JPH10295595A - Autonomously moving work wagon - Google Patents

Abstract

PROBLEM TO BE SOLVED: To manually and efficiently perform the work of a fine part by providing a work part attachable and detachable to/from a traveling part and providing a connection part for connecting the work part and the traveling part so as to perform the work in the state of separating the work part and the traveling part. SOLUTION: An autonomously moving work robot is provided with a bumper sensor 103 for detecting contact with an object in the traveling part 102 and performs the work while autonomously moving inside an area where a work object is present. At the time, in the state of attaching a connection pipe 106 provided with the work part 101 for performing the work to the work object on a tip to a work part holding part 107, a connection hose 105 is wound to a hose winding and holding part 104. The work part holding part 107 can be freely turned around a supporting point when the fixed state is released and the attachment and detachment of the connection pipe 106 are made possible. Then, in the state of detaching the connection pipe 106 from the work part holding part 107, a user performs use by holding the connection pipe 106.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an autonomous mobile work vehicle, and more particularly to an autonomous mobile work vehicle that performs an operation while performing autonomous movement.

[0002]

2. Description of the Related Art Conventionally, there has been known a work vehicle that works while performing autonomous movement (autonomous traveling).

[0003]

However, the shape of the object to be worked by the work vehicle is various, and it is difficult to work on a small portion by autonomous movement. For example, there is a case where the work target is a region having fine irregularities.

In such a case, manual work is indispensable to improve the quality of the work. In order to perform the work manually, (1) the work is performed by pushing the work vehicle by hand, (2) the work is performed by manipulating the work vehicle with a remote control or the like, and (3) the work equipment for performing the manual work is provided. It is conceivable to prepare them separately.

However, according to the above method (1) or (2), it is difficult to work as compared with the case where the work is performed directly by hand. Also, work in a narrow place where a work vehicle cannot enter cannot be performed.

On the other hand, according to the method (3), the cost is increased, and the space for installing the equipment is increased.

[0007]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and has the following objects.
An object of the present invention is to provide an autonomous mobile work vehicle capable of efficiently performing work of a small portion and free of the above-mentioned problems.

In order to achieve the above object, according to one aspect of the present invention, an autonomous mobile work vehicle is an autonomous mobile work vehicle that performs an operation while autonomously moving within an area where a work object exists. A working unit for performing a desired operation on a work object, a working unit detachable from the running unit, and a working unit with the working unit removed from the running unit. A connection unit is provided for connecting the working unit and the traveling unit so that work can be performed in a state where the traveling unit is separated from the traveling unit.

[0009] More preferably, the connecting portion of the autonomous mobile work vehicle includes a pipe serving as a gas or liquid flow path.

[0010] More preferably, the connecting portion of the autonomous mobile work vehicle can change its length.

According to another aspect of the present invention, an autonomous mobile work vehicle includes a traveling unit that travels by being driven in contact with a traveling surface, a driving unit that drives the traveling unit, and a driving unit that drives the traveling unit. And control means for controlling the traveling portion to move freely when the moving portion is moved by an external force other than the force from the vehicle.

[0012] More preferably, the autonomous mobile work vehicle is a work unit for performing a desired work on a work target, the work unit being detachable from the traveling unit, and whether the work unit is attached to the traveling unit. Detecting means for detecting whether or not the traveling section is free to move based on the detection result of the detecting means.

[0013] More preferably, the traveling section of the autonomous mobile work vehicle has a holding section for holding the working section, and the holding section holds the working section so that the working section can move at least in the vertical direction.

[0014] More preferably, the autonomous mobile work vehicle further includes a mechanism for lifting the work unit at least upward.

According to these inventions, it is possible to provide an autonomous mobile work vehicle capable of efficiently performing work of small parts without the above-mentioned problems.

[0016]

FIG. 1 shows a first embodiment of the present invention.
FIG. 2 is a side view of an autonomous mobile work robot (hereinafter referred to as a robot) in FIG.
It is a figure which shows the state which removed etc.

Referring to FIG. 1, a robot includes a traveling unit 102 for moving, a bumper sensor 103 attached to traveling unit 102 for detecting contact with an object, and a traveling unit 1.
02, a hose winding holding portion 104, a working portion holding portion 107 provided on the traveling portion 102, a connecting pipe 106 detachable from the working portion holding portion 107, and a connecting pipe 106 provided at the tip of the connecting pipe 106. Work unit (cleaning nozzle) 10 that performs work on a work object (here, a floor surface)
1 and a connection hose 105 for connecting the connection pipe 106 and the traveling section 102.

When the connecting pipe 106 is attached to the working unit holding unit 107, the connecting hose 105 is wound around the hose winding holding unit 104.

At the bottom of the traveling section 102, a front caster 1 is provided.
10, a traveling wheel 111, and a rear caster 112 are provided.

