JP2002323925A - Moving working robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a safe moving working robot which is adaptive to a variety of work places and can easily have the range of its work area limited and also avoid an unsafe state. SOLUTION: This robot is equipped with a travel means which moves a main body, a steering means which changes the moving direction of the main body, an operation means which performs operation, a marker detecting means 19 which detects markers installed in the work area, and a movement control means 9 which controls the movement of the main body. The marker detecting means 19 discriminates the information of the markers 41 and the movement control means 9 determines a movement pattern according to the discriminated information. Consequently, various markers are installed at necessary places in the work area to enable the moving working robot to prevent the danger that the robot exits from the area or that causes various unsafe states in the area.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile work robot such as a self-propelled cleaner or an automatic guided vehicle having a traveling function and performing work while moving.

[0002]

2. Description of the Related Art Hitherto, various mobile work robots have been developed in which a work steering device, sensors and movement control means are added to work equipment to automatically perform work. For example, a self-propelled vacuum cleaner has a suction nozzle and a brush at the bottom of the main body as a cleaning function as a work function, a traveling and steering means as a movement function, an obstacle detection means to detect an obstacle at the time of movement, and a position. And position recognition means for recognizing,
This obstacle detection means measures the distance to the surrounding wall of the cleaning place, recognizes the cleaning area by the position recognition means while moving along it, autonomously moves while avoiding obstacles in the area, and moves over the entire area It is something to clean.

[0003]

However, in such a conventional mobile work robot, since the reference for recognizing the work area is the surrounding wall, for example, a large work area is divided or an open space such as a door or a passage is opened. In the case where there is, there is no wall in all or part of the area, so that the area cannot be recognized. In addition, various situations that cannot be detected by the mobile work robot, such as a collision with an obstacle due to oversight of an obstacle, a collision or rush into a step, an approach to a heat source or a dangerous substance, or a descent in the main body working area, are assumed. There were unsafe situations such as acceleration.

Accordingly, an object of the present invention is to provide a safe mobile work robot that can cope with various work areas and can simply limit the range of the work area and avoid unsafe situations.

[0005]

SUMMARY OF THE INVENTION In order to solve the above-mentioned conventional problems, a mobile work robot according to the present invention performs a work, a traveling means for moving a main body, and a steering means for changing a moving direction of the main body. A work means, a sign detection means for detecting a sign provided in a work area, and a movement control means for controlling movement of the main body by controlling the traveling means and the steering means, wherein the sign detection means is provided with the sign And the movement control means determines a movement pattern according to the identification information.

With the above arrangement, various signs are set at necessary places in the work area, and while the mobile work robot is traveling, the sign detection means identifies the signs, recognizes the work area and various conditions thereof, and moves the corresponding movement pattern. It is possible to prevent dangers such as moving out of the area, going out of the area, and causing various unsafe situations in the area.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention according to claim 1 is a traveling means for moving a main body, a steering means for changing a moving direction of the main body, a working means for performing work, and a sign provided in a work area. Sign detecting means for detecting the movement of the main body by controlling the traveling means and the steering means, the sign detecting means identifies the information of the sign, the movement control means The moving pattern is determined in accordance with the identification information. Various signs are set at necessary places in the work area, and the sign detecting means identifies the object and performs corresponding various moving patterns to move out of the area. Hazards, such as accidents and accidents, and various unsafe situations in the area can be prevented.

According to a second aspect of the present invention, in particular, the sign detecting means of the first aspect identifies a sign indicating an area boundary,
Movement control means to temporarily stop the movement pattern or to steer from the boundary to the inside of the work area,
By placing a sign at the boundary, it is possible to prevent the user from going out of the area beyond the boundary, falling down from a step such as a stair, or damaging a property.

According to a third aspect of the present invention, in particular, the sign detecting means according to the first and second aspects recognizes a sign indicating an avoidance area, and the movement control means avoids the movement pattern from the avoidance area. However, by placing a sign in an area where access is prohibited and should not be approached, such as an obstacle to be avoided, a human or an animal, etc., it is possible to avoid such a danger and prevent danger.

[0010] The invention described in claim 4 is particularly advantageous in claim 1 to claim 1.
The sign detection means described in 3 identifies a sign indicating caution, and the movement control means performs a movement pattern of deceleration movement, and performs work such as inclining, slippery floor surface, climbing over a step, but slowing down. By placing a sign in the area to be made to be able to move, this area can be safely moved.

