JPH11212642A - Method and device for controlling self-traveling robot - Google Patents
Method and device for controlling self-traveling robotInfo
- Publication number
- JPH11212642A JPH11212642A JP10023753A JP2375398A JPH11212642A JP H11212642 A JPH11212642 A JP H11212642A JP 10023753 A JP10023753 A JP 10023753A JP 2375398 A JP2375398 A JP 2375398A JP H11212642 A JPH11212642 A JP H11212642A
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- Prior art keywords
- running
- boundary
- traveling
- robot
- self
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- 238000001514 detection method Methods 0.000 claims abstract description 13
- 230000004044 response Effects 0.000 claims abstract description 5
- 230000009183 running Effects 0.000 claims description 152
- 238000013459 approach Methods 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims description 3
- 238000004088 simulation Methods 0.000 abstract description 13
- 239000003973 paint Substances 0.000 abstract 1
- 230000008569 process Effects 0.000 description 40
- 230000009471 action Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 10
- 238000004140 cleaning Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 239000002585 base Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 102000002322 Egg Proteins Human genes 0.000 description 1
- 108010000912 Egg Proteins Proteins 0.000 description 1
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- 239000000463 material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000012913 prioritisation Methods 0.000 description 1
- 102220077574 rs201561286 Human genes 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、自走ロボットの制
御方法および装置に関し、特に、与えられた領域をでき
るだけ短時間で、なるべく網羅的に走行できる自走ロボ
ットの制御方法および装置に関する。The present invention relates to a method and an apparatus for controlling a self-propelled robot, and more particularly, to a method and an apparatus for controlling a self-propelled robot capable of traveling in a given area in as short a time as possible and as comprehensively as possible.
【０００２】[0002]
【従来の技術】掃除ロボット、芝刈りロボット、左官ロ
ボット、および農業用散布ロボット等、与えられた領域
を自動走行して予め定められた作業をする自走ロボット
が知られている。例えば、特開平５−４６２４６号公報
に記載された掃除ロボットは、掃除に着手する前に部屋
内を周回し、部屋の大きさ、形状および障害物を検出し
て走行領域つまり掃除領域のマッピングを行う。その
後、このマッピング動作によって得られた座標情報に基
づき、ジグザグ走行や周回走行の半径を一周毎に小さく
していく螺旋走行を行って部屋全体を掃除する。このロ
ボットは、接触センサおよび超音波センサで壁面を検知
して進路を判定するとともに距離計によって周回の終了
を検出する。同様に、床面全体を網羅的に走行するロボ
ットは、特開平５−２５７５３３号公報にも開示されて
いる。2. Description of the Related Art Self-propelled robots, such as a cleaning robot, a lawn mowing robot, a plastering robot, and an agricultural spraying robot, which perform a predetermined operation by automatically traveling in a given area are known. For example, a cleaning robot described in Japanese Patent Application Laid-Open No. 5-46246 circulates around a room before starting cleaning, detects the size, shape, and obstacles of the room and maps a traveling area, that is, a cleaning area. Do. Thereafter, based on the coordinate information obtained by this mapping operation, spiral traveling is performed in which the radius of the zigzag traveling or the round traveling is reduced for each revolution to clean the entire room. In this robot, a contact sensor and an ultrasonic sensor detect a wall surface to determine a course, and a rangefinder detects the end of the orbit. Similarly, a robot that runs comprehensively on the entire floor surface is also disclosed in Japanese Patent Application Laid-Open No. Hei 5-257533.
【０００３】上述のようにな従来のロボットでは、多数
のセンサで検出された情報に基づいて走行領域の状況を
十分把握し、走行領域を精度良くかつ効率的に網羅して
走行するように、モータなどの各種駆動系アクチュエー
タが制御される。このため制御システムが極めて複雑化
し、かつ高価なものになるとともに、処理速度も遅くな
る。さらにマッピング、ティーチングおよび各種処理の
ための閾値の設定などの初期設定に長時間や熟練を要し
たり、また障害物回避動作が遅れるなどの問題があっ
た。[0003] In the conventional robot as described above, the situation of the traveling area is sufficiently grasped based on information detected by a large number of sensors, and the robot travels accurately and efficiently covering the traveling area. Various drive system actuators such as motors are controlled. As a result, the control system becomes extremely complicated and expensive, and the processing speed is reduced. Further, there are problems that a long time and skill are required for initial settings such as setting of thresholds for mapping, teaching and various processes, and that an obstacle avoidance operation is delayed.
【０００４】本発明者らは、掃除ロボットや草刈りロボ
ットなどでは、対象の全領域を漏れなく、かつ高精度で
走行する必要はなく、多少の未作業領域が残っても大き
な支障は生じない場合もある点に着目し、より簡単な構
成で、与えられた領域をほぼ網羅的に走行できるロボッ
ト走行制御方法および装置を、さきに提案した（特願平
９−２９７６８号）。The present inventors have proposed that a cleaning robot, a mowing robot, or the like does not need to run in the entire target area without leakage and to run with high precision, and that even if some unworked area remains, no major trouble occurs. Focusing on a certain point, a robot traveling control method and apparatus capable of traveling almost comprehensively in a given area with a simpler configuration was proposed earlier (Japanese Patent Application No. 9-29768).
【０００５】前記提案の自走ロボットは、作業領域の境
界や障害物を検出する各種センサ、車輪回転数センサな
どを備え、前記領域内の任意の地点を中心にして、その
旋回半径を徐々に大きくするような渦巻き走行モード
（図６のａ、ｃ）と、境界または障害物までの距離が予
定値以内になったときは渦巻き走行を中止し、前記領域
の境界から遠ざかるように予定角度で旋回して直進し、
それ以後さらに、前記領域の境界を検出する毎に旋回お
よび直進を予定回数だけ繰り返す（ファインチューニン
グ）ランダム走行モード（図６のｂ）とを有する。この
場合、領域内を網羅的に、より速く走行できるようにす
る効率（以下、「作業効率」という）の向上を図るため
に最適な旋回角度αは１３５°であることが、シミュレ
ーションの結果分かった。ここでは、このように旋回角
度αを１３５°にした走行パターンをファインチューニ
ングランダム走行と呼ぶ。The proposed self-propelled robot is provided with various sensors for detecting boundaries and obstacles in the work area, a wheel speed sensor, and the like, and gradually turns a turning radius around an arbitrary point in the area. In the spiral running mode (a, c in FIG. 6), the spiral running is stopped, and when the distance to the boundary or the obstacle falls within a predetermined value, the spiral running is stopped, and a predetermined angle is set so as to move away from the boundary of the area. Turn and go straight,
Thereafter, the system further includes a random running mode (b in FIG. 6) in which turning and straight running are repeated a predetermined number of times each time a boundary of the area is detected (fine tuning). In this case, the simulation result shows that the optimum turning angle α is 135 ° in order to improve the efficiency (hereinafter, referred to as “working efficiency”) that enables the vehicle to run faster and exhaustively in the area. Was. Here, the running pattern in which the turning angle α is set to 135 ° is called fine tuning random running.
【０００６】動作時には、図６（ａ）〜（ｃ）のように
渦巻き走行を行なった後ランダム走行モードに移行し、
その最後の旋回から予定距離直進した位置で再び前記渦
巻き走行を開始する。前記旋回の予定回数および最後の
直進距離は、所望の網羅率に達する時間が極小になるよ
うに、シミュレーションモデルによって予め決定され
る。[0006] In operation, after performing spiral running as shown in FIGS. 6 (a) to 6 (c), the mode shifts to a random running mode.
The spiral running is started again at a position where the vehicle has traveled straight a predetermined distance from the last turn. The scheduled number of turns and the last straight travel distance are determined in advance by a simulation model so that the time to reach a desired coverage ratio is minimized.
【０００７】図１６は前記自走ロボットの制御装置のハ
ード構成を示すブロック図である。制御装置７はＣＰＵ
８を具備し、駆動回路１６は超音波センサ６の入出力を
管理する。正面、左右側面、斜め前方などに向けて配置
された複数対の超音波センサ６、正面先端のバンパーな
どに配置された接触センサ５Ａ、左右車輪の回転数セン
サ１０からの情報に基づき、ＣＰＵ８は右および左車輪
駆動用モータ１４、１５、左右ブレーキ１２、１３等の
動作を制御し、ロボットに前進、後退、停止、および超
信地旋回、信地旋回、急旋回、緩旋回の各動作を行なわ
せる。緩旋回や急旋回は左右車輪の回転速度を異ならせ
ることによって行なわれる。自明なように、旋回半径は
左右車輪の回転速度およびその差によって決まる。超信
地旋回は左右の車輪を互いに逆転させて行う旋回であ
り、信地旋回は左右車輪の一方を停止させ、片方のみを
回転させて行う旋回である。これらの場合の旋回角度
は、回転される車輪の回転量によって決まる。FIG. 16 is a block diagram showing a hardware configuration of the control device of the self-propelled robot. The control device 7 is a CPU
8, and the drive circuit 16 manages input and output of the ultrasonic sensor 6. Based on information from a plurality of pairs of ultrasonic sensors 6 arranged toward the front, left and right sides, diagonally forward, etc., a contact sensor 5A arranged at a bumper at the front end, and rotation speed sensors 10 for left and right wheels, the CPU 8 The operation of the right and left wheel drive motors 14, 15 and the left and right brakes 12, 13 is controlled, so that the robot can perform forward, backward, stop, and super pivot, pivot, sharp, and gentle turns. Let them do it. The gentle turning and the sharp turning are performed by changing the rotational speeds of the left and right wheels. As is obvious, the turning radius is determined by the rotational speeds of the left and right wheels and the difference therebetween. The pivot turn is a turn performed by reversing the left and right wheels to each other, and the pivot turn is a turn performed by stopping one of the left and right wheels and rotating only one of them. The turning angle in these cases is determined by the amount of rotation of the wheel to be rotated.
【０００８】このロボットでは、各センサの状態によっ
て生成された行動計画を直ちに実行するのではなく、予
め設定した緊急度に基づいて優先付けをし、緊急度の高
い行動計画を優先的に実行するようにしている。In this robot, an action plan generated according to the state of each sensor is not immediately executed, but is prioritized based on a preset degree of urgency, and an action plan with a high degree of urgency is preferentially executed. Like that.