Connection hose 105 and connection pipe 106
Indicates a tubular shape, and in the present embodiment, the working unit 1
01 is performed.

FIG. 3 is a sectional view taken along line XX in FIG. Referring to the figure, a right driving motor 11 for driving a right driving wheel 111a is provided on a traveling section 102 of the robot.
4a, a left drive motor 114b for driving the left traveling wheel 111b, a right encoder 115a for detecting the rotational speed of the right traveling wheel 111a, and a left encoder 1 for detecting the rotational speed of the left traveling wheel 111b.
15b, a gyro sensor 119 for detecting the direction of the robot, a right distance sensor 116a for measuring the distance to an obstacle on the right, and a left distance sensor 116b for measuring the distance to an obstacle on the left. And a front distance sensor 116c for measuring a distance to a front obstacle
And are provided.

FIG. 4 is a side view for explaining the relationship between the working unit holding unit 107 and the connection pipe 106.

Referring to the drawing, the working unit holding unit 107 has one end rotatably held on a horizontal shaft 120 of the traveling unit 102. Therefore, the connection pipe 106 and the working unit 101 are rotatable in the direction of the arrow “A”. As a result, the working unit 101 comes into contact with the floor surface by its own weight. Note that the working unit holding unit 1
07 may be biased downward by a spring.

By employing such a mechanism, the work unit 101 appropriately contacts the work surface during the autonomous movement work, so that high-quality work can be performed.

FIG. 5 is a sectional view taken along the line XI-XI of the working unit holding unit 107 in FIG. Referring to the figure, connection pipe 1
Reference numeral 06 is held by the working unit holding unit 107 that can rotate around the fulcrum 123. The working unit holding unit 107 is fixed in a state where the connecting pipe 106 is sandwiched by the stopper 122.

FIG. 6 shows the connection pipe 106 from the state of FIG.
It is a figure which shows the state which attaches and detaches. When the fixed state of the working unit holding unit 107 by the stopper 122 is released, the working unit holding unit 107 can freely rotate around the fulcrum 123. Thus, the connection pipe 106 can be attached and detached.

FIG. 7 is a sectional view taken along the line XII-XII in FIG. The working unit holding unit 107 is provided with a light emitting unit 124 and a light receiving unit 125. In a state where the connection pipe 106 is attached to the working unit holding unit 107 (the state in FIG. 7), light from the light projecting unit 124 is reflected by the connection pipe 106 and enters the light receiving unit 125. On the other hand, when the connection pipe 106 is detached from the working unit holding unit 107, the light from the light emitting unit 124 does not enter the light receiving unit 125. This makes it possible to determine whether the connection pipe 106 is attached or detached.

FIG. 8 is a view showing a state in which the connecting pipe 106 has been detached from the working unit holding unit 107.

The connection pipe 106 is provided with a pipe length lock mechanism 108 so that the length of the connection pipe 106 can be extended. As shown in the figure, the user can use the connection pipe 106 by holding it in his hand. For this reason, it is not necessary to use a separate tool for the work, so that cost and space can be saved, and workability is also improved. Further, work in a narrow place where the robot cannot enter can be performed, and high-quality work can be performed.

Further, by making the length of the connecting pipe 106 variable, the connecting pipe 106 is
02 can be shortened when attached to the camera, which is convenient for storage. Also, it does not hinder autonomous movement. Further, when the connection pipe 106 is detached from the traveling unit 102 and the manual operation is performed, the connection pipe 106 can be lengthened, and the flexibility in the manual operation increases. This improves workability in manual work.

FIG. 9 shows running wheels 111 and drive motors 11.
FIG. 4 is a diagram showing a mechanism for transmitting power between the vehicle and the vehicle.

The rotational force of the drive motor 114 is transmitted to the traveling wheels 111 via the electromagnetic clutch 130 after being reduced by the reduction gear 131. Electromagnetic clutch 130
Is based on a signal from the control line 132,
A connection or disconnection is made between 31 and the running wheel 111.

When the deceleration gear 131 and the traveling wheel 111 are separated from each other, the traveling wheel 111 can rotate freely, and the user can move the robot freely. The reason for using the electromagnetic clutch 130 in this way is as follows. That is, when a pulse motor is used as the drive motor 114, or when the reduction ratio by the reduction gear is increased to increase the drive torque,
Even if the driving of the drive motor 114 is stopped,
A large torque is required to rotate. Therefore, the electromagnetic clutch 130 separates the traveling wheel 111 from the deceleration gear 131 so that the robot can be freely moved with respect to external force.

