JP3319093B2 - Mobile work robot - Google Patents
Mobile work robotInfo
- Publication number
- JP3319093B2 JP3319093B2 JP27833193A JP27833193A JP3319093B2 JP 3319093 B2 JP3319093 B2 JP 3319093B2 JP 27833193 A JP27833193 A JP 27833193A JP 27833193 A JP27833193 A JP 27833193A JP 3319093 B2 JP3319093 B2 JP 3319093B2
- Authority
- JP
- Japan
- Prior art keywords
- main body
- lever arm
- angle
- traveling
- detecting means
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000001514 detection method Methods 0.000 claims description 8
- 238000004140 cleaning Methods 0.000 description 12
- 239000000428 dust Substances 0.000 description 5
- 238000013459 approach Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000003111 delayed effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 230000037396 body weight Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、本体に自走機能を有
し、床面清掃や床面仕上げ等の作業を自動的に行なう移
動作業ロボットに関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile work robot having a self-propelled function in a main body and automatically performing operations such as floor cleaning and floor finishing.
【０００２】[0002]
【従来の技術】近年、掃除機や床面洗浄機等の作業機器
に自走機能を付加し、これにマイクロコンピュータや各
種センサ類を搭載することにより作業の自動化を図った
移動作業ロボットが開発されている。2. Description of the Related Art In recent years, mobile work robots have been developed which add a self-propelled function to work equipment such as a vacuum cleaner and a floor cleaning machine, and which are equipped with a microcomputer and various sensors to automate work. Have been.
【０００３】例えば床面清掃ロボットでは、走行機能と
して駆動輪や走行モータ等の走行装置を有するとともに
走行時の障害物を検知する障害物検知手段や走行中の位
置を認識する位置認識手段を備え、清掃機能としては電
動送風機や本体底部に設けた吸込みノズル等の集塵装置
を備えている。特に、壁際や部屋の隅部の清掃能力を向
上させるために、本体側方で水平方向に回転ブラシを回
転して床面のごみを本体中央部に集めるサイドブラシ装
置を備えたものもある。For example, a floor cleaning robot has a traveling device such as a driving wheel or a traveling motor as a traveling function, and has an obstacle detecting means for detecting an obstacle during traveling and a position recognizing means for recognizing a traveling position. As a cleaning function, a dust collecting device such as an electric blower or a suction nozzle provided at the bottom of the main body is provided. In particular, in order to improve the ability to clean a wall or a corner of a room, there is a device provided with a side brush device that rotates a rotating brush horizontally on a side of the main body and collects dust on a floor surface in a central portion of the main body.
【０００４】また、電源としては電池を用いるのが通常
であり、業務用を目的とした移動作業ロボットでは、本
体重量は５０〜１００kg以上になる場合が多い。Further, a battery is usually used as a power source, and a mobile work robot intended for business use often has a main body weight of 50 to 100 kg or more.
【０００５】[0005]
【発明が解決しようとする課題】しかしながら、このよ
うな移動作業ロボットでは、自走領域に階段や敷居等の
大きな凹部段差を含む場合には、本体の転落の危険性が
生じるため、凹部段差を事前に検出する段差検出手段が
必要とされている。However, in such a mobile work robot, when the self-propelled area includes a large recessed step such as a staircase or a sill, there is a risk of the main body falling down. There is a need for a step detecting means for detecting in advance.
【０００６】また、このような本体の転落を防止するた
めに、凹部段差を事前に検出した後、本体を確実に停止
させる手段が必要となっている。Further, in order to prevent such a fall of the main body, it is necessary to provide a means for surely stopping the main body after detecting the step of the concave portion in advance.
【０００７】そこで本発明は、上記従来の課題を解決す
るもので、走行床面に階段や敷居等の大きな凹部段差が
ある場合でも、凹部段差を事前に検出できる移動作業ロ
ボットを提供することを目的としている。[0007] The present invention is intended to solve the conventional problems described above, even if the traveling floor there is a large recess step, such as stairs and thresholds, to provide a mobile work robot capable of detecting a depression stepped in advance It has a purpose.
