JP2001142531A - Autonomous mobile object and mobile plan inspection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an autonomous mobile object and a moving plan inspection device, which previously inspects a moving plan so that revolving speed on the mobile object is within a prescribed range, generate the moving plan so that the twisted amount of the cord and the pipe of the mobile object is within the prescribed range. SOLUTION: A signal from a rotation detector 11 constituted of an optical gyro-cater is received and a revolving speed calculator 12 calculates relative rotational amount with an outer power source 40 as a reference. A route plan part 21 generates a moving plan so that a rotational amount is within a prescribed range and the twisted amount of a cord is settled within the prescribed range in accordance with a destination inputted from a destination input part 22 and controls a steering motor 31 and a forward/backward motor 32. The route plan part 21 corrects the moving plan if needed during movement.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-supporting moving body and a moving plan inspection apparatus. In particular, the present invention relates to a self-supporting moving body and a movement plan inspection device that prevent a cord or the like connected with the movement from being wound or twisted.

[0002]

2. Description of the Related Art There is a type of mobile object such as a transport vehicle or a robot that is industrially used and receives power supplied through a cord connected from an external power source and uses it as a power source. Further, among similar devices, there is a type in which an energy substance such as fuel is supplied through a connected pipe. There is also a type that exchanges information with the outside via a code.

[0003] Here, the exchange of information means, for example,
It is the input and output of various information such as voice information and image information to and from the moving body. Further, for example, it is an exchange of control information for controlling a motor and various devices provided on the moving body, and sensing information detected by various sensors such as a position sensor, a contact sensor, and an optical sensor provided on the moving body. .

[0004] Since such cords and tubes used for these moving bodies are usually made of a flexible and deformable material, the degree of freedom of movement of the apparatus is increased. For example, a coated copper wire or the like is used as a means for transmitting power, a coated copper wire or an optical fiber is used as a means for transmitting information, and a tube made of rubber or the like is used as a means for supplying a substance. Used.

[0005]

FIGS. 8, 9 and 10 show examples of problems in such a moving body. In these figures, reference numeral 10 denotes an independent mobile robot (self-supporting mobile object), and reference numeral 34 denotes a power cord for supplying electric power to the independent mobile robot 10. The power cord 34 is suspended from a power outlet 50 provided on the ceiling,
The mobile robot 10 is connected to the mobile robot 10 and can be deformed as the mobile robot 10 moves.

FIG. 8 shows a state in which the power cord 34 is wrapped around because the self-standing mobile robot 10 repeatedly rotates in the same direction when moving. In such a state, not only the effective length of the power cord 34 is shortened and the movement range is restricted, but also the movement and work of the self-supporting mobile robot 10 may be hindered.

FIG. 9 shows that the independent mobile robot 10
For example, by repeatedly moving in the same direction so as to draw an arc around the power outlet 50 in plan view,
This shows a state where the power cord 34 is curled due to accumulation of torsion. In such a situation, the effective length of the power cord becomes shorter, which limits the movement range,
There is a possibility that the power cord 34 may be fatigued or damaged due to excessive torsion.

FIG. 10 shows an independent mobile robot 10.
Has repeatedly moved in the same direction so as to draw an arc around the column 80 in plan view,
Shows a state in which is wound around the pillar 80. Even in such a state, the effective length of the power cord 34 is shortened, and the moving range of the self-standing mobile robot 10 is limited.

Such problems tend to occur when the self-standing mobile robot 10 repeatedly performs the same work. For example, the work of repeating the transport of luggage between two points and the work of repeatedly traversing a certain route or area for security, etc. Such relatively simple repetitive work is the main application of the robot. There is a need for a solution to the above problem.

The present invention has been made in consideration of the above circumstances, and is a self-contained type that inspects a movement plan in advance or creates a movement plan so that the rotation speed of a moving object falls within a predetermined range. It is an object to provide a moving object and a movement plan inspection device. It is another object of the present invention to provide a self-contained moving body and a movement plan inspection device for creating a movement plan so that the amount of twist of a moving body code or a pipe falls within a predetermined range.