【０００９】図１７は、前記ロボットで実施した動作判
断の機能を示すブロック図である。各センサ６、５Ａで
検出された障害物までの距離に基づいて行動計画ＡＰ
１，ＡＰ２，…，ＡＰｎが生成された場合に、選択機能
２０は行動計画ＡＰ１〜ＡＰｎのうち、壁面との衝突を
回避する際に最も緊急度の高い動作をする行動計画を選
択してアクチュエータ１９を付勢する。この従来例で
は、後退制御が起動されたときに最も緊急度が高い動作
として第１優先にした。続いて超信地旋回制御を第２優
先にし、その後は、信地旋回、急旋回、緩旋回の順で優
先付けをした。なお、上記行動計画の優先付けは、超音
波センサ６の検出結果に基づいて計算される障害物まで
の距離にしたがって決められたものであり、前記接触セ
ンサ５Ａによる障害物検出のときの停止制御は含まれて
いない。FIG. 17 is a block diagram showing a function of motion judgment performed by the robot. Action plan AP based on the distance to the obstacle detected by each sensor 6, 5A
When AP1, AP2,..., APn are generated, the selection function 20 selects an action plan that performs the operation with the highest urgency when avoiding a collision with a wall, from among the action plans AP1 to APn, and selects the actuator. Energize 19. In this conventional example, the first priority is set as the operation having the highest urgency when the reverse control is activated. Subsequently, the pivot turn control was given the second priority, and thereafter, the pivot turn, the sharp turn, and the gentle turn were prioritized in this order. The prioritization of the action plan is determined according to the distance to the obstacle calculated based on the detection result of the ultrasonic sensor 6, and the stop control when the contact sensor 5A detects an obstacle. Is not included.
【００１０】図１８は、上記のロボットによる作業時間
と作業の進み度合をシュミレーションした結果を示すグ
ラフであり、縦軸は与えられた領域においてロボットが
走行して網羅した領域の面積の割合、横軸は走行開始か
らの経過時間を示す。ロボットの平面積は直径２０ｃｍ
の円で代表させ、その走行速度は１３ｃｍ／秒に設定し
た。走行領域は図（ａ）の場合が４．２ｍ×４．２ｍの
正方形であり、図（ｂ）の場合は４．２ｍ×８．４ｍの
矩形である。FIG. 18 is a graph showing a result obtained by simulating the operation time and the degree of progress of the operation by the robot. The vertical axis represents the ratio of the area of the area covered by the robot traveling in a given area. The axis indicates the elapsed time from the start of traveling. The robot's flat area is 20cm in diameter
The traveling speed was set to 13 cm / sec. The traveling area is a 4.2 mx 4.2 m square in the case of Fig. (A), and a 4.2 mx 8.4m rectangle in the case of Fig. (B).
【００１１】なお、同図にいう座標系走行とは、作業領
域を網羅して走行するように予め設定されたコースに沿
って走行する方式であり、該走行方式によれば時間の経
過に直線的に比例して網羅した領域の割合は増大する。
これと比較して、渦巻き走行を含む他の走行方式では、
作業済み面積の伸びが鈍化するため、領域の完全な網羅
を目指すことは困難である。そこで、一例として領域の
８０％を網羅して走行するのに要した時間で能率の比較
をすると、図１８（ａ）の場合、座標系走行を除く３つ
の走行方式の中では、図６（ａ）〜（ｃ）に示したよう
に、ファインチューニングランダム走行を組合せた渦巻
き走行が最も短時間（約１８００秒）で領域の８０％を
網羅していることが分かる。また面積を２倍に拡張した
図１８（ｂ）の場合も、ほぼ同様の傾向が得られた。ま
たこの場合、単位時間（１秒）に全走行領域の何％を平
均的に網羅するかを示す作業効率を最大にするための旋
回の回数は５回、また旋回後の直進時間は１５〜３０秒
であり、また前記時間および旋回回数は互いに他方に影
響を与えないことが、前記のシュミレーションの結果分
かった。Note that the coordinate system traveling shown in FIG. 1 is a system in which the vehicle travels along a course set in advance so as to cover the work area, and according to the traveling system, the vehicle travels in a straight line over time. The proportion of the covered area increases proportionally.
In comparison, in other driving methods including swirl driving,
It is difficult to aim for complete coverage of the area because the growth of the worked area is slowing down. Thus, as an example, when the efficiency is compared based on the time required for traveling over 80% of the area, in the case of FIG. 18A, among the three traveling modes except the coordinate system traveling, FIG. As shown in a) to (c), it can be seen that the spiral running combining the fine tuning random running covers 80% of the area in the shortest time (about 1800 seconds). In the case of FIG. 18B in which the area is doubled, almost the same tendency was obtained. Also, in this case, the number of turns for maximizing the work efficiency indicating what percentage of the entire travel area is covered in a unit time (1 second) is five times, and the straight traveling time after the turn is 15 to It was found from the above simulation that the time and the number of turns did not affect each other.
【００１２】[0012]
【発明が解決しようとする課題】前記提案のロボットで
も、ある程度（全面積の約８０％程度）の網羅または塗
りつぶしまでは比較的効率よく作業ができるが、網羅の
割合をそれ以上に高めようとすると非常に長時間を要す
るようになり、また例えば壁などで仕切られた複数の部
屋や、家具などが置かれた部屋の掃除を連続して行なう
ようなときは作業能率が低下しやすいという問題があ
る。Even with the proposed robot, work can be performed relatively efficiently with a certain amount (about 80% of the total area) of covering or filling, but it is necessary to further increase the covering ratio. Then, it takes a very long time, and, for example, when continuously cleaning a plurality of rooms partitioned by walls or a room where furniture is placed, the work efficiency is likely to be reduced. There is.
【００１３】本発明は網羅の割合を８０％以上にまで高
めることが比較的容易であり、また作業領域内に仕切り
や家具などの障害物がある場合でも前記作業領域を連続
して作業することを可能にし、その作業能率が低下し難
い自走ロボットの制御方法および装置を提供することを
目的とする。According to the present invention, it is relatively easy to increase the coverage ratio to 80% or more, and even if there are obstacles such as partitions and furniture in the work area, the work area can be continuously worked. It is an object of the present invention to provide a method and an apparatus for controlling a self-propelled robot in which the work efficiency is hardly reduced.
【００１４】[0014]
【課題を解決するための手段】走行予定領域の境界を検
出するセンサを具備し、前記領域内の任意の位置から旋
回走行を開始して、前記センサによって前記境界および
障害物を検出しながら、その旋回半径を徐々に大きくす
る渦巻き走行および前記境界に沿って走行する際沿い走
行、さらに所望に応じてはランダム走行を組合せて行う
ことにより、可及的網羅的に前記走行予定領域を塗り潰
すようにする。渦巻き走行中に境界が検出された時は、
前記渦巻き走行を中止してランダム走行、際沿い走行に
移行させる。走行モードは適宜に組合せられるが、渦巻
き−ランダム−際沿い−ランダム走行の組合せを繰り返
し実施したシミュレーションでは、走行予定面積が３５
ｍ2または５７ｍ2であり、障害物が散在する対象領域内
をそれぞれ１２４分、２７１分という時間でほぼ１００
％塗り潰すことができた。The present invention comprises a sensor for detecting a boundary of an area to be traveled, starts turning from an arbitrary position in the area, and detects the boundary and an obstacle by the sensor. The swirl running in which the turning radius is gradually increased and the running along the border are performed along with the boundary, and further, if necessary, the random running is performed in combination, so that the planned traveling area is covered as comprehensively as possible. To do. When a boundary is detected during spiral running,
The spiral running is stopped, and a transition is made to random running and running along the side. The running modes are appropriately combined, but in the simulation in which the combination of spiral, random, side-by-side, and random running is repeatedly performed, the planned running area is 35.
m 2 or 57 m 2 , and approximately 100 minutes in 124 and 271 minutes, respectively, in the target area where obstacles are scattered.
% Could be filled.
【００１５】[0015]
【発明の実施の形態】以下に、図面を参照して本発明を
詳細に説明する。図２は本発明の一実施形態に係る自走
ロボットの概略平面図、図３は概略側面図である。これ
らの図において、ロボット１は、本体ケース２の左右両
側にそれぞれ配置され、別個のモータ（図示せず）によ
って駆動される（無限軌道付きまたは単純な）車輪３，
４によって前進、後退、停止および旋回の各動作を行え
るように構成されている。前記車輪３、４にはそれぞれ
の回転数検出用のセンサ（図示せず）が設けられる。な
お以下の説明では、すべてのセンサを総括的に呼称する
場合は、単に「センサ２６」という。本体ケース２は可
撓性材でほぼ半截卵殻形状に構成され、その内周とその
内部の主枠との間には、障害物との接触を検出する接触
センサ（図示しない）が取り付けられている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the drawings. FIG. 2 is a schematic plan view of a self-propelled robot according to an embodiment of the present invention, and FIG. 3 is a schematic side view. In these figures, a robot 1 is disposed on each of the right and left sides of a main body case 2 and is driven by a separate motor (not shown).
4 is configured to perform forward, backward, stop, and turn operations. The wheels 3 and 4 are provided with respective sensors (not shown) for detecting the number of rotations. In the following description, when all the sensors are collectively referred to, they are simply referred to as “sensor 26”. The main body case 2 is made of a flexible material and is formed in a substantially semi-cut eggshell shape, and a contact sensor (not shown) for detecting contact with an obstacle is attached between an inner periphery thereof and a main frame therein. I have.
