JP4058974B2 - Self-propelled equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a self-propelled device that travels independently without human assistance.
[0002]
[Prior art]
Conventionally, in this type of self-propelled device, in order to avoid a step, a reflector, a marker, a magnetic tape that emits magnetism, etc. is pasted on the boundary with the step and detected by a detection means provided on the main body. It was common.
[0003]
[Problems to be solved by the invention]
However, when attaching a reflector, a marker, a magnetic tape, etc., it is necessary to affix on each level | step difference location. In addition, there is a problem in that the accuracy of detection is deteriorated due to contamination of the reflector or marker attached.
[0004]
The present invention solves the above-mentioned conventional problems, and does not require the user to attach a reflector or a marker, etc., and is a self-propelled device that can automatically travel while avoiding a step with a simple configuration. The purpose is to provide.
[0005]
[Means for Solving the Problems]
According to the present invention, the control means, the traveling means for moving the main body, the first step detecting means for detecting the step based on the distance to at least the front lower part or the oblique front lower part, or the distance to the rear lower part or the oblique rear rear lower part. It comprises a second step detecting means for detecting a step, and the control means is in accordance with the detection contents of the first step detecting means or the second step detecting means. Said Determine the action to avoid the step and control the driving When the first step detecting means and the second step detecting means detect at least one convex step or concave step, the control means automatically stops the travel of the main body as an abnormality. In the traveling device, a notification unit is provided, and when at least one or more concave steps are detected by the first step detection unit and the second step detection unit, a lifting abnormality is notified. As a configuration, it is possible to automatically avoid a step with a simple configuration without taking the trouble of sticking a reflector or marker to the user, When there is a step where the device itself may fall or climb up due to continued running, it can stop traveling and realize a safer self-propelled device, and also warn the user of the danger of lifting without separately installing a lifting switch Self-propelled equipment can be provided.
[0006]
DETAILED DESCRIPTION OF THE INVENTION
The invention described in claim 1 includes a control means, a traveling means for moving the main body, a first step detecting means for detecting a step based on a distance to at least the front lower part or the diagonally front lower part, or the rear lower part or the oblique rear part. It consists of a second step detecting means for detecting a step according to the distance to the lower side, and the control means depends on the detection contents of the first step detecting means or the second step detecting means. Said Determine the action to avoid the step and control the driving When the first step detecting means and the second step detecting means detect at least one convex step or concave step, the control means automatically stops the travel of the main body as an abnormality. In the traveling device, a notification unit is provided, and when at least one or more concave steps are detected by the first step detection unit and the second step detection unit, a lifting abnormality is notified. As a configuration, it is possible to automatically avoid a step with a simple configuration without taking the trouble of pasting a reflector or marker to the user, When there is a step where the device itself may fall or climb up due to continued running, it can stop traveling and realize a safer self-propelled device, and also warn the user of the danger of lifting without separately installing a lifting switch It is a self-propelled device.
[0007]
【Example】
Example 1
The first embodiment of the present invention will be described below. FIG. 1 is a block diagram showing the configuration of the present embodiment, and FIG. 2 is a view of the mounting position and visual field of the step distance measuring sensor viewed from above. 1 is a main body of a self-propelled device, 2a and 2b are left drive wheels and right drive wheels that constitute a travel means, 3a and 3b are left motor and right motor that also constitute a travel means, and 4a is a distance measurement for a front left step. Sensor, 4b is a rear left step distance measuring sensor, 4c is a front right step distance measuring sensor, 4d is a rear right step distance measuring sensor, 5a, 5b, 5c, 5d are front, left, right, rear. A distance measuring sensor that is a distance measuring means for measuring the distance to the obstacle, 6 is a control means, and 7 is a time measuring means. The front left step distance measuring sensor 4a, the rear left step distance measuring sensor 4b, the front right step distance measuring sensor 4c, and the rear right step distance measuring sensor 4d are dangerous to fall or climb even when traveling at the maximum speed. At the point when the level difference is detected, the brake is suddenly applied and attached at a position that faces diagonally downward at an angle so that the distance can be measured in time. The distance of a dangerous convex step that cannot be moved by riding and the distance of a dangerous concave step that cannot be moved by falling are set as a distance sensor 4a for the front left step, a distance sensor 4b for the rear left step, a distance sensor 4c for the front right step, Each of the rear right step distance measuring sensor 4d is predetermined.