[0011] The invention described in claim 5 is particularly advantageous in claim 1 to claim 1.
The sign detection means described in 4 identifies a sign indicating the work base point, and the movement control means stops the movement pattern or switches a predetermined operation. By setting the sign at the work base point, the work is started from the base point. Can be started and returned to the base point again to stop and end the work, or the movement pattern can be switched on the way based on the base point.

[0012] The invention described in claim 6 is particularly advantageous in claim 1 to claim 1.
The sign detecting means described in 5 identifies a sign indicating a direction instruction, and the movement control means performs an operation of moving the movement pattern in the indicated direction. It can be guided in the intended direction.

According to a seventh aspect of the present invention, in particular, there are provided three types of signs indicating the direction indication according to the sixth aspect, and the movement control means performs a left-turn / right-turn / straight-movement operation on the movement pattern for each of the sign information. And turn left / right / straight
By providing the types, the guiding directions can be roughly divided into three directions.

[0014] The invention described in claim 8 is particularly advantageous in claim 1 to claim 1.
7. The invention according to 7, wherein the main body includes a distance measuring unit that detects a distance to the wall and the obstacle, and the movement control unit holds a predetermined distance from the wall and the obstacle based on an output of the distance measuring unit, It has means for moving the main body along the wall, so that the work can be performed near the wall by moving along the wall, and the work area can be recognized by moving along the outer peripheral wall.

The ninth aspect of the present invention is particularly applicable to the first to fifth aspects.
The sign detection means described in 8 identifies a sign indicating a passing direction instruction, and the movement control means sets the movement pattern to right-hand passage or left-hand passage operation. It can be passed on the intended side, and in particular, collision between a plurality of bodies can be prevented.

The invention described in claim 10 is particularly advantageous in claim 1.
The markers described in Nos. 1 to 9 are distinguished by a binary pattern of light and shade, and the type of the marker can be easily distinguished by changing the pattern.

The invention described in claim 11 is particularly advantageous in claim 1.
9 are distinguished by color, and by changing the color, the type of the sign can be easily distinguished.
The sign can be easily identified by a person.

The invention described in claim 12 is particularly advantageous in claim 1.
0, the marker detecting means, a light-emitting element, a light-emitting scanning unit that scans the light emitted by the light-emitting element and irradiates the outside of the main body,
The light-emitting device includes a light-receiving element that receives light emitted from the light emission scanning unit and reflected by a sign, and the type of the sign can be identified based on the intensity of the reflected light of the binarized pattern.

The invention described in claim 13 is particularly advantageous in claim 1.
The sign detection means described in 0 and 11 includes an image sensor including a CCD or a CMOS sensor, and can identify the type of the sign by image recognition.

The invention described in claim 14 is particularly advantageous in claim 1.
In the inventions described in any one of Items 9 to 9, the sign detecting means includes transmitting means for transmitting a radio wave to the sign and receiving means for receiving the radio wave from the sign, and the sign is an identification information storage for storing the meaning of the antenna and the sign. The sign is driven by radio waves transmitted from the transmitting means to transmit identification information to the receiving means, and does not require a power source, is small, and can distinguish various kinds of signs.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS.

(Embodiment 1) FIG. 1 is a perspective view of the overall configuration of a self-propelled cleaner according to a first embodiment of the present invention. In FIG. 1, reference numeral 1 denotes a main body of a self-propelled cleaner that performs cleaning while moving in a cleaning area, and moves forward on a floor surface in the direction of arrow 2. Reference numerals 3 and 4 denote left and right drive motors disposed on the left and right sides of the main body 1, and their output shafts are left and right reduction gears 5,
The left and right running wheels 7 and 8 arranged on both rear sides of the main body 1 are rotationally driven through 6. By independently controlling the rotation of the left drive motor 3 and the right drive motor 4, the main body 1 is moved in the direction of the arrow 2, and
The main body can be turned right or left by making the rotation speeds of the right and left drive motors 4 different from each other, and have functions of a traveling unit and a steering unit. Reference numeral 9 denotes movement control means for controlling the rotation of the left and right drive motors 3 and 4 in accordance with various inputs and for controlling the movement of the main body 1, and comprises a microcomputer and other control circuits.

