JPH07129239A - Mobile working robot - Google Patents
Mobile working robotInfo
- Publication number
- JPH07129239A JPH07129239A JP5278331A JP27833193A JPH07129239A JP H07129239 A JPH07129239 A JP H07129239A JP 5278331 A JP5278331 A JP 5278331A JP 27833193 A JP27833193 A JP 27833193A JP H07129239 A JPH07129239 A JP H07129239A
- Authority
- JP
- Japan
- Prior art keywords
- main body
- lever arm
- detecting means
- angle
- traveling
- 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.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 238000004140 cleaning Methods 0.000 abstract description 13
- 238000013459 approach Methods 0.000 abstract description 6
- 238000012423 maintenance Methods 0.000 description 6
- 239000000428 dust Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 230000037396 body weight Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
Abstract
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 main body having a self-propelled function and automatically performing work 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, a mobile work robot has been developed which has a self-propelled function added to a work device such as a vacuum cleaner or a floor washer and which is equipped with a microcomputer and various sensors to automate work. Has been done.
【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 drive wheel and a traveling motor as a traveling function, and an obstacle detecting means for detecting an obstacle during traveling and a position recognizing means for recognizing a traveling position. As a cleaning function, it is equipped with an electric blower and a dust collecting device such as a suction nozzle provided at the bottom of the main body. In particular, in order to improve the cleaning ability near the walls and the corners of the room, there is also one provided with a side brush device that rotates the rotating brush horizontally on the side of the main body to collect dust on the floor in the 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。A battery is usually used as a power source, and a mobile work robot for commercial use often has a 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 region includes a large stepped portion such as a staircase or a sill, there is a risk that the main body may fall, so 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 means for surely stopping the main body after detecting the recessed step in advance.
【０００７】さらに別の課題として、この種の移動作業
ロボットは本体底部に走行装置や作業装置が配置されて
いるため、これらのメンテナンス性が悪いという課題が
ある。特に、大型の移動作業ロボットでは本体を横転・
反転させることは困難であり、また電池を搭載したまま
では危険な場合もあった。Still another problem is that this type of mobile work robot has a traveling device and a work device arranged at the bottom of the main body, and therefore has a problem of poor maintainability. Especially for large mobile work robots,
It was difficult to turn it over, and it was sometimes dangerous if the battery was installed.
【０００８】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第一の目的としている。Therefore, the present invention is to solve the above-mentioned conventional problems, and to provide a mobile work robot capable of detecting a recessed step in advance even when there is a large recessed step such as stairs or a sill on the running floor. It has the first purpose.
【０００９】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を第二の
目的としている。It is a second object of the present invention to provide a mobile work robot capable of detecting a recessed step on the traveling floor surface in advance and surely stopping the main body to avoid the risk of falling.
【００１０】さらに、本体底部の走行装置や作業装置の
メンテナンスが容易に、しかも安全にできる移動作業ロ
ボットを提供することを第三の目的としている。A third object of the present invention is to provide a mobile work robot capable of easily and safely maintaining the traveling device and working device at the bottom of the main body.
【００１１】[0011]
【課題を解決するための手段】上記第一の目的を達成す
るための本発明の第一の手段は、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
着した上下方向に回動自在のレバーアームとを本体に具
備し、上記レバーアームは本体底部の前後水平方向に配
置するとともに、レバーアームの回動角度を検出する角
度検出手段を設けた移動作業ロボットとするものであ
る。[Means for Solving the Problems] A first means of the present invention for achieving the above-mentioned first object is to provide a traveling device for causing the main body to self-propell, a caster at the tip portion, and the other end portion for the main body. The main body is provided with a vertically rotatable lever arm pivotally mounted on the main body. The lever arm is arranged in the front-rear horizontal direction of the bottom of the main body, and angle detection means for detecting the rotation angle of the lever arm is provided. It is a mobile work robot.
【００１２】また第二の目的を達成するための本発明の
第二の手段は、レバーアームの回動角度が所定角度に達
したときに、角度検出手段の出力により走行装置の走行
モータの入力端子を短絡す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。The second means of the present invention for achieving the second object is to input the traveling motor of the traveling device by the output of the angle detecting means when the turning angle of the lever arm reaches a predetermined angle. A mobile work robot having circuit means for short-circuiting terminals.
