JP2001092546A - Control device for self-propelled robot - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To provide a control device having a function capable of easily performing a smooth control of a traveling robot with one joystick. A self-propelled robot having a joystick 11 supported swingably and having left and right drive wheels driven and controlled according to an operation signal from an operation box corresponding to a tilt direction and a tilt angle of the joystick 11. And a forward position F, a right front turning area FR, a left front turning area FL, a right spin position RS, and a right spin where the left and right driving wheels are driven to stop and rotate in the forward and backward directions according to a control law corresponding to the tilt direction of the joystick 11. Attenuation region RSa, left spin position LS, left spin attenuation region LSa,
The vehicle has respective operation sections such as a reverse position R, a right rear turning area RR, a left rear turning area RL, and a stop area N, and the rotational speed of the drive wheel is controlled in accordance with the inclination angle of the joystick 11. Therefore, smooth operation of the self-propelled robot can be easily performed by tilting one joystick 11.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a control device for a self-propelled robot, and more particularly to a control device for a self-propelled robot operated by tilting a joystick.

[0002]

2. Description of the Related Art For example, a self-propelled robot such as a cleaning robot has left and right driving wheels and a free caster, and travels on a floor or the like by rotating the driving wheels.
The self-propelled robot is provided with a control unit having a CPU and the like for controlling the overall operation. A receiver is connected to the control unit, and the left and right drive wheels are rotated according to a control rule preset in the control unit. Left and right motors for driving are connected.

The self-propelled robot is controlled by an operation signal from an operation box. The operation box is provided with two joysticks corresponding to left and right driving wheels, respectively. Each corresponding drive wheel is maintained in a stopped state. When each joystick is tilted forward from the standing position, the rotational speed of the corresponding drive wheel in the forward direction increases as the tilt angle increases, and the corresponding drive wheel in the reverse direction increases as the tilt angle tilts backward. The rotation speed is set to increase.

[0004] That is, the operator grips the left and right joysticks with the left and right hands, respectively, and tilts both joysticks forward, whereby the left and right drive wheels are driven to rotate forward, and the traveling robot moves forward. At the same time, the rotational speed of the left and right drive wheels is given a difference due to the difference between the inclination angles of the left and right joysticks when the joystick is tilted forward, and the vehicle turns right or left while moving forward. Similarly, when the left and right joysticks are both tilted rearward, the traveling robot moves backward, and also turns while traveling backward by the difference in the inclination angle when the left and right joysticks are tilted backward.

Further, by tilting one joystick forward and simultaneously tilting the other joystick backward, the left and right drive wheels are driven to rotate in opposite directions, and the traveling robot spins, that is, rotates at that position. Can be

The cleaning robot has an automatic cleaning function having a cleaning brush or the like for cleaning the floor.

[0007]

According to the operation of the traveling robot by the two joysticks, the traveling robot is moved forward, backward, turned to the right and left, and spins by tilting each joystick corresponding to the left and right driving wheels. Can be performed by remote control from the operation box.

However, the forward, backward and speed of the joysticks are adjusted by forward and backward movement of each joystick.
By adjusting the rotation speed difference between the left and right drive wheels due to the difference in the tilt angle of the left and right joysticks to adjust the turning speed and turning radius, the operator can balance the left and right joysticks smoothly and smoothly. Is forced. The smooth and balanced operation of the joystick with both hands of the operator requires skill of the operator and meticulous operation of the operator.

Accordingly, an object of the present invention, which has been made in view of the above points, is to provide a self-propelled robot operating device capable of easily performing a smooth operation of a traveling robot.