[0011]

In order to solve the above-mentioned problems, the invention according to claim 1 is connected to an external device or an energy supply source via a flexible and linearly formed cord, and becomes independent. In a moving freestanding mobile,
A rotational speed detecting means for detecting a rotational speed of the device or the energy supply source in a plan view; and a movement plan creating means for planning a moving route such that the sum of the rotational speeds in all the traveling steps becomes zero. The gist is a self-contained moving object characterized by the following.

[0012] With such a configuration of the present invention, the rotation angle of the self-supporting moving body with respect to the position of the energy source in a plan view does not change between the start and end of the movement stroke. Also, the code formed in a linear form here is
For example, a power cord, a cable for transmitting information, and a pipe for supplying fuel. Further, since the cord is made of an appropriate material and structure, the cord is flexibly deformed to a certain degree according to the movement of the self-supporting moving body. Therefore, the self-supporting mobile body can move while receiving the supply of energy or exchanging information with an external device through the above-mentioned code, and at the end of the moving process, this code is involved. It does not become rolled up or wrapped around a self-supporting mobile object.

According to a second aspect of the present invention, there is provided a self-contained moving body which is connected to an external device or an energy supply source via a flexible and linearly formed cord and moves independently, wherein the device is viewed in plan. Or a rotation speed detecting means for detecting a rotation speed for an energy supply source, and a movement plan creating means for planning a movement route so that the rotation speed falls within a predetermined range. Make a summary.

[0014] With such a configuration of the present invention, the rotation angle of the self-supporting moving body with respect to the position of the energy source in a plan view is always within a predetermined range even during the moving process. Therefore, the self-supporting mobile body is
It is possible to move while receiving energy supply and exchanging information with external devices via the above code, and this code is entangled from the start to the end of the travel process, It does not become wrapped around.

If the predetermined range of the number of rotations is, for example, in the range of -0.5 rotation to 0.5 rotation, the self-supporting mobile body can be oriented in any direction, and the power cord and the like can be used for the self-supporting mobile body. The amount of winding is also limited. However, the predetermined range of the rotation speed is not limited to the example described here.

According to a third aspect of the present invention, there is provided a self-contained moving body which is connected to an external device or an energy supply source via a flexible and linearly formed cord and moves independently, wherein the device is viewed in plan. Or rotation number detection means for detecting the rotation number with respect to the energy supply source, and movement plan creation means for planning a movement path such that the sum of the amount of twist of the cord due to rotation detected by the rotation number detection means becomes zero. The gist of the present invention is a self-contained mobile body characterized by having:

[0017] With such a configuration of the present invention, the amount of twist of the power cord, the communication cable, the energy supply pipe, and the like does not change between the start and end of the moving stroke. Therefore, the self-supporting mobile body can move while receiving the supply of energy or exchanging information with an external device via the cord. Also,
If the cord is not twisted at the start of the travel, it will not be twisted at the end, and will not be exhausted or its effective length will be shortened.

According to a fourth aspect of the present invention, there is provided a self-contained moving body which is connected to an external device or an energy supply source via a flexible and linearly formed cord and moves independently, wherein the device is viewed in plan. Or rotation number detection means for detecting the rotation number with respect to the energy supply source, and movement plan creation means for planning a movement path such that the amount of twist of the cord due to rotation detected by the rotation number detection means falls within a predetermined range. The gist of the present invention is a self-contained mobile body characterized by having:

According to such a configuration of the present invention, the amount of twist of the power cord, the communication cable, the energy supply pipe, and the like is always within a predetermined range even during the moving stroke. Therefore, the self-supporting mobile body can move while receiving the supply of energy or exchanging information with an external device via the cord. If the cord is not twisted at the start of the travel stroke, it is not twisted even at the end of the travel, so that the cord is not worn out and its effective length is not shortened.

According to a fifth aspect of the present invention, there is provided an input unit for externally inputting a movement plan of a moving body, and the movement in a plan view with respect to an external reference point based on the movement plan input at the input unit. A movement plan inspection device, comprising: a determination unit configured to determine a rotation speed of a body and determine whether the rotation speed falls within a predetermined range during movement according to the movement plan.