【００１３】さらに第三の目的を達成するための本発明
の第三の手段は、レバーアームの回動を所定位置でロッ
クするラッチ装置を設けた移動作業ロボットとするもの
である。A third means of the present invention for achieving the third object is a mobile work robot provided with a latch device for locking the rotation of the lever arm at a predetermined position.
【００１４】[0014]
【作用】本発明の第一の手段による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。In the mobile work robot according to the first means of the present invention, the caster at the tip of the lever arm that is vertically rotatable with respect to the main body is always in contact with the floor surface during traveling, and the main body is placed on the floor surface. When the caster approaches the step of the recess, the caster drops to the step of the recess to change the rotation angle of the lever arm. Therefore, the angle detecting means of the lever arm can detect the step of the recess in advance.
【００１５】また、本発明の第二の手段によれば、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。According to the second means of the present invention, when the main body approaches the recessed step on the floor and the caster of the lever arm falls into the recessed step, and the rotation angle of the lever arm reaches a predetermined angle, angle detection is performed. Since the output of the means short-circuits the input terminal of the travel motor of the travel device, the brake is applied by the back electromotive force of the travel motor and the main body can be stopped.
【００１６】また、本発明の第三の手段によれば、本体
前部を持ち上げるとレバーアームのキャスターが床面に
当接した状態でレバーアームが回動を始め、所定位置に
なるとラッチ装置によりレバーアームの回動がロックさ
れ、本体は前部が持ち上げられた状態となるから、本体
底部の走行装置や作業装置のメンテナンスが容易になる
ものである。According to the third means of the present invention, when the front portion of the main body is lifted, the lever arm begins to rotate in a state where the caster of the lever arm is in contact with the floor surface, and when the lever arm reaches a predetermined position, the latch device is used. The rotation of the lever arm is locked, and the front portion of the main body is lifted, which facilitates maintenance of the traveling device and the working device at the bottom of the main body.
【００１７】[0017]
【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。Embodiments of the present invention will be described below with reference to the accompanying drawings, taking a floor cleaning robot as an example.
【００１８】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。1 and 2 show the entire construction of the floor cleaning robot of this embodiment. In the figure, reference numeral 1 is a main body of the floor cleaning robot, and 2 is a drive wheel provided on the left and right rear of the main body 1, which are independently driven by a traveling motor 3. Reference numeral 4 is a follower wheel rotatably attached to the front of the main body 1. As described above, the drive 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 the arrow g. Reference numeral 5 denotes a lever arm provided on the left and right of the bottom portion of the main body 1, which is arranged horizontally in the front-back direction of the main body 1 and has a rear end portion attached to the main body 1.
It is rotatably mounted in the vertical direction by a support shaft 7. The rotary brush 8 and the rotary drive unit 9 that rotationally drives the rotary brush 8 in the horizontal direction constitute a side brush device, which is provided on the tip of the lever arm 5. As shown in the bottom view of FIG. 2, the side brush devices are provided in two sets on the left and right sides of the main body 1, and the rotary brushes 8 rotate in the directions of the arrows a, and the floor surface A on the left and right outer sides of the main body 1 is rotated. It collects the above garbage inside. A caster 10 is provided on the lower surface of the lever arm 5 and is arranged in front of the driven wheel 4. Reference numeral 11 is a guide member formed of a curved plate mounted on the lever arm 5, and lifts the rear end of the rotary brush 8 above the lever arm 5. Reference numeral 12 is an angle detecting means for detecting the rotation angle of the lever arm 5, which is composed of a limit switch, and the actuator 12 ′ is the lever arm 5.
It is arranged so as to abut. A latch device 13 locks the rotation of the lever arm 5 and is activated when the lever arm 5 is lowered from the main body 1 by a predetermined angle or more. Reference numeral 14 is a handle, and when pulled up in the direction of arrow b, the handle pipe 15 normally housed in the main body 1 slides vertically as shown in the drawing, and can be pulled out of the main body 1. By pulling the handle 14 out of the main body 1, it is possible to easily manually move between cleaning locations. Reference numeral 16 is a bumper made of an elastic body attached to the periphery of the main body 1. Reference numeral 17 is an electric blower, 18 is a dust collecting chamber, and 19 is a filter made of a paper bag provided therein. A floor nozzle 20 is provided at the rear of the bottom of the main body 1, and has a rotary agitator 21 for scraping up the 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 is an operation button provided on the operation unit 24. Reference numeral 25 denotes a distance measuring sensor provided around the main body 1 and including an ultrasonic sensor.
