JP2008198071A - Self-propelled device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled device capable of autonomously traveling and getting out of a dead end even when it enters the dead end narrower than its turning circle. <P>SOLUTION: The security robot 4 (a self-propelled device) includes an obstacle detection part 47 detecting an obstacle positioned in its front/lateral side and a CPU 481. The CPU 481 executes a determination program 483e for determining whether an obstacle detection time interval by the obstacle detection part 47 becomes below a predetermined threshold value or not. In detection of an obstacle by the obstacle detection part 47, if a frequency of successive determination, which is carried out by the CPU 481 executing the determination program 483e, of the obstacle detection time interval below the predetermine threshold value exceeds a predetermined limit frequency, the CPU 481 executes an evasion/escape control program 483f for making the security robot 4 operate escaping operation, by which the security robot 4 turns after moving backward. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a self-propelled device.

Conventionally, a self-propelled device that travels based on a predetermined traveling pattern and performs a given function or mission is known.
Such a self-propelled device is provided with a sensor for detecting an obstacle, for example. And if the said sensor detects an obstruction, the self-propelled apparatus will avoid an obstruction or will escape from a bag path by rotating and changing the advancing direction (for example, patent documents) 1-3).
JP 2005-309700 A JP 2003-299601 A JP 2002-136454 A

  However, in the techniques disclosed in Patent Documents 1 to 3, the self-propelled device rotates and escapes from the bag path, but enters the bag path narrower than the rotation diameter of the self-propelled device. If it is stuck, it cannot rotate and cannot escape from the dead end.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a self-propelled device that can escape from a bag path even if it has entered a narrow path that is narrower than the rotation diameter of the self-propelled apparatus. .

In order to solve the above-mentioned problem, the invention described in claim 1
In a self-propelled device that autonomously travels on a predetermined floor surface,
The body portion of the self-propelled device is formed in a substantially rectangular shape in plan view,
A left cover member provided from the front left side of the main body of the self-propelled device to the front side of the left side, and a right cover member provided from the front right side of the main body of the self-propelled device to the front side of the right side. And obstacle detection means for detecting obstacles located in front and side of the self-propelled device based on the contact between the left cover member or the right cover member and the obstacle, and
When the obstacle is detected by the obstacle detection means, a control means for causing the self-propelled device to execute an obstacle avoidance operation for rotating the self-propelled device after moving it backward for a first predetermined time; and
Determination means for determining whether or not the time interval of obstacle detection by the obstacle detection means falls below a predetermined threshold,
The control means, when an obstacle is detected by the obstacle detection means, the number of times that the determination means has continuously determined that the obstacle detection time interval by the obstacle detection means has fallen below a predetermined threshold. When the number of times exceeds a predetermined limit number, the self-propelled device is caused to execute an escape operation of rotating the self-propelled device after moving the self-propelled device backward for a second predetermined time longer than the first predetermined time. To do.

The invention described in claim 2
In a self-propelled device that autonomously travels on a predetermined floor surface,
Obstacle detection means for detecting obstacles located in front and side of the self-propelled device;
Control means for causing the self-propelled device to execute an obstacle avoidance operation for rotating the self-propelled device when an obstacle is detected by the obstacle detecting means,
Determination means for determining whether or not the time interval of obstacle detection by the obstacle detection means falls below a predetermined threshold,
The control means, when an obstacle is detected by the obstacle detection means, the number of times that the determination means has continuously determined that the obstacle detection time interval by the obstacle detection means has fallen below a predetermined threshold. When the number exceeds the predetermined number of times, the self-propelled device is caused to execute an escape operation of rotating the self-propelled device after moving it backward.

The invention according to claim 3
The self-propelled device according to claim 2,
The obstacle detection means detects an obstacle located in front and side of the self-propelled device based on contact with the obstacle.

The invention according to claim 4
The self-propelled device according to claim 3,
The obstacle detecting means includes a left cover member provided from the front left side of the main body of the self-propelled device to the front side of the left side, and from the front right side of the main body of the self-propelled device to the front side of the right side. A right cover member provided to detect an obstacle located in front and side of the self-propelled device based on contact between the left cover member or the right cover member and the obstacle. It is characterized by doing.