【００１６】さらに、ロボット１には、境界や障害物を
非接触で検知するための複数対の赤外線センサが左右対
称に設けられている。すなわちロボット１の進行方向前
方にセンサ２６Ｒ，２６Ｌ、斜め前方に２６ＭＲ，２６
ＭＬ、また後方に２６ＲＲ，２６ＲＬがそれぞれ配置さ
れ、さらに左側方には、本発明に特有の際沿い走行のた
めの側方センサ２５Ｌが配置される。前記各符号中の添
字Ｒは走行方向に対して右側の障害物検出用であり、添
字Ｌは走行方向に対して左側の障害物検出用であること
を意味する。Further, the robot 1 is provided with a plurality of pairs of infrared sensors for detecting boundaries and obstacles in a non-contact manner, symmetrically. That is, sensors 26R and 26L are provided forward in the traveling direction of the robot 1, and 26MR and 26
ML, and 26RR and 26RL at the rear, respectively, and further, at the left side, a side sensor 25L for side running alongside the present invention. The suffix R in each code is for detecting an obstacle on the right side in the running direction, and the suffix L is for detecting an obstacle on the left side in the running direction.
【００１７】なお図示していないが、本体の右側にも側
方センサを設けても良い。これらのセンサは赤外線セン
サが望ましいが、予定の短距離（例えば、１０〜１５c
m）以内の障害物を検出できる近接センサであれば、超
音波または他の光学的センサ等のどのような形式のセン
サを使用してもよい。前記自走ロボットの本体の構成や
接触センサの詳細に関しては、本出願人の別件特許出願
（Ａ９７−４６７、４６８、平成９年１２月２２日出
願）に詳述されているので、その明細書の記述を引用
し、ここに統合する。Although not shown, a side sensor may be provided on the right side of the main body. These sensors are preferably infrared sensors, but are intended for short distances (for example, 10 to 15c).
Any type of sensor, such as an ultrasonic or other optical sensor, may be used as long as it can detect obstacles within m). The details of the configuration of the main body of the self-propelled robot and the details of the contact sensor are described in a separate patent application filed by the present applicant (A97-467,468, filed on December 22, 1997). Is quoted and integrated here.
【００１８】図１は本発明による１実施形態の自走ロボ
ットの制御装置のハード構成を示すブロック図であり、
図１６や図２、３と同一の符号は同一または同等部分を
表わす。図１６との対比から明らかなように、図１で
は、図１６の超音波センサ６が赤外線センサなどの近接
センサ２５Ｌおよび２６で置換され、これらセンサ２５
Ｌおよび２６の信号ならびに、接触センサ５Ａおよび左
右の車輪３、４を駆動するモータの回転数センサ（エン
コーダ）１０の検出信号がデジタル入力部９を介してＣ
ＰＵ８に入力される。FIG. 1 is a block diagram showing a hardware configuration of a control device for a self-propelled robot according to one embodiment of the present invention.
The same reference numerals as those in FIGS. 16 and 2 and 3 denote the same or equivalent parts. As is clear from comparison with FIG. 16, in FIG. 1, the ultrasonic sensor 6 in FIG. 16 is replaced with proximity sensors 25L and 26 such as infrared sensors, and these sensors 25
The signals of L and 26 and the detection signal of the contact sensor 5A and the rotation speed sensor (encoder) 10 of the motor for driving the left and right wheels 3 and 4 are transmitted via the digital input unit 9 to C.
Input to PU8.
【００１９】一方、ＣＰＵ８には、デジタル出力部１１
を介して右車輪用電磁ブレーキ１２、左車輪用電磁ブレ
ーキ１３、右車輪モータ（以下、「右モータ」という）
１４、および左車輪モータ（以下、「左モータ」とい
う）１５が接続されている。そして、ＣＰＵ８での処理
に基づく各種指示は該デジタル出力部１１を通じてそれ
ぞれ右および左車輪用電磁ブレーキ１２、１３、右およ
び左モータ１４、１５等に入力される。デジタル出力部
１１を通じて右および左モータ１４、１５に供給される
のは回転方向指示信号である。また右および左モータ１
４、１５には、Ｄ／Ａコンバータ１７を通じてＣＰＵ８
から回転速度指示が入力される。On the other hand, the CPU 8 has a digital output unit 11
Via the right wheel electromagnetic brake 12, the left wheel electromagnetic brake 13, and the right wheel motor (hereinafter referred to as "right motor").
14 and a left wheel motor (hereinafter referred to as “left motor”) 15. Various instructions based on the processing in the CPU 8 are input to the right and left wheel electromagnetic brakes 12 and 13 and the right and left motors 14 and 15 through the digital output unit 11, respectively. What is supplied to the right and left motors 14 and 15 through the digital output unit 11 is a rotation direction instruction signal. Right and left motor 1
The CPU 8 is connected to the D / A converter 17 to 4 and 15.
, A rotation speed instruction is input.
【００２０】上記構成により、センサ２５Ｌ、２６およ
び接触センサ５Ａ（以下、総括的には「センサ」と呼
ぶ）からの近接、接触情報に基づき、ＣＰＵ８は右およ
び左モータ１４、１５等の駆動系の動作を決定する。当
該ロボットは上述のように前進、後退、停止、および旋
回の各動作を行うが、そのための制御機能はモジュール
として個別にＣＰＵ８の機能で実現される。各センサか
らの情報の入力処理や動作判断処理は常時動作している
が、超信地旋回、停止、後退の各制御モジュールは通常
はスリープ状態になっていて、直進制御のみが起動され
ている。なお、容易に理解されるように、超信地旋回以
外の旋回は直進制御モジュールの機能に含まれる。With the above-described configuration, the CPU 8 controls the driving system of the right and left motors 14 and 15 based on the proximity and contact information from the sensors 25L and 26 and the contact sensor 5A (hereinafter, generally referred to as "sensor"). Determine the behavior of The robot performs the forward, backward, stop, and turn operations as described above, and the control functions therefor are realized individually by the functions of the CPU 8 as modules. The input process of information from each sensor and the operation determination process are always operating, but the control module for turning, stopping, and retreating is normally in a sleep state, and only the straight-ahead control is activated. . Note that, as will be easily understood, turns other than the pivot turn are included in the functions of the straight-ahead control module.
【００２１】ＣＰＵ８の動作判断部１８は、各センサか
らの情報に基づいて予め定められた動作を条件反射的に
行わせるように構成される。図１７に関して前述したよ
うに、動作判断部１８は各センサに対応して階層型に構
成されており、センサ２５Ｌ、２６、５Ａなどからの信
号の状態に応じた行動計画を生成して実行要求を出力す
る。この実行要求に基づいて右および左車輪用電磁ブレ
ーキならびに右および左モータからなる駆動系（アクチ
ュエータ）１９が制御される。こうして、各センサから
の情報に基づいて個別に生成された行動計画による実行
要求が積み重ねられ、ロボット全体の動作、すなわち前
進、後退、停止、および緩旋回、急旋回、信地旋回、超
信地旋回などの動作が決定される。The operation judging section 18 of the CPU 8 is configured to cause a predetermined operation to be performed conditionally in accordance with information from each sensor. As described above with reference to FIG. 17, the operation determining unit 18 is configured in a hierarchical manner corresponding to each sensor, generates an action plan according to the state of the signal from the sensors 25L, 26, 5A, etc., and issues an execution request. Is output. Based on the execution request, a drive system (actuator) 19 composed of right and left wheel electromagnetic brakes and right and left motors is controlled. In this way, execution requests according to the action plan generated individually based on information from each sensor are accumulated, and the operation of the entire robot, that is, forward, backward, stop, and gentle turning, sharp turning, base turning, super turning Operations such as turning are determined.
【００２２】また本発明の実施形態においても、前述し
たように、各センサからの出力に基づいて生成された行
動計画を直ちに実行するのではなく、予め設定した緊急
度に基づいて優先付けをし、緊急度の高い行動計画を優
先的に実行する。この優先度は、先に本発明者らが提案
したロボットと同じであり、前記接触センサによる障害
物検出のときの停止制御を除けば、後退、超信地旋回、
信地旋回、急旋回、緩旋回の順である。In the embodiment of the present invention, as described above, the action plan generated based on the output from each sensor is not immediately executed, but is prioritized based on a preset urgency. And prioritize action plans with high urgency. This priority is the same as the robot previously proposed by the present inventors, except for the stop control at the time of detecting an obstacle by the contact sensor, the retreat, super turning,
The pivot turn, the sharp turn, and the gentle turn are in this order.
【００２３】本発明の実施形態におけるロボットの走行
パターンの特徴は、前述のランダム走行、ファインチュ
ーニングランダム走行、渦巻き走行パターンに加えて、
壁などの境界に沿って走行する「際沿い走行」（「隅走
行」ということもある）パターンを有する点である。際
沿い走行パターンは、（ファインチューニング）ランダ
ム走行や渦巻き走行パターンの実行中に、側方センサ２
５Ｌが壁などの境界を検知したときに開始され、それか
ら予定時間の間継続される。The features of the running pattern of the robot according to the embodiment of the present invention include the above-described random running, fine tuning random running, and spiral running pattern.
This is a point that has a “border running” (sometimes referred to as “corner running”) pattern running along a boundary such as a wall. The running pattern is set to the side sensor 2 during the execution of the (fine tuning) random running or spiral running pattern.
5L starts when it detects a boundary, such as a wall, and then continues for a scheduled time.
【００２４】図４は際沿い走行の処理を示すフローチャ
ートである。後述するように、ランダム走行または渦巻
き走行中に側方センサ２５Ｌまたは２６が壁などの境界
を感知して出力を発生すると、ＣＰＵ８が際沿い走行開
始指令を発生し、図４の処理が開始される（ステップＳ
７０）。ステップＳ７１では直進し、ステップＳ７２で
は前記の側方センサが依然として境界を検知しているか
どうかを判断する。なお側方センサの検知範囲は、ロボ
ットが境界からどの程度の距離を保って際沿い走行を行
なうかを決定するので、余り大きくない方がよく、例え
ば１０cm〜１５cmくらいが適当である。FIG. 4 is a flowchart showing a process of traveling along the side. As will be described later, when the side sensor 25L or 26 detects a boundary such as a wall during random running or spiral running and generates an output, the CPU 8 generates a side running start command and the processing in FIG. 4 is started. (Step S
70). In step S71, the vehicle goes straight ahead. In step S72, it is determined whether or not the side sensor is still detecting a boundary. Note that the detection range of the side sensor determines how much distance the robot keeps from the boundary while traveling along the side. Therefore, the detection range should not be too large, and for example, about 10 cm to 15 cm is appropriate.