An obstacle detection device is configured to detect an obstacle by measuring the distances to the objects in front of, on the left and right sides, and behind. Reference numeral 26 is a travel control device that controls the travel motor 3 based on data from an obstacle detection device or the like to control the travel of the main body 1. Reference numeral 27 is a power source including a storage battery for supplying electric power to the whole.
【００１９】以上のように構成された床面清掃ロボット
において、本発明の第一の手段について説明する。The first means of the present invention in the floor cleaning robot configured as described above will be described.
【００２０】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 surface via the casters 10, when the main body 1 is traveling on a flat surface (see FIGS. 1 and 2), the lever arm 5 is always at a certain distance from the floor surface. More than apart. However, as shown in FIG. 3, when the main body 1 approaches the step B while traveling on the floor surface A in the direction of the arrow g, gravity causes the caster 10 to first drop into the step B and be displaced in the direction of the 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 contact the lever arm 5 and the switch of the angle detecting means 12 operates. In this 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 device operates. The operation for avoiding the step B is performed.
In this way, even if there is a recessed step on the running floor surface of the main body 1, either the left or right caster 10 falls into the recessed step before the driven wheel 4 or the drive wheel 2 derails in the recessed step, and the angle detection means is thus detected. Since this is detected in advance in 12 and the avoidance operation is performed, there is no danger of traveling failure or falling.
【００２１】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 the 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 is the follower wheel 4
For example, in the case of traveling in the direction of the drive wheels 2, the casters 10 are arranged in front of the drive wheels 2.
Need to be placed in front of.
【００２２】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。Further, in the present embodiment, the limit switch is used as the angle detecting means 12, but a potentiometer, an encoder or the like may be used as long as it can detect the turning angle of the lever arm 5.
【００２３】次に、本発明の第二の手段について説明す
る。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３
０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２８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。Next, the second means of the present invention will be described. FIG. 4 is a circuit diagram of an embodiment of the second means, which is an angle detecting means 12 comprising a limit switch having a switching contact.
Shows a state in which is not operating, that is, the caster 10 of the lever arm 5 is on a plane instead of a step.
28 and 29 are input terminals of the left and right traveling motors 3. As shown in the figure, in the normal state, 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 detection means 12, and the input terminal 29.
Is the drive circuit 3 via the switching contact of the angle detection means 12.
It is connected to the 0 output. In this state, the drive circuit 30 is responsive to the output of the judgment processing means 31 of the traveling control device 26.
Is controlled to control the rotation of the traveling motor 3. However, as described above, when the body 1 approaches the step while the vehicle is running and the angle detecting means 12 operates, the angle detecting means 12
The neutral contacts of the input terminals 28 and 29 are connected to the switching contacts.
And are short-circuited, the input terminal 28 is disconnected from the drive circuit 30. In this state, the traveling motor 3 is not supplied with power, and its rotation is suddenly stopped by its own back electromotive force. Therefore, the main body 1 includes the traveling control device 26.
Therefore, the vehicle will be forced to stop running regardless of the output of, and it is possible to avoid falling to the stepped portion on the floor.
【００２４】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。In this way, the judgment processing means 3 at the time of detecting a step difference
By directly shorting the input terminals 28 and 29 of the traveling motor 3 by the angle detection means 12 without going through 1, there is no delay in the processing time of the judgment processing means 31 or the stoppage of the main body 1 due to an unexpected runaway, and The main body 1 can be stopped regardless of the presence or absence of a power source.
【００２５】次に、本発明の第三の手段について説明す
る。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。Next, the third means of the present invention will be described. At the time of maintenance, as shown in FIG. 5, when the front portion of the main body 1 is lifted in the direction of arrow e with the drive wheel 2 as a fulcrum, the lever arm 5 rotates with the caster 10 of the lever arm 5 contacting the floor surface. When the predetermined position is reached, the latch device 13 is actuated to lock the rotation of the lever arm 5, and the main body 1 is maintained in a state where the front portion is lifted.
Therefore, the mechanical devices at the bottom of the main body 1 such as the side brush device and the casters 4 can be reached, and the maintenance thereof can be easily performed. At this time, the lever arm 5 rotates in the direction of the arrow f, and the angle detecting means 12
The actuator 12 'of the above does not come into contact with the lever arm 5 and the switch of the angle detecting means 12 is operated. In this embodiment, when the angle detecting means 12 is actuated by the second means of the present invention, the traveling motor 3 is brought into the braking state, so that there is no risk that the drive wheel 2 rotates and the main body 1 starts to move during the maintenance work.