【０００８】また、走行床面の凹部段差を事前に検出
し、本体を確実に停止させて転落の危険性を回避をする
ことができる移動作業ロボットを提供することも目的と
している。It is another object of the present invention to provide a mobile work robot capable of detecting a recessed step on a traveling floor surface in advance and reliably stopping the main body to avoid a danger of falling.
【０００９】[0009]
【課題を解決するための手段】上記目的を達成するため
の本発明は、走行モータを有し本体を自走させる走行装
置と、先端部にキャスターを有し、他端部を本体に軸着
し上下方向に回動自在で、前記本体底部の前後水平方向
に配置したレバーアームと、前記本体に配置され前記レ
バーアームの上下方向への回動角度を検出する角度検出
手段とを備え、前記レバーアームの上下方向への回動角
度が所定角度に達したときに、前記角度検出手段におい
て走行装置の走行モータの入力端子を短絡することで、
前記走行モータに逆起電力を生じさせる回路手段を有し
た移動作業ロボットとするものである。This onset Ming to achieve on Symbol purpose [SUMMARY OF] includes a traveling device for self-propelled body has a driving motor, having a caster at the tip, the other end portion main body Axle on
Pivotable up and down direction, the front-rear horizontal direction of the main body bottom
A lever arm disposed on the main body and the lever arm disposed on the main body.
Angle detection that detects the vertical rotation angle of the bar arm
Means for pivoting the lever arm in a vertical direction.
When the degree reaches a predetermined angle, the angle detection means
By short-circuiting the input terminal of the travel motor of the travel device,
Circuit means for generating a back electromotive force in the traveling motor
Was one in which the mobile work robot.
【００１０】[0010]
【作用】本発明の移動作業ロボットでは、本体に対して
上下方向に回動自在のレバーアームの先端部のキャスタ
ーは走行中常に床面上に当接し、本体が床面の凹部段差
に近づくと上記キャスターが凹部段差に落ちることによ
りレバーアームの回動角度が変化するから、レバーアー
ムの角度検出手段によりこの凹部段差が事前に検出でき
るものである。[Action] In shift operation industry robot of the present invention, caster tip of pivotable lever arm in the vertical direction relative to the body is always in contact on the floor during traveling, the body approaches the recess stepped floor Since the turning angle of the lever arm changes when the caster and the caster fall into the concave step, the concave step can be detected in advance by the angle detecting means of the lever arm.
【００１１】また、本体が床面の凹部段差に近づきレバ
ーアームのキャスターが凹部段差に落ちてレバーアーム
の回動角度が所定角度に達すると、角度検出手段の出力
が回路的に走行装置の走行モータの入力端子を短絡する
から、走行モータの逆起電力によりブレーキがかかり本
体が停止できるものである。 Further, the body when the rotational angle of the lever arm fell on casters recess step of the lever arm close to the recess step of the floor surface reaches the predetermined angle, the output of the angle detection means of the circuit to the travel device Since the input terminal of the travel motor is short-circuited, the brake is applied by the back electromotive force of the travel motor and the main body can be stopped.
【００１２】[0012]
【実施例】以下、本発明の実施例を床面清掃ロボットを
例にとって添付図面に基づいて説明する。DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the accompanying drawings, taking a floor cleaning robot as an example.