【００２５】側方センサが境界を検知しなくなっておれ
ば、境界から離れつつあるので、ステップＳ７３で、境
界に近付くように予定角度緩旋回し、ステップＳ７１に
戻って直進を続ける。ステップＳ７２で側方センサが境
界を検知しておれば、境界近くをこれに沿って走行して
いるので、ステップＳ７４でさらに直進を続ける。ステ
ップＳ７５では、先端の接触センサ５Ａが壁などの境界
を検知したかどうかが判定され、この判定が否定なら、
ステップＳ７２〜７５を繰り返す。一方ステップＳ７５
の判定が肯定であれば、ステップＳ７６で予定距離だけ
後退し、さらに検知された境界と反対方向へ予定角度旋
回してからステップＳ７１へ戻って直進する。このよう
な手法によって、本発明のロボットは壁などの境界に沿
って走行を続ける。前記の際沿い走行は予定時間（また
は距離）継続した後中止され、ランダム走行モードに移
行される。前記予定時間は、適当なタイマー割り込みに
よって際沿い走行を停止させても実現できるが、ステッ
プＳ７０で中止タイマを起動し、図４に点線で示したス
テップＳ７１Ａ、７４Ａで前記タイマのカウントアップ
を判定することによって中止することもできる。If the side sensor has not detected the boundary, it is moving away from the boundary, so in step S73, the vehicle makes a gentle turn at a predetermined angle so as to approach the boundary, and returns to step S71 to continue straight traveling. If the side sensor has detected the boundary in step S72, the vehicle is running along the vicinity of the boundary, and the vehicle continues to go straight on in step S74. In step S75, it is determined whether or not the tip contact sensor 5A has detected a boundary such as a wall, and if this determination is negative,
Steps S72 to S75 are repeated. On the other hand, step S75
Is affirmative, the vehicle retreats by the predetermined distance in step S76, further turns by the predetermined angle in the direction opposite to the detected boundary, and returns to step S71 to go straight. By such a method, the robot of the present invention keeps traveling along a boundary such as a wall. The running along the side is stopped after continuing the scheduled time (or distance), and the mode is shifted to the random running mode. The scheduled time can be realized by stopping the sidewalk by an appropriate timer interrupt. However, a stop timer is started in step S70, and the count-up of the timer is determined in steps S71A and 74A shown by dotted lines in FIG. You can also stop it.
【００２６】続いて、上述の際沿い走行と組み合わせら
れる本発明によるロボットの各走行パターンを説明す
る。まず、ロボット１の基本的な走行パターンであるラ
ンダム走行について説明する。ランダム走行において
は、図５に示すように、境界または壁面Ｂで囲まれた領
域Ａに置かれたロボット１は直進して壁面Ｂから予定距
離以内に入ると、一時停止・予定角度旋回（必要に応じ
ては、その前に予定距離だけ後退してもよい）という折
返し動作をした後、再び直進して別の壁面Ｂに向かう。
このとき、壁面Ｂの近傍での折返し動作のための旋回角
度α（図５（ｂ）参照）は、折返し動作のつどランダム
に選択されて設定されることができる。Next, each traveling pattern of the robot according to the present invention combined with the above-mentioned traveling along the road will be described. First, a random running which is a basic running pattern of the robot 1 will be described. In the random running, as shown in FIG. 5, the robot 1 placed in the area A surrounded by the boundary or the wall B moves straight and enters within a predetermined distance from the wall B, and then pauses and turns at a predetermined angle (necessary). (They may retreat by a predetermined distance before that.), And then go straight again to another wall surface B.
At this time, the turning angle α (see FIG. 5B) for the turning operation in the vicinity of the wall surface B can be randomly selected and set for each turning operation.
【００２７】本発明者等は、ランダム走行に渦巻き走行
を組合せて、ランダム走行（なるべくはファインチュー
ニングランダム走行）を予定回数繰り返した時点で渦巻
き走行をするという、図６の渦巻き／ランダム走行パタ
ーンに、さらに前述の際沿い走行を組合せると一層の作
業効率の改善ができることを発見した。The inventor of the present invention has a swirl / random running pattern shown in FIG. 6 in which random running (preferably fine tuning random running) is repeated a predetermined number of times by combining random running and spiral running. In addition, it has been found that the work efficiency can be further improved by combining the above-mentioned running alongside.
【００２８】ここで渦巻き／ランダム走行についてさら
に詳細に説明する。図６において、ロボット１を領域Ａ
内に置く。この領域Ａは壁面Ｂで囲まれた矩形の部屋を
想定する。最初にロボット１を置く位置は任意である。
図６（ａ）のように、ロボット１は置かれた位置で渦巻
き走行を開始する。渦巻き走行は、旋回走行において徐
々に旋回半径を予定量ずつ大きくする走行パターンであ
り、後で図１０を参照して詳述するように、直進、超信
地旋回、後退等とは別の動作判断に基づいて制御され
る。ここでは、走行軌跡に隙間ができないように左右の
車輪３，４の速度つまりモータ１４，１５のそれぞれの
回転速度を計算し、これらの速度を更新して旋回半径を
徐々に増大する。渦が拡大し、センサ２６や２５Ｌの出
力に基づいて、ロボット１が壁面Ｂに対して予定距離以
内に近付いたことが認識されると、渦巻き走行を停止
し、次の渦巻き走行開始位置まで移動するためのランダ
ム走行（好ましくは、ファインチューニング走行）を開
始する（図６ｂ）。図６（ｂ）および（ｃ）中の影付部
分はロボット１の走行軌跡、すなわち走行によって塗り
潰された領域である。Here, the spiral / random running will be described in more detail. In FIG. 6, the robot 1 is moved to an area A.
Put in. This area A is assumed to be a rectangular room surrounded by a wall B. The position where the robot 1 is first placed is arbitrary.
As shown in FIG. 6A, the robot 1 starts the spiral running at the position where the robot 1 is placed. The spiral running is a running pattern in which the turning radius is gradually increased by a predetermined amount in the turning running, and as will be described in detail later with reference to FIG. It is controlled based on the judgment. Here, the velocities of the left and right wheels 3 and 4, that is, the rotational speeds of the motors 14 and 15, are calculated so that there is no gap in the traveling locus, and these speeds are updated to gradually increase the turning radius. When the vortex expands and it is recognized that the robot 1 has approached the wall surface B within a predetermined distance based on the outputs of the sensors 26 and 25L, the vortex travel is stopped, and the robot 1 moves to the next spiral travel start position. Random running (preferably, fine tuning running) is started (FIG. 6B). The shaded portions in FIGS. 6B and 6C are the traveling locus of the robot 1, that is, the area filled by the traveling.
【００２９】渦巻き走行を止めて次の渦巻き走行の開始
位置まで移動する契機は次のとおりである。ロボット１
が壁面Ｂに接近して、センサ２６や２５Ｌによって壁Ｂ
がロボットから予定距離以内にあることが検知されたと
きは、図５で説明した折返し動作をする。例えば、ロボ
ット１が壁面Ｂを検出したときは、その位置で停止し、
必要に応じては予定距離後退した後、１３５°（また
は、その他の任意角度）の超信地旋回をして折り返し、
該壁面Ｂから遠ざかるように直進する。この場合、もち
ろん信地旋回や角度の小さい急旋回をして壁面Ｂを回避
してもよい。The trigger for stopping the spiral running and moving to the start position of the next spiral running is as follows. Robot 1
Approaches the wall B, and the sensors 26 and 25L
When it is detected that is within a predetermined distance from the robot, the turning operation described with reference to FIG. 5 is performed. For example, when the robot 1 detects the wall B, it stops at that position,
If necessary, after retreating the predetermined distance, make a 135 ° (or any other angle) super turning and turn back,
The vehicle goes straight away from the wall B. In this case, it is of course possible to avoid the wall surface B by performing a pivot turn or a sharp turn with a small angle.
【００３０】こうして、壁面Ｂで折返して直進し、他の
壁面Ｂに接近すると、再び該壁面Ｂから遠ざかるよう
に、後退と超信地旋回または単なる旋回により進行方向
を変えて直進する。こうして予め定められた回数Ｎだけ
壁面Ｂで折返し動作をしたならば、最後に折返し動作を
した壁面から遠ざかるように予定時間Ｔ（予定距離Ｄに
相当）だけ直進して停止し、その位置で最初と同様の渦
巻き走行を再開する（図６のｃ）。それ以後は、これら
の動作を繰り返す。以下の説明では、最後に折返し動作
をした壁面から遠ざかるように直進する距離Ｄは時間Ｔ
で代表して説明するが、距離Ｄおよび時間Ｔのいずれを
使用して制御するかは、設計者または使用者が任意に選
択できる。In this way, the vehicle turns straight back on the wall B, and when approaching another wall B, the vehicle travels straight by changing its traveling direction by retreating and turning on a corner or simply turning so as to move away from the wall B again. When the turn-back operation is performed on the wall surface B a predetermined number of times N in this manner, the vehicle travels straight ahead for a scheduled time T (corresponding to the planned distance D) so as to move away from the wall surface on which the last turn-around operation was performed, and stops at that position. The spiral running similar to the above is restarted (c in FIG. 6). Thereafter, these operations are repeated. In the following description, the distance D that travels straight away from the wall surface that last turned back is time T
However, the designer or the user can arbitrarily select which of the distance D and the time T is used for control.
【００３１】前記回数Ｎと時間Ｔ（または、距離Ｄ）と
はいずれも適当な値に設定しておく必要がある。回数Ｎ
が少ないと、前回の渦巻き走行範囲に近すぎるため、同
一範囲を走行する確率が大きくなって作業効率がよくな
いし、逆に、回数Ｎが多い場合は直進時間（距離）が長
くなりすぎて効率がよくない。また、前記時間Ｔが短か
すぎても長すぎても、壁面の比較的近くで渦巻き走行を
開始し、すぐに壁面に近づいて渦巻き走行が中断されて
しまうので、効率がよくない。Both the number N and the time T (or the distance D) need to be set to appropriate values. Number N
If the number is too small, it is too close to the previous swirl traveling range, so that the probability of traveling in the same range increases and the work efficiency is not good. Conversely, if the number N is large, the straight traveling time (distance) becomes too long and the efficiency increases. Is not good. Also, if the time T is too short or too long, the spiral running starts relatively close to the wall surface and immediately approaches the wall surface to interrupt the spiral running, which is not efficient.