[0008]
Hereinafter, the operation of this embodiment will be described with reference to the travel diagram of FIG. First, traveling is started at the traveling start position 9 in the room 8. The control means 6 controls the left motor 3a and the right motor 3b and travels around the outside of the room 7 while detecting and avoiding the obstacle 10 by the distance measuring sensors 5a, 5b, 5c and 5d. In the middle, at the level difference detection position 12, for example, a level difference is detected in the concave level area 11 such as a staircase only by the front right level difference distance measuring sensor 4c. The control means 6 first applies a sudden brake to the left motor 3a and the right motor 3b to stop the travel, performs control of the left motor 3a and the right motor 3b for the backward movement, and moves backward for a predetermined time by the time measuring means 7, After temporarily controlling the left motor 3a and the right motor 3b, the left and right speeds of the left motor 3a and the right motor 3b are changed to control the main body to turn left. Thereafter, the control means 6 performs normal traveling control and continues the outer periphery traveling. If the step region 11 still continues, if the step threshold value is detected again by only one or both of the front right step distance measuring sensor 4c and the front left step distance measuring sensor 4a, the avoidance operation and the normal Repeat the running operation.
[0009]
In this embodiment, the front left step distance measuring sensor 4a, the rear left step distance measuring sensor 4b, the front right step distance measuring sensor 4c, and the rear right step distance measuring sensor 4d are mounted independently and cannot move. Although there are thresholds for the distance of dangerous convex steps and the distance of dangerous concave steps that fall and cannot move, there are four common thresholds for convex steps or concave steps, or only one of the convex steps or concave steps. The threshold value may be provided.
[0010]
Further, a multilevel threshold may be provided for the convex step or the concave step, and for example, a deceleration level may be set for each threshold, or another avoidance operation may be performed at each level.
[0011]
As described above, according to the present embodiment, a self-propelled device that can automatically travel while avoiding a step is realized with a simple configuration without requiring the user to attach a reflector or a marker. Is.
[0012]
(Example 2)
Next, a second embodiment of the present invention will be described. The block diagram showing the configuration of the present embodiment is the same as that of the first embodiment shown in FIG. 1, and the determination of the threshold value for the concave step 14 to be detected will be described with reference to FIG.
[0013]
First, the main body 1 is placed on a horizontal plane where each sensor can detect a concave step to be detected, for example, a 6 cm step model 14. Next, each of the front left step distance measuring sensor 4a, the rear left step distance measuring sensor 4b, the front right step distance measuring sensor 4c, and the rear right step distance measuring sensor 4d is detected by each sensor. The value is determined as the threshold value of the concave step. Then, the control means 6 uses the value as a threshold value when performing the step avoidance operation. Hereinafter, the same determination is made for the convex steps.
[0014]
After the start of traveling, the control means 6 sets the threshold value that is the determined absolute value, that is, a value greater than or equal to the threshold value for a concave step, to the front left step distance measuring sensor 4a, the rear left step distance measuring sensor 4b, and the front right step difference value. When detected by the distance measuring sensor 4c and the rear right step distance measuring sensor 4d, a step avoidance operation is performed.
[0015]
In this embodiment, the front step difference sensor 4a, the rear left step sensor 4b, the front right step sensor 4c, and the rear right step sensor 4d are measured for the actual steps. If the difference and accuracy of individual differences are not so required, the value calculated from the mounting angle or mounting position may be determined as the threshold value. Absent.
[0016]
As described above, according to the present embodiment, it is possible to realize a self-propelled device in which the value of the convex step and the concave step to be detected can be easily set in advance.
[0017]
(Example 3)
Next, a third embodiment of the present invention will be described. The block diagram which shows the structure of a present Example has shown the main body position in the case of driving | running | working on the room where the carpet is spread simultaneously in FIG. Reference value storage means 16 is provided in addition to the configuration of FIG.