According to the first aspect of the present invention, the main body of the self-propelled device is formed in a substantially rectangular shape in plan view, and the control means determines when the obstacle is detected by the obstacle detection means. If the number of times that the time interval of obstacle detection by the obstacle detection means is continuously determined to be below a predetermined threshold exceeds a predetermined limit number, the self-propelled device is longer than the first predetermined time. The self-propelled device can be caused to perform an escape operation in which the vehicle is moved backward after the second predetermined time.
That is, when an obstacle is detected continuously for a short period of time, it is determined that the self-propelled device is in the bag alley, and the self-propelled device is moved backward so that it escapes from the bag alley without rotating. As a result, even when a bag path narrower than the rotation diameter of the self-propelled device is entered, it is possible to escape from the bag path.

  The obstacle detection means includes a left cover member provided from the front left side of the main body of the self-propelled device to the front side of the left side, and from the front right side of the main body of the self-propelled device to the front side of the right side. A right cover member provided, for detecting an obstacle located in front and side of the self-propelled device based on contact between the left cover member or the right cover member and the obstacle. Obstacles can be reliably detected with a simple configuration.

According to the second aspect of the present invention, when the obstacle is detected by the obstacle detecting means by the control means, the time interval for detecting the obstacle by the obstacle detecting means is less than the predetermined threshold by the judging means. When the number of times continuously determined exceeds a predetermined limit number, the self-propelled device can be caused to perform an escape operation in which the self-propelled device is moved backward and then rotated.
That is, when an obstacle is detected continuously for a short period of time, it is determined that the self-propelled device is in the bag alley, and the self-propelled device is moved backward so that it escapes from the bag alley without rotating. As a result, even when a bag path narrower than the rotation diameter of the self-propelled device is entered, it is possible to escape from the bag path.

  According to the invention described in claim 3, it is of course possible to obtain the same effect as that of the invention described in claim 2, and the obstacle detecting means is based on the contact with the obstacle. Since the obstacle located in the front and the side is detected, the obstacle can be reliably detected.

  According to the invention described in claim 4, it is needless to say that the same effect as that of the invention described in claim 2 or 3 can be obtained. A left cover member provided across the front side of the surface, and a right cover member provided across the front right side of the main body of the self-propelled device from the front side of the right side, the left cover member or the right cover member Since the obstacle located in front and side of the self-propelled device is detected based on the contact with the obstacle, the obstacle can be reliably detected with a simple configuration.

Hereinafter, the best mode of a self-propelled device according to the present invention will be described in detail with reference to the drawings. The scope of the invention is not limited to the illustrated example.
In this embodiment, a security robot will be described as an example of a self-propelled device.

<Self-propelled device guidance system>
The security robot 4 is provided in the self-propelled device guidance system 1, for example.
Specifically, for example, as shown in FIG. 1, the self-propelled device guidance system 1 autonomously travels on the floor surface F of a predetermined room R based on a predetermined travel pattern and enters the room R. A security robot 4 that monitors a suspicious person, a charging device 2 that emits an optical signal M for guiding the security robot 4 and supplies power to the security robot 4 for charging, and the like are configured. .

<Configuration of charging device>
For example, as shown in FIG. 1, the charging device 2 is configured to receive a light signal M from a main body 20 formed in a quadrangular prism shape, a contact terminal 21 disposed in front of the main body 20, and the front of the main body 20. And a light emitting unit 22 that emits light.
Here, let one side surface substantially orthogonal to the floor surface F in the main-body part 20 be a front side (front surface), and let one side surface facing a front surface be a rear side. Further, a direction orthogonal to the front-rear direction and substantially parallel to the floor surface F is defined as the left-right direction, and a direction orthogonal to both the front-rear direction and the left-right direction is defined as the up-down direction.

(Contact terminal)
For example, the security robot 4 is detachable from the contact terminal 21. When the security robot 4 is attached, the contact terminal 21 supplies the security robot 4 with power for charging a storage battery (not shown) of the security robot 4.