【００１３】図１・図２は本実施例の床面清掃ロボット
の全体構成を示す。図において、１は床面清掃ロボット
の本体、２は本体１の左右後方に設けた駆動輪で、走行
モータ３で左右独立に駆動される。４は、本体１の前方
に回転自在に取り付けられた従輪である。以上、駆動輪
２・走行モータ３・従輪４は、本体１を矢印ｇの方向に
自走させる走行装置を構成している。５は、本体１の底
部左右に設けたレバーアームで、本体１の前後方向に水
平に配置され、後端部が本体１に取付けられた支持台６
に支持軸７により軸着され上下方向に回動自在になって
いる。回転ブラシ８と、回転ブラシ８を水平方向に回転
駆動する回転駆動部９とで、サイドブラシ装置が構成さ
れ、レバーアーム５の先端部上に設けられている。この
サイドブラシ装置は、図２の底面図に示すように、それ
ぞれ本体１の左右に２組設けられ、各回転ブラシ８は矢
印ａの方向に回転して、本体１の左右外側の床面Ａ上の
ごみを内側に集めるものである。１０は、レバーアーム
５下面に設けたキャスターで、従輪４より前方に配置さ
れている。１１は、レバーアーム５上に取付けた湾曲板
からなる案内部材で、回転ブラシ８の後方先端部をレバ
ーアーム５より上に持ち上げる。１２は、レバーアーム
５の回動角度を検出する角度検出手段で、リミットスイ
ッチからなり、アクチュエータ１２’がレバーアーム５
に当接するよう配置してある。１３はレバーアーム５の
回動をロックするラッチ装置で、レバーアーム５が本体
１より所定角度以上に下がると作動する。１４はハンド
ルで、矢印ｂの方向に引き上げると、通常は図のように
本体１の中に収納されているハンドルパイプ１５が縦方
向に摺動し、本体１外に引き出せる。ハンドル１４を本
体１外に引き出すことにより、手動により容易に清掃場
所間の移動が行なえる。１６は、本体１の周囲に取り付
けた弾性体からなるバンパーである。１７は電動送風
機、１８は集塵室、１９はその内部に設けた紙袋からな
るフィルタである。２０は本体１の底部後方に設けた床
ノズルで、床面Ａ上のごみをかき上げる回転アジテータ
２１を有する。この床ノズル２０は、接続パイプ２２を
介して集塵室１８と接続している。２３は操作部２４に
設けられた操作ボタンである。２５は本体１の周囲に設
けられた超音波センサ等からなる測距センサで、本体１
の前方・左右側方および後方にある物体までの距離を測
定して障害物を検出する障害物検知装置を構成してい
る。２６は、障害物検知装置等からのデータに基づいて
走行モータ３を制御し、本体１の走行制御を行なう走行
制御装置である。２７は全体に電力を供給する蓄電池等
からなる電源である。FIGS. 1 and 2 show the overall configuration of a floor cleaning robot according to this embodiment. In the figure, 1 is a main body of the floor cleaning robot, 2 is a drive wheel provided on the left and right rear of the main body 1, and is driven by a traveling motor 3 independently of the left and right. Reference numeral 4 denotes a follower wheel rotatably attached to the front of the main body 1. As described above, the driving wheel 2, the traveling motor 3, and the driven wheel 4 constitute a traveling device that causes the main body 1 to travel in the direction of arrow g by itself. Reference numeral 5 denotes a lever arm provided on the bottom left and right of the main body 1, which is horizontally arranged in the front-rear direction of the main body 1, and has a rear end 6
, And is rotatable up and down by a support shaft 7. The rotary brush 8 and a rotary drive unit 9 that drives the rotary brush 8 to rotate in the horizontal direction constitute a side brush device, and are provided on the distal end of the lever arm 5. As shown in the bottom view of FIG. 2, two sets of the side brush devices are provided on the left and right sides of the main body 1, respectively. The upper garbage is collected inside. Reference numeral 10 denotes a caster provided on the lower surface of the lever arm 5, which is disposed forward of the driven wheel 4. Reference numeral 11 denotes a guide member formed of a curved plate mounted on the lever arm 5 and lifts the rear end of the rotating brush 8 above the lever arm 5. Numeral 12 denotes an angle detecting means for detecting the rotation angle of the lever arm 5, which comprises a limit switch.