[0018]
First, the control means 6 immediately before the start of traveling, each of the front left step distance measuring sensor 4a, the rear left step distance measuring sensor 4b, the front right step distance measuring sensor 4c, and the rear right step distance measuring sensor 4d. The measured value on the surface currently set as the reference surface is stored in the reference value storage means 16. The control means 6 sets a threshold value determined from the reference value stored in the reference value storage means 16 and the step relative amount determined in advance by measurement or calculation after the start of traveling, that is, a reference value plus a step difference relative value or more for a concave step. When detected by the front left step distance measuring sensor 4a, the rear left step distance measuring sensor 4b, the front right step distance measuring sensor 4c, and the rear right step distance measuring sensor 4d, a step avoidance operation is performed.
[0019]
As described above, according to the present embodiment, it is desired to detect when the main body 1 sinks with its own weight and the horizontal plane that is visible during normal traveling is higher than the main body traveling surface, such as when traveling on a carpet. This realizes a self-propelled device in which the value of the convex step and the concave step can be set as the step amount with the value of the surface on which the traveling main body is placed as a reference value.
[0020]
Example 4
Next, a fourth embodiment of the present invention will be described. The block diagram showing the configuration of the present embodiment is FIG. 1 similar to the first embodiment.
[0021]
First, the control means 6 always operates the front left step distance measuring sensor 4a, the rear left step distance measuring sensor 4b, the front right step distance measuring sensor 4c, and the rear right step distance measuring sensor 4d. The amount of change in the value is taken. A threshold value determined from the relative level difference determined in advance by measurement or calculation, that is, a value greater than the reference value + the relative level difference if the level difference is a concave level, the distance measurement sensor 4a for the front left level difference and the distance measurement for the rear left level difference. When detected by the sensor 4b, the front right step distance measuring sensor 4c, and the rear right step distance measuring sensor 4d, a step avoidance operation is performed.
[0022]
As described above, according to the present embodiment, it corresponds to the case where the reference plane changes even during traveling, such as when traveling on the tatami mat or the carpet with the values of the convex step and the concave step to be detected. This realizes a self-propelled device that can be set as a step amount with the value of the surface on which the main body is placed as a reference value.
[0023]
(Example 5)
Next, a fifth embodiment of the present invention will be described. FIG. 6 is a block diagram showing the configuration of this embodiment. In addition to the configuration of FIG. 1, a step detection threshold value storage unit 17 and an operation unit 18 are provided. The values used as the convex step or the threshold value of the concave step are the front left step distance measuring sensor 4a, the rear left step distance measuring sensor 4b, the front right step distance measuring sensor 4c, and the rear right step distance measuring sensor 4d. The value can be stored by operating the operation unit 18.
[0024]
In the present embodiment, the information can be stored and confirmed using the operation unit 18 of the main body 1. However, it may be mounted by writing with a dedicated writing tool. Moreover, although it was made to memorize | store about each sensor, you may make it memorize | stored only about a part of sensor.
[0025]
As described above, according to the present embodiment, the self-propelled device that can set the value of the convex step and the concave step to be detected corresponding to the individual difference of the distance measuring sensor itself or the attachment position deviation to the main body 1 or the like. Is realized.
[0026]
(Example 6)
Next, a sixth embodiment of the present invention will be described. The block diagram showing the configuration of the present embodiment is FIG. 6 similar to that of the fifth embodiment. In the present embodiment, as in the fifth embodiment, the values used as the threshold of the convex step or the concave step are the front left step distance measuring sensor 4a, the rear left step distance measuring sensor 4b, and the front right step distance measuring sensor 4c. Each of the rear right step distance measuring sensors 4d can be operated by the operation unit 18 to store the number of the value itself, and a measurement switch is prepared by the operation unit 18 to measure each step difference. The value currently detected by the sensor can be measured and displayed. When the storage switch is pressed after measurement, the value is stored as a threshold value.
[0027]
As described above, according to the present embodiment, it is possible to realize a self-propelled device that can set a convex step and a concave step value to be detected by remembering the actual amount in the device.
[0028]
(Example 7)
Next, a seventh embodiment of the present invention will be described. The block diagram showing the configuration of the present embodiment is FIG. 6 similar to the fifth and sixth embodiments.
