JP2005233873A - Moving device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To detect an obstacle over a wide range, using a single infrared range finding sensor, in a moving device. <P>SOLUTION: This moving device traveling on a floor face by driving wheels 7a, 7b rotated by driving motors 6a, 6b has the infrared range finding sensor 1 for detecting the obstacle positioned along an advancing direction of the device, using an infrared ray, an infrared transmission filter 5 arranged in a front face of the infrared range finding sensor 1 to transmit only a prescribed wavelength of infrared ray, a driven gear 2 for holding the infrared range finding sensor 1 to allow oscillation, an oscillation motor 4 for oscillating the infrared range finding sensor 1 within a prescribed angle range via the driven gear 2, and a CPU for controlling the whole device. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a mobile device, and more particularly to a technique effective when applied to the detection of an obstacle located in the traveling direction.

  When moving a moving body autonomously, it is an indispensable condition to detect an obstacle in the traveling direction.

  Currently, ultrasonic sensors and infrared distance measuring sensors are used as general obstacle detection means.

  However, obstacle detection using an ultrasonic sensor can detect a wide range of obstacles with a single sensor, but it cannot detect objects that do not reflect ultrasonic waves, such as curtains, Therefore, there is a problem that an error occurs in the detection distance, and an undetectable range occurs in a wide range of several tens of centimeters from the sensor mounting position.

  On the other hand, in the obstacle detection using the infrared distance measuring sensor, it is possible to measure the distance to the target object with high accuracy without being influenced by the color of the object or the like as compared with the ultrasonic sensor. However, since the range that can be detected by a single sensor is limited to a narrow pinpoint range, multiple sensors are required to detect obstacles in a range that does not hinder the movement of the device, which complicates the interface. Cost increases.

Note that obstacle detection in a mobile device is described in, for example, Japanese Patent Laid-Open No. 2002-360480.
JP 2002-360480 A

  As described above, in a mobile device that detects an obstacle in the traveling direction using an infrared distance measuring sensor, a plurality of sensors are required to detect an obstacle in a certain range, and the interface is complicated and the cost is high. There was a problem of becoming.

  Therefore, an object of the present invention is to provide a mobile device that can detect a wide range of obstacles using a single infrared distance measuring sensor.

  In order to solve this problem, the moving device of the present invention is a moving device that travels on a floor surface by drive wheels rotated by a drive motor, and uses an infrared ray to detect an obstacle positioned in the traveling direction of the device. Infrared distance measuring sensor to detect, an infrared transmission filter which is disposed in front of the infrared distance measuring sensor and transmits only a predetermined infrared wavelength, a holding means for swingably holding the infrared distance measuring sensor, and the holding And a control unit that controls the entire apparatus. The control unit controls the entire apparatus.

In order to solve this problem, the moving device of the present invention is a moving device that travels on the floor surface by driving wheels rotated by a driving motor, and transmits obstacles positioned in the traveling direction of the device to infrared rays. An infrared distance sensor to detect using, an infrared transmission filter that is disposed in front of the infrared distance sensor and transmits only a predetermined infrared wavelength, and a holding means that swingably holds the infrared distance sensor; Oscillating means for transmitting the rotation of the driving shaft for rotating the driving wheel to the holding means to swing the holding wheel, and swinging the infrared distance measuring sensor within a predetermined angle range via the holding means; And a control means for controlling the entire apparatus.

  In a preferred embodiment of the present invention, the swinging means includes a first worm attached to the drive shaft, a first worm wheel meshing with the first worm, the first worm wheel, and the holding means. And a link for swinging the holding means about a fulcrum fitted in the elongated hole by the rotation of the first worm wheel.

  In a further preferred aspect of the present invention, the holding means is installed such that the rotation axis thereof is perpendicular to the floor surface, and the infrared distance measuring sensor is horizontally arranged around the rotation center of the holding means. Swings in an arc shape.

  In a further preferred aspect of the present invention, the infrared transmission filter is arranged in an arc shape that is equidistant from the center of oscillation of the infrared distance measuring sensor.

  Furthermore, in order to solve this problem, the moving device of the present invention is a moving device that travels on the floor surface by drive wheels rotated by a drive motor, and transmits obstacles located in the traveling direction of the device using infrared rays. Infrared distance measuring sensor to be detected and provided to be able to swing in the horizontal direction, and irradiates the infrared light emitted from the infrared distance measuring sensor toward the obstacle, and reflects back to the obstacle and returns. Having a reflector for guiding the light to the infrared distance measuring sensor, an infrared transmission filter that is disposed in front of the reflector and transmits only a predetermined infrared wavelength, and a control means for controlling the entire apparatus. It is.