[0010]

According to a first aspect of the present invention, there is provided a control device for a self-propelled robot, wherein the left and right drive wheels are driven by an operation signal accompanying a tilt of a joystick provided in an operation box. An operation box having a joystick whose base end is swingably supported so as to obtain an arbitrary tilting direction and tilt angle in a self-propelled robot steering device that controls the rotation drive to move forward and backward and turns, A self-propelled robot having left and right drive wheels driven and controlled according to operation signals from an operation box corresponding to the tilt direction and the tilt angle of the joystick, and a plurality of the left and right drive wheels depending on the tilt direction of the joystick. A plurality of motion sections in which the rotation ratio and the rotation direction of the joystick are determined, and the inclination angle of the joystick is Response to the rotational speed of the left or right of the drive wheel is being controlled.

According to the first aspect of the present invention, the rotation and rotation speed of the left and right drive wheels are controlled in a balanced manner in accordance with the control law by tilting one joystick in accordance with the operation category, and the joystick is tilted. Since the rotation speed of the drive wheels is controlled by the inclination angle, forward and backward movement and turning, particularly turning with a continuous change in turning radius, are performed smoothly, and the burden on the operator is greatly reduced.

According to a second aspect of the present invention, in the control device for a self-propelled robot according to the first aspect, the operation section rotationally drives the left and right drive wheels in the forward direction at the same rotational speed by tilting the joystick. A forward position, and a reverse position in which the left and right drive wheels are driven to rotate in the reverse direction at the same rotational speed by tilting the joystick in a direction away from the forward position, and are continuously arranged on one side of the forward position. The right and left driving wheels are provided with a rotational speed difference by tilting the joystick to make a right turn by forward movement, and are arranged continuously on the other side of the forward position, and the left and right driving wheels are tilted by the joystick. A left front turning area in which a wheel is turned left by forward movement by imparting a rotational speed difference to the wheel, and arranged continuously on one side of the reverse position,
A right rear turning area in which the right and left driving wheels are turned rightward by reversing by imparting a rotational speed difference to the left and right driving wheels by tilting the joystick, and the right and left driving by tilting the joystick are continuously arranged on the other side of the reverse position. And a left rear turning region in which a rotation speed difference is given to the wheel to make a left turn by reverse.

According to a second aspect of the present invention, the operation section according to the first aspect is more specifically described. The self-propelled robot moves forward linearly by tilting the joystick, A reverse position where the vehicle moves backward, a front right turning region where the vehicle turns right while moving forward, a front left turning region where the vehicle turns left while moving forward, and a right rear turning region where the vehicle turns right while moving backward.
A left rear turning area that turns left while moving backward can be selected, and left and right front turning areas that turn while moving forward are continuously arranged at the forward position, and left and right rear turning areas that turn while moving backward are each continuous with the reverse position. Due to the arrangement, the related forward and forward turning and the backward and backward turning can be continuously and easily performed without a sense of incongruity.

According to a third aspect of the present invention, in the steering device for a self-propelled robot according to the second aspect, the right front turning area includes:
As the tilting direction of the joystick shifts from the forward position, the ratio of the rotation speed of the right driving wheel to the rotation speed of the left driving wheel is gradually reduced from the constant speed of the left and right driving wheels. As the tilt direction of the vehicle shifts from the forward position, the ratio of the rotation speed of the left driving wheel to the rotation speed of the right driving wheel is gradually decreased from the constant speed of the left and right driving wheels, and the right rear turning area is controlled by the joystick. As the tilting direction shifts from the reverse position, the ratio of the rotation speed of the right driving wheel to the rotation speed of the left driving wheel is gradually reduced from the constant speed of the left and right driving wheels, and the left rear turning area is tilted by the joystick. As the direction shifts from the reverse position, the left and right drive wheels gradually change from a constant speed to the left drive relative to the rotational speed of the right drive wheel. Wherein the ratio of the rotational speed of the wheels is controlled to decrease.

According to the third aspect of the present invention, it is possible to smoothly shift from the forward position to the right front turning area and the left front turning area, and the turning radius is gradually reduced as the joystick moves away from the forward position. Since the vehicle can smoothly transition to the turning area and the rear left turning area, and the turning radius is gradually reduced as the joystick moves away from the reverse position, smooth running without a sense of incongruity is provided.