[0029]
Hereinafter, the operation of the present embodiment will be described with reference to the flowchart of FIG. First, the control means 6 travels on the outer periphery while avoiding an obstacle using the front distance sensor 5a, the left distance sensor 5b, the right distance sensor 5c, and the rear distance sensor 5d (step 1). While traveling on the periphery, either the front left step distance measuring sensor 4a or the front right step distance measuring sensor 4c detects a step that is greater than or equal to the concave step threshold value or less than the convex step threshold value, and the rear left step distance measuring sensor. If either 4b or the rear right step distance measuring sensor 4d detects a step above or below the concave step threshold, the brake is suddenly applied as an abnormality (steps 2 to 4).
[0030]
Next, rotation is started, and when neither the convex step nor the concave step is detected by any of the front step sensors, the rotation is stopped and the vehicle is advanced for 1 second to return to the outer periphery traveling which is normal traveling (steps 6 and 7). . Even if it rotates for one round, if any one of the front distance measuring sensors detects a convex step or a concave step, the rotation is stopped and the vehicle stops running abnormally (steps 6, 8, 9).
[0031]
If any of the front left step distance measuring sensor 4a, the front right step distance measuring sensor 4c, the rear left step distance measuring sensor 4b, and the rear right step distance measuring sensor 4d is not less than the concave step threshold value or less than the convex step threshold value, If there is no difference, i.e., no step is detected, the outer periphery travel is continued. One or both of the front left step distance measuring sensor 4a and the front right step distance measuring sensor 4c detect the step, but the rear left step distance measuring sensor 4b and the rear right step distance measuring sensor 4d None of the steps are detected, and neither the front left step distance measuring sensor 4a nor the front right step distance measuring sensor 4c detects the step, but the rear left step distance measuring sensor 4b or the rear right step. When a step is detected by one or both of the distance measuring sensors 4d, a step avoiding operation is performed (steps 2, 3, 10, 11, 12).
[0032]
In this embodiment, two step detecting means as the first step detecting means are provided, two step detecting means as the second step detecting means are provided, and the first step detecting means and the first step detecting means are provided. When a convex step or a concave step is detected at two or more places including one place which is the two step detecting means, the control means 6 rotates so as to perform the step avoidance operation. Means may be provided, and the number of steps may be an arbitrary number as long as at least one step detection point is detected by the first step detection unit and the second step detection unit.
[0033]
Moreover, you may alert | report that there is a level | step difference using the operation part 18 as an alerting | reporting means. Further, although one rotation is defined as time, it may be determined by providing an angle detection unit and measuring 360 °.
[0034]
As described above, according to the present embodiment, when a convex step or a concave step is detected at a predetermined location or more including at least one location that is the first level difference detection unit and one location that is the second level difference detection unit, As a configuration where the control means stops traveling as an abnormality, it realizes a self-propelled device that can be safely avoided without moving the drive wheel position where there is a dangerous step that the device main body falls or climbs as it continues to travel .
[0035]
(Example 8)
Next, a seventh embodiment of the present invention will be described. The block diagram showing the configuration of the present embodiment is FIG. 6 similar to the fifth to seventh embodiments.
[0036]
Hereinafter, the operation of this embodiment will be described with reference to the flowchart of FIG.
[0037]
First, the control means 6 travels on the outer periphery while avoiding an obstacle using the front distance sensor 5a, the left distance sensor 5b, the right distance sensor 5c, and the rear distance sensor 5d (step 1). While traveling on the periphery, either the front left step distance measuring sensor 4a or the front right step distance measuring sensor 4c detects a step that is greater than or equal to the concave step threshold value or less than the convex step threshold value, and the rear left step distance measuring sensor. When either 4b or the rear right step distance measuring sensor 4d detects a step that is greater than or equal to the concave step threshold value or less than the convex step threshold value, the vehicle suddenly brakes and stops traveling as an abnormality (steps 2, 3, and 13). If any of the front left step distance measuring sensor 4a, the front right step distance measuring sensor 4c, the rear left step distance measuring sensor 4b, and the rear right step distance measuring sensor 4d is not less than the concave step threshold value or less than the convex step threshold value, If there is no difference, i.e., no step is detected, the outer periphery travel is continued.