  In a preferred embodiment of the present invention, the reflector is further rotatable around an axis parallel to the light projecting / receiving line of the infrared distance sensor while maintaining the positional relationship with the infrared distance sensor.

  In a further preferred aspect of the present invention, the obstacle search trajectory in the infrared distance measuring sensor is an endless trajectory.

  In a further preferred aspect of the present invention, the measurement distance is corrected using a correlation table between the measured value of the infrared distance measuring sensor and the actually measured distance.

  In a further preferred aspect of the present invention, the control means detects an obstacle with a first swing range and a first resolution in the traveling direction of the infrared distance measuring sensor before the movement starts, and after the movement starts, An obstacle is detected with a second swing range narrower than the first swing range and a second resolution that is sparser than the first resolution in the traveling direction of the infrared distance measuring sensor.

  In a further preferred aspect of the present invention, when the control means detects an obstacle within a safe range distance by the infrared distance measuring sensor during movement, the control means stops and stops the first swing range and the first first range. Perform obstacle search with resolution.

  In a further preferred aspect of the present invention, when changing the course, the control means determines the course so as to avoid the obstacle by rotating the mobile device itself 360 ° on the spot while detecting the obstacle.

In a further preferred aspect of the present invention, when the moving device rotates 360 °, the infrared distance measuring sensor is fixed in the front direction of the device.

  According to the present invention, the moving device is moved while oscillating infrared rays received or emitted from the infrared distance measuring sensor or infrared distance measuring sensor, so that a wide range of obstacle detection can be performed using a single infrared distance measuring sensor. The effective effect that it becomes possible to perform is obtained.

  The invention according to claim 1 of the present invention is a moving device that travels on a floor surface by driving wheels rotated by a driving motor, and detects infrared obstacles using infrared rays. A distance measuring sensor, an infrared transmission filter that is disposed in front of the infrared distance measuring sensor and transmits only a predetermined infrared wavelength, a holding means for holding the infrared distance measuring sensor so as to be swingable, and a holding means. The moving device has a swinging means for swinging the infrared distance measuring sensor within a predetermined angle range and a control means for controlling the entire apparatus, and the moving device is moved while swinging the infrared distance measuring sensor. Therefore, it is possible to detect a wide range of obstacles using a single infrared distance measuring sensor.

  The invention according to claim 2 of the present invention is a moving device that travels on a floor surface by drive wheels rotated by a drive motor, and detects infrared obstacles located in the traveling direction of the device using infrared rays. A distance measuring sensor, an infrared transmission filter that is disposed in front of the infrared distance measuring sensor and transmits only a predetermined infrared wavelength, a holding means that swingably holds the infrared distance measuring sensor, and the driving wheel. The rotation of the drive shaft to be transmitted is transmitted to the holding means to swing it, and the swinging means for swinging the infrared distance measuring sensor within a predetermined angle range via the holding means, and the control of the entire apparatus. Since the moving device is moved while swinging the infrared distance measuring sensor, it is possible to detect a wide range of obstacles using a single infrared distance measuring sensor. BecomeFurther, since the infrared distance measuring sensor attached to the rocking plate is rocked by the driving motor via the rocking means, the infrared distance measuring sensor is rocked without having a dedicated driving source to obstruct the obstacle. It has the effect | action that it can detect.

  According to a third aspect of the present invention, in the second aspect of the present invention, the swing means is a first worm attached to the drive shaft, and a first worm wheel meshing with the first worm. And the first worm wheel and the holding means are rotatably attached to couple the two together, and the holding means is swung around a fulcrum inserted into the long hole by the rotation of the first worm wheel. The moving device includes a link to be moved, and has an effect that an infrared distance measuring sensor can be swung without performing a dedicated drive source to detect an obstacle.

  According to a fourth aspect of the present invention, in the invention according to any one of the first to third aspects, the holding means is installed so that a rotation axis thereof is perpendicular to the floor surface. The infrared distance measuring sensor is a moving device that swings in an arc shape in the horizontal direction around the rotation center of the holding means, and can accurately detect an obstacle using the infrared distance measuring sensor. It has the action.