According to a fourth aspect of the present invention, in the operating device for a self-propelled robot according to the third aspect, the left driving wheel is moved rightward in the forward direction by tilting the joystick to the position continuously to the right front turning area. The right drive wheel rotates at a constant speed in the reverse direction and spins to the right, and the right drive wheel is moved forward by the tilt of the joystick to this position. A left spin position for rotating at a constant speed in the reverse direction and spinning to the left.

According to the fourth aspect of the invention, the right spin position continuously rotating in the same direction is arranged in the right front turning area, and the left spin position rotating continuously in the same direction in the left front turning area is arranged. Therefore, it is possible to smoothly transition from the right front turn to the right spin and from the left front turn to the left spin continuously and smoothly.

According to a fifth aspect of the present invention, in the control device for a self-propelled robot according to the fourth aspect, the right front turning area and the right rear turning area, and the left front turning area and the left rear turning area include a forward position and a reverse position. A stop area where the left and right driving wheels stop regardless of the tilt of the joystick to the position between the right spin position and the right rear turning area, and the left spin position and the left rear turning Between the area
And a stop area where the left and right drive wheels stop regardless of the inclination of the joystick to the position.

According to the fifth aspect of the invention, the right spin position and the right rear turning region and the left spin position and the left rear turning region having different rotation directions are clearly defined by the stop region.
It is avoided that the operation segments of different keynotes are continuously performed, so that the steering is performed without a sense of incompatibility.

According to a sixth aspect of the present invention, in the control device for a self-propelled robot according to any of the first to fifth aspects, a joystick command for judging the joystick to move forward or backward according to a tilting direction of a forward position. It is characterized by having regulating means.

According to the sixth aspect of the present invention, the straight running of the self-propelled robot can be controlled in two directions, forward and backward, regardless of the tilt area of the joystick. Is prevented, and forward and reverse traveling in a stable state is provided.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a self-propelled robot operating apparatus according to the present invention will be described below with reference to FIGS. 1 to 6 by taking a case where the self-propelled robot is a cleaning robot as an example.

FIG. 1 is a plan view schematically showing the cleaning robot 1. As shown in FIG. The cleaning robot 1 has left and right driving wheels 2a, 2b and free casters 3a, 3b, and runs on the floor surface by rotational driving of the driving wheels 2a, 2b.
A receiver 4 is provided for exchanging signals with the control box 10.

FIG. 2 is a block diagram showing a circuit configuration of a main part of the cleaning robot 1. As shown in FIG. The cleaning robot 1 is provided with a control unit 5 having a CPU and the like for controlling the entire operation. The control unit 5 is connected to the receiver 4 and is connected to left and right driving wheels via left and right drivers 6a and 6b. Left and right motors 7a, 7b for rotating and driving the 2a, 2b are connected.

The cleaning robot 1 is provided with an automatic cleaning function having a cleaning brush for cleaning the floor surface and the like in addition to the above.
It is described in Japanese Patent Application Laid-Open No. 60905 and Japanese Patent Application Laid-Open No. 9-206258, and the description is omitted here.

On the other hand, the control box 10 has a single joystick 11, a tilt angle with the base end 0 of the joystick 11 tilted about a swing center, and a tilt direction in a plan view to enable one-handed operation. A detection value detected by the position detection means is transmitted to the receiver 4 as an operation signal via the left and right drivers 6a and 6b in accordance with a control rule by the control unit 5 based on the operation signal. The left and right driving wheels 2a, 2b are rotationally driven by the left and right motors 7a, 7b.

The drive wheels 2a, 2a for performing these operations
The speed data b is associated with the coordinates in the coordinate data table of the point Q when the point P at the vertex of the joystick 11 is projected on a plane as shown in FIG.