[0038]
One or both of the front left step distance measuring sensor 4a and the front right step distance measuring sensor 4c detect the step, but the rear left step distance measuring sensor 4b and the rear right step distance measuring sensor 4d None of the steps are detected, and neither the front left step distance measuring sensor 4a nor the front right step distance measuring sensor 4c detects the step, but the rear left step distance measuring sensor 4b or the rear right step. When a step is detected by one or both of the distance measuring sensors 4d, a step avoiding operation is performed (steps 2, 3, 10, 11, 12).
[0039]
In this embodiment, two step detecting means as the first step detecting means are provided, two step detecting means as the second step detecting means are provided, and the first step detecting means and the first step detecting means are provided. The control means 6 stops running as an abnormality when a convex step or a concave step is detected at two or more places including one place, which is the two step detection means. It is also possible that the total number of steps is not limited as long as at least one step detection portion is detected by the first step detection unit and the second step detection unit.
[0040]
Moreover, you may alert | report that there is a level | step difference using the operation part 18 as an alerting | reporting means.
[0041]
As described above, according to the present embodiment, when a convex step or a concave step is detected at a predetermined location or more including at least one location that is the first level difference detection unit and one location that is the second level difference detection unit, As a configuration in which the control means stops traveling due to an abnormality, a safer self-propelled device is realized in which the device main body stops traveling where there is a dangerous level where the device body falls or climbs up due to continued travel.
[0042]
Example 9
Next, an eighth embodiment of the present invention will be described. The block diagram showing the configuration of the present embodiment is FIG. 6 similar to the fifth to eighth embodiments. Display is performed using the operation unit 18 as a notification means.
[0043]
Hereinafter, the operation of the present embodiment will be described with reference to the flowchart of FIG. First, the control means 6 travels on the outer periphery while avoiding an obstacle using the front distance sensor 5a, the left distance sensor 5b, the right distance sensor 5c, and the rear distance sensor 5d (step 1). While traveling on the periphery, either the front left step distance measuring sensor 4a or the front right step distance measuring sensor 4c detects a step that is greater than or equal to the concave step threshold value or less than the convex step threshold value, and the rear left step distance measuring sensor. When either 4b or the rear right step distance measuring sensor 4d detects a step that is greater than or equal to the concave step threshold or less than the convex step threshold, the operation such as suddenly braking and stopping as an abnormality is the same as in the eighth embodiment. It is.
[0044]
Next, when three or more of the detected steps are concave steps, a “lifting abnormality” is displayed on the operation unit 18 (steps 14 and 15).
[0045]
In this embodiment, after abnormal stop, it is checked whether or not three or more detected steps are concave steps, but it may be checked first to perform abnormal stop or notification.
[0046]
Also, two step detecting means as first step detecting means and two step detecting means as second step detecting means are provided, and one place as second step detecting means and second step detecting means. When the concave step is detected at three or more places including one place, the control means 6 performs an abnormal stop or notification. However, each step detection means may be provided, As long as at least one location is detected by the first level difference detection unit and the second level difference detection unit, the total number of locations may be any number.
[0047]
As described above, according to the present embodiment, when a concave step is detected at a predetermined location or more including at least one location that is the first level difference detection means and one location that is the second level difference detection means, a notification is given as a lifting abnormality. As a configuration to achieve this, a self-propelled device that warns the user of the danger of lifting without providing a lifting switch is realized.
[0048]
(Example 10)
Next, a tenth embodiment of the present invention will be described. The block diagram showing the configuration of the present embodiment is FIG. 6 similar to the fifth to ninth embodiments.
[0049]
Hereinafter, the operation of the present embodiment will be described with reference to the flowchart of FIG. The operation for abnormally stopping or notifying is the same as in the ninth embodiment. FIG. 10 shows the flow of the avoidance operation shown in step 11 in the flowchart of FIG.
[0050]
First, when a step is detected only by the first step detection means, that is, a convex step or a convex step is detected by only one or both of the front left step distance measuring sensor 4a and the front right step distance measuring sensor 4c. If so, the process proceeds to step 18 to perform the avoidance operation described below. In other cases, that is, when a convex step or a concave step is detected by only one or both of the rear left step distance measuring sensor 4b and the rear right step distance measuring sensor 4d, the process proceeds to step 17 and the current step must be proceeding. If you are moving forward, continue to move forward.
