the procedure ends.

In the wall search procedure, it is determined in step S6 of FIG. 12 whether or not the wall is touched. If the answer is YES, the force in the X-axis direction is determined in steps S7 and S8. Component Fx and force component F in the Y-axis direction
Perform a size comparison of y. In step S7, Fy> Fx
If it is determined that the posture is parallelized, the process returns to step S4 in FIG. In step S8, Fx ≧ Fy
If it is determined that the posture is orthogonalized, the process returns to step S3 of FIG. On the other hand, if it is determined NO in step S6, the process proceeds to step S9, in which the left and right wheels are rotated in the reverse direction so that the wheels are rotated counterclockwise by a predetermined angle to change the direction. After that, step S
At 10, the wheels on the left and right are rotated by the same angle to move forward on a straight line by a predetermined distance. Then, it returns to step S6 and repeats the same procedure.

According to the above control procedure, for example, in the process of traveling along the wall surface (9) as shown in FIG. 13, the procedure of FIG. 11 is executed from the position P1 to the position P2, and the wall surface is executed.
Advancement along (9) is realized. After that, position P in FIG.
Although the self-propelled cleaning robot is detached from the wall surface by traveling from 2 to the position P3, the self-propelled cleaning robot travels along an arc line from the position P3 to the position P4 in FIG. 13 by executing the wall search procedure in FIG. Then, the forward movement along the wall surface (9) is performed again from the position P4 to the position P5.

When the self-propelled cleaning robot travels along the arc line, as shown in FIG. 14, the left and right wheels are reversely rotated by a predetermined angle at a constant position, thereby rotating counterclockwise by a predetermined angle φ. The operation of performing the changeover and the operation of moving the left and right wheels by the same angle to move forward on the straight line by the predetermined distance d are alternately repeated to approximately travel along the arc locus. Like this
When traveling along an arc line, the operation of traveling on a straight line after changing the direction at a fixed position is repeated.
Since there is no difference in the rotation angles of (31) and (32),
In particular, when traveling along an arc line having a small radius, no stumbling occurs on the inner wheels. As a result, both wheels (31) (3
High detection accuracy can be obtained by detecting the traveling distance based on the rotation angle of 2).

Further, FIG. 15 shows another example of a traveling route when traveling in a predetermined cleaning area surrounded by the wall surface (9), and the self-propelled cleaning robot follows the wall surface (9). Each time a vehicle travels a predetermined distance, for example, a certain distance, while traveling, a map of a small area that extends along the wall surface (9) is created, and a traveling route for filling the map is set. In the illustrated example, first, a map of a small area (aa) is created, and a travel route (→) for filling the map is set. Then, a small area (b-b-b
The map of (b) is created, and the travel route (→) for filling the map is set. Next, a small area (c-
A map of cc-c) is created, and a travel route (→) for filling the map is set. Finally, a map of a small area (dd-dd) is created, and a travel route (→) for filling the map is set. 4
The two small areas are set so as to partially overlap each other.

In this way, the predetermined cleaning area is divided into a plurality of small areas that partially overlap each other, and the traveling control of the self-propelled cleaning robot is performed in units of each small area. As compared to the case where the travel route is set for the entire cleaning area as described above, the accumulation of errors in self-position recognition is reduced. As a result, it becomes possible to run the entire cleaning area without leaving any space for cleaning.

According to the self-propelled cleaning robot (1) of the present invention described above, a single X-axis force sensor (12) and a single Y-axis force sensor (13) provided on the pressure-receiving cylinder (2) can be used for all directions. Since an obstacle can be detected, the structure is simple.
In addition, the X-axis table mechanism (5) is maintained in a state of being displaced in the X-axis direction while the pressure receiving cylindrical body (2) is in contact with the wall surface (9), and the pressure receiving cylindrical body (2) is always on the wall surface. Since it is pressed against the wall surface (9), the pressure receiving cylindrical body (2) is not separated from the wall surface (9), which enables stable measurement of the displacement amount. Furthermore, even if the pressure receiving cylindrical body (2) collides violently with the wall surface (9), the springs (44) and (54) exert a cushioning effect, so that the impact force is relieved and damage to the device is prevented. .