The running speed is controlled to increase as the tilt angle when the joystick 11 is tilted, that is, the tilt amount increases. Further, the cleaning robot 1 moves forward and rightward while moving forward in accordance with the tilt direction of the joystick 11 about the swing center O of the joystick 11, that is, the tilt direction (operation angle) of the joystick 11 in a plan view state. Alternatively, a left turn, a reverse turn, a right turn or a left turn while moving backward, a right or left spin, and the like are performed.

These operations will be described in detail with reference to FIGS. FIG. 4 shows a cleaning robot 1 according to a change in the operation angle of a joystick 11 provided in a control box 10.
FIG. 5 is an explanatory diagram showing the rotational drive state of the left and right drive wheels 2a, 2b according to the operation angle of the joystick 11, and FIG. 6 is a graph showing the maximum speed of the left and right drive wheels 2a, 2b. It is.

Next, description will be given of each operation section arranged according to the operation angle of the joystick 11.

For convenience of description in FIGS. 4 to 6, the position where the operation angle θ from the swing center O of the joystick 11 when the cleaning robot 1 advances is 0 ° is defined as the front of the control box 10, and the position swing center is determined. It is assumed that the operating angle θ increases as the position shifts to the right side in the figure with O as the center, and the operating angle at the time of reverse travel is 180 ° away from the forward position F.

The forward position F is set at a position where the operation angle θ of the joystick 11 is 0 °, and the reverse position R is set at a position where the operation angle θ is 180 °. As the operation angle θ increases from the forward position F, the right front turning region FR continues to one side of the forward position F in order, the right spin position RS continues to the other of the right front turning region FR at a position where the operation angle θ is 90 °, A right spin attenuation region RSa is set in a range where the operation angle θ is 110 ° from the right spin position RS, and a stop region N is set in a range where the operation angle θ is 110 ° to 135 °, and between the stop region N and the reverse position R. A right rear turning region RR is set continuously to one side of the reverse position R.

Similarly, as the operating angle θ decreases from the forward position F, the front left turning area FL continues to the other side of the forward position F in order, and continues to the other of the left front turning area FR at a position where the operating angle θ is 270 °. The left spin position LS, the right spin decay region LS within an operation angle θ of 250 ° from the left spin position LS.
a, a stop region N is set in a range where the operation angle θ is 250 ° to 225 °, and a left rear turning region RL is set between the stop region N and the reverse position R continuously on the other side of the reverse position R. ing.

By tilting the joystick 11 to the forward position F in which the operation angle θ is 0 ° shown in FIGS. 4 and 5, that is, by tilting the joystick 11 forward, the operation from the control box 10 accompanying the increase in the tilt angle is performed. The left and right drive wheels 2a and 2b are driven to rotate in the forward direction at the same rotational speed and are made to linearly advance in accordance with the control rule of the control device 5 based on the signal.

In the front-right turning region FR in which the operation angle θ of the joystick 11 increases from the forward position F, in accordance with the control law of the control device 5 based on the operation signal from the control box 10, the left drive wheel 2a moves in the forward direction. The ratio of the rotation speed in the rightward forward direction to the rotation speed is controlled to decrease, and the cleaning robot 1 turns rightward while moving forward.

The turning of the joystick 11 gradually increases from the same rotational speed as the operating angle θ of the joystick 11 increases, and the rotational speed of the left drive wheel 2a gradually increases from the same rotational speed as the operating angle θ increases. , The ratio of the rotational speed of the right drive wheel 2b is controlled to decrease. As a result, the turning radius is controlled to decrease as the operation angle θ of the joystick 11 increases.

When the operation angle θ is 45 °, the right driving wheel 2
When the rotation of the joystick 11 is further increased and the operation angle θ of the joystick 11 is increased, the right driving wheel 2b is driven to rotate in the reverse direction in accordance with the increase, and the rotation speed is gradually increased. As a result, the left and right drive wheels 2a, 2b are driven in the reverse rotation direction, and a reduction in the turning radius is ensured.