It is arranged so that it contacts. A latch device 13 locks the rotation of the lever arm 5 and operates when the lever arm 5 is lowered from the main body 1 by a predetermined angle or more. When the handle 14 is pulled up in the direction of the arrow b, the handle pipe 15 normally housed in the main body 1 slides in the vertical direction as shown in the figure, and can be pulled out of the main body 1. By pulling the handle 14 out of the main body 1, the movement between the cleaning places can be easily performed manually. Reference numeral 16 denotes a bumper made of an elastic body attached around the main body 1. Reference numeral 17 denotes an electric blower, 18 denotes a dust collection chamber, and 19 denotes a filter formed of a paper bag provided therein. Reference numeral 20 denotes a floor nozzle provided at the rear of the bottom of the main body 1 and has a rotary agitator 21 for scraping dust on the floor surface A. The floor nozzle 20 is connected to the dust collection chamber 18 via a connection pipe 22. Reference numeral 23 denotes an operation button provided on the operation unit 24. Reference numeral 25 denotes a distance measuring sensor including an ultrasonic sensor and the like provided around the main body 1.
The obstacle detection device detects an obstacle by measuring a distance to an object located in front of, left, right and left of, and behind. Reference numeral 26 denotes a travel control device that controls the travel motor 3 based on data from an obstacle detection device or the like and controls travel of the main body 1. Reference numeral 27 denotes a power supply including a storage battery or the like for supplying power to the whole.
【００１４】以上のように構成された床面清掃ロボット
において、以下その動作、作用について説明する。 The operation and operation of the floor cleaning robot constructed as described above will be described below.
【００１５】レバーアーム５は、キャスター１０を介し
て床面上に支持されているので、本体１が平面上を走行
している場合（図１・図２参照）は、必ず床面と一定距
離以上離れている。ところが、図３に示すように、本体
１が床面Ａ上を矢印ｇの方向に走行中に段差Ｂに近づく
と、重力により、まずキャスター１０が段差Ｂに落ち込
んで矢印ｃの方向に変位する。このとき、レバーアーム
５は矢印ｄの方向に回動するから、角度検出手段１２の
アクチュエータ１２’はレバーアーム５と当接しなくな
り、角度検出手段１２のスイッチが作動する。本実施例
では、角度検出手段１２は走行制御装置２６に接続され
ており、角度検出手段１２が作動すると障害物検知装置
が作動した場合と同等の処理をして、本体１は走行を停
止し段差Ｂを回避する動作を行なうようになっている。
このように、本体１の走行床面上に凹部段差があって
も、従輪４や駆動輪２が凹部段差に脱輪する前に、左右
どちらかのキャスター１０がこれに落ち込むことにより
角度検出手段１２でこれを事前に検知し回避動作を行な
うから走行不能や転落の危険性がなくなるものである。Since the lever arm 5 is supported on the floor via the casters 10, when the main body 1 is traveling on a plane (see FIGS. 1 and 2), the lever arm 5 must be at a certain distance from the floor. More than a distance away. However, as shown in FIG. 3, when the main body 1 approaches the step B while traveling on the floor A in the direction of arrow g, the casters 10 first fall into the step B due to gravity and are displaced in the direction of arrow c. . At this time, since the lever arm 5 rotates in the direction of the arrow d, the actuator 12 'of the angle detecting means 12 does not come into contact with the lever arm 5, and the switch of the angle detecting means 12 operates. In the present embodiment, the angle detecting means 12 is connected to the travel control device 26, and when the angle detecting means 12 operates, the main body 1 stops traveling by performing the same processing as when the obstacle detecting apparatus operates. An operation for avoiding the step B is performed.
As described above, even if there is a recessed step on the traveling floor surface of the main body 1, either the left or right caster 10 falls into this before the driven wheel 4 or the drive wheel 2 derails to the recessed step, and the angle detecting means At 12, this is detected in advance and the avoidance operation is performed, so that there is no danger of running impossible or falling down.
【００１６】なお、本実施例では、本体１は矢印ｇの方
向、すなわち走行装置の従輪４の方向に走行するから、
レバーアーム５の先端に設けたキャスター１０は従輪４
より前方に配置されているが、例えば、駆動輪２の方向
に走行するものにおいては、キャスター１０は駆動輪２
の前方に配置する必要がある。In this embodiment, the main body 1 travels in the direction of arrow g, that is, in the direction of the driven wheel 4 of the traveling device.