Reference numerals 10 and 11 denote distance measuring means provided on the left and right of the upper portion of the main body 1, and are constituted by optical sensors for measuring the distance to front and side walls of the main body 1 and obstacles. Reference numeral 21 denotes position recognition means for measuring the direction and position of the main body 1, which is composed of trajectory measuring means for calculating a running trajectory from the rotational speeds of the running wheels 7 and 8. However, a direction measuring means such as a gyro for measuring the direction of the main body is used. They may be combined. Reference numeral 12 denotes a cleaning nozzle disposed at a lower front portion of the main body 1 for cleaning a floor surface. A suction port for sucking dust is provided on a lower surface of the cleaning nozzle 12, and an agitator such as a rotary brush is provided so as to face the suction port. A vacuum 13 is provided in the cleaning nozzle 12, and generates vacuum pressure by driving a fan motor 14 constituting an electric blower. The vacuum pressure is applied to the cleaning nozzle 12 to suck dust from a suction port. The agitator 13
Is rotationally driven by a nozzle motor 15 via a transmission belt 16. In this embodiment, the cleaning means is constituted by the cleaning nozzle 12, the fan motor 14 and the agitator 13, but the agitator 13 may be provided as needed.

Reference numeral 19 denotes a sign detecting means provided on the upper portion of the main body 1, which identifies a sign provided in the cleaning area, as will be described later in detail. Reference numeral 20 denotes a power supply composed of a battery or the like, and the drive motors 3 and 4, the fan motor 14, and the nozzle motor 15 in the main body 1.
And the movement control means 9 and the position recognition means 2 which are circuit parts.
Further, power is supplied to the distance measuring means 10 and 11 and the sign detecting means 19 which are sensors.

Next, the configuration of the marker detecting means 19 will be described with reference to FIGS. FIG. 2 shows a type in which light is scanned and emitted, and the type of marker is identified by a pattern of reflected light intensity. Reference numeral 31 denotes a light emitting element including a laser diode or an LED. Reference numeral 32 denotes a light emission scanning unit including a polygon mirror or a polyhedral reflection mirror, and is driven to rotate as indicated by an arrow a and rotate as indicated by an arrow b so that light from the light emitting element 31 is irradiated onto the entire surface of the marker 41. The light is scanned and emitted to the outside. Reference numeral 33 denotes a light receiving element including a photodiode or the like, and reference numeral 34 denotes a lens, which receives the light reflected by the marker 41 and returned. Since the amount of reflected light changes in a binary manner depending on the shading pattern of the marker 41, the difference in the pattern can be identified. In addition, it is desirable that the sign 41 is installed at substantially the same height as the sign detecting means 19, but the relative positional relationship is not uniform even at the same height. By expanding the field of view, the sign 4
1 can be reliably detected.

FIG. 3 shows a type in which the type of a sign is identified by image recognition by an image sensor. A lens 36 has a diameter and a focal length appropriately set, and forms an image on an image sensor 35 including a CCD or a CMOS sensor. In the case where the sign is a light and shaded binary pattern, the sign can be identified by a black and white image, so that there is an advantage that an inexpensive image sensor 35 can be used. When the sign is distinguished by color, the color image sensor 35 is used, but there is an advantage that the sign can be easily identified by a person. The sign is a sign detecting means 1
It is desirable to install the lens 36 at substantially the same height, but since the relative positional relationship is not uniform even at the same height, use a wide-angle lens for the lens 36 or scan the entire sign detecting means 19 with the entire housing. If the detection field of view is widened by either providing or providing a plurality of labels, it is possible to more reliably detect the label.

FIG. 4 shows an example of a marker 41 which is distinguished by a binary pattern of light and shade. The upper one in FIG. 4 is a so-called bar code, which distinguishes information by a one-dimensional black and white pattern. The lower one in FIG. 4 is called a two-dimensional code, and the information is distinguished by a two-dimensional black and white pattern. It should be noted that, although various signs will be described later, in the case of the present invention, it is assumed that the number of kinds to be distinguished does not exceed 100, so that it is not necessary to be as fine as shown in FIG. In practice, the sign is, for example, black and white 4
If discrimination is made in 16 (2 to the fourth power) of the sections, each light reception or image reception pattern is stored, and by referring to this, from the light reception or image reception information, it is first determined whether or not the sign is a sign, and then what kind of Signs can be identified. It should be noted that the binary pattern of shading includes characters.