At the position where the operation angle θ of the joystick 11 is 90 ° continuous with the right front turning area FR, that is, at the right spin position RS where the joystick 11 is tilted to the right, the rotational speed of the left drive wheel 2a in the forward direction and the right drive The rotational speed in the backward direction of the wheel 2b is controlled equally, and right spin is performed at that position to rotate rightward.

When the operation angle θ is increased from the right spin position RS, the operation shifts to the right spin decay region RSa.
The rotational speeds of the left and right driving wheels 2a and 2b are gradually reduced as the driving angle increases, and the left and right driving wheels 2a and 2b are stopped at the position where the operation angle θ reaches 110 °.
That is, as the operation angle θ of the joystick 11 increases, the spin speed gradually decreases and stops at 135 °.

The operation angle θ of the joystick 11 is 110
And 135 °, that is, in the stop region N, regardless of the tilt of the joystick 11, the left and right drive wheels 2a
And 2b are both kept stopped.

By tilting the joystick 11 to the reverse position R where the operation angle θ is 180 °, in other words, by tilting the joystick 11 forward, the left and right drive wheels 2a and 2b rotate at the same rotational speed in accordance with the control rule of the control unit 5. , And is driven to rotate in the reverse direction so as to be linearly moved backward.

In the right rear turning region RR in which the operation angle θ of the joystick 11 is reduced from the reverse position F, the rotational speed of the left driving wheel 2b in the right reverse direction is increased with respect to the rotational speed of the left driving wheel 2b in accordance with the control law of the control unit 5. The speed ratio of the rotation speed is controlled to decrease, and the cleaning robot 1 turns rightward while moving backward.

The turning of the joystick 11 gradually decreases from the same rotational speed as the operating angle θ of the joystick 11 decreases, and the rotational speed of the left driving wheel 2a gradually changes from the reverse position R in proportion to the decrease of the operating angle θ. , The turning speed ratio of the right driving wheel 2b is controlled to decrease, and the turning radius is controlled to decrease as the operating angle θ of the joystick 11 decreases, and when the operating angle θ is 135 °, the left and right driving wheels 2b are controlled.
The rotation of a and 2b stops.

Similarly, the operation angle θ of the joystick 11
Is increased from the reverse position F, the speed ratio of the rotational speed in the left reverse direction to the rotational speed in the reverse direction of the right driving wheel 2a is controlled to decrease, and the cleaning robot 1 moves backward. And turn left. This turn also
As the operating angle θ of the joystick 11 increases, the ratio of the rotation speed of the left driving wheel 2a to the rotation speed of the right driving wheel 2b gradually decreases from the same rotation speed as the position shifts from the reverse position R to the other position. Then, the turning radius is controlled to decrease as the operation angle θ of the joystick 11 decreases, and the rotation of the left and right drive wheels 2a and 2b stops when the operation angle θ is 225 °.

On the other hand, in the front left turning area FL in which the operation angle θ of the joystick 11 is reduced from the forward position F of 0 °, in other words, 360 °, the rotational speed of the right drive wheel 2a in the forward direction is leftward. The rotation speed ratio in the forward direction is controlled to decrease, and the cleaning robot 1 turns left while moving forward.

The turning of the joystick 11 gradually decreases from the same rotation speed to the rotation speed of the right driving wheel 2b as the operating angle θ of the joystick 11 decreases, and as the operating angle θ shifts from the forward position F to the other. On the other hand, the speed ratio of the rotational speed of the left drive wheel 2a is controlled to decrease, and the turning radius is controlled to decrease as the operation angle θ of the joystick 11 decreases. When the operation angle θ is 315 °, the left driving wheel 2
When the rotation of the joystick 11 is stopped and the operation angle θ of the joystick 11 is further reduced, the left driving wheel 2a is driven to rotate in the reverse direction in accordance with the increase, and the rotation speed is gradually increased. As a result, the left and right driving wheels 2a, 2b
Are driven in the reverse rotation direction to ensure a decrease in the turning radius.