The configuration of each part of the present invention is not limited to the above-mentioned embodiment, and various modifications can be made within the technical scope described in the claims. For example, the force sensor is not limited to the configuration including the spring and the linear potentiometer, and various known configurations can be adopted. Further, a displacement amount detected by the X-axis linear potentiometer (50) and the Y-axis linear potentiometer (40) is directly input to the microcomputer (11) shown in FIG. 7, and based on the displacement amount, It is also possible to control the left wheel motor (14) and the right wheel motor (15).

[Brief description of drawings]

FIG. 1 is a perspective view showing an appearance of a self-propelled cleaning robot according to the present invention.

FIG. 2 is a partially cutaway perspective view showing the configuration on the back side of the self-propelled cleaning robot.

FIG. 3 is a horizontal sectional view of a self-propelled cleaning robot.

FIG. 4 is a perspective view showing an internal structure of a self-propelled cleaning robot.

FIG. 5 is a perspective view showing a specific configuration of the self-propelled cleaning robot on the back side of the machine base.

FIG. 6 is a back view showing a specific configuration of the above.

FIG. 7 is a block diagram showing a device configuration of a self-propelled cleaning robot.

FIG. 8 is a diagram illustrating a reaction force received from a wall surface.

FIG. 9 is a diagram showing a path along which a self-propelled cleaning robot travels in an area inside a wall surface.

FIG. 10 is a flowchart showing a traveling control procedure of the self-propelled cleaning robot.

FIG. 11 is a flow chart representing a control procedure for advancing along a wall.

FIG. 12 is a flowchart showing a control procedure for wall search.

FIG. 13 is a diagram illustrating an example of a travel route along a wall surface.

FIG. 14 is a diagram showing a state of direction change and forward movement in traveling along an arc line.

FIG. 15 is an explanatory diagram of a control method in which a predetermined cleaning area is divided into a plurality of small areas and travels in each small area.

[Explanation of symbols]

(1) Self-propelled cleaning robot (12) X-axis force sensor (13) Y-axis force sensor (2) Pressure receiving cylinder (3) Machine stand (31) Left wheel (32) Right wheel (4) Y-axis table mechanism (40) Y-axis linear potentiometer (41) Y-axis table (42) Guide shaft (44) Spring (5) X-axis table mechanism (50) X-axis linear potentiometer (51) X-axis table (52) Guide shaft (54) Spring (7) Front sweeper member (72) Side sweeper member (74) Side sweeper member (76) Garbage blade (77) Garbage blade (8) Dust collector (80) Cleaning mechanism Wall

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Mikio Hojo             2-5-3 Keihan Hondori, Moriguchi City, Osaka Prefecture             Within Yo Denki Co., Ltd. (72) Inventor Kazu Yokotani             2-5-3 Keihan Hondori, Moriguchi City, Osaka Prefecture             Within Yo Denki Co., Ltd. (72) Inventor Goro Fujita             2-5-3 Keihan Hondori, Moriguchi City, Osaka Prefecture             Within Yo Denki Co., Ltd. (72) Inventor Yuji Hirasawa             2-5-3 Keihan Hondori, Moriguchi City, Osaka Prefecture             Within Yo Denki Co., Ltd. F-term (reference) 3B057 DA00                 5H301 AA02 AA10 BB11 CC06 GG06                       GG12 HH10 HH19

Claims (15)