According to such a configuration of the present invention, the input travel plan can be inspected in advance. As a result of this inspection, when it is determined that the rotation speed is out of the predetermined range during the movement, a warning signal is issued to stop the movement based on the plan or to prompt the user to input another movement plan. It is possible. Therefore, it is possible to prevent a malfunction in the function of the moving object or a decrease in the effective length of the moving object due to the power cord becoming entangled or wrapping around the moving object.

According to a sixth aspect of the present invention, there is provided a method for determining whether or not the rotation speed falls within the predetermined range when determining that the rotation speed does not fall within the predetermined range. Is to generate a plan.

According to such a configuration of the present invention, it is possible to move the moving body by a method different from the inputted movement plan or by a similar method. In addition, this makes it possible to prevent a malfunction in the function of the moving object or a decrease in the effective length of the moving object due to the power cord becoming entangled or wrapping around the moving object.

[0024] The self-supporting mobile unit according to the invention of claim 7 includes a second rotation speed detecting means for detecting a second rotation speed at an external arbitrary point in plan view.
The moving plan creation means plans a moving path such that the second rotation speed falls within a predetermined range.

With this configuration of the present invention, it is possible to create a movement plan in which the cord does not wrap around an installed object or an obstacle existing at an arbitrary external point.

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram illustrating a configuration of an independent mobile robot (independent mobile object) according to the embodiment. In FIG. 1, the independent mobile robot 10 includes a power distribution device 33. The power distribution device 33 plays a role of supplying electric power received from an external power supply 40 (device or energy supply source) via a power cord to each part in the independent mobile robot 10. The external power supply 40 is fixedly installed in the operating environment of the independent mobile robot 10.

In the self-standing mobile robot 10,
Based on the amount of rotation detected by the rotation detector 11 (rotational speed detecting means), a rotational speed calculator 12 (rotational speed detecting means) calculates the total number of rotations from the start point to the current position with respect to the external power supply 40, The information is passed to the route planning unit 21 (movement plan creation unit). Further, the position detecting device 13 detects its own position coordinates and passes the information to the route planning unit 21.

The route planning unit 21 receives the information on its own position and rotation amount as described above,
According to the coordinates of the destination of the destination set in the above, a behavior plan such as a movement route and a turning direction at the time of turning is created. The route planning unit 21 drives the wheels by controlling the steering motor 31 and the forward / reverse motor 32 in accordance with the created movement plan, and moves toward a desired destination.

In this embodiment, an optical fiber gyro locator is specifically used as the rotation detector 11. The optical fiber gyroscope measures the angular velocity of the movement, and the rotation number calculator 12 integrates this value over time,
The rotation amount of the self-standing mobile robot 10 is calculated.

The position detecting device 13 includes the rotation detecting unit 1.
The current position of the self-supporting mobile robot 10 is detected by calculating the trajectory by the dead reckoning method based on the angular velocity measured by 1 and the forward / backward movement amount obtained by the wheel rotation detector 14. In addition, the position detection device 13 has a GPS (Gl
obal Positioning System) Satellite 51 and beacon 5
There is provided a means for receiving a signal from the trajectory 2 so that the position calculation based on the trajectory calculation can be corrected.

The autonomous mobile robot 10 is provided with a distance sensor for measuring the distance to an obstacle or the like present in the surroundings, and determines a route while avoiding an obstacle in the middle of the destination from the start point. I do. Further, not only a plan is created at the start point, but also a movement toward the destination point is performed while updating the plan based on the latest situation during the movement.

Here, a movement plan created by the route planning unit 21 will be described with a specific example. When the coordinate information of the start point and the destination point is given, the route planning unit 21
Performs a simulation of the movement in advance, and makes a plan so that the amount of rotation during movement always falls within a predetermined range, and the sum of the amount of rotation during movement is zero.

FIG. 2 is a plan view showing a moving path of the self-standing mobile robot 10. As shown in FIG. In FIG. 2, it is assumed that the autonomous mobile robot 10 takes a moving route from the start point A, sequentially passing through B, C, and D, and finally returning to A.

As described above, the autonomous mobile robot 10 is operated by AB
A control procedure when moving along the route -CDA will be described with reference to a flowchart. FIG. 3, FIG. 4, and FIG. 5 are flowcharts showing such a control procedure.