At the position where the operation angle θ of the joystick 11 is 270 ° which is continuous with the other part of the left front turning area FL, that is, at the left spin position LS where the joystick 11 is tilted to the left, the rotational speed of the right drive wheel 2b in the forward direction. And the rotational speed of the left driving wheel 2a in the reverse direction is controlled equally,
At that position, a left spin that rotates leftward is performed.

When the operation angle θ is reduced from the left spin position LS, the operation shifts to the left spin attenuation region LSa, and the operation angle θ
The rotational speeds of the left and right drive wheels 2a and 2b are gradually reduced in accordance with the decrease, and the left and right drive wheels 2a and 2b are stopped at the position where the operation angle θ reaches 225 °.
That is, as the operation angle θ of the joystick 11 decreases, the spin speed gradually decreases and stops at 225 °.

The operation angle θ of the joystick 11 is 250
And 225 °, that is, in the stop region N, regardless of the inclination of the joystick 11, the left and right drive wheels 2a
And 2b are both kept stopped.

Further, when the joystick 11 is tilted to the forward position F where the operation angle θ is 0 ° in order to advance the cleaning robot 1, the joystick 1
In order to prevent the cleaning robot 1 from turning even when the cleaning robot 1 moves to the right front turning area FR or the left front turning area FL by swinging left and right, the joystick 11 is similarly operated to move the cleaning robot 1 backward. Even when the joystick 11 swings right and left to move to the right rear turning area RR or the left rear turning area RL during the tilting operation of tilting to the reverse position F where θ is 180 °, it is assumed that the cleaning robot 1 is turned. In order to prevent this, when a push button (not shown) provided at the upper end of the joystick 11 is pushed, the command given by tilting the joystick 11 is restricted only to forward or backward, and the cleaning robot 1 goes straight. A joystick command regulating means for running is provided. That is, when the push button is pushed, even when the joystick 11 is turned, rotated, or tilted to the stop area, the self-propelled robot 1 does not perform those operations and tilts to any side of the forward or backward movement. It determines whether the vehicle is moving forward, selects a speed based on the inclination angle, and moves forward or backward.

According to the control device of the self-propelled robot of the present embodiment configured as described above, by tilting one joystick 11 provided on the control box 10 to the forward position F or the reverse position R, The left and right drive wheels 2a and 2b are driven to rotate forward or backward at the same rotational speed in accordance with the control law, and tilt rightward or leftward by spinning to the right spin position RS or the left spin position LS. .

More specifically, the front right turning area F
In R, the ratio of the rotation speed of the right drive wheel 2b to the rotation speed of the left drive wheel 2a is gradually reduced from the constant speed of the left and right drive wheels 2a and 2b as the tilt direction of the joystick 11 shifts from the forward position to the other. Similarly, in the left front turning area FL, as the tilt direction of the joystick 11 shifts from the forward position F to the other, the left and right drive wheels 2a, 2b gradually change from a constant speed with respect to the rotation speed of the right drive wheel 2b. The rotation speed ratio is controlled to decrease, and in the right rear turning region RR, the left and right drive wheels 2a, 2b gradually become the rotation speed of the left drive wheel 2a from the constant speed as the tilt direction of the joystick 11 shifts from the reverse position R to the other. Is controlled to decrease, and in the rear left turning area RL, the tilt direction of the joystick 11 is As the right and left driving wheels 2a and 2b shift from the position R to the other side, the ratio of the rotation speed of the left driving wheel 2b to the rotation speed of the right driving wheel 2a is gradually reduced from the constant speed. It is possible to smoothly shift to the turning area FR and the front left turning area FL, and the turning radius is gradually reduced as the joystick 11 moves away from the forward position F. Similarly, from the reverse position R to the right rear turning area RR and the left rear turning area RL. Since the turning can be made smoothly and the turning radius is gradually reduced as the joystick 11 moves away from the reverse position, a smooth running without a sense of incongruity is brought about. Further, the cleaning robot according to the inclination angle when the joystick 11 is tilted. 1
Speed is obtained.