FIG. 5 is a control block diagram showing the system configuration of this embodiment. The movement control means 9 outputs the outputs to the left drive motor 3 and the right drive motor 4 and the fan motor 14 and the nozzle motor 15 according to the inputs from the distance measurement means 10 and 11, the position recognition means 21 and the sign detection means 19. Control.
The movement control means 9 includes a wall-side movement means 22 for moving the main body 1 at a fixed distance from the wall, based on an input from the distance measurement means 10 and 11, and an intermediate-coating movement means for moving an inner portion of the cleaning area. 23.

Referring to FIG. 6, the outline of the movement control by the movement control means 9 will be described with reference to the movement locus. Body 1 is floor A to be cleaned
The operation is started from a start point S on the (cleaning area). First, a predetermined distance (including a distance of 0) from the wall and the obstacle 40 as shown by a broken line arrow by the wall moving means 22.
Around the outer periphery of the region along this. During this time, the wall is cleaned by the cleaning means. When returning to the start point S again, the inner coating moving means 23 moves the inner portion from the outer periphery while repeating the straight running and the turn as shown by the solid arrow. During this time, the cleaning unit performs cleaning while detecting and avoiding the center obstacle 41 by the distance measuring units 10 and 11. When the cleaning of the inner portion is completed, the process returns to the start point S along the outer peripheral wall. The operation of the intermediate coating moving means 23 is not limited to the straight traveling and the repetition of the turn. Also,
If the main body 1 has a storage unit for storing the cleaning environment,
The cleaning area (and the position of the sign) can be recognized and stored.

Referring to FIGS. 7 to 9, a moving pattern using each type of sign will be described. First, in FIG. 7, reference numeral 42 denotes a sign indicating an area boundary, which is set at a place where the main body 1 may come out of the area, such as a cut in a wall or an opened door. When the sign detecting means 19 detects the sign 42 indicating the area boundary, the main body 1 stops temporarily as shown in the figure, and then is steered inward of the cleaning area so as not to go out of the area. Further, when the sign 42 is seen from the side with respect to the main body 1, it is not always necessary to stop once,
It is also possible to continue moving while steering to the opposite side of the sign, that is, inside the area, according to the angle seen. As described above, it is possible to prevent the main body 1 from going out of the cleaning area, encountering an unexpected environment, and damaging a property, falling down from a step or a stair, or the like. In addition, sign 4
The operation at the time of detecting the setting place 2 and the sign 42 of
It is not limited to the above in principle that the boundary is not crossed.

In FIG. 8, reference numeral 43 denotes a sign indicating an avoidance area. The sign 43 is installed at a place where entry is prohibited and should not be approached, such as an obstacle to be prevented from contacting, a heat source such as a human, an animal, or a stove. Prevents them from contacting or entering them. The sign 43 indicating the avoidance area by the sign detecting means 19
Is detected, the main body 1 is steered to the left as shown in the figure, and thereafter, while looking at the sign 43 (the avoidance area 43 ') to the side,
Avoid and pass. The movement route after passing is not specified here. The sign 43 may be provided on the right side if it is to be avoided on the right side contrary to the drawing. When the direction in which the main body 1 approaches or avoids is not determined, the sign 43 is used.
Should be installed all around the avoidance area 43 '. In any case, the avoidance area 43 ′ is an area that should not be approached by the main body 1, so that it is better to allow a margin between the main body 1 that performs the avoidance operation and the marker 43.
It is desirable to increase the size of the sign 43 so that the sign 1 can detect the sign 43, or to track the time change of the input information so that the sign detecting means 19 can estimate the distance to the sign 43. As described above, it is possible to prevent approach, contact, and approach to a dangerous place that should not be approached, thereby avoiding an unsafe situation. The location of the sign 43 and the sign 4
The operation when 3 is detected is not limited to the above in principle to avoid the avoidance area 43 ′ at a distance. An important purpose of the sign 43 is to call danger to the main body 1.