The self-standing mobile robot 10 starts at the point A in step 301 shown in FIG. Step 302
In step 303, if it is determined that the vehicle has not yet arrived at point B in step 303, the procedure of the moving direction determination routine is executed in step 304 to continue the movement toward point B. The processing of steps 304, 302, and 303 is repeated until the vehicle arrives at the point B. When the vehicle arrives at the point B, the process proceeds to step 305.

Here, the independent mobile robot 10 determines whether the current position detected by the dead reckoning method has reached a predetermined distance range with respect to the position of the point B.
It is determined whether the vehicle has arrived at the point B. Alternatively, it is determined whether or not the vehicle has arrived at the point B by using the coordinate data of the point B stored in advance and the current position coordinate data obtained by the position detecting device 13. In addition, beacon and GPS
May be used to determine whether the vehicle has arrived based on whether or not the position of the point B has reached a predetermined distance range.

In the same manner, the robot moves to the point C by repeating steps 305, 306, and 307. Similarly, steps 308, 309, and 3
It moves toward the point D by repeating step 10.
Similarly, the user moves toward point A by repeating steps 311, 312, and 313. When the arrival at the point A is recognized in the step 312, this series of procedures ends.

FIG. 4 shows a detailed procedure of the moving direction determination routine shown in FIG. In step 401 of FIG. 4, based on information on the destination coordinates and the current position coordinates, a direction in which the difference between the two is reduced is determined. In order to proceed in such a direction, a rotation direction determination routine is executed in step 402, the direction is changed in the rotation direction determined in step 403, and step 4 is performed.
At 04, the movement is performed.

FIG. 5 shows a detailed procedure of the rotation direction determination routine shown in FIG. The independent mobile robot 10
The limit amount of rotation in the “+” direction is set and stored in advance. In step 501, the “+” direction limit amount is compared with the current total rotation amount calculated by the rotation speed calculator 12. If the total rotation amount up to the present has not reached the “+” direction limit amount, in step 502, “+”
Decide to rotate in the direction. If the current rotation amount has reached the “+” direction limit amount, in step 503, the rotation is performed in the “−” direction.

Here, the rotation in the "-" direction refers to a rotation in a direction to decrease the accumulated number of rotations. By performing such a rotation operation, the self-standing mobile robot 10 can be directed in a desired direction while alleviating the cumulative rotation in the “+” direction.

In the case where the movement of the self-supporting mobile robot 10 is limited to reciprocation in a certain section, when the robot reaches one end of this section, the direction is changed by right rotation, and when the robot reaches the other end of the section, the direction turns left. It is possible to create a movement plan that changes direction. Further, in the case where a reciprocating motion of a certain section is included in the moving plan, the path planning unit 21 can create a plan by applying the moving plan patterned as described above to the part of the reciprocating motion. It can be simplified.

Similarly, in the case where the reciprocation is limited to a certain range, the movement plan of the outward path is stored, and the path and rotation of the return path are the opposite of the outward movement. It can take a direction.
With such a method, it is possible to simplify the planning by the route planning unit 21.

Next, prevention of adverse effects due to twisting of the cord will be described. FIG. 6 is a front view and a plan view showing a power cord and a movement path of the self-standing mobile robot 10. FIG. 6A is a front view. In this figure, reference numeral 10 denotes a self-standing mobile robot that moves on the floor 100F while being supplied with power by the power cord 34 extending from the ceiling 100C. 6 (b) and 6 (c)
3 is a plan view showing a movement path of the self-standing mobile robot 10. FIG.

Here, the self-standing mobile robot 10 moves to the point A
It is assumed that the tour of -BABA -... is repeated. As shown in FIG. 6B, in the case of repeating the movement of rotating to the left every time in the direction change, the power cord 34 is gradually twisted in the same direction. However, as shown in FIG. 6 (c), in the case of rotating leftward at point A and rotating rightward at point B, the total sum of the amount of twist of the power cord 34 for each cycle becomes zero. No excessive torsional force in the same direction occurs.