The caster 10 provided at the tip of the lever arm 5
For example, in a case where the vehicle runs in the direction of the drive wheel 2, the casters 10
Must be placed in front of the
【００１７】また、本実施例では、角度検出手段１２に
リミットスイッチを用いているが、例えばポテンショメ
ータやエンコーダ等でも良く、要はレバーアーム５の回
動角度が検出できるものであれば良い。In this embodiment, a limit switch is used as the angle detecting means 12. However, a potentiometer, an encoder, or the like may be used. In other words, any device capable of detecting the rotation angle of the lever arm 5 may be used.
【００１８】図４は、第二の手段の実施例の回路図で、
切換え接点を有するリミットスイッチからなる角度検出
手段１２が作動していない状態、すなわち、レバーアー
ム５のキャスター１０が段差ではなく平面上にある場合
を示す。２８・２９は左右の走行モータ３の入力端子で
ある。図のように通常状態では、入力端子２８は、角度
検出手段１２の中立接点を介して、走行制御装置２６の
走行モータ３用の駆動回路３０の出力に接続され、入力
端子２９は、角度検出手段１２の切換え接点を介して駆
動回路３０の出力に接続されている。この状態では、走
行制御装置２６の判断処理手段３１の出力に応じて駆動
回路３０が制御され、走行モータ３の回転制御が行なわ
れる。ところが、前述したように本体１が走行中に段差
にさしかかり角度検出手段１２が作動すると、角度検出
手段１２の中立接点が切換え接点と接続して入力端子２
８と２９とが短絡するとともに、入力端子２８は駆動回
路３０と切り離される。この状態では走行モータ３は電
源が供給されないだけでなく、自己の逆起電力により急
激に回転が停止する。したがって、本体１は、走行制御
装置２６の出力とは無関係に強制的に走行を停止するこ
ととなり、床面上の凹部段差への転落が避けられるもの
である。FIG . 4 is a circuit diagram of an embodiment of the second means.
This shows a state in which the angle detecting means 12 including a limit switch having a changeover contact is not operated, that is, a case where the caster 10 of the lever arm 5 is not on a step but on a plane. 28 and 29 are input terminals of the left and right traveling motors 3. In the normal state as shown, the input terminal 28 is connected to the output of the drive circuit 30 for the traveling motor 3 of the traveling control device 26 via the neutral contact of the angle detecting means 12, and the input terminal 29 is It is connected to the output of the drive circuit 30 via the switching contact of the means 12. In this state, the drive circuit 30 is controlled according to the output of the determination processing means 31 of the travel control device 26, and the rotation of the travel motor 3 is controlled. However, as described above, when the main body 1 is approaching a step while the vehicle 1 is traveling and the angle detecting means 12 is operated, the neutral contact of the angle detecting means 12 is connected to the switching contact and the input terminal 2 is connected.
8 and 29 are short-circuited, and the input terminal 28 is disconnected from the drive circuit 30. In this state, the traveling motor 3 is not only supplied with no power, but also stops rotating rapidly due to its own back electromotive force. Therefore, the main body 1 forcibly stops running irrespective of the output of the running control device 26, and it is possible to prevent the main body 1 from falling to the recessed step on the floor surface.
【００１９】このように、段差検出時に判断処理手段３
１を介さずに角度検出手段１２によって直接走行モータ
３の入力端子２８・２９を短絡させることにより、判断
処理手段３１の処理時間遅れや万が一の暴走によって本
体１の停止が遅れることがなく、しかも電源の有無にか
かわらず本体１を停止できるものである。As described above, when the step is detected, the judgment processing means 3
The input terminals 28 and 29 of the traveling motor 3 are directly short-circuited by the angle detecting means 12 without passing through the control unit 1 so that the processing time of the judgment processing means 31 is not delayed and the stop of the main body 1 is not delayed due to an unexpected runaway. The main body 1 can be stopped regardless of the presence or absence of a power supply.