  The invention according to claim 5 of the present invention is the invention according to any one of claims 1 to 4, wherein the infrared transmission filter is equidistant from the center of oscillation of the infrared distance measuring sensor. This is a moving device arranged in an arc shape. When the infrared distance measuring sensor swings, the distance between the infrared distance measuring sensor and the infrared transmission filter is always kept constant. The conditions for the generation of stray light that occurs when the light passes through are constant, and the variation in measurement accuracy can be reduced.

  The invention according to claim 6 of the present invention is a moving device that travels on a floor surface by drive wheels rotated by a drive motor, and detects infrared obstacles that are located in the traveling direction of the device using infrared rays. A distance measuring sensor, which is provided so as to be able to swing in a horizontal direction, irradiates infrared rays emitted from the infrared distance measuring sensor toward the obstacle, and reflects infrared rays reflected back to the obstacle to the infrared distance measuring Infrared distance measuring sensor comprising: a reflector that leads to a sensor; an infrared transmission filter that is disposed in front of the reflector and transmits only a predetermined infrared wavelength; and a control unit that controls the entire apparatus. Since the moving device is moved while oscillating the infrared rays, it is possible to detect a wide range of obstacles using a single infrared distance measuring sensor. Further, by changing the angle of the reflector, it has an effect that the mounting direction and mounting position of the infrared distance measuring sensor with respect to the obstacle can be set substantially freely.

  The invention according to claim 7 of the present invention is the light emitting and receiving line of the infrared distance measuring sensor according to the invention according to claim 6, wherein the reflector further maintains a positional relationship with the infrared distance measuring sensor. Is a moving device that can rotate around an axis parallel to the moving object, and has an effect that the search range for obstacle detection can be extended to an arbitrary two-dimensional range in the moving body traveling direction.

  The invention according to claim 8 of the present invention is the moving device according to claim 7, wherein the obstacle search trajectory in the infrared distance measuring sensor is an infinite trajectory, and there are few obstacle detection errors and measurement. Since the points can be thinned out, the load on the control device for obstacle detection can be reduced.

  The invention according to claim 9 of the present invention is the mobile device according to claim 6, 7 or 8, wherein the measuring distance is corrected using a correlation table between the measured value of the infrared distance measuring sensor and the actually measured distance. There is an effect that it is possible to eliminate a ranging error due to attenuation of infrared intensity generated when performing infrared light projection and light reception through a reflector.

  According to a tenth aspect of the present invention, in the invention according to any one of the first to ninth aspects, the control means is configured to perform a first operation with respect to a traveling direction of the infrared distance measuring sensor before the movement starts. After the obstacle is detected with the swing range and the first resolution and the movement is started, the second swing range and the first first are narrower than the first swing range in the traveling direction of the infrared distance measuring sensor. It is a mobile device that detects an obstacle with a second resolution that is sparser than the resolution, and has the effect that it is possible to adjust the processing load of the control means for detecting the obstacle.

  According to an eleventh aspect of the present invention, in the invention according to any one of the first to tenth aspects, the control means moves an obstacle within a safe range distance by the infrared distance measuring sensor during movement. When detected, the moving device temporarily stops and searches for an obstacle with the first swing range and the first resolution, and has an effect of reliably avoiding interference with the obstacle.

  According to a twelfth aspect of the present invention, in the invention according to any one of the first to eleventh aspects, when the control means changes the course, the moving device itself is detected while detecting an obstacle. It is a moving device that rotates 360 ° on the spot and decides the course so as to avoid obstacles, and since it searches widely the course direction to be changed, it can search for a course that can be moved reliably. Have.

  According to a thirteenth aspect of the present invention, in the invention according to the twelfth aspect, when the moving device rotates 360 °, the infrared distance measuring sensor is a moving device fixed in the front direction of the device, and is an obstacle. Since this detection range is compared with the rotation angle of the apparatus, it has an effect that a new course can be easily calculated.

  Hereinafter, the best mode for carrying out the present invention will be described more specifically with reference to the drawings. Here, in the accompanying drawings, the same reference numerals are given to the same members, and duplicate descriptions are omitted. In addition, since description here is the best form by which this invention is implemented, this invention is not limited to the said form.

(Embodiment 1)
FIG. 1 is a schematic diagram showing a mobile device according to Embodiment 1 of the present invention, FIG. 2 is an explanatory diagram showing a main part of the mobile device of FIG. 1, and FIG. 3 is an operation procedure for obstacle avoidance in the mobile device of FIG. It is a flowchart to show.