【００２６】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 floor cleaning robot is taken as an example, and therefore the lever arm 5 is provided with the side brush device, but needless to say, this is not a necessary condition. Other than the above, for example, the same effect can be obtained even if another working device such as a suction nozzle or a polisher is attached.
【００２７】[0027]
【発明の効果】以上のように本発明の第一の手段によれ
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。As described above, according to the first means of the present invention, when the main body comes close to the stepped portion of the floor surface, the casters fall into the stepped portion of the recessed portion, whereby the rotation angle of the lever arm is changed and the lever arm is changed. It is possible to realize a mobile work robot capable of detecting the recessed step in advance by the angle detecting means.
【００２８】また、本発明の第二の手段によれば、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, according to the second means of the present invention, when the main body approaches the step difference in the floor surface, the rotation of the traveling motor is directly stopped by the angle detecting means without using the judging processing means. It is possible to realize a mobile work robot which is not affected by the processing time delay and the unexpected runaway, and which is highly safe and can reliably stop the main body regardless of the presence or absence of a power source.
【００２９】さらに、本発明の第三の手段によれば、本
体前部を持ち上げるだけで、レバーアームとラッチ装置
により本体は前部が持ち上げられた状態が維持できるか
ら、本体底部の走行装置や作業装置のメンテナンスが容
易となり、しかもレバーアームの角度検出手段によりメ
ンテナンス作業中に本体が不意に動き出すことを防止で
きるメンテナンス性、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, according to the third means of the present invention, by simply lifting the front portion of the main body, the lever arm and the latch device can maintain the front portion of the main body in a lifted state. It is possible to realize a mobile work robot which is easy in maintenance of the work device, and has excellent maintainability and safety that can prevent the main body from unexpectedly moving during the maintenance work by the angle detecting means of the lever arm.
【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 same embodiment.
【図３】同実施例における本発明の第一の手段の動作説
明図FIG. 3 is an operation explanatory view of the first means of the present invention in the same embodiment.
【図４】同実施例における本発明の第二の手段の回路図FIG. 4 is a circuit diagram of a second means of the present invention in the same embodiment.
【図５】同実施例における本発明の第三の手段の動作説
明図FIG. 5 is an operation explanatory view of the third means of the present invention in the same 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 driven wheel 5 lever arm 6 support stand 7 support shaft 10 caster 12 angle detecting means 13 latch device 26 traveling 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 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Mitsuyasu Ogawa 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Toshiaki Fujiwara, 1006 Kadoma, Kadoma City, Osaka Matsushita Electric Industrial Co., Ltd. (72) Inventor Osamu Eguchi 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Hirofumi Inui, 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Inventor, Yoshifumi Takagi Osaka 1006, Kadoma, Kadoma City, Fuchu Matsushita Electric Industrial Co., Ltd. (72) Takafumi Ishibashi 1006 Kadoma, Kadoma City, Osaka Prefecture Matsuda Electric Industrial Co., Ltd. (72) Yoshiki Kuroki 1006 Kadoma, Kadoma City, Osaka Matsushita Denki Sangyo Co., Ltd.
Claims (3)
キャスターを有し、他端部を本体に軸着した上下方向に
回動自在のレバーアームとを本体に具備し、上記レバー
アームは本体底部の前後水平方向に配置するとともに、
レバーアームの回動角度を検出する角度検出手段を設け
た移動作業ロボット。1. A lever comprising a traveling device for allowing the main body to move by itself, and a lever arm having a caster at the tip end and having the other end pivotally attached to the main body and rotatable in the vertical direction, the lever arm Is placed in the front-rear horizontal direction on the bottom of the main unit,
A mobile work robot provided with angle detection means for detecting a rotation angle of a lever arm.
したときに、角度検出手段の出力により走行装置の走行
モータの入力端子を短絡する回路手段を有した請求項１
記載の移動作業ロボット。2. The circuit means for short-circuiting the input terminal of the traveling motor of the traveling device by the output of the angle detecting means when the turning angle of the lever arm reaches a predetermined angle.
The described mobile work robot.
するラッチ装置を設けた請求項１記載の移動作業ロボッ
ト。3. The mobile work robot according to claim 1, further comprising a latch device for locking the rotation of the lever arm at a predetermined position.
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 true JPH07129239A (en) | 1995-05-19 |
| JP3319093B2 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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