(Light emitting part)
The light emitting unit 22 includes, for example, an infrared LED (Light Emitting Diode) and the like, for example, emits an optical signal M to guide the security robot 4 to the charging device 2.

<Configuration of security robot>
For example, as shown in FIGS. 1 to 3, the security robot 4 includes a main body 40 formed in a substantially rectangular shape in plan view, and the security robot 4 for autonomously running on a floor surface F of a predetermined room R. A user inputs a traveling unit 41, a monitoring unit 42 for monitoring a suspicious person or the like that the security robot 4 enters a predetermined room R, a charging unit 43 for charging the security robot 4, and a predetermined instruction. An input unit 44, a light receiving unit 45 for the security robot 4 to detect the charging device 2, a time measuring unit 46 for the security robot 4 to measure time, and a security robot 4 to detect the obstacle B The obstacle detection unit 47, a control unit 48 for controlling these units, and the like are configured.
Here, the direction along the traveling direction of the security robot 4 is the front-rear direction, the direction orthogonal to the front-rear direction and substantially parallel to the floor F is the left-right direction, and the direction orthogonal to both the front-rear direction and the left-right direction is the upper-lower direction. The direction.

(Main body)
The main body 40 is, for example, for protecting the traveling unit 41, the control unit 48, and the like from impacts and dust, and is provided so as to cover the traveling unit 41, the control unit 48, and the like.
Specifically, for example, as shown in FIGS. 1 and 2, the main body 40 includes a housing 401 and a left cover member provided from the front left side to the left front side of the main body 40 of the security robot 4. 402L, a right cover member 402R provided from the front right side of the main body 40 of the security robot 4 to the front side of the right side, and the like.

(Running part)
The traveling unit 41 includes, for example, a left caterpillar 411L and a right caterpillar 411R, a left traveling motor 412L, a right traveling motor 412R, and the like.

  The left caterpillar 411L and the right caterpillar 411R are disposed on the left side and the right side of the security robot 4, for example.

For example, the left traveling motor 412L and the right traveling motor 412R function as drive sources that cause the security robot 4 to travel, and also function as drive sources that rotate the security robot 4 (turn left or turn right).
Specifically, the left traveling motor 412L and the right traveling motor 412R rotate the left caterpillar 411L and the right caterpillar 411R, respectively, via a predetermined drive transmission member in accordance with a control signal input from the control unit 48.

(Monitoring Department)
The monitoring unit 42 includes, for example, an imaging lens 421, an imaging element 422, a signal processing unit 423, and the like.

  The imaging lens 421 is disposed, for example, on the front side (front side) of the main body 40 of the security robot 4.

  The imaging element 422 is an imaging element such as a complementary metal-oxide semiconductor (CMOS) type image sensor or a charge coupled device (CCD) type image sensor. For example, according to a control signal input from the control unit 48, for example, an imaging lens The subject image input via 421 is photoelectrically converted into image data and output to the signal processing unit 423.

  The signal processing unit 423 performs predetermined image processing, for example, on the image data input from the image sensor 422 according to the control signal input from the control unit 48, and outputs the processed image data to the control unit 48.

(Charging part)
The charging unit 43 includes, for example, a terminal 431, an electric energy sensor 432, and the like.

  The terminal 431 is disposed, for example, in front of the main body 40 of the security robot 4, contacts the contact terminal 21 of the charging device 2, and power for charging a storage battery (not shown) of the security robot 4 from the contact terminal 21. Receive the supply.

  For example, the power amount sensor 432 detects the amount of power stored in the storage battery (not shown) of the security robot 4 and outputs the power amount detection signal to the control unit 48.

(Input section)
The input unit 44 includes, for example, various function keys and the like, and outputs a pressing signal accompanying a user key operation to the control unit 48.

(Light receiving section)
The light receiving unit 45 is disposed, for example, on the upper surface of the main body 40 of the security robot 4. For example, the light receiving unit 45 includes a projecting unit 451 and a plurality of light receiving sensors 452 arranged along the entire side surface of the projecting unit 451. And so on.