In FIG. 9, reference numeral 44 denotes a sign indicating caution when traveling, such as a slope, a slippery floor, a step over a step, or the like.
The main body 1 is moved and cleaned, but is set at a place where the movement requires attention, and the body 1 is moved safely by slowing down. When the sign detecting means 19 detects the sign 44 indicating the caution of traveling, the main body 1 moves at a reduced speed by a broken arrow as shown in the figure. When the marker 44 is detected again, the slow speed is released, the speed returns to the normal speed, and the vehicle moves with the solid arrow. One sign 44
Then, after detecting the sign, a method of continuing the slow motion for a predetermined time or a running distance may be used. As described above, it is possible to place the sign 44 at a place where the movement control requires attention, to decelerate and slow down in advance, and to continue the movement cleaning safely. The sign 44
The operation at the time of detecting the installation location and the sign is not limited to the above in principle, in which the area requiring attention is decelerated.

(Embodiment 2) The overall configuration of a self-propelled vacuum cleaner according to a second embodiment of the present invention is the same as that of the first embodiment, and a description thereof will be omitted. Differences of the operation pattern will be described with reference to FIG.

FIG. 10 schematically shows the trajectory of the cleaning area and the movement control by the movement control means 9. The main body 1 starts operation from a start point S on a floor A (cleaning area) to be cleaned. In the vicinity of the start point S, a sign 4 indicating a work base point
5 are installed, and the sign detecting means 19 recognizes this. First, as shown by a dashed arrow, the area along the wall and the obstacle 40 are circled around the area by the wall moving means 22 clockwise along the left side wall. On the way, the sign detecting means 19 recognizes the sign 46 indicating a direction instruction, and makes a 90-degree left turn based on the sign 46L indicating left turn or a 90-degree turn based on the sign 46R indicating right turn at the exit of the lower corridor in FIG. Turn right or go straight at the break in the upper wall of FIG. 10 based on the sign 46S indicating straight ahead. Incidentally, the angle is detected based on the outputs of the position recognition means 21 and the distance measurement means 10 and 11. During this time, the wall is cleaned by the cleaning means.
When returning to the start point S again, the sign detecting means 19 recognizes the sign 45 indicating the working base point again, and the movement control means 9 terminates the wall-side moving means 22 and then the middle coat moving means 23. Switch to internal cleaning. The operation by the intermediate coating moving means 23 moves the inner portion from the outer periphery while repeating the straight traveling and the turning in a random direction, as shown by the solid arrow. On the way, the sign detecting means 19 recognizes the sign 42 indicating the area boundary and does not go out of the area. Also, the sign 46 indicating a direction instruction is ignored. During this time, the cleaning means cleans while avoiding the central obstacle 41. When the cleaning of the inner portion is completed, the process returns to the start point S along the outer peripheral wall. The sign detecting means 19 recognizes the sign 45 indicating the work base point again and again, the movement control means 9 determines the end of the cleaning and the return of the work base point, and waits at this place until the next cleaning. As described above, by providing the sign 46 indicating the direction instruction at the break in the wall, it is possible to move along the wall around the cleaning area. In addition, the angle of the left turn / right turn is not limited to 90 degrees. In addition, the direction instruction is described only during movement along the wall, but the present invention is not limited to this. Further, the operation of the intermediate coating moving means 23 is not limited to the straight traveling in a random direction and the repetition of the turn.

(Embodiment 3) The overall configuration of a self-propelled cleaner according to a third embodiment of the present invention is the same as that of the first and second embodiments, and a description thereof will be omitted. Differences of the operation pattern will be described with reference to FIGS.

The present embodiment mainly assumes traffic control at the time of separation when there are a plurality of self-propelled cleaners. FIG.
As shown in FIG.
A sign 47 indicating a passing direction instruction is provided at the front of. When the main bodies 1 approach each other, the sign detecting means 19 sets the sign 4
For example, if the passage direction is set to the right side when both are detected, the movement control means 9 collides without mistakenly determining whether the other body 1 is mistaken for an obstacle or whether to avoid it on the left or right. Can be smoothly separated.

When the number of the main body 1 is one, it can be applied to the situation shown in FIG. It is assumed that the main body 1 encounters the central obstacle 41 during the movement of the cleaning area, and the installed sign 47 is passing on the left side, and the sign detecting means 19 recognizes this.
At this time, the main body 1 once changes the course to the left, and then moves around the wall by moving 22 along the wall along the central obstacle 41. When the marker 47 is detected again after making a round, the vehicle passes the central obstacle 41 from the left side. Thereby, the periphery of the central obstacle 41 in the cleaning area can also be cleaned.