[0051]
When the routine proceeds to step 18, if the vehicle is not currently reversing, the vehicle starts reversing after sudden braking. If the vehicle is currently reversing, the reversing is continued.
[0052]
Next, if the traveling direction, for example, the outer periphery travels counterclockwise, it is first checked whether it can rotate leftward. If possible, the left rotation is performed up to the direction change limit. Turn right and return to the outer periphery travel (steps 22 to 25).
[0053]
In the present embodiment, the rotation is performed at the time of every fixed limit. However, rotation may be performed by a fixed angle unit (for example, 10 ° unit) by providing an angle detection means. Further, as in the seventh embodiment, it may be rotated until it detects no convex step or concave step forward.
[0054]
As described above, according to the present embodiment, it is possible to realize a self-propelled device that can continue traveling within a safe range even if there is a step only in the front direction or only a step in the rear direction.
[0055]
(Example 11)
Next, an eleventh embodiment of the present invention will be described. The block diagram showing the configuration of the present embodiment is FIG. 6 similar to the fifth to tenth embodiments. Further, FIG. 3 described above is a travel diagram showing an outer periphery travel which is one travel pattern of the present embodiment, and FIG. 11 is a travel diagram showing an internal travel which is one travel pattern of the present embodiment. is there.
[0056]
First, in the case of the traveling pattern during the outer periphery traveling shown in FIG. 3, as described in the first embodiment, when the step is detected only by the first step detecting means at the turn position 12 of the outer periphery traveling, that is, When the convex step or the convex step is detected by only one or both of the front left step distance measuring sensor 4a and the front right step distance measuring sensor 4c, the control means 6 applies a sudden brake to stop the traveling, After being moved backward for a predetermined time by the time measuring means 7, the main body is controlled to turn to the left, and then the normal travel control is performed to continue the outer periphery travel.
[0057]
Next, in the case of the traveling pattern at the time of internal traveling shown in FIG. 11, when the level difference is detected only by the first level difference detection means at the level difference detection position 12, that is, the front left step distance measuring sensor 4a or When the convex step or the convex step is detected by only one or both of the front right step distance measuring sensor 4c, the control means 6 applies a sudden brake to stop the running, and the time measuring means 7 makes the predetermined time reverse. The vehicle continues to travel in the left direction, which is the current traveling direction, by performing the same turn as the traveling turn method.
[0058]
In the present embodiment, the direction change is made after any of the traveling patterns are retreated. However, depending on the traveling pattern, the direction may be changed without retreating, and the retreating method is also simply retreated. In addition, the reverse method may be changed according to the running pattern.
[0059]
As described above, according to the present embodiment, a self-propelled device in which an operation after avoiding a step is smoothly linked with a normal traveling operation is realized.
[0060]
(Example 12)
Next, a twelfth embodiment of the present invention will be described. The block diagram showing the configuration of the present embodiment is FIG. 6 similar to the fifth to eleventh embodiments. The flowchart showing the flow of the operation of the present embodiment is FIG.
[0061]
A time of 1 second is used as the backward limit shown in step 20 of the flowchart of FIG. Further, although only forward is indicated in step 17, time is measured for 1 second by the time measuring means 7 with the forward limit being 1 second as in the case of backward movement.
[0062]
In this embodiment, the limit is 1 second, but it may be an arbitrary time.
[0063]
As described above, according to the present embodiment, a self-propelled device capable of appropriately moving forward and backward for avoidance with a simple configuration is realized.
[0064]
(Example 13)
Next, a thirteenth embodiment of the present invention is described. A block diagram showing the configuration of this embodiment is shown in FIG. In addition to the configuration of FIG. 6, a distance measuring means 19 is provided. The distance measuring means 19 can detect the travel distance from the rotational speeds of the left driving wheel 2a and the right driving wheel 2b. Further, the flowchart showing the flow of the operation of the present embodiment is the same as FIG.