【００３２】最も効率のよい時間Ｔや折返し回数Ｎはシ
ミュレーションによって決定することができ、その結果
の１例は、本出願人の先の出願である特願平９−２９７
６８号の明細書に開示されている。The most efficient time T and the number of turns N can be determined by simulation, and one example of the result is disclosed in Japanese Patent Application No. 9-297 filed earlier by the present applicant.
No. 68 is disclosed in the specification.
【００３３】制御装置７の動作をフローチャートを参照
して説明する。まず、センサ２５Ｌ、２６の入力処理を
説明する。図７において、ステップＳ１００ではセンサ
２５Ｌ、２６が境界（壁）や障害物（以下、壁という）
を感知したかどうかが判定される。前述のように、これ
らのセンサは境界や障害物までの距離が１０〜２０cmに
なると感知出力を発生し、この出力は近接信号としてス
テップＳ１１０で制御装置に取り込まれる。前記センサ
の近接信号にしたがって、ランダム走行時の折返し（お
よび旋回）方向が決定される。具体的にいえば、左右ど
ちら側のセンサが近接信号を発生したかに応じて、通常
は、信号発生センサとは反対側へ旋回し、左右両側のセ
ンサが近接信号を発生したときは、時間的に先に検知し
たセンサとは反対の方向へ旋回する指示が発生される。The operation of the control device 7 will be described with reference to a flowchart. First, input processing of the sensors 25L and 26 will be described. In FIG. 7, in step S100, the sensors 25L and 26 detect boundaries (walls) and obstacles (hereinafter, referred to as walls).
Is determined. As described above, these sensors generate a sensing output when the distance to a boundary or an obstacle becomes 10 to 20 cm, and this output is taken into the control device in step S110 as a proximity signal. According to the proximity signal of the sensor, the turning (and turning) direction at the time of random running is determined. Specifically, depending on which of the left and right sensors has generated the proximity signal, it normally turns to the opposite side to the signal generation sensor, and when the left and right sensors generate the proximity signal, An instruction to turn in the direction opposite to the direction of the previously detected sensor is generated.
【００３４】なお図示は省略したが、ロボット本体２の
前方および後方には接触センサが配置されており、前記
接触センサから接触信号が入力されたならば、ロボット
の停止指示、すなわち左右のモータ１４，１５に回転速
度「ゼロ」を出力するとともに、右車輪用電磁ブレーキ
１２および左車輪用電磁ブレーキ１３を付勢する。図８
は接触センサの入力処理を示すフローチャートである。
ステップＳ８０では接触センサが検出信号を発生したか
否かが判断され、検出信号が発生されたときは、ステッ
プＳ９０でロボットの停止指示を発生し、左右のモータ
１４、１５に速度ゼロを出力すると共に、左右車輪ブレ
ーキ１２、１３を付勢する。これらの近接センサ２５
Ｌ、２６や接触センサの入力処理は、例えば１０ｍ秒毎
のタイマ割り込みで実行される。Although illustration is omitted, contact sensors are disposed in front of and behind the robot body 2, and when a contact signal is input from the contact sensor, the robot is instructed to stop, that is, the left and right motors 14 are driven. , 15 and the right wheel electromagnetic brake 12 and the left wheel electromagnetic brake 13 are energized. FIG.
9 is a flowchart showing input processing of the contact sensor.
In step S80, it is determined whether or not the contact sensor has generated a detection signal. When the detection signal is generated, an instruction to stop the robot is generated in step S90, and zero speed is output to the left and right motors 14, 15. At the same time, the left and right wheel brakes 12, 13 are energized. These proximity sensors 25
The input processing of L, 26 and the contact sensor is executed by a timer interrupt every 10 msec, for example.
【００３５】図９のゼネラルフローを参照して上記各セ
ンサの出力信号に基づくロボットの走行制御動作を説明
する。作業の初めのステップＳ１では、例えば０に初期
設定された走行モードポインタを更新して１にし、最初
に実行すべき走行モードを読み出す。本発明において
は、前述のように、渦巻き、ランダム、および際沿いの
３種の走行モードが準備される。これらの走行モードを
どの順に実行するかは、走行予定の領域の大きさ、形
状、障害物の有無などによって異なるが、本発明者らは
渦巻き−ランダム−際沿い−ランダム走行の組合せをこ
の順に、繰り返し実行するシミュレーションによって、
後述するような良好な結果が得られることを確認した。The running control operation of the robot based on the output signals of the above sensors will be described with reference to the general flow of FIG. In step S1 at the beginning of the operation, the running mode pointer initially set to, for example, 0 is updated to 1, and the running mode to be executed first is read. In the present invention, as described above, three types of driving modes, that is, spiral, random, and alongside are provided. The order in which these traveling modes are executed depends on the size, shape, presence or absence of obstacles, etc. of the area to be traveled, but the present inventors performed a spiral-random-side-random-random combination in this order. , Through repeated simulations
It was confirmed that good results as described below were obtained.
【００３６】もちろん、その他の種々の組合せ順序、例
えば、渦巻き−際沿い−ランダム走行を１セットとし
て、これを同じ順序または順序を変えて繰り返したり、
または渦巻き−ランダム−際沿い−ランダム−渦巻きの
ように、前後する２つのランダム走行の間に際沿い走行
および渦巻き走行の少なくとも１方を交互に実行したり
することも可能であり、これらを作業者がその都度設定
登録するか、または予め登録しておいて作業開始時に選
択設定するようにすることができる。このように設定登
録された走行モードの組合わせ順序はメモリに一時記憶
され、現時点で実行すべき走行モードは前記ポインタ
（図示せず）で順次に指示される。Of course, various other combination orders, for example, spiral-side-by-random running as one set, are repeated in the same order or in a different order,
Alternatively, it is also possible to alternately execute at least one of the side running and the swirling between two preceding and following random runnings, such as a swirl-random-side-run-random-whirl. The user can set and register each time, or can pre-register and select and set at the start of work. The combination order of the running modes set and registered in this way is temporarily stored in the memory, and the running mode to be executed at the present time is sequentially indicated by the pointer (not shown).
【００３７】ステップＳ２では、停止指示がなされたか
どうかが判定され、停止指示がなされておれば、ステッ
プＳ４７で走行を停止する。停止指示がなければ、前記
ポインタに基づいて、現在実行すべき走行パターンを判
断し決定する。実行すべき走行パターンが際沿い走行な
らばステップＳ４へ進み、図４を参照して前述した処理
を実行する。当該走行モードの処理が終了したなら、ス
テップＳ４９を経てステップＳ１へ戻り走行モードポイ
ンタを更新し、次の走行モード処理へ移る。ステップＳ
３で、現在実行すべき走行パターンが渦巻き走行である
と判断されたときは、図１０の渦巻き処理を実行する。In step S2, it is determined whether or not a stop instruction has been issued. If the stop instruction has been issued, the running is stopped in step S47. If there is no stop instruction, a running pattern to be currently executed is determined and determined based on the pointer. If the running pattern to be executed is the running along the side, the process proceeds to step S4, and the processing described above with reference to FIG. 4 is executed. When the processing of the traveling mode is completed, the process returns to step S1 via step S49, updates the traveling mode pointer, and proceeds to the next traveling mode processing. Step S
When it is determined in step 3 that the running pattern to be currently executed is the spiral running, the spiral processing of FIG. 10 is executed.
【００３８】図１０を参照して本発明の渦巻き走行処理
を説明する。ステップＳ２０では、ＣＰＵ８の動作判断
部１８から渦巻き処理開始指示を受けるのを待つ。ロボ
ット１の渦巻き走行は図６に関して説明した作業開始の
時、およびランダム走行または際沿い走行に続いて実行
されるが、いずれにしても前述のステップＳ１で更新さ
れるポインタが指定するメモリ内のデ−タによって指定
される。なお走行中における渦巻き走行への移行は、ラ
ンダム走行の最後の折返し動作から予定時間Ｔが経過し
たとき（または予定距離前進したとき）、または際沿い
走行の終了から領域内部へ向かう旋回をし、その後ある
程度直進したところで行なわれる。Referring to FIG. 10, the spiral running process of the present invention will be described. In step S20, the process waits for receiving a spiral processing start instruction from the operation determining unit 18 of the CPU 8. The spiral running of the robot 1 is executed at the start of the operation described with reference to FIG. 6 and subsequently to the random running or the side running, but in any case, the pointer updated in the above-described step S1 is stored in the memory designated by the pointer. Specified by data. It should be noted that the transition to the spiral traveling during traveling is performed when the scheduled time T has elapsed (or when the vehicle has moved forward by a prescribed distance) from the last turning operation of the random traveling, or when the traveling along the side has been completed, the vehicle turns toward the inside of the area, After that, it will take place after going straight to some extent.
【００３９】渦巻き処理開始指示があったならば、ステ
ップＳ２１で前記時間Ｔつまり最後の超信地旋回の後、
渦巻き開始までの直進時間として、例えば２６秒をタイ
マに設定して該タイマを起動する。渦巻き処理開始指示
は最後の、つまりＮ回目の超信地旋回処理開始とほぼ同
時に出力されるので（図１１のステップＳ３３参照）、
ステップＳ２１の時間Ｔには、超信地旋回のための後退
時間と超信地旋回時間（図１１のステップＳ３５参照）
とが含まれている。ステップＳ２２では前記時間Ｔが経
過したか否かを判別し、時間Ｔが経過したならば、ステ
ップＳ２４に進む。時間Ｔが経過するまではステップＳ
２３に進んで処理中止の指示の有無を判断し、時間Ｔが
経過する前に処理中止の指示があった場合は、ステップ
Ｓ２０に戻って待機する。If there is an instruction to start the spiral processing, at step S21 after the time T, that is, after the last turn of the super-spot,
For example, 26 seconds is set in the timer as the straight traveling time until the start of the spiral, and the timer is started. Since the spiral processing start instruction is output almost at the same time as the last, that is, the start of the N-th super turning operation, (see step S33 in FIG. 11),
At the time T of step S21, the retreat time and the super-swirl turning time for the super-swift turning (see step S35 in FIG. 11).