  As shown in FIG. 1, the moving device has a driving wheel 7 a rotated by the driving motor 6 a and a driving wheel 7 b rotated by the driving motor 6 b attached to the right front and left front of the housing part 13, respectively. . A driven wheel 10 held by the driven wheel holding unit 11 is attached to the rear center portion of the housing portion 13. Therefore, the moving device is supported on three points of two drive wheels 7a and 7b and one driven wheel 10, and travels on the floor surface by the drive wheels 7a and 7b rotated by the drive motors 6a and 6b.

  A swing motor (swing means) 4 is mounted inside the moving device, and a drive gear 3 is attached to the output shaft of the swing motor 4. The drive gear 3 is engaged with a driven gear (holding means) 2 that holds the infrared distance measuring sensor 1 so as to be swingable. As a result, when the swing motor 4 swings at a predetermined angle, the driven gear 2 rotates via the drive gear 3, and the infrared distance measuring sensor 1 fixed to the driven gear 2 rotates the angle (search). It swings within the range of (angle) θ.

  An infrared transmission filter 5 that transmits only a predetermined infrared wavelength is disposed on the front surface of the infrared distance measuring sensor 1. The infrared transmission filter 5 is arranged in an arc shape that is equidistant from the center of swinging rotation of the infrared distance measuring sensor 1 and has a uniform thickness. As a result, when the infrared distance measuring sensor 1 swings, the distance between the infrared distance measuring sensor 1 and the infrared transmission filter 5 is always kept constant. Therefore, the infrared distance measurement sensor 1 is generated when infrared rays pass through the infrared transmission filter 5. The generation condition of stray light is constant, and the variation in measurement accuracy is reduced.

  Further, the moving device includes a motor control unit 8 that controls the rotation of the swing motor 4 and the drive motors 6a and 6b, a CPU (control means) 9 that controls the entire device, and the CPU 9 and the drive motors 6a and 6b. A power source 12 for supplying power to the power source is provided.

  As shown in FIG. 2, the driven gear 2 is installed such that the rotation axis thereof is perpendicular to the floor surface. The infrared distance measuring sensor 1 attached to the driven gear 2 has a driven gear holding function. The part 21 is held in a state of being rotatable in the horizontal direction. As a result, the swing motion of the swing motor 4 moves the driven gear 2 via the drive gear 3, and the infrared distance measuring sensor 1 swings in an arc shape in an arbitrary range in the horizontal direction around the rotation center of the driven gear 2. To move.

  The infrared distance measuring sensor 1 includes an infrared light projecting unit 22 that emits infrared light toward the traveling direction of the apparatus, and an infrared light receiving unit 23 that receives reflected light that is irradiated from the infrared light projecting unit 22 and reflected by an obstacle 25. Between the infrared light projecting unit 22 and the infrared light receiving unit 23 to prevent the stray light that is reflected back from the infrared transmission filter 5 from entering the infrared light receiving unit 22. A light shielding plate 24 is disposed.

  Here, the avoidance operation when an obstacle is detected will be described with reference to FIG. The avoidance operation is performed under the control of the CPU 9.

  First, a destination, a course, a search angle θ = α (first swing range) of the infrared distance measuring sensor 1 and a search resolution φ = δ (first resolution) are set (S101). 1 is swung to perform the obstacle search operation in detail in a wide range of the moving direction of the moving device (S102).

  Next, the distance L obtained by measuring with the infrared distance measuring sensor 1 is compared with the preset safety range distance Lm (S103). If L> Lm, the obstacle search setting condition is set to the search range θ. = Β (second oscillation range) and search resolution φ = γ (second resolution), and the moving operation is started while sparsely searching a narrow range (S104).

  While the apparatus is moving, L is constantly compared with Lm (S105). If L> Lm, it is confirmed whether or not the mobile device has reached the destination (S106). If Yes, the mobile device ends the moving operation. If No, the moving operation is continued with the obstacle search setting condition maintained as the search angle θ = β and the search resolution φ = γ (S104).