【００２０】メンテナンス時には、図５に示すように駆
動輪２を支点にして本体１の前部を矢印ｅの方向に持ち
上げるとレバーアーム５のキャスター１０が床面に当接
した状態でレバーアーム５が回動を始め、所定位置にな
るとラッチ装置１３が作動してレバーアーム５の回動が
ロックされ、本体１は前部が持ち上げられた状態で維持
される。したがって、サイドブラシ装置やキャスター４
等の本体１の底部にある機械装置に手が届く状態とな
り、これらのメンテナンスが容易に行なえる。また、こ
のときレバーアーム５は矢印ｆの方向に回動し、角度検
出手段１２のアクチュエータ１２’はレバーアーム５と
当接しなくなり、角度検出手段１２のスイッチが作動す
る。本実施例では、本発明の第二の手段により角度検出
手段１２が作動すると走行モータ３がブレーキ状態にな
るので、駆動輪２が回転してメンテナンス作業中に本体
１が動き出す危険性がない。[0020] During maintenance, contact with each lever arm and the drive wheel 2 to the fulcrum caster 10 floor surface of the lever arm 5 Lifting the front portion of the main body 1 in the direction of arrow e as shown in FIG. 5 The rotation of the lever arm 5 is locked by operating the latch device 13 when a predetermined position is reached, and the main body 1 is maintained in a state where the front portion is lifted. Therefore, the side brush device and the casters 4
The mechanical devices at the bottom of the main body 1 can be accessed, and these can be easily maintained. At this time, the lever arm 5 rotates in the direction of arrow f, the actuator 12 'of the angle detecting means 12 stops contacting the lever arm 5, and the switch of the angle detecting means 12 is activated. In this embodiment, when the angle detecting means 12 is actuated by the second means of the present invention, the traveling motor 3 is in a brake state, so that there is no danger that the driving wheels 2 rotate and the main body 1 starts to move during the maintenance work.
【００２１】なお、以上の説明では床面清掃ロボットを
例にとって述べているためレバーアーム５上にサイドブ
ラシ装置を備えているが、これが必要条件でないことは
いうまでもなく、また、サイドブラシ装置以外の例え
ば、吸込みノズルやポリッシャー等の他の作業装置が取
り付けられていても同等の効果が得られるものである。In the above description, the side surface cleaning device is provided as an example, and therefore the side brush device is provided on the lever arm 5. However, it is needless to say that this is not a necessary condition. For example, the same effect can be obtained even when another working device such as a suction nozzle or a polisher is attached.
【００２２】[0022]
【発明の効果】以上のように本発明によれば、本体が床
面の凹部段差に近づくと上記キャスターが凹部段差に落
ち込むことによりレバーアームの回動角度が変化しレバ
ーアームの角度検出手段によりこの凹部段差が事前に検
出できる移動作業ロボットが実現できるものである。According to the onset bright as the foregoing, the main angle detecting means of the lever arm changes the pivot angle of the lever arm by approaches the recess stepped floor the casters falls into the recess step Accordingly, a mobile work robot capable of detecting the recess step in advance can be realized.
【００２３】また、本体が床面の凹部段差に近づくと、
判断処理手段を介さず角度検出手段により直接走行モー
タの回転を停止するから、判断処理手段の処理時間遅れ
や万が一の暴走による影響がなく、しかも電源の有無に
かかわらず本体を確実に停止できる安全性にすぐれた移
動作業ロボットが実現できるものである。 Further, the present body approaches the recess stepped floor,
Since the rotation of the traveling motor is stopped directly by the angle detection means without the intervention of the judgment processing means, there is no delay in the processing time of the judgment processing means or the effect of runaway, and the body can be reliably stopped regardless of the presence or absence of power supply. A mobile work robot with excellent characteristics can be realized.
【図１】本発明の実施例における床面清掃ロボットの側
面断面図FIG. 1 is a side sectional view of a floor cleaning robot according to an embodiment of the present invention.
【図２】同実施例の床面清掃ロボットの底面図FIG. 2 is a bottom view of the floor cleaning robot of the embodiment.
【図３】同実施例における本発明の動作説明図FIG. 3 is an explanatory diagram of the operation of the present invention in the embodiment.