[0065]
A distance of 20 cm is used as the backward limit shown in step 20 of the flowchart of FIG. 10, and the distance is measured by the distance measuring means 19. Further, although only forward is indicated in step 17, 20 cm is measured by the distance measuring means 19 and the time measuring means 7 with the forward limit being 20 cm as in the case of backward movement.
[0066]
In this embodiment, the limit is set to 20 cm, but any distance may be used.
[0067]
As described above, according to the present embodiment, it is possible to realize high-precision advance and retreat for avoidance without changing the distance by speed as in the case of the time measuring means 7.
[0068]
(Example 14)
Next, a fourteenth embodiment of the present invention will be described. The block diagram showing the configuration of the present embodiment is FIG. 6 similar to the fifth to twelfth embodiments. The flowchart showing the basic flow of the operation of the present embodiment is the same as FIG. In this embodiment, several supplementary operations are performed on the flowchart of FIG.
[0069]
First, when a step is detected only by the first step detection means, that is, a convex step or a convex step is detected by only one or both of the front left step distance measuring sensor 4a and the front right step distance measuring sensor 4c. If so, the process proceeds to step 18 to perform the avoidance operation described below. In other cases, that is, when a convex step or a concave step is detected by only one or both of the rear left step distance measuring sensor 4b and the rear right step distance measuring sensor 4d, the process proceeds to step 17 and the current step must be proceeding. If you are moving forward, continue to move forward. If an obstacle is detected by the previous distance measuring sensor 5a during this forward movement, the direction is changed by rotation to a direction in which the obstacle is not detected by the previous distance measuring sensor 5a.
[0070]
When the routine proceeds to step 18, if the vehicle is not currently reversing, the vehicle starts reversing after sudden braking. If the vehicle is currently reversing, the reversing is continued. If the rear ranging sensor 5d detects an obstacle and cannot move backward, the direction is changed by rotation (steps 22 to 25). After step 25, when a step is detected only by the first step detection means, that is, neither the front left step distance measuring sensor 4a or the front right step distance measuring sensor 4c detects a convex step or a convex step. And when the front obstacle sensor 5a does not detect the obstacle ahead, it moves forward and returns to the outer periphery running which is the normal running. If the front ranging sensor 5a detects an obstacle ahead when the direction is changed, the direction change is continued.
[0071]
As described above, according to the present embodiment, it is possible to realize a self-propelled device that can be avoided according to the traveling environment and that can be avoided in the direction when the obstacle is removed.
[0072]
(Example 15)
Next, a fifteenth embodiment of the present invention is described. The block diagram showing the configuration of the present embodiment is FIG. 6 similar to the fifth to twelfth and fourteenth embodiments. A flowchart showing the basic flow of the operation of the present embodiment is the same as FIG. In this embodiment, several supplementary operations are performed on the flowchart of FIG.
[0073]
A direction in which there is no obstacle when a step is detected only by the first step detection means or only by the second step detection means, and when the obstacle is detected during forward or backward movement by the avoidance operation and no further progress is made, The operation from searching for a direction to changing the direction is the same as that of the fourteenth embodiment.
[0074]
At this time, if there is no step or obstacle in any direction to advance to the surroundings, the timing means 7 waits for 1 minute and continues the search operation by rotation. When there is no direction to advance in any of them, the control means 6 is abnormal and stops traveling.
[0075]
In this embodiment, the waiting time is 1 minute, but it may be any time. Further, the direction change may be performed during the standby time, the direction change operation may be repeated at regular time intervals, or the standby time may be changed according to the measurement result of the distance measuring sensor of the main body. You may decide whether to perform a direction change operation | movement.
[0076]
As described above, according to the present embodiment, it is possible to realize a self-propelled device that does not consume power due to a useless search and can cope with a case where an obstacle is removed on the way.
[0077]
(Example 16)
Next, a fifteenth embodiment of the present invention is described. FIG. 13 is a block diagram showing the configuration of this embodiment. In addition to the configuration of FIG. 6 which is a block diagram of the fifteenth embodiment, a limit storage means 20 is provided.