Alternatively, when the number of the main body 1 is one, FIG.
By installing the sign 47 of the present embodiment in addition to the sign 43 indicating the avoidance area of the present embodiment, in addition to the avoidance operation, there is also an application of selecting either the left or the right in the passing direction in accordance with the instruction of the sign 47. It is possible.

Throughout Examples 1 to 3, the size and shape of the sign itself were set to a level having no practical problem.
There are various possible installation modes, for example, a billboard, a floor, a sticking to a wall, etc., but there is no particular limitation. However, it is necessary that the conditions for installing the sign detecting means 19 on the main body 1 be compatible with the signs and their installation forms.

(Embodiment 4) A self-propelled cleaner according to a fourth embodiment of the present invention will be described with reference to FIG. The description of the same parts as those in the above embodiment is omitted.

In FIG. 13, reference numeral 51 denotes an antenna for transmitting and receiving a radio wave. The antenna 51 is provided in a horizontal arrangement with good sensitivity in the front-rear direction of the main body 1 and in a front-rear arrangement with good sensitivity in the left-right direction of the main body 1. A horizontal arrangement having good sensitivity in the floor direction may be provided. 52 is a transmitting circuit, 53 is a receiving circuit, and the transmitting means is composed of an antenna 51 and a transmitting circuit 52.
And the receiving circuit 53 constitute a receiving means, and the transmitting means and the receiving means constitute the sign detecting means 19. The movement control means 9 controls the transmission circuit 52 and the reception circuit 53, and repeats transmission periodically. The processing and determination of the received signal are performed by the movement control means 9.

On the other hand, in FIG. 14, reference numeral 54 denotes an antenna for transmitting and receiving radio waves to and from the sign detecting means 19. Reference numeral 55 denotes an identification information storage unit in which an ID number is stored in the IC, and different ID numbers are assigned to correspond to the respective meanings of the various signs described in the first to third embodiments to distinguish types. 56
Is a peripheral circuit, which generates an electromotive force from a radio wave transmitted from the sign detection means 19 and received by the antenna 54, and supplies this power to the antenna 54 and the identification information storage unit 55. The peripheral circuit 56 reads the ID number from the identification information storage unit 55,
A modulated signal corresponding to this is sent to the antenna 54, and the antenna 54 emits a modulated radio wave. The marker (radio wave type) 48 is composed of the antenna 54, the identification information storage unit 55, and the peripheral circuit 56, and does not have a power supply. FIG. 14 shows a card type, but there are also a capsule type, a disk type, etc., which are as small as several cm. It can be attached to walls and placed on the floor.

With the above configuration, when the main body 1 enters the range (several tens of cm) where the radio wave of the sign 48 can reach, the sign detecting means 19
Identifies the information of the indicator 48 and determines the corresponding movement pattern. That is, each of the movement patterns can be embodied in a configuration different from the first to third embodiments.

[0044]

As described above, according to the present invention, it is possible to simply set various signs such as the limitation of the work area and the avoidance area in correspondence with various work areas, and the fall, the damage of the equipment, the breakage of the main body, and the like.
It is possible to provide a safe mobile work robot that avoids various unsafe situations during work, such as a fire and a personal injury.

[Brief description of the drawings]

FIG. 1 is an internal perspective view of a self-propelled vacuum cleaner according to Embodiments 1 to 3 of the present invention.

FIG. 2 is a configuration diagram of a sign detection unit of the type that identifies a sign by a pattern of the intensity of reflected light.

FIG. 3 is a configuration diagram of a sign detection unit of the type that identifies a sign by image recognition.

FIG. 4 is a diagram showing an example of a sign distinguished by a binary pattern of light and shade.

FIG. 5 is a control block diagram illustrating a system configuration according to the first to fourth embodiments of the present invention.

FIG. 6 is a diagram showing an example of a series of operations in a work area.

FIG. 7 is a view for explaining the operation at the area boundary.

FIG. 8 is a diagram for explaining an operation in the avoidance area.

FIG. 9 is a diagram illustrating an operation in the attention area.

FIG. 10 is a diagram for explaining an operation based on a work base point and a direction instruction.