Accordingly, the operator can smoothly move the joystick 11 with one hand while tilting one joystick 11 in a state where the balance of forward / backward movement, left / right spin and left / right rotation by forward movement and left / right rotation by backward movement is maintained. The operation of the cleaning robot 1 is performed.

Further, a right spin damping region RSa is provided in a range where the operation angle θ is increased from the right spin position RS to decrease the spin speed with the increase of the operation angle θ, and the operation angle θ is set from the left spin position LS. The operating angle θ in the decreasing range
Is provided with a left spin decay region LSa that reduces the spin speed with a decrease in the spin speed. By rotating the joystick 11 backward so as to increase or decrease the operation angle θ, the spin speed is reduced and stopped. Can be easily adjusted without discomfort.

Further, the left and right driving wheels 2a and 2b are provided between the right spin damping region RSa and the right rear turning region RR and between the left spin damping region LSa and the left rear turning region RL regardless of the operation of the joystick 11, respectively. Are provided in a stop zone N, which is a dead zone that is held in a stopped state, so that the right spin position RS and the right rear turning region RR and the left spin position LS and the left rear turning region R having different rotation directions are provided.
L is clearly moderated by the stop area N,
It is avoided that the operations by both operation regions are performed continuously, and the steering is performed without a sense of incompatibility.

The present invention is not limited to the above-described embodiment, but can be variously modified without departing from the spirit of the invention. For example, left and right front turning areas FL, FR, left and right spin positions LS, RS, left and right spin damping areas LSa,
It is also possible to appropriately change the operation angle θ for determining the RSa and the left and right rear turning areas RL, RR, etc., and to use a joystick command regulating means other than the push button provided on the joystick 11 by other appropriate means. The present invention is not limited to cleaning robots, and can be effectively applied to self-propelled robots such as transfer robots and monitoring robots.

[0057]

According to the method of operating a self-propelled robot according to the present invention described above, the rotational drive and rotational speed difference of the left and right drive wheels are balanced in accordance with the control law by tilting one joystick in accordance with the operation category. Since the rotation speed of the drive wheels is controlled by the tilt angle of the joystick while being controlled in a state where the joystick is tilted, it is possible to easily obtain a smooth turning while adjusting the repeated forward / backward switching and continuous change of the turning radius. Therefore, the burden on the operator is greatly reduced.

In particular, when the joystick is tilted, the self-propelled robot moves in a straight line, moves forward in a straight line, moves backward in a straight line, and turns rightward while moving forward. A left front turning area that turns left, a right rear turning area that turns right while moving backward, and a left rear turning area that turns left while moving backward can be selected, and the left and right front turning areas are continuously arranged at the forward position. Since the left and right rear turning areas are continuously arranged at the reverse position, the turning while moving forward and forward and the turning while moving backward and backward can be continuously performed without discomfort.

[Brief description of the drawings]

FIG. 1 is a plan view of a cleaning robot showing an outline of an embodiment of a method for operating a self-propelled robot according to the present invention.

FIG. 2 is a block diagram illustrating a main circuit configuration of the cleaning robot.

FIG. 3 is an explanatory diagram of a coordinate data table.

FIG. 4 is an explanatory diagram of an operation state of a cleaning robot according to a change in an operation angle of a joystick.

FIG. 5 is an explanatory diagram showing a rotational drive state of left and right drive wheels according to an operation angle of a joystick.