[0078]
The limit to advance (time or distance) in the step avoidance operation, the limit to move backward (time or distance), the time limit to wait and search for an obstacle-free direction can be stored in advance according to the driving environment, It can be changed and memorized. For example, when the forward limit or the backward limit is time, resistance is large on the carpet and traveling often slows down, so it is possible to set a large time in advance to travel on the carpet.
[0079]
In this embodiment, the limit for moving forward (time or distance), the limit for moving backward (time or distance), and the time limit for searching for an obstacle-free direction can all be stored. It is optional. Further, the reference value storage unit 15, the step detection threshold storage unit 17, and the limit storage unit 20 may be combined into one storage unit.
[0080]
As described above, according to the present embodiment, a self-propelled device that can be set according to the traveling environment is realized.
[0081]
(Example 17)
Next, a fourth embodiment of the present invention will be described with reference to FIG. In the present embodiment, the computer is caused to function as all or part of the computer as a program for causing the computer to function as all or part of the control means 6.
[0082]
As described above, according to the present embodiment, all or part of the self-propelled device of the present invention can be easily realized using a general-purpose computer or a server.
[0083]
In the first to the seventeenth embodiments, the first and second step detecting means have been described to be provided on the front and rear sides of the main body, respectively. There is no problem even in the forward and backward directions with respect to the (traveling) direction.
[0084]
【The invention's effect】
As described above, according to the present invention, a self-propelled device having a wide work range can be obtained with a simple configuration without the need to attach a reflector or a marker.
[Brief description of the drawings]
FIG. 1 is a block diagram showing the configuration of a self-propelled device according to first, second, and fourth embodiments of the present invention.
FIG. 2 is a plan view of the mounting position and visual field of the step sensor for the self-propelled device according to the first embodiment when viewed from above.
FIG. 3 is a traveling diagram of the self-propelled device according to the first and eleventh embodiments.
FIG. 4 is a diagram showing a method for determining a threshold value of a concave step of the self-propelled device according to the second embodiment.
FIG. 5 is a block diagram showing the configuration of the self-propelled device according to the third embodiment.
FIG. 6 is a block diagram showing the configuration of a self-propelled device that is the fifth to twelfth and fourteenth to fifteenth embodiments of the present invention.
FIG. 7 is a flowchart showing the operation of the self-propelled device according to the seventh embodiment;
FIG. 8 is a flowchart showing the operation of the self-propelled device according to the eighth embodiment.
FIG. 9 is a flowchart showing the operation of the self-propelled device of the ninth embodiment.
FIG. 10 is a flowchart showing the operation of the self-propelled device according to the tenth and twelfth to fifteenth embodiments.
FIG. 11 is a travel diagram of a self-propelled device according to an eleventh embodiment.
FIG. 12 is a block diagram showing the configuration of a self-propelled device according to a thirteenth embodiment.
FIG. 13 is a block diagram showing the configuration of a self-propelled device that is a sixteenth embodiment of the present invention.
[Explanation of symbols]
1 Body
2a Left drive wheel
2b Right drive wheel
3a Left motor
3b Right motor
4a Distance sensor for front left step
4b Distance sensor for rear left step
5a Previous distance sensor
5b Left distance sensor
5c Right distance sensor
5d Rear ranging sensor
6 Control means
7 Timekeeping means
8 rooms
9 Start position
10 Obstacles
11 Step area
12 Step detection position
13 Obstacle
14 Recessed steps to be detected
15 Reference value storage means
16 carpets
17 Step detection threshold storage means
18 Operation unit
19 Distance detection means
20 Limit storage means

Claims (1)

The control means, the traveling means for moving the main body, the first step detecting means for detecting the step based on the distance to at least the front lower part or the diagonally front lower part, or the step detected based on the distance to the rear lower part or the oblique rear lower part. It comprises a second step detection means, and the control means determines the operation to avoid the step according to the detection contents of the first step detection means or the second step detection means, performs the running control, and performs the first control in the step detecting means and the second step detecting means, at least one or more respective, upon detection of the projected step or concave step, the self-propelled apparatus in which the control means stops the driving of the body as an abnormality, the notification the provided, said in the first step the detection means and the second step detecting means, when detecting at least one or more concave step respectively, self Hashishiki equipment you informed as lifting abnormal means.

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