The protruding portion 451 is formed in, for example, a cylindrical shape, and is provided so as to protrude from the upper surface of the main body portion 40 of the security robot 4, for example.
The shape of the protruding portion 451 is not limited to a columnar shape, but may be a substantially circular shape (for example, a columnar shape or a cylindrical shape) in a plan view, or a polygon shape (for example, a polygonal column shape or the like in a plan view). It may be a polygonal cylinder or the like.

  For example, the light receiving sensor 452 receives the optical signal M emitted by the light emitting unit 22 of the charging device 2 and outputs the received light signal to the control unit 48.

Specifically, the light receiving sensor 452 includes, for example, a plurality of (for example, six) first light receiving sensors 452a arranged at predetermined intervals along the entire side surface of the protrusion 451, and the traveling direction of the security robot 4. And a second light receiving sensor 452b disposed at equal intervals from two adjacent first light receiving sensors 452a and 452a among the plurality of first light receiving sensors 452a.
Note that the number of the first light receiving sensors 452a is not limited to six and may be arbitrary as long as it is plural.

(Timekeeping Department)
The timer 46 performs, for example, a given timing process according to the control signal input from the controller 48 and outputs time information to the controller 48.

(Obstacle detection unit)
The obstacle detection unit 47 detects, for example, the obstacle B located in front and side of the security robot 4 and outputs the obstacle detection signal to the control unit 48.
Specifically, the obstacle detection unit 47, for example, the obstacle B located in front and side of the security robot 4 based on the contact between the left cover member 402L or the right cover member 402R and the obstacle B. It is a contact type sensor which detects.
Here, the obstacle detection means includes, for example, a left cover member 402L, a right cover member 402R, an obstacle detection unit 47, and the like.

(Control part)
For example, as illustrated in FIG. 6, the control unit 48 includes a CPU (Central Processing Unit) 481, a RAM (Random Access Memory) 482, a storage unit 483, and the like.

  The CPU 481 performs various control operations according to various processing programs for the security robot 4 stored in the storage unit 483, for example.

  The RAM 482 includes, for example, a program storage area for expanding a processing program executed by the CPU 481, a data storage area for storing input data, a processing result generated when the processing program is executed, and the like.

  The storage unit 483 includes, for example, a system program that can be executed by the security robot 4, various processing programs that can be executed by the system program, data that is used when these various processing programs are executed, and processing results that are arithmetically processed by the CPU 481. The data etc. are memorized. Note that the program is stored in the storage unit 483 in the form of a computer-readable program code.

  Specifically, the storage unit 483 includes, for example, a random travel control program 483a, a determination program 483b, a rotation control program 483c, a straight travel control program 483d, a determination program 483e, an avoidance escape control program 483f, and the like. Is remembered.

For example, the random travel control program 483a causes the CPU 481 to realize a function of controlling the travel unit 41 and the like to cause the security robot 4 to travel randomly.
Here, the random travel is, for example, travel obtained by randomly combining forward travel and rotation.

For example, the determination program 483b causes the CPU 481 to realize a function of determining whether or not a preset charging timing of the security robot 4 has come.
Specifically, for example, the CPU 481 determines whether or not the amount of power stored in the storage battery (not shown) of the security robot 4 has become a certain amount or less based on the power amount detection signal input from the power amount sensor 432. When it is determined that the amount of electric power stored in the storage battery of the security robot 4 has become a certain amount or less, it is determined that the timing for charging the security robot 4 has come.

  The rotation control program 483c is, for example, when the CPU 481 that has executed the determination program 483b determines that the charging timing of the security robot 4 is set in advance, and when the light signal M is detected by the light receiving sensor 452. The second light receiving sensor 452b and the two first light receiving sensors 452a arranged on the left and right sides of the second light receiving sensor 452b are arranged so that the traveling direction (forward direction) of the security robot 4 is directed in the direction in which the optical signal M arrives. The CPU 481 realizes a function of rotating the security robot 4 by controlling the traveling unit 41 or the like so that the optical signal M is received by at least one first light receiving sensor 452a.