  If L ≦ Lm in the above-described S103, it is determined whether or not it is necessary to change the course of the apparatus (S109). In the case of No, the moving operation is continued (S104). In the case of Yes, the infrared distance measuring sensor 1 is fixed at a position facing the front of the apparatus, and the apparatus itself rotates 360 ° on the spot while detecting an obstacle (S110). Then, based on the measured data, the course is determined so as to avoid the obstacle (S111), the course is changed (S112), and the traveling direction is again determined under the search conditions of search angle θ = α and search resolution φ = δ. An obstacle search is performed (S102). The reason why the infrared distance measuring sensor 1 is fixed in the front direction of the device when the mobile device rotates 360 ° is that the detection range of the obstacle is compared with the rotation angle of the device, so the calculation of the new course is easy. Because it will be possible.

  If L ≦ Lm in S105, the apparatus pauses (S107), and again changes the traveling direction of the moving apparatus to the obstacle search range θ = α and the obstacle search resolution φ = δ, and the wide range is detailed. A search is performed (S108). Thereby, interference with an obstacle can be avoided reliably.

  As described above, according to the moving apparatus of the present embodiment, the apparatus is moved while the infrared distance measuring sensor 1 is swung, so that a wide range of obstacles can be detected using the single infrared distance measuring sensor 1. It becomes possible to do. The obstacle detection may be performed by swinging the infrared distance measuring sensor 1 in a direction perpendicular to the measurement surface.

  Also, when starting the moving device, the search angle θ of the infrared distance measuring sensor 1 is set large (θ = α), the search resolution is also fine (φ = δ), and a wide range is searched finely. Since the search angle θ is small (θ = β), the search range is limited to a narrow range in the traveling direction, and the search resolution is also sparse (φ = γ), the processing load on the CPU 9 for detecting the obstacle is adjusted. It becomes possible.

  Furthermore, when the course is changed, the infrared distance measuring sensor 1 is fixed at a position facing the front of the apparatus, the apparatus itself performs 360 ° rotation operation on the spot while performing measurement, and the course is determined based on the measurement data. (S110, S111), since the route direction to be changed is widely searched, it is possible to reliably search for a moveable route.

(Embodiment 2)
FIG. 4 is a schematic diagram showing a moving device according to Embodiment 2 of the present invention.

In the illustrated moving device, the drive wheels 7a, 7 are provided on the right front side and the left front side of the housing 13 respectively.
b is arranged. The drive wheels 7a and 7b are fixed to both ends of a drive shaft 36 to which the first worm 35 and the second worm wheel 37 are attached. In addition, a steering mechanism unit 40 for operating the traveling direction of the apparatus is provided in the rear central portion of the housing unit 13. Therefore, the moving device is supported at three points, that is, the two drive wheels 7 a and 7 b and the one steering mechanism 40.

  A drive motor 38 is provided in the housing 13, and a second worm 39 that meshes with the second worm wheel 37 is attached to the output shaft of the drive motor 38. Accordingly, the rotation of the drive motor 38 is transmitted from the second worm 39 to the second worm wheel 37, and the drive wheels 7a and 7b are rotated and moved by the drive shaft 36 rotated by the rotation of the second worm wheel 37. The device runs.

  The first worm 35 meshes with the first worm 35 described above. Further, in the vicinity of the first worm wheel 34, the infrared distance measuring sensor 1 is fixed to a swing plate (holding means) 31 and is held swingably. A link 32 having a long hole 32a in which a fulcrum 33 is fitted is attached to the first worm wheel 34 and the swing plate 31, and both are coupled to each other, and the link 32 and the first worm wheel 34 are connected. And the connection point between the link 32 and the swing plate 31 are rotatable. As a result, the first worm 35, the first worm wheel 34 and the link 32 serve as swinging means for swinging the infrared distance measuring sensor 1 via the swing plate 31, and the first worm rotated by the drive shaft 36. The rotation of 35 is transmitted to the first worm wheel 34, and the swing plate 31 swings around the fulcrum 33 by the rotation of the first worm wheel 34, and the infrared distance measuring sensor fixed to the swing plate 31. 1 swings within the range of the search angle and detects an obstacle located in the traveling direction.

  An infrared transmission filter 5 that transmits only a predetermined infrared wavelength is disposed on the front surface of the infrared distance measuring sensor 1. The infrared transmission filter 5 is arranged in an arc shape that is equidistant from the center of swinging rotation of the infrared distance measuring sensor 1 and has a uniform thickness.

  Further, the moving device is provided with a motor control unit 8 that controls the rotation of the drive motor 38 described above, a CPU 9 that controls the entire device, and a power source 12 that supplies power to the CPU 9 and the drive motor 38.