FIG. 10 is a block diagram showing the configuration of the control unit of the robot. The control unit includes a CPU 133 as a center, a work control unit 141 for controlling the work unit 101, a display control unit 142 for controlling the display unit 143, and an input unit 145.
Control unit 144 which controls the left traveling wheel 111b, a power control circuit 146 connected to the battery 147, a driving control unit (left) 148 which controls the left traveling wheel 111b, and a right traveling wheel 111a.
And a drive control unit (right) 149 for controlling

The CPU 133 includes a working unit mounting sensor 140.
Input signal from. With the working unit mounting sensor 140,
This is a sensor including the light projecting unit 124 and the light receiving unit 125 in FIG. The display unit 143 displays a message to the user. The input unit 145 inputs a command from a user.

FIG. 11 is a flowchart showing an attachment detection routine executed by the CPU 133. This routine is used to select whether to start or stop the autonomous traveling mode based on whether or not the connection pipe 106 is attached to the working unit holding unit 107.

In step S101, it is determined whether the light receiving section 125 (FIG. 7) is in a light receiving state. If YES, the connection pipe 106 is attached (the
1 is attached), so that step S104 is performed.
To start the autonomous driving mode. And step S105
To connect the electromagnetic clutch 130, and drive-control the traveling wheels 111a and 111b according to the autonomous traveling program. Thereby, the work is automatically performed.

On the other hand, if NO in step S101, the autonomous driving mode is stopped in step S102 and the electromagnetic clutch 130 is disconnected in step S103 because the connection pipe 106 has been removed (the state shown in FIG. 8). By turning off, the traveling wheels 111a and 111b can be freely rotated. This allows the user to freely move the robot, so that the user can work while pulling the robot by the connection hose 105 or press the robot by hand as in the case of using a conventional vacuum cleaner.

The electromagnetic clutch 130 may be turned on / off by directly detecting the output of the light receiving unit 125 or by inputting a signal of the light receiving unit 125 to the CPU 133 to turn on / off the electromagnetic clutch 130 from the CPU 133. It may be turned off.

[Modifications] The above embodiment can be modified as follows.

<First Modification> Instead of the structure shown in FIG. 9, a mechanism shown in FIG. 12 can be employed. That is, the rotational force between the motor 114 and the traveling wheel 111 is intermittently moved by moving the connection switching gear 151 in the direction of the arrow by the solenoid 150. As a result, FIG.
The same effect as the mechanism shown in FIG.

<Second Modification> Drive motors 114a, 1
A DC motor is used as 14b, and wheels are directly connected to the shaft of the motor, or the reduction ratio is designed to be small. Thus, when the vehicle is not in the autonomous traveling mode, by stopping the current supply to the motor, the traveling wheels 111a and 111b can be freely rotated by an external torque.
In this case, a mechanism such as an electromagnetic clutch can be omitted.

<Third Modification> Instead of the mechanism shown in FIG. 4, a mechanism shown in FIG. 13 may be employed. FIG.
Then, one end 107a of the working unit holding unit 107 is
It is slidably attached to the slot used in 2. Thereby, the working unit holding unit 107 and the connection pipe 10
6 and the working unit 101 are slidable in the direction of arrow "B". As a result, the working unit 101 comes into contact with the floor surface by its own weight. Also in this case, the working unit 101 may be urged downward by a spring or the like.

<Fourth Modification> Instead of the mechanism shown in FIG. 4, a mechanism shown in FIGS. 14 and 15 may be employed. This mechanism includes a motor 153 for moving the working unit holding unit 107, and a cam 152 driven by the motor 153. When the cam is at the position shown in FIG. 14, the working unit holding unit 107 can move in the direction of arrow "A". Thus, the working unit 101 comes into contact with the floor surface by its own weight as in the case of FIG.

When the cam 152 rotates and reaches the state shown in FIG. 15, one end of the working unit holding unit 107 is pushed by the cam 152, and the working unit holding unit 107 moves in the direction of the arrow. As a result, the working unit 101 is lifted upward.

The advantages of this modification are as follows. For example, if the work unit 101 is in contact with a work surface (floor surface) when performing a spin turn or a lateral movement during autonomous movement, a frictional force is generated between the work unit 101 and the work surface, and the traveling unit 102 The load on the system increases. This may cause the traveling wheels 111 to slip. As shown in this modified example, the working unit 101 is lifted upward during the spin turn during the autonomous movement or the lateral movement, and the working unit 101 is lifted.
Slip can be prevented by eliminating contact between the workpiece and the work surface.

<Fifth Modification> Instead of the mechanism shown in FIGS. 14 and 15, the mechanism shown in FIGS. 16 and 17 may be employed. 16 and 17, one end 107a of the working unit holding unit 107 is fixed to a long hole. The traveling unit 102 includes a motor 15 for moving the working unit holding unit 107.
3 and a lever 154 are provided.

In the state shown in FIG. 16, the working unit holding unit 107 is slidable in the direction of arrow "B", and
1 comes in contact with the floor surface by its own weight.