FIG. 6 is a graph showing the maximum speeds of left and right driving wheels.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Cleaning robot 2a, 2b Driving wheel 4 Receiver 5 Control unit 7a, 7b Motor 10 Steering box 11 Joystick θ Operating angle F Forward position FR Right front turning area FL Left front turning area RS Right spin attenuation area RSa Right spin attenuation area LS Left spin position LSa Left spin decay region R Reverse position RR Right rear turning region RL Left rear turning region N Stop region

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2C150 AA14 BA06 CA08 CA18 DA06 DK02 3D052 AA05 BB08 BB11 DD00 EE02 EE04 FF03 GG02 HH03 JJ00 3J070 AA04 BA11 CC71 DA03

Claims (6)

[Claims] 1. A control device for a self-propelled robot which reciprocates and turns by controlling the rotational driving of left and right drive wheels in accordance with an operation signal associated with the tilt of a joystick provided in an operation box, wherein: An operation box having a joystick whose base end is swingably supported so as to obtain an inclination angle; and left and right drive wheels driven and controlled according to operation signals from the operation box corresponding to the inclination direction and the inclination angle of the joystick. A self-propelled robot having: a plurality of operation sections in which a plurality of rotation ratios and rotation directions of the right and left drive wheels are determined by the tilt direction of the joystick, and a tilt angle of the joystick is selected. A self-propelled robot characterized in that the rotational speed of either the left or right drive wheel is controlled accordingly. Pilot device. 2. The operating section includes a forward position in which the left and right drive wheels are driven to rotate in the forward direction at the same rotational speed by tilting the joystick, and a left and right direction by tilting the joystick in a direction away from the forward position. A reverse position in which the drive wheels are driven to rotate in the reverse direction at the same rotational speed, and are continuously arranged on one side of the forward position, and a forward speed is imparted by imparting a rotational speed difference to the left and right drive wheels by tilting the joystick. A right front turning area for turning right, a left front turning area continuously disposed on the other side of the forward position, giving a rotational speed difference to left and right drive wheels by tilting the joystick, and turning left by forward driving; It is arranged continuously on one side of the reverse position, and imparts a rotational speed difference to the left and right drive wheels by tilting the joystick, and the right A right rear turning area to be turned, and a left rear turning area arranged continuously on the other side of the reverse position to impart a rotational speed difference to left and right drive wheels by tilting the joystick and to turn left by reverse. The control device for a self-propelled robot according to claim 1, wherein 3. In the right front turning region, the ratio of the rotation speed of the right driving wheel to the rotation speed of the left driving wheel gradually decreases from the constant speed of the left and right driving wheels as the tilt direction of the joystick shifts from the forward position. In the left front turning area, the ratio of the rotation speed of the left drive wheel to the rotation speed of the right drive wheel is gradually reduced from the constant speed of the left and right drive wheels as the tilt direction of the joystick shifts from the forward position. The right rear turning area is controlled such that the ratio of the rotation speed of the right drive wheel to the rotation speed of the left drive wheel is gradually decreased from the constant speed of the left and right drive wheels as the tilt direction of the joystick shifts from the reverse position, The left rear turning area gradually shifts the left and right driving wheels from a constant speed as the tilting direction of the joystick shifts from the reverse position. The control device for a self-propelled robot according to claim 2, wherein a ratio of a rotation speed of the left driving wheel to a rotation speed of the right driving wheel is controlled to decrease. 4. A right spin position in which the left drive wheel rotates forward in the forward direction and the right drive wheel rotates in the reverse direction at a constant speed to rotate rightward by tilting the joystick to the position following the right front turning area. A left spin position in which the right drive wheel rotates in the forward direction by rotating the joystick to the position continuously to the left front turning area and the left drive wheel rotates in the reverse direction at a constant speed and spins in the left direction. The self-propelled robot operating device according to claim 3, wherein 5. The front right turning area and the rear right turning area are opposed to the front left turning area and the rear left turning area via a forward position and a rearward position, and between the right spin position and the right rear turning area. A stop area in which the left and right drive wheels stop regardless of the tilt of the joystick to the position; and a left and right rotation area between the left spin position and the left rear turning area regardless of the tilt of the joystick to the position. The control device for a self-propelled robot according to claim 4, further comprising a stop area where the drive wheel stops. 6. The self-propelled robot according to claim 2, wherein said joystick is provided with joystick command restricting means for judging an operation command based on a tilting direction of a forward position to be either forward or backward. Control device.