As described above, by preparing a movement plan in which the total amount of torsion in a predetermined movement section is zero or a movement plan in which the amount of torsion in the middle of movement always falls within a predetermined range, the power supply cord 34 is prepared. It is possible to prevent excessive twisting that may damage the horn. This also makes it possible to delay the fatigue of the power cord 34 and extend its life.

Next, prevention of the cord from being wrapped around a pillar or other installed object will be described. FIG. 7 is a plan view showing the movement path of the self-standing mobile robot. The self-standing mobile robot 10 is connected to the power outlet 50 by the power cord 34, and works while moving near the column 80 shown in this figure. Independent mobile robot 10
Creates a movement plan that does not move around the pillar 80 in the same direction by a predetermined amount or more.

The obstacle rotation speed detection unit (second rotation speed detection means) provided in the route planning unit 21 calculates the rotation amount around the column 80 by the following method. Based on the coordinates (x0, y0) of the center of the pillar stored in advance and the current position coordinates (x, y) of the self detected by the position detecting device 13, the rotation angle θ of the self-standing mobile robot 10 with respect to the pillar is calculated. Θ = arctan ((y−y0) / (x−x0)) (when x ≠ x0) θ = π / 2 (when x = x0 and y> y0) θ = −π / 2 (x = x0 And y <y0). Based on the change over time of the rotation angle θ, the column 8
Calculate the amount of rotation around zero. However, "arct
“an ()” represents the inverse tangent function.

As a result, if the target movement exceeds the allowable rotation amount, the path planning unit 21 creates a movement plan that reduces the total rotation amount by rotating in the reverse direction. In this way, it is possible to prevent the cord from being wound around the pillar or other installed object.

In the above embodiment, the angular velocity of the self-standing mobile robot 10 is measured by the optical fiber gyro locator, but may be replaced by another rotation detecting means such as a vibration gyro locator or a gas rate sensor.

In the above embodiment, the position is detected by a signal from a GPS satellite or a beacon.
For example, the position detection may be substituted or supplemented by other means, such as a GPS fixed station or a marking realized by an optical pattern.

In the above embodiment, the power is transmitted to the self-standing mobile robot 10 by the power cord. However, the information from the information source is transmitted by an electric signal via a communication cable, or the fuel is transmitted from the fuel source by a flexible pipe. For example, the present invention may be applied to other linearly formed components connected to transmit energy, a material, information, or the like, such as supplying a fuel material, to prevent winding and twisting.

In the above-described embodiment, the wheels driven by the steering motor 31 and the forward / reverse motor 32 are used as the moving means. However, the present invention is not limited to this. 7-20507
Other moving means such as a robot that walks with legs as described in No. 0 may be used. When moving by walking in this way, the forward / backward movement amount is calculated based on the stride length and the number of steps.

The allowable rotation amount (number of rotations or rotation angle) and the allowable torsion amount of the cord may be a value input by the user, or may be the allowable rotation amount per unit length of the cord or the allowable torsion amount. The amount may be stored in advance, and the stored amount may be determined by multiplying the code length input by the user or the code length detected by the independent mobile robot.

In the above embodiment, the destination input unit 2
2 according to the destination information input in 2
Although 1 has created the movement plan, the route planning unit 21 (judgment unit) checks the movement plan input by the operator and determines whether or not the rotation plan or the amount of twist exceeds a predetermined rotation angle. good. In the same manner, the input travel plan may be checked, and if a problem is found in the plan, the route plan unit 21 may generate an alternative. That is, if there is a possibility that the cumulative number of rotations may exceed the allowable range during the movement, a movement plan for the reverse rotation is made, and based on this, the vehicle is moved toward the destination.

[0055]

As described above, according to the present invention, there is provided a means for detecting the number of revolutions of an energy source or an information source connected via a cord or the like of a self-contained moving body, and the route planning unit comprises: In order to prepare a movement plan whose rotation speed falls within a predetermined range, it is possible to prevent a power cord or the like from becoming entangled or wrapping around a self-supporting moving object. Therefore, there is no restriction on the operation of the self-contained moving body due to such a cause.