FIG. 11 is a diagram illustrating an operation in response to a pass instruction.

FIG. 12 is a diagram illustrating an operation around a central obstacle using a pass instruction.

FIG. 13 is a diagram illustrating a sign detection unit according to a fourth embodiment of the present invention.

FIG. 14 is a view for explaining signs.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main body 3, 4 Drive motor (running means, steering means) 5, 6 Reduction gear (running means, steering means) 7, 8 Running wheel (running means, steering means) 9 Movement control means 10, 11 Distance measuring means 12 Cleaning Nozzle 14 Fan motor 19 Sign detecting means 22 Wall moving means 31 Light emitting means 32 Light emitting scanning unit 33 Light receiving element 35 Image sensor 41 Sign 42 Sign indicating area boundary 43 Sign indicating avoidance area 44 Sign indicating caution 45 Work Sign indicating a base point 46 Sign indicating a direction indication 46S Sign indicating a straight ahead 46L Sign indicating a left turn 46R Sign indicating a right turn 47 Sign indicating a passing direction indication 48 Sign (radio wave) 51 Antenna (transmitting means, Receiving means) 52 transmitting circuit (transmitting means) 53 receiving circuit (receiving means) 54 antenna 55 identification information storage unit

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Miki Hono 1006 Kadoma Kadoma, Osaka Pref. Matsushita Electric Industrial Co., Ltd. Terms (reference) 5H301 AA01 BB05 BB11 FF05 FF08 FF11 FF13 GG08 GG09 LL06 LL07 LL08

Claims (14)

[Claims] 1. A traveling means for moving a main body, a steering means for changing a moving direction of the main body, a working means provided on the main body for performing work, and a sign detecting means for detecting a sign provided in a work area. And movement control means for controlling movement of the main body by controlling the traveling means and the steering means, wherein the sign detection means identifies information of the sign, and the movement control means responds to the identification information. A mobile work robot that determines the movement pattern. 2. The mobile work robot according to claim 1, wherein the sign detection means identifies a sign indicating a work area boundary, and the movement control means temporarily stops the movement pattern or steers the movement pattern inward from the boundary. . 3. The mobile work robot according to claim 1, wherein the sign detecting means identifies a sign indicating the avoidance area, and the movement control means operates to avoid the movement pattern from the avoidance area. 4. The mobile work robot according to claim 1, wherein the sign detection means identifies a sign indicating caution, and the movement control means sets the movement pattern to a deceleration movement operation. 5. The mobile work robot according to claim 1, wherein the sign detection means identifies a sign indicating a work base point, and the movement control means stops the movement pattern or switches a predetermined operation. 6. The mobile work robot according to claim 1, wherein the sign detecting means identifies a sign indicating a direction instruction, and the movement control means moves the movement pattern in the indicated direction. 7. The mobile work robot according to claim 6, wherein there are three types of signs indicating movement direction instructions, and the movement control means performs a left turn, right turn, and straight ahead movement pattern for each of the sign information. 8. A body having a distance measuring means for detecting a distance to a wall and an obstacle, wherein a movement control means holds a predetermined distance from the wall and the obstacle based on an output of the distance measuring means,
8. A wall moving means for moving the main body.
Mobile work robot as described. 9. The mobile work robot according to claim 1, wherein the sign detecting means identifies a sign indicating a passing direction instruction, and the movement control means makes the moving pattern pass right or left. 10. The mobile work robot according to claim 1, wherein the sign is distinguished by a binary pattern of light and shade. 11. The mobile work robot according to claim 1, wherein the signs are distinguished by color. 12. A sign detecting means receives a light emitted from the light emitting element, a light emitting scanning part for scanning the light emitted from the light emitting element and irradiating the light to the outside of the main body, and a light emitted from the light emitting scanning part reflected by the sign. The mobile work robot according to claim 10, further comprising a light receiving element. 13. The label detecting means is a CCD or a CM.
The mobile work robot according to claim 10, further comprising an image sensor including an OS sensor. 14. A sign detecting means has a transmitting means for transmitting a radio wave to a sign and a receiving means for receiving a radio wave from the sign, and the sign has an antenna and an identification information storage unit for storing the meaning of the sign. The mobile work robot according to any one of claims 1 to 9, wherein the sign is driven by radio waves transmitted from the transmission means to transmit identification information to the reception means.