【図４】同実施例における本発明の回路図FIG. 4 is a circuit diagram of the present invention in the embodiment.
【図５】同実施例における本発明の他の動作説明図FIG. 5 is another operation explanatory view of the present invention in the embodiment.
１ 本体 ２ 駆動輪 ３ 走行モータ ４ 従輪 ５ レバーアーム ６ 支持台 ７ 支持軸 １０ キャスター １２ 角度検出手段 １３ ラッチ装置 ２６ 走行制御装置 ２７ 電源 DESCRIPTION OF SYMBOLS 1 Main body 2 Drive wheel 3 Traveling motor 4 Follower wheel 5 Lever arm 6 Support base 7 Support shaft 10 Caster 12 Angle detection means 13 Latch device 26 Travel control device 27 Power supply
───────────────────────────────────────────────────── フロントページの続き (72)発明者 小川 光康 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 藤原 俊明 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 江口 修 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 乾 弘文 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 高木 祥史 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 石橋 崇文 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 黒木 義貴 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (56)参考文献 特開 平５−228090（ＪＰ，Ａ) 特開 昭59−157719（ＪＰ，Ａ) 特開 平７−79890（ＪＰ，Ａ) 特開 平１−207806（ＪＰ，Ａ) 実開 昭59−33511（ＪＰ，Ｕ) (58)調査した分野(Int.Cl.7，ＤＢ名) G05D 1/02 ──────────────────────────────────────────────────の Continued on the front page (72) Inventor Mitsuyasu Ogawa 1006 Kadoma Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. In-house (72) Inventor Osamu Eguchi 1006 Kadoma, Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. Person Yoshifumi Takagi 1006 Kazuma Kadoma, Kadoma City, Osaka Prefecture (72) Inside of Matsushita Electric Industrial Co., Ltd. 1006 Kadoma, Ichidai-shi Matsushita Electric Industrial Co., Ltd. (56) References JP-A-5-228090 (JP, A) JP-A-59-157719 (JP) A) Patent flat 7-79890 (JP, A) JP flat 1-207806 (JP, A) JitsuHiraku Akira 59-33511 (JP, U) (58 ) investigated the field (Int.Cl. 7, DB name ) G05D 1/02
Claims (1)
装置と、先端部にキャスターを有し、他端部を本体に軸
着し上下方向に回動自在で、前記本体底部の前後水平方
向に配置したレバーアームと、前記本体に配置され前記
レバーアームの上下方向への回動角度を検出する角度検
出手段とを備え、前記レバーアームの上下方向への回動
角度が所定角度に達したときに、前記角度検出手段にお
いて走行装置の走行モータの入力端子を短絡すること
で、前記走行モータに逆起電力を生じさせる回路手段を
有した移動作業ロボット。A traveling device 1. A is self body has a driving motor, having a caster at the tip portion, the other end portion is rotatably upward downward pivotally attached to the body, before and after the main body bottom Horizontal
And a lever arm disposed in the body,
Angle detection that detects the vertical rotation angle of the lever arm
A lever means for pivoting the lever arm in the vertical direction.
When the angle reaches a predetermined angle, the angle detecting means
Short-circuit the input terminal of the traveling motor of the traveling device
A circuit means for generating a back electromotive force in the traveling motor.
Mobile work robot having.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP27833193A JP3319093B2 (en) | 1993-11-08 | 1993-11-08 | Mobile work robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP27833193A JP3319093B2 (en) | 1993-11-08 | 1993-11-08 | Mobile work robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07129239A JPH07129239A (en) | 1995-05-19 |
| JP3319093B2 true JP3319093B2 (en) | 2002-08-26 |
Family
ID=17595845
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP27833193A Expired - Fee Related JP3319093B2 (en) | 1993-11-08 | 1993-11-08 | Mobile work robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3319093B2 (en) |
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-
1993
- 1993-11-08 JP JP27833193A patent/JP3319093B2/en not_active Expired - Fee Related
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|---|---|
| JPH07129239A (en) | 1995-05-19 |
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