Further, according to the present invention, the route planning unit
In order to prepare a movement plan in which the amount of twist of the power cord or the like falls within a predetermined range, it is possible to prevent the power cord from being twisted into a curl or from being fatigued or broken due to the twisting force. Therefore, there is no restriction on the operation of the self-contained moving body or the shortening of the life of the power cord or the like due to such factors. .

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of an independent mobile robot according to an embodiment of the present invention.

FIG. 2 is a plan view showing a moving path of the self-standing mobile robot according to the embodiment.

FIG. 3 is a flowchart showing a movement control procedure of the autonomous mobile robot according to the embodiment.

FIG. 4 is a flowchart showing a movement control procedure of the autonomous mobile robot according to the embodiment.

FIG. 5 is a flowchart showing a movement control procedure of the self-standing mobile robot according to the embodiment.

FIG. 6 is a front view and a plan view showing a movement path of the self-supporting mobile robot according to the embodiment.

FIG. 7 is a plan view showing a movement path of the self-standing mobile robot according to the embodiment.

FIG. 8 is a front view showing winding of a cord of a self-standing mobile robot according to a conventional technique.

FIG. 9 is a front view showing a state in which a cord of a self-standing mobile robot according to the related art is curled.

FIG. 10 is a front view showing winding of a cord of a self-standing mobile robot according to a conventional technique.

[Explanation of symbols]

 Reference Signs List 10 autonomous mobile robot 11 rotation detector 12 rotation number calculator 13 position detection device 14 wheel rotation detector 21 route planning unit 22 destination input unit 31 steer motor 32 forward / reverse motor 33 power distribution device 34 power cord 40 external power supply

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI theme coat ゛ (reference) B25J 19/00 B25J 19/00 FF term (reference) 3F059 AA00 BB06 CA05 CA06 CA08 DA05 DA08 DC08 DD08 DD13 FA03 FA07 FB01 FB11 FC07 FC13 FC14 3F060 BA07 CA14 GA05 GA13 GD13 HA01 HA06 HA35 5H301 AA03 AA10 BB05 BB14 CC03 CC06 DD07 DD13 KK02 KK03 KK08 KK20

Claims (7)

[Claims] 1. A self-supporting mobile body which is connected to an external device or an energy supply source via a flexible and linearly formed cord and moves independently, detects a rotation speed of the device or the energy supply source in a plan view. A self-sustained moving body, comprising: a rotation speed detecting unit that performs the operation; and a movement plan creating unit that plans a movement route such that the sum of the rotation speeds in all the movement steps becomes zero. 2. An autonomous mobile body which is connected to an external device or an energy supply source via a flexible and linearly formed cord and moves independently, detects a rotation speed of the device or the energy supply source in a plan view. A self-sustained moving body, comprising: a rotation speed detection unit that performs the rotation; and a movement plan creation unit that plans a movement route so that the rotation speed falls within a predetermined range. 3. An autonomous mobile body which is connected to an external device or an energy supply source via a flexible and linearly formed cord and moves independently, detects a rotation speed of the device or the energy supply source in plan view. And a movement plan creating means for planning a movement path such that the sum of the amount of twist of the cord due to the rotation detected by the rotation number detecting means becomes zero. Freestanding mobile. 4. A self-contained moving body which is connected to an external device or an energy supply source via a flexible and linear cord and moves independently, detects a rotation speed of the device or the energy supply source in a plan view. And a movement plan creating means for planning a movement path such that the amount of twist of the cord due to rotation detected by the rotation number detection means falls within a predetermined range. Freestanding mobile. 5. An input unit for externally inputting a movement plan of the moving object, based on the movement plan input at the input unit, inspecting a rotation speed of the moving object in a planar view with respect to an external reference point, And a determining unit for determining whether the rotation speed falls within a predetermined range during the movement according to the movement plan. 6. The method according to claim 1, wherein the determining unit generates an alternative plan such that the rotation speed falls within the predetermined range when determining that the rotation speed does not fall within the predetermined range. Item 6. A movement plan inspection device according to Item 5. 7. A second rotation speed detection means for detecting a second rotation speed for an arbitrary external point in a plan view, wherein the movement plan creating means is configured to set the second rotation speed within a predetermined range. 3. A self-contained moving body according to claim 1, wherein the moving route is planned so as to fit in.