On the other hand, when the lever 154 rotates and is in the state shown in FIG. 17, the working unit holding unit 107 moves in the direction of the arrow, and the working unit 101 is lifted upward.

In this modification, the same effects as those of the fourth modification are provided. <Other Modifications> In the above-described embodiment, an example has been described in which the work unit 101 is used to perform suction work with air on the floor surface. However, the work unit 101 is used to apply wax to the floor surface or mower outdoors. Or the like may be performed. When the operation is cleaning by suction or cleaning operation with a cleaning liquid, a power source for operation such as a fan or a pump is provided, and various operations are performed by connecting the power source for operation and the operation unit 101. Can do it. Further, in the case of work using gas, gas passes through the hollow portions of the connection hose 105 and the connection pipe 106, and in the case of work using liquid, liquid passes.

In the above embodiment, the connection pipe 1
Although the length of the connection hose 105 is variable, the length of the connection hose 105 may be variable.

Further, in the above-described embodiment, a mechanism for attaching and detaching the connection pipe 106 to and from the traveling section 102 and the working section 1
01, the traveling wheels 111a, 1
Although a mechanism for freely rotating 11b is provided, only one of these mechanisms may be employed in the robot. In particular, if the latter mechanism is adopted and the traveling wheels rotate freely during manual work, the user can move the robot by external force and work, thereby improving workability in manual work. Thereby, the work can be performed by pressing the robot with a hand on a place where the work by the autonomous movement is difficult.

Further, during the manual operation shown in FIG. 8, the traveling section 102 may detect the movement of the operator and follow the movement of the operator.

[Brief description of the drawings]

FIG. 1 is a side view of an autonomous mobile work robot according to one embodiment of the present invention.

FIG. 2 is a view showing a state where a connection hose 105 and the like are removed from FIG. 1;

FIG. 3 is a sectional view taken along line XX in FIG. 2;

FIG. 4 is a diagram for explaining a relationship between a working unit holding unit 107 and a connection pipe 106.

5 is an XI-XI view of the working unit holding unit 107 in FIG.
It is sectional drawing.

6 is a view for explaining a state in which the connection pipe 106 is removed from the state of FIG.

FIG. 7 is a sectional view taken along line XII-XII in FIG.

FIG. 8 is a diagram showing a state in which the connection pipe 106 has been removed from the working unit holding unit 107.

FIG. 9 is a diagram showing a mechanism for transmitting power between a traveling wheel 111 and a drive motor 114.

FIG. 10 is a block diagram illustrating a configuration of a control unit of the robot.

FIG. 11 is a flowchart illustrating an attachment detection routine executed by a CPU 133;

FIG. 12 is a diagram for describing a first modification.

FIG. 13 is a diagram for explaining a third modification.

FIG. 14 is a first diagram showing a fourth modification.

FIG. 15 is a second diagram showing a fourth modification.

FIG. 16 is a first diagram showing a fifth modification.

FIG. 17 is a second diagram showing a fifth modification;

[Explanation of symbols]

 Reference Signs List 101 Working part (cleaning nozzle) 102 Running part 104 Hose wrap holding part 105 Connecting hose 106 Connecting pipe 107 Working part holding part 108 Pipe length lock mechanism 111a, 111b Running wheel 114a, 114b Drive motor 130 Electromagnetic clutch 140 Working part mounting sensor

Claims (7)

[Claims] An autonomous mobile work vehicle that performs work while autonomously moving within an area where a work object exists, a traveling section for performing movement, and performing a desired work on the work object. A work unit, a work unit detachable from the travel unit, and a work unit detached from the travel unit so that the work unit and the travel unit can work in a separated state. ,
An autonomous mobile work vehicle, comprising: a connection unit that connects the work unit and the traveling unit. 2. The autonomous mobile work vehicle according to claim 1, wherein the connection portion includes a pipe serving as a gas or liquid flow path. 3. The autonomous mobile work vehicle according to claim 1, wherein the connection portion can change its length. 4. A traveling section which travels by being driven in contact with a traveling surface, a driving section for driving the traveling section, and moving the traveling section by an external force other than a force from the driving section. An autonomous mobile work vehicle, comprising: control means for controlling the traveling unit to move freely. 5. A work unit for performing a desired work on a work target, the work unit being detachable from the travel unit, and detecting whether the work unit is attached to the travel unit. 5. The autonomous mobile work vehicle according to claim 4, further comprising: a detection unit that performs control so that the traveling unit can move freely based on a detection result of the detection unit. 6. 6. The running section has a holding section for holding the working section, and the holding section holds the working section so that the working section can move at least in the vertical direction. 5
An autonomous mobile work vehicle according to claim 1. 7. The autonomous mobile work vehicle according to claim 1, further comprising a mechanism for lifting the work unit at least upward.