  Note that the obstacle avoidance operation in such a mobile device is as described in the first embodiment.

  According to such a configuration, since the infrared distance measuring sensor 1 attached to the swing plate 31 is swung by the drive motor 38 via the swinging means, the infrared distance measuring sensor 1 is used as a dedicated drive source. It is possible to detect an obstacle by swinging without having.

(Embodiment 3)
FIG. 5 is a schematic diagram showing the main part of the moving device according to the third embodiment of the present invention, FIG. 6 is an explanatory diagram showing a conversion table provided in the moving device according to the third embodiment of the present invention, and FIG. It is explanatory drawing which shows the principal part as a modification in the moving apparatus in Embodiment 3.

  In the moving apparatus of the present embodiment, as shown in FIG. 5, the infrared distance measuring sensor 1 is fixed and cannot swing. And while irradiating the infrared ray emitted from the light projection part of such an infrared distance measuring sensor 1 toward the obstacle 25, the infrared ray reflected back to the obstacle 25 and returned to the light receiving part of the infrared distance measuring sensor 1 A reflector 51 for guiding is provided.

  The reflector 51 is fixed to a driven gear 52 that meshes with a drive gear 53 attached to the output shaft of the swing motor 54. Therefore, by operating the swing motor 54, the reflector 51 is swung in the horizontal direction via the drive gear 53 and the driven gear 52.

  Therefore, by changing the angle of the reflector 51, the mounting direction and mounting position of the infrared distance measuring sensor 1 with respect to the obstacle 25 can be set substantially freely.

  Since the center of rotation of the swinging motion of the reflector 51 coincides with the reflection and reception points of the infrared distance measuring sensor 1, even if the angle of the reflector 51 is changed, the reflector 51 and the infrared distance measuring sensor. The distance from 1 is always constant, so that a measurement error caused by changing the angle of the reflector 51 does not occur.

  An infrared transmission filter 5 is disposed between the reflector 51 and the obstacle 25, that is, in front of the reflector 51. Since the infrared transmission filter 5 projects and receives infrared rays through the reflector 51, a distance measurement error due to attenuation of the infrared intensity occurs. Further, passing through the infrared transmission filter 5 causes a slight decrease in infrared intensity.

  Therefore, in order to eliminate the measurement error due to the attenuation of the infrared intensity, the correlation between the measured value such as the voltage value and the current value output from the infrared distance measuring sensor 1 and the actual distance is as shown in FIG. The measured distance is corrected by providing a conversion table of measured distances. In FIG. 6, the relationship between the voltage value and the actually measured distance is conceptually shown, but it goes without saying that the relationship between another measured value such as a current value and the actually measured distance may be defined.

  In addition, as shown in FIG. 7, the X axis (infrared distance measuring sensor 1) while maintaining the positional relationship between the axis for rotating the reflector 51 around the Z axis (horizontal direction), the reflector 51 and the infrared distance measuring sensor 1. The search range for obstacle detection can be extended to an arbitrary two-dimensional range in the moving body traveling direction.

  In addition, when performing obstacle detection in a two-dimensional space, if the obstacle search trajectory by the infrared distance measuring sensor 1 is an infinite 8 orbit horizontal trajectory, there are few obstacle detection errors and the measurement points can be thinned out. It is possible to reduce the load on the CPU 9 for detecting an obstacle.

  Note that the obstacle avoidance operation in such a mobile device is also as described in the first embodiment.

  The present invention relates to a mobile device such as a mobile robot, and in particular, by detecting a wide range of obstacles with a single infrared distance measuring sensor, the interface is prevented from becoming complicated and an inexpensive mobile device is provided.

Schematic which shows the moving apparatus in Embodiment 1 of this invention. Explanatory drawing which shows the principal part in the moving apparatus of FIG. The flowchart which shows the operation | movement procedure of the obstacle avoidance in the moving apparatus of FIG. Schematic which shows the moving apparatus in Embodiment 2 of this invention. Schematic which shows the principal part of the moving apparatus in Embodiment 3 of this invention. Explanatory drawing which shows the conversion table with which the moving apparatus in Embodiment 3 of this invention was equipped. Explanatory drawing which shows the principal part as a modification in the moving apparatus in Embodiment 3 of this invention.