And are included. In step S22, it is determined whether or not the time T has elapsed. If the time T has elapsed, the process proceeds to step S24. Step S until time T elapses
Proceeding to 23, it is determined whether or not there is a processing stop instruction. If there is a processing stop instruction before the time T elapses, the process returns to step S20 and waits.
【００４０】ステップＳ２４では、渦巻きが終了したか
否かを判断する。センサ２６または２５Ｌが境界、壁面
または障害物を検知するか、接触スイッチの検出信号に
基づく停止指示があれば、ステップＳ２４の判断は肯定
となる。なお本実施形態では、ロボット１が壁面から１
０〜２０cm以内にまで近付いたときに壁面を検知して渦
巻き走行を終了することにしたが、この数値は、作業の
種類と要求にしたがってセンサの感知限度を選択調整す
ることによって適当に設定することができる。ステップ
Ｓ２４の判断が肯定となればステップＳ２９で停止指示
をして処理を終了するが、否定のときはステップＳ２５
に進む。ステップＳ２５では、渦巻きの大きさをすなわ
ち旋回半径を定するための左右車輪３，４の速度を計算
し、セットする。セットされた左右の車輪３，４の速度
に従って、左右モータ１４，１５に回転速度の指示が与
えられ、渦巻き走行が実行される。In step S24, it is determined whether or not the spiral has ended. If the sensor 26 or 25L detects a boundary, a wall surface, or an obstacle, or if there is a stop instruction based on the detection signal of the contact switch, the determination in step S24 becomes positive. In the present embodiment, the robot 1 moves 1
When approaching within 0 to 20 cm, the wall is detected and the spiral running is terminated, but this value is appropriately set by selectively adjusting the sensor limit according to the type of work and requirements. be able to. If the determination in step S24 is affirmative, a stop instruction is issued in step S29, and the process is terminated.
Proceed to. In step S25, the size of the spiral, that is, the speed of the left and right wheels 3 and 4 for determining the turning radius is calculated and set. In accordance with the set speeds of the left and right wheels 3 and 4, an instruction of the rotational speed is given to the left and right motors 14 and 15, and the spiral running is performed.
【００４１】ステップＳ２６では渦巻きが滑らかに拡大
するように前記各車輪３，４の速度の更新時間ｔを計算
し、その時間ｔをタイマに設定して該タイマを起動す
る。ステップＳ２７では前記時間ｔが経過したか否かを
判断し、時間ｔが経過したならばステップＳ２４に進
む。ステップＳ２８では処理中止指示の有無を監視し、
中止の指示がない場合は前記時間ｔが経過するまでステ
ップＳ２７，Ｓ２８を繰り返す。一方、中止の指示があ
ったときはステップＳ２９で走行停止を指示する。In step S26, the update time t of the speed of each of the wheels 3 and 4 is calculated so that the spiral smoothly expands, and the time t is set as a timer to start the timer. In step S27, it is determined whether or not the time t has elapsed. If the time t has elapsed, the process proceeds to step S24. In step S28, the presence or absence of a processing stop instruction is monitored,
If there is no stop instruction, steps S27 and S28 are repeated until the time t elapses. On the other hand, if there is an instruction to stop, an instruction to stop running is issued in step S29.
【００４２】図９に戻り、ステップＳ３で、現在実行す
べき走行パターンがランダム走行であると判断されたと
きは、ステップＳ８へ進んで、次に行なうべき動作が、
ランダム走行のための後退、前進、超信地旋回のいずれ
であるかを判定する。なお説明は省略しているが、渦巻
き走行からランダム走行へ移行する場合は、通常はまず
後退動作をするのが望ましい。渦巻きが中止されるの
は、ロボットが境界（壁面）Ｂに十分近付いたときであ
り、その位置で直ちに通常の旋回や（超）信地旋回動作
をすると壁面Ｂに突き当たってしまうことが多く、一旦
後退して余裕空間を作った後で、予定角度（超）信地旋
回・前進という手順をとるのが望ましいからである。Returning to FIG. 9, when it is determined in step S3 that the running pattern to be executed at present is a random running, the process proceeds to step S8, and the operation to be performed next is as follows.
It is determined whether the operation is a retreat, a forward movement, or a corner turn for random running. Although description is omitted, it is usually desirable to first perform a retreat operation when shifting from spiral running to random running. The spiral is stopped when the robot is sufficiently close to the boundary (wall surface) B, and if the robot immediately performs a normal turning or (super) pivot turning operation at that position, it often hits the wall B, This is because it is desirable to take the procedure of turning the vehicle forward and going forward at a predetermined angle (super) pivot after moving backward and creating a margin space.
【００４３】ステップＳ８で選定された次の動作が「後
退」のときは、ステップＳ９に進んで現在後退している
か否かを判断する。渦巻きや際沿い走行を中止した直後
は後退していないので、この判断は否定となり、ステッ
プＳ１０に進んで瞬時（２０〜３０ｍｓ）停止した後、
ステップＳ１１に進む。ステップＳ９の判断が肯定の場
合は、ステップＳ１０はスキップしてステップＳ１１に
進む。ステップＳ１１では後退処理開始要求をする。後
退処理については後述する（図１２参照）。ステップＳ
１１での後退処理要求に応答して後退処理が開始される
と、ステップＳ９の判定が肯定となるのでステップＳ１
０はスキップされ、後退動作が続行される。If the next operation selected in step S8 is "retreat", the flow advances to step S9 to determine whether the vehicle is currently retreating. Immediately after stopping the swirl or running along the side, the vehicle does not retreat, so this determination is negative, and the process proceeds to step S10 and stops instantaneously (20 to 30 ms).
Proceed to step S11. If the determination in step S9 is affirmative, step S10 is skipped and the process proceeds to step S11. In step S11, a request for starting the retreat processing is made. The retreat processing will be described later (see FIG. 12). Step S
When the retreat process is started in response to the retreat process request in step S11, the determination in step S9 becomes affirmative.
0 is skipped and the retreat operation is continued.
【００４４】またステップＳ８で超信地旋回の判断がさ
れたならばステップＳ１２に進む。ステップＳ１２では
現在超信地旋回が行われているか否かを判断する。最初
は判断が否定となり、ステップＳ１３に進んで瞬時（２
０〜３０ｍｓ）停止する。ステップＳ１４では超信地旋
回処理の開始要求が発せられる。その後の処理サイクル
ではステップＳ１２の判断が肯定となり、ステップＳ１
５に進んで脱出モード処理を行う。ロボット１が領域の
隅部にはまってしまうと、通常の後退と超信地旋回のみ
では隅部から抜け出せない状態が生じることに鑑み、超
信地旋回時にはこの脱出モード処理を行う。脱出モード
処理は本発明の要部ではないので、詳細の説明は省略す
るが、特願平９−４２８７９号の詳細説明を援用し、こ
こに統合する。If it is determined in step S8 that a turning operation is performed, the process proceeds to step S12. In step S12, it is determined whether or not the current pivot turn is being performed. Initially, the determination is negative, the process proceeds to step S13, and the instant (2
(0-30 ms) Stop. In step S14, a request to start the super turning operation is issued. In the subsequent processing cycle, the determination in step S12 is affirmative, and step S1
The process proceeds to step 5 to perform an escape mode process. When the robot 1 gets into the corner of the area, a state occurs in which the robot 1 cannot escape from the corner only by the ordinary retreat and the turning of the super base, so that the escape mode processing is performed at the time of the turning of the base. Since the escape mode processing is not a main part of the present invention, a detailed description thereof will be omitted, but the detailed description of Japanese Patent Application No. 9-42879 is referred to and integrated here.
【００４５】超信地旋回によって予定角度（１例として
１３５°）の旋回を完了すると、次の処理サイクルにお
けるステップＳ８の判断は「前進」になる。これにより
処理はステップＳ１６に進み、現在前進中か否かが判断
される。最初はステップＳ１７に進んで瞬時（２０〜３
０ｍ秒）停止した後、ステップＳ１８のハンチング防止
処理を経てステップＳ１９に進み、前進処理開始要求が
発せられる。この前進処理開始要求に従ってロボット１
は前進し、前方センサ２６または側方センサ２５Ｌによ
って壁面の存在が検知されたときは、これに従って次に
行なうべき動作（際沿いまたはランダム走行）モードが
決定される。前記ハンチング防止処理は本発明の要部で
はないので、詳細の説明は省略するが、念のため特願平
９−４２８７８号の詳細説明を援用し、ここに統合す
る。When the turning at the predetermined angle (for example, 135 °) is completed by the turning of the swivel, the determination in step S8 in the next processing cycle is “forward”. Accordingly, the process proceeds to step S16, and it is determined whether the vehicle is currently moving forward. At first, the process proceeds to step S17 and instantaneously (20 to 3
(0 ms) After stopping, the process proceeds to step S19 via the hunting prevention process in step S18, and a forward process start request is issued. According to the request for starting the forward processing, the robot 1
Moves forward, and when the presence of the wall surface is detected by the front sensor 26 or the side sensor 25L, an operation (border running or random running) mode to be performed next is determined in accordance with the detection. Since the hunting prevention processing is not a main part of the present invention, a detailed description thereof will be omitted. However, the detailed description of Japanese Patent Application No. 9-42878 is incorporated here for the sake of precaution, and is integrated here.