[Claims] 1. In a robot which is self-propelled by the operation of a traveling mechanism provided on a machine base (3), a pressure receiving cylindrical body (2) forming an outermost peripheral wall is supported on the machine base (3), A self-propelled robot characterized by detecting a force acting on a pressure receiving cylindrical body (2) or a displacement caused by the acting force, and controlling a traveling direction based on the detected value. 2. In a robot which is self-propelled by the operation of a traveling mechanism provided on the machine base (3), a pressure receiving cylindrical body (2) forming an outermost peripheral wall is supported on the machine base (3). An X-axis force sensor (12) and a Y-axis force sensor (13) for detecting the acting force in the X-axis direction and the Y-axis direction orthogonal to the central axis are connected to the pressure receiving cylindrical body (2), Double Force Sensor (12) (13)
A self-propelled robot whose traveling direction is controlled based on a detection signal of the robot. 3. An X-axis table mechanism (5) on the machine base (3).
And the pressure-receiving cylinder through the Y-axis table mechanism (4).
(2) is supported, and the X-axis table mechanism (5) and the Y-axis table mechanism (4) include elastic means for exerting an elastic repulsive force on the displacement in the X-axis direction and the Y-axis direction, and the X-axis direction and the Y-axis direction. The displacement amount detecting means for detecting the displacement amount in the direction is linked, and the X-axis force sensor (12) and Y
The self-propelled robot according to claim 2, wherein an axial force sensor (13) is configured. 4. An X-axis force sensor (12) and a Y-axis force sensor
4. The operation according to claim 2 or 3, wherein the operation of the traveling mechanism is controlled so as to proceed in a direction orthogonal to the resultant direction of the X-axis direction force and the Y-axis direction force detected by (13). Running robot. 5. The self-propelled robot according to claim 2, wherein the pressure receiving cylindrical body (2) is rotatably supported around its central axis. 6. The self-propelled robot according to claim 2, wherein the machine base (3) is equipped with a dust collector (8) for sucking dust on the floor surface. 7. The cleaning mechanism (80) capable of being exposed to the outside of the outer peripheral surface of the pressure receiving cylindrical body (2) is mounted on the machine base (3). Self-propelled robot described in. 8. The traveling mechanism comprises a pair of left and right wheels (31) (32) which are independently driven to rotate, and the traveling mechanism comprises:
The self-propelled robot according to any one of claims 2 to 7, wherein means for detecting a travel distance based on a rotation angle of both wheels are linked. 9. The traveling mechanism is provided with one or more sweeper members (7) (72) (74) for preventing dust from adhering to the ground contact surfaces of both wheels (31) (32). The self-propelled robot according to claim 8. 10. The one or more sweeper members are:
The self-propelled robot according to claim 9, wherein the self-propelled robot is arranged in the vicinity of each wheel so as to surround the wheel. 11. The traveling mechanism is provided with a plurality of dust scraping blades (76) (77) for scraping off dust adhering to the ground contact surfaces of both wheels (31) (32). Claim 1
The self-propelled robot according to any one of 0. 12. An operation of rotating both wheels (31) (32) in the same direction to travel on a straight line and an operation of rotating both wheels (31) (32) in opposite directions to change the direction. The self-propelled robot according to any one of claims 8 to 11, which realizes traveling along an arc line by being alternately repeated. 13. After traveling along a wall surface (9) based on the detection signals of the X-axis force sensor (12) and the Y-axis force sensor (13), the traveling path is gradually set to the inside. The self-propelled robot according to any one of claims 2 to 12, wherein the operation of the self-propelled mechanism is controlled as described above. 14. A control means for creating a map of an area surrounded by the wall surface (9) by advancing the travel path along the wall surface (9) and gradually setting the travel path inside while filling the map. The self-propelled robot according to claim 13, further comprising: 15. In the process of traveling in a predetermined area surrounded by the wall surface (9), it follows the wall surface (9) based on the detection signals of the X-axis force sensor (12) and the Y-axis force sensor (13). Each time a vehicle travels a predetermined distance while traveling on a traveling route, a map of a small area that extends along the wall surface (9) is created, and a control means for setting a traveling route for filling the map is provided. The self-propelled robot according to any one of claims 2 to 12.