Explanation of symbols

1 Infrared distance measuring sensor 2 Driven gear (holding means)
3 Drive gear 4 Oscillating motor (oscillating means)
5 Infrared transmission filter 6a, 6b Drive motor 7a, 7b Drive wheel 8 Motor controller 9 CPU (control means)
DESCRIPTION OF SYMBOLS 10 Driven wheel 11 Driven wheel holding unit 12 Power supply 13 Case part 21 Driven gear holding part 22 Infrared light projecting part 23 Infrared light receiving part 24 Light shielding plate 25 Obstacle 31 Oscillating plate 32 Link 33 Support point 34 First worm wheel 35 First 1 worm 36 drive shaft 37 second worm wheel 38 drive motor 39 second worm 40 steering mechanism 51 reflector 52 driven gear 53 drive gear 54 swing motor

Claims (13)

A moving device that travels on a floor surface by drive wheels rotated by a drive motor,
An infrared distance measuring sensor for detecting obstacles located in the traveling direction of the apparatus using infrared rays;
An infrared transmission filter that is disposed in front of the infrared distance measuring sensor and transmits only a predetermined infrared wavelength;
Holding means for swingably holding the infrared distance measuring sensor;
Rocking means for rocking the infrared distance measuring sensor within a predetermined angle range via the holding means;
And a control unit that controls the entire apparatus. A moving device that travels on a floor surface by drive wheels rotated by a drive motor,
An infrared distance measuring sensor for detecting obstacles located in the traveling direction of the apparatus using infrared rays;
An infrared transmission filter that is disposed in front of the infrared distance measuring sensor and transmits only a predetermined infrared wavelength;
Holding means for swingably holding the infrared distance measuring sensor;
Oscillating means for transmitting the rotation of the drive shaft for rotating the driving wheel to the holding means and swinging it, and swinging the infrared distance measuring sensor within a predetermined angle range via the holding means;
And a control unit that controls the entire apparatus. The swinging means is rotatably attached to a first worm attached to the drive shaft, a first worm wheel meshing with the first worm, and the first worm wheel and the holding means. 3. The moving apparatus according to claim 2, further comprising a link that couples the two and swings the holding means about a fulcrum fitted in the long hole by the rotation of the first worm wheel. The holding means is installed such that its rotation axis is perpendicular to the floor surface,
The moving apparatus according to claim 1, wherein the infrared distance measuring sensor swings in an arc shape in a horizontal direction around the rotation center of the holding unit. 5. The moving device according to claim 1, wherein the infrared transmission filter is arranged in an arc shape that is equidistant from a center of rotation of the infrared distance measuring sensor. A moving device that travels on a floor surface by drive wheels rotated by a drive motor,
An infrared distance measuring sensor for detecting obstacles located in the traveling direction of the apparatus using infrared rays;
A reflector that is provided so as to be swingable in the horizontal direction and that irradiates infrared rays emitted from the infrared distance measuring sensor toward the obstacle, and guides infrared rays reflected back to the obstacle to the infrared distance measuring sensor. When,
An infrared transmission filter that is disposed in front of the reflector and transmits only a predetermined infrared wavelength; and
And a control unit that controls the entire apparatus. 7. The reflector is further rotatable about an axis parallel to a light emitting / receiving line of the infrared distance sensor while maintaining a positional relationship with the infrared distance sensor. The mobile device described. 8. The moving apparatus according to claim 7, wherein the obstacle search trajectory in the infrared distance measuring sensor is an endless trajectory. 9. The moving apparatus according to claim 6, 7 or 8, wherein the measuring distance is corrected using a correlation table between the measured value of the infrared distance measuring sensor and the actually measured distance. The control means includes
Before starting the movement, the obstacle is detected with the first swing range and the first resolution in the traveling direction of the infrared distance measuring sensor,
After the movement is started, an obstacle is detected with a second swing range narrower than the first swing range and a second resolution sparser than the first resolution in the traveling direction of the infrared distance measuring sensor. The moving apparatus according to claim 1, wherein the moving apparatus is a moving apparatus. When the control means detects an obstacle within a safe range distance by the infrared distance measuring sensor during movement, the control means temporarily stops and performs an obstacle search with the first swing range and the first resolution. The mobile device according to claim 1, wherein The said control means determines the course so as to avoid the obstacle by rotating the mobile device itself 360 ° on the spot while detecting the obstacle when changing the course. The moving device according to any one of 11. 13. The moving device according to claim 12, wherein the infrared distance measuring sensor is fixed in a front direction of the device when the moving device rotates 360 °.

Images