【００４６】図１１の超信地旋回処理においては、ステ
ップＳ３０で処理開始指示を待つ。ステップＳ３１では
超信地旋回回数（以下、単に「超信地回数」という）ｎ
をインクリメント（＋１）する。ステップＳ３２では超
信地回数ｎが予定の折返し回数Ｎに達したか否かを判別
する。超信地回数ｎの初期値は「０」に設定してあるの
で、最初のルーチンでは超信地回数ｎは「１」であり、
該ステップＳ３２の判断は否定となり、ステップＳ３４
をスキップしてステップＳ３５にジャンプする。ステッ
プＳ３５では旋回時間を算出する。明らかなように、旋
回時間でロボットの旋回角度が決定されるので、この実
施態様ではファインチューニングランダム走行のための
旋回角度１３５°に対応する時間を算出する。旋回時間
を計算したならば、ステップＳ３６に進んで、右車輪３
および左車輪４が互いに逆転するように指示をする。こ
こで、右車輪３および左車輪４を正回転および逆回転の
いずれにするかは、センサ出力に依存する「旋回方向」
で決定される。前述のように、旋回方向は本体の左右ど
ちら側のセンサが先に壁などの障害物を検知したかによ
って、障害物を先に検出したセンサとは反対側へ旋回す
るように設定される。In the super turning operation shown in FIG. 11, a process start instruction is waited for in step S30. In step S31, the number of times of super-spot turns (hereinafter, simply referred to as "number of super-spots") n
Is incremented (+1). In step S32, it is determined whether or not the number n of times of super-return reaches the number N of times of return. Since the initial value of the number of times of superposition n is set to “0”, the number of times of superposition n is “1” in the first routine,
The determination in step S32 is negative, and step S34
And jumps to step S35. In step S35, the turning time is calculated. As is apparent, since the turning angle of the robot is determined by the turning time, in this embodiment, the time corresponding to the turning angle of 135 ° for the fine tuning random running is calculated. After the turning time is calculated, the process proceeds to step S36, where the right wheel 3
And instruct the left wheel 4 to reverse. Here, whether the right wheel 3 and the left wheel 4 are rotated forward or backward depends on the “turning direction” depending on the sensor output.
Is determined. As described above, the turning direction is set so as to turn to the opposite side to the sensor that first detected the obstacle, depending on which of the left and right sensors of the main body detected the obstacle such as a wall first.
【００４７】ステップＳ３７では、中止指示の有無を判
定し、中止が指示されたときはステップＳ３０に戻る。
中止指示がないときは、ステップＳ３８へ進んで超信地
旋回終了か否かを判断する。超信地旋回が終了すると、
ステップＳ３９に進んで、左右の車輪３，４に正回転の
指示を与え、基本走行モードである直進走行に戻す。In the step S37, it is determined whether or not there is a stop instruction. When the stop is instructed, the process returns to the step S30.
When there is no stop instruction, the process proceeds to step S38, and it is determined whether or not the super-revolution is completed. When the super pivot turns,
Proceeding to step S39, an instruction for forward rotation is given to the left and right wheels 3 and 4, and the vehicle returns to the straight running as the basic running mode.
【００４８】超信地回数ｎが予定の折返し回数Ｎに達し
たならば、ステップＳ３２からステップＳ３３に進み、
渦巻き処理（または、進行モードポインタで決まる他の
走行処理）開始の指示をする。そして、ステップＳ３４
では超信地旋回をするか否かの判断に用いた超信地回数
ｎをクリアにする。続いて、ステップＳ３５〜Ｓ３９で
超信地旋回の処理を終えて、次回の超信地旋回の処理開
始指示を待つ。If the number of times of superposition n reaches the number of times of return N, the process proceeds from step S32 to step S33,
An instruction to start a spiral process (or another running process determined by the progress mode pointer) is issued. Then, step S34
Then, clear the number n of the super-potentials used for determining whether or not to turn the super-posts. Subsequently, in steps S35 to S39, the processing of the pivot turn is completed, and the next processing start instruction of the pivot turn is awaited.
【００４９】図１２の後退処理において、ステップＳ５
０では処理開始指示を待つ。ステップＳ５１では右車輪
３および左車輪４を逆転させる指示をする。ステップＳ
５２では、中止指示があったかどうかを判断し、中止が
指示されたときはステップＳ５０へ戻る。中止指示がな
いときは、ステップＳ５３へ進んで予定の後退時間が経
過したか否かを判断し、後退が終了するとステップＳ５
４に進み、左右両車輪３，４に正回転の指示を与える。In the retreat processing of FIG. 12, step S5
If it is 0, it waits for a processing start instruction. In step S51, an instruction to reverse the right wheel 3 and the left wheel 4 is issued. Step S
At 52, it is determined whether or not a stop instruction has been issued, and if the stop has been instructed, the process returns to step S50. If there is no stop instruction, the process proceeds to step S53 to determine whether or not the scheduled retreat time has elapsed.
Proceed to 4 to give an instruction for forward rotation to both left and right wheels 3 and 4.
【００５０】本発明を適用した場合の、作業時間の経過
に伴なう塗り潰し面積の増加状況を、シミュレーション
した結果の１例を次に示す。図１３は作業対象領域およ
び領域内の障害物位置を示す平面図であり、図中のハッ
チングを付した部分はロボットが立ち入れない障害物で
ある。また図１４、１５は本発明の１実施態様による作
業効率を他のランダム走行モード、渦巻き走行モードの
場合と対比して示すシミュレーション結果のグラフであ
る。これらの例における作業対象領域の面積は、図１４
の例では５７ｍ2、図１５の例では３５ｍ2である。ロボ
ットの大きさは直径２０cmの円形で代表し、走行速度は
２０cm／秒とした。また走行モードの組合せ順序は「渦
巻き−ランダム−際沿い−ランダム」走行の繰り返しで
ある。これらの図から分かるように、本発明にしたがっ
てランダムおよび渦巻き走行にさらに際沿い走行を組合
せた制御では、塗り潰し目標を８０％にした場合も、１
００％にした場合も共に、その他のランダム走行や渦巻
き走行制御に比べて大幅な時間短縮が実現されている。
なお、本発明以外の走行制御では、１００％の塗り潰し
は事実上不可能であることが分かる。The following is an example of the result of a simulation of an increase in the filled area with the lapse of work time when the present invention is applied. FIG. 13 is a plan view showing the work target area and the position of obstacles in the area. The hatched parts in the figure are obstacles that the robot cannot enter. FIGS. 14 and 15 are graphs of simulation results showing the working efficiency according to one embodiment of the present invention in comparison with the other random running modes and the spiral running mode. The area of the work target area in these examples is shown in FIG.
In the example of FIG. 15, it is 57 m 2 , and in the example of FIG. 15, it is 35 m 2 . The size of the robot was represented by a circle having a diameter of 20 cm, and the traveling speed was 20 cm / sec. The combination order of the running modes is a repetition of "swirl-random-side-by-random" running. As can be seen from these figures, the control according to the present invention that combines the random and spiral running with the side running further has the same effect even when the filling target is set to 80%.
In both cases, the time is significantly reduced as compared with other random running and spiral running controls.
In addition, it can be seen that 100% painting is practically impossible with running control other than the present invention.
【００５１】[0051]
【発明の効果】本発明によれば、次のような効果が期待
できる。予め設定した走行経路情報に従って自己位置を
検出しつつ精度良く移動体の操向制御をするのと異な
り、走行領域内で際沿い、渦巻き走行や旋回・直進等の
定型的な走行をさせるだけで、領域内をほぼ網羅的に走
行させることができる。According to the present invention, the following effects can be expected. Unlike performing precise steering control of a moving object while detecting its own position in accordance with preset traveling route information, it is only necessary to perform a standard traveling such as spiral traveling or turning / straight running alongside the traveling area. , The vehicle can travel almost comprehensively in the area.
【００５２】シミュレーションの結果に基づき、領域を
効率良く網羅的に走行させるための最適の条件に基づい
てロボットを走行させることができる。また、ロボット
の前方および側方にそれぞれ設けられた近接センサによ
る検出結果と、予め設定された走行モードの組合せのみ
に基づいて、実行すべき走行モードおよび走行パラメー
タが決定されるので、制御が簡素化され、大変安価なも
のになる。Based on the result of the simulation, the robot can be driven based on the optimum conditions for efficiently and comprehensively running the area. Further, the running mode and the running parameters to be executed are determined based only on the combination of the detection results obtained by the proximity sensors provided in front and side of the robot and the running mode set in advance, so that the control is simplified. And become very cheap.
【図面の簡単な説明】[Brief description of the drawings]
【図１】本発明の実施形態に係る制御装置のハード構成
を示すブロック図である。FIG. 1 is a block diagram illustrating a hardware configuration of a control device according to an embodiment of the present invention.
【図２】本発明の実施形態に係るロボットの概略平面図
である。FIG. 2 is a schematic plan view of the robot according to the embodiment of the present invention.
【図３】本発明の実施形態に係るロボットの概略側面図
である。FIG. 3 is a schematic side view of the robot according to the embodiment of the present invention.
【図４】本発明の実施形態による際沿い走行処理のフロ
ーチャートである。FIG. 4 is a flowchart of a roadside running process according to an embodiment of the present invention.
【図５】本発明によるロボットの基本的走行パターンで
あるランダム走行パターンを示す模式図である。FIG. 5 is a schematic diagram showing a random running pattern which is a basic running pattern of the robot according to the present invention.
【図６】ランダム／渦巻き走行パターンを示す模式図で
ある。FIG. 6 is a schematic diagram showing a random / spiral running pattern.
【図７】近接センサ入力処理のフローチャートである。FIG. 7 is a flowchart of a proximity sensor input process.
【図８】接触センサ入力処理のフローチャートである。FIG. 8 is a flowchart of a contact sensor input process.
【図９】本発明の実施形態による走行制御処理のゼネラ
ルフローチャートである。FIG. 9 is a general flowchart of a traveling control process according to the embodiment of the present invention.
【図１０】本発明の実施形態による渦巻き走行処理を示
すフローチャートである。FIG. 10 is a flowchart showing a spiral running process according to the embodiment of the present invention.
【図１１】本発明の実施形態による超信地旋回処理を示
すフローチャートである。FIG. 11 is a flowchart showing a super-spinning turn processing according to the embodiment of the present invention.
【図１２】本発明の実施形態による後退処理を示すフロ
ーチャートである。FIG. 12 is a flowchart illustrating retreat processing according to the embodiment of the present invention.
【図１３】本発明者らのシュミレーションにおける作業
対象領域および領域内の障害物位置を示す平面図であ
る。FIG. 13 is a plan view showing a work target region and obstacle positions in the region in the simulation of the present inventors.
【図１４】種々の走行パターンによる作業の進み度合と
経過時間との関係を示すシミュレーション結果の１例を
示す図である。FIG. 14 is a diagram illustrating an example of a simulation result showing a relationship between a degree of progress of a work and an elapsed time according to various traveling patterns.
【図１５】種々の走行パターンによる作業の進み度合と
経過時間との関係を示すシミュレーション結果の他の例
を示す図である。FIG. 15 is a diagram showing another example of a simulation result showing the relationship between the degree of work progress and the elapsed time according to various running patterns.
【図１６】本発明者らが先に提案したロボット制御装置
のハード構成を示すブロック図である。FIG. 16 is a block diagram showing a hardware configuration of a robot control device proposed by the present inventors previously.
【図１７】本発明者らが先に提案したロボット制御装置
における動作判断処理系の概要を示す模式図である。FIG. 17 is a schematic diagram showing an outline of an operation determination processing system in a robot control device proposed by the inventors previously.
【図１８】本発明者らが先に提案したロボットの渦巻き
／ランダム走行の作業効率を他の走行モードと対比して
示すグラフである。FIG. 18 is a graph showing the efficiency of spiral / random traveling of a robot proposed by the present inventors in comparison with other traveling modes.
１…ロボット、 ３…右車輪、 ４…左車輪、 ２５、
２６…センサ、 ７…制御装置、 １８…動作判断部、
２０…選択部1 ... robot, 3 ... right wheel, 4 ... left wheel, 25,
26: sensor, 7: control device, 18: operation determination unit,
20 ... Selection section
Claims (15)
し、可及的網羅的に前記走行予定領域を塗り潰すように
走行する自走ロボットの制御方法であって、 前記領域内の任意の位置から旋回走行を開始して、前記
センサによって前記境界が検出されるまでは、その旋回
半径を徐々に大きくする渦巻き走行と、 前記境界に沿って走行する際沿い走行とを交互に行わせ
ることを特徴とする自走ロボットの制御方法。1. A control method for a self-propelled robot having a sensor for detecting a boundary of a planned traveling region and traveling so as to fill the planned traveling region as comprehensively as possible, wherein: Until the boundary is detected by the sensor, a spiral running in which the turning radius is gradually increased, and a running along the boundary when running along the boundary are alternately performed. A method for controlling a self-propelled robot.
記渦巻き走行を中止して際沿い走行に移行させることを
特徴とする請求項１に記載の自走ロボットの制御方法。2. The control method for a self-propelled robot according to claim 1, wherein when a boundary is detected during the spiral running, the spiral running is stopped and the running is shifted to a side running.
検出された時は前記渦巻き走行を中止し、境界検出に応
答した予定角度の旋回およびこれに続く予定距離の前進
を含むランダム走行を予定回数繰り返した後に、旋回走
行を行なうことを特徴とする請求項１に記載の自走ロボ
ットの制御方法。3. When a boundary is detected by the sensor during the spiral running, the spiral running is stopped, and a random number of turns including a turn at a predetermined angle in response to the boundary detection and a subsequent advance of a predetermined distance is performed. The control method for a self-propelled robot according to claim 1, wherein the turning traveling is performed after the repetition.
停止し、予定角度の旋回および境界を再度検出するまで
の前進をＮ回（Ｎは任意の整数）繰り返し、最後に検出
された境界に沿った際沿い走行を行なうことを特徴とす
る請求項１に記載の自走ロボットの制御方法。4. When a boundary is detected during the spiral running, the vehicle stops once, repeatedly turns at a predetermined angle and moves forward until the boundary is detected again N times (N is an arbitrary integer), and is finally detected. The method according to claim 1, wherein the vehicle travels along a boundary.
予定距離の後退を実行することを特徴とする請求項３ま
たは４に記載の自走ロボットの制御方法。5. The method according to claim 1, wherein the turning is performed when a boundary is detected.
The method of controlling a self-propelled robot according to claim 3, wherein retreating of a predetermined distance is performed.
行されることを特徴とする請求項１ないし５のいずれか
に記載の自走ロボットの制御方法。6. The control method for a self-propelled robot according to claim 1, wherein a spiral running mode is executed at the start of running.
し、可及的網羅的に前記走行予定領域を塗り潰すように
走行する自走ロボットの制御方法であって、 前記領域内のある位置から旋回走行を開始して、前記セ
ンサによって前記境界が検出されるまでは、その旋回半
径を徐々に大きくする渦巻き走行モードと、前記境界に
沿って予定時間走行する際沿い走行モードと、 前記センサによって境界が検出された時は前記ロボット
の走行を中止し、境界検出に応答した予定角度の旋回お
よびこれに続く予定距離の前進を予定回数行なうランダ
ム走行モードとを有し、 前記３モードのいずれか１つを選択して順次実行し、そ
の際、ランダム走行の前および後には、渦巻き走行モー
ドおよび際沿い走行モードの少なくとも１つを実行させ
ることを特徴とする自走ロボットの制御方法。7. A method for controlling a self-propelled robot which has a sensor for detecting a boundary of a planned traveling area and travels so as to fill the planned traveling area as comprehensively as possible, wherein: Starting the turning traveling from the position, until the boundary is detected by the sensor, a spiral traveling mode in which the turning radius is gradually increased, and a traveling mode along traveling the predetermined time along the boundary, When the boundary is detected by the sensor, the traveling of the robot is stopped, and a random traveling mode in which a predetermined angle of turning in response to the boundary detection and a subsequent predetermined distance of forward movement are performed a predetermined number of times is provided. One of them is selected and executed sequentially. At this time, at least one of the spiral running mode and the side running mode is executed before and after the random running. Method of controlling a self-propelled robot to be.
行されることを特徴とする請求項７に記載の自走ロボッ
トの制御方法。8. The control method for a self-propelled robot according to claim 7, wherein a spiral running mode is executed at the start of running.
行を行なう順序が、走行開始前に予め設定されることを
特徴とする請求項１ないし７のいずれかに記載の自走ロ
ボットの制御方法。9. The control method for a self-propelled robot according to claim 1, wherein an order of performing the spiral running, the side running, and the random running is set before starting the running.
ード、際沿い走行モード、およびランダム走行モード
を、この順に繰り返し実行させることを特徴とする請求
項８または９に記載の自走ロボットの制御方法。10. The control method for a self-propelled robot according to claim 8, wherein the spiral running mode, the random running mode, the side running mode, and the random running mode are repeatedly executed in this order.
配置された境界検出信号に基づいて、前記境界が検出さ
れたときは直進し、前記境界が検出されないときは境界
に近付くように旋回させ、一方境界に接触または近付き
過ぎたときは境界から離れるように旋回させることを特
徴とする請求項１ないし１０のいずれかに記載の自走ロ
ボットの制御方法。11. In running alongside, based on a boundary detection signal arranged on the side of the robot body, when the boundary is detected, the vehicle goes straight, and when the boundary is not detected, turns so as to approach the boundary. The control method for a self-propelled robot according to any one of claims 1 to 10, wherein the robot is turned so as to move away from the boundary when the vehicle contacts or approaches the boundary too much.
１３５°であることを特徴とする請求項３ないし１１の
いずれかに記載の自走ロボットの制御方法。12. The control method for a self-propelled robot according to claim 3, wherein an angle of the turning is substantially 135 ° with respect to a traveling direction.
予め決められていることを特徴とする請求項３ないし１
２のいずれかに記載の自走ロボットの制御方法。13. The driving method according to claim 3, wherein the continuation time of each of the roadside runs is predetermined.
3. The method for controlling a self-propelled robot according to any one of 2.
り潰すように走行する自走ロボットの制御装置であっ
て、 ロボット本体の少なくとも前方および１方の側方に配置
されており、前記ロボットが前記走行予定領域の境界か
らそれぞれ予定された距離以内に近付いたことを検出し
て近接出力を発生する複数のセンサと、 ロボット本体の周縁に配置されて、前記ロボットが前記
走行予定領域の境界と接触したときに接触出力を発生す
るセンサと、 ランダム走行、渦巻き走行および際沿い走行モードの中
から、ロボットが実行すべき走行モードを順次に選択設
定する実行モード設定手段と、 選択設定された走行モードにしたがってロボットの走行
を制御する制御手段とを具備したことを特徴とする自走
ロボットの制御装置。14. A control device for a self-propelled robot that travels so as to cover a planned traveling area as comprehensively as possible, and is disposed at least in front of and one side of a robot body. A plurality of sensors for detecting that the robot has approached within a predetermined distance from the boundary of the planned traveling area and generating a proximity output; and A sensor for generating a contact output when the robot comes into contact with the boundary of the robot, an execution mode setting means for sequentially selecting and setting a running mode to be executed by the robot from among a random running mode, a spiral running mode, and a side running mode; Control means for controlling the running of the robot in accordance with the set running mode.
順次に実行すべき走行モードを予め記憶する手段と、走
行モードの進行に応答して次に実行すべき走行モードを
前記記憶手段から読み出す手段とを具備し、前記制御手
段は読出された走行モードにしたがってロボットの走行
を制御する請求項１４に記載の自走ロボットの制御装
置。15. The running mode setting means includes means for storing in advance running modes to be sequentially executed by the robot, and means for reading out the running mode to be executed next in response to the progress of the running mode from the storage means. 15. The control device for a self-propelled robot according to claim 14, wherein the control unit controls the travel of the robot in accordance with the read travel mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP02375398A JP3479212B2 (en) | 1998-01-21 | 1998-01-21 | Control method and device for self-propelled robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP02375398A JP3479212B2 (en) | 1998-01-21 | 1998-01-21 | Control method and device for self-propelled robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH11212642A true JPH11212642A (en) | 1999-08-06 |
| JP3479212B2 JP3479212B2 (en) | 2003-12-15 |
Family
ID=12119092
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP02375398A Expired - Fee Related JP3479212B2 (en) | 1998-01-21 | 1998-01-21 | Control method and device for self-propelled robot |
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| JP (1) | JP3479212B2 (en) |
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