  The straight traveling control program 483d, for example, moves the security robot 4 straight in the direction in which the light signal M arrives by controlling the traveling unit 41 and the like after the security robot 4 is rotated by the CPU 481 that executes the rotation control program 483c ( The CPU 481 realizes the function of traveling forward.

  For example, the determination program 483e causes the CPU 481 to realize a function of determining whether or not the time interval of detection of the obstacle B by the obstacle detection unit 47 is below a predetermined threshold.

Specifically, the CPU 481 counts, for example, the time from when the obstacle detection unit 47 detects the obstacle B to the next detection based on the time information input from the time measuring unit 46. Then, the time interval of obstacle detection by the obstacle detection unit 47 is measured, and it is determined whether or not the time interval has fallen below a predetermined threshold (for example, 10 seconds).
The CPU 481 functions as a determination unit by executing the determination program 483e.

  For example, when the obstacle detection unit 47 detects the obstacle B, the avoidance / escape control program 483f causes the CPU 481 to realize a function of causing the security robot 4 to execute an obstacle avoidance operation for rotating the security robot 4.

  Specifically, for example, as shown in FIG. 4, when the obstacle detection unit 47 detects the obstacle B, the CPU 481 moves the security robot 4 backward for a first predetermined time (for example, 2 seconds). Thereafter, the security robot 4 is caused to execute an obstacle avoidance operation by rotating for a certain time (for example, 2 seconds).

Here, the backward movement in the obstacle avoiding operation is executed in order to perform the subsequent rotation without contacting the obstacle B again, and the rotation in the obstacle avoiding operation is performed using the obstacle B. It is executed to avoid and move forward.
Therefore, the reverse time (first predetermined time) during the obstacle avoiding operation is a time that can sufficiently execute the reverse that is performed to perform the subsequent rotation without contacting the obstacle B again. The rotation time (predetermined time) during the obstacle avoiding operation is arbitrary as long as the rotation executed to advance while avoiding the obstacle B can be sufficiently performed.

  Further, the avoidance / escape control program 483f has a predetermined time interval for detection of the obstacle B by the obstacle detection unit 47 by the CPU 481 executing the determination program 483e when the obstacle detection unit 47 detects the obstacle B, for example. The CPU 481 realizes a function of causing the security robot 4 to execute an escape operation of rotating the security robot 4 backward and then rotating the security robot 4 when the number of times continuously determined to be below the threshold value exceeds a predetermined limit number.

  Specifically, for example, as illustrated in FIG. 5, the CPU 481 continuously determines that the time interval of detection of the obstacle B by the obstacle detection unit 47 is below a predetermined threshold (for example, 10 seconds). When the number of times exceeds a predetermined limit number (for example, 10 times), it is determined that the security robot 4 is in the narrow path D smaller than the rotation diameter of the security robot 4, and the security robot 4 is kept in the first predetermined time. After moving backward for a longer second predetermined time (for example, 10 seconds), the security robot 4 is caused to perform an escape operation by rotating for a predetermined time (for example, 2 seconds).

Here, the reverse movement at the time of the escape operation is executed to escape from the bag path D, and the rotation at the time of the escape operation is executed to perform the subsequent advance without entering the bag path D again. Is.
Accordingly, the reverse time during the escape operation (second predetermined time) is arbitrary as long as the reverse time executed to escape from the bag path D can be sufficiently executed, and the rotation time during the escape operation is not limited. The time (predetermined time) is arbitrary as long as the rotation executed to perform the subsequent advance without entering the bag path D again can be sufficiently performed.
The CPU 481 functions as a control unit by executing the avoidance / escape control program 483f.

<Operation of security robot>
Next, the operation of the security robot 4 will be described with reference to the flowcharts of FIGS.

  First, when an instruction to start a security operation is given by the user operating the input unit 44 or the like (step S11), the CPU 481 of the security robot 4 stores the “N (continuous obstacle detection count)” storage area in the RAM 482. “0” is set (step S12), and “0” is set in the “timer counter” storage area in the RAM 482 (step S13).

Next, the CPU 481 turns on the traveling unit 41 to start the operation of the left traveling motor 412L and the right traveling motor 412R (step S14), and the timer counts the time based on the time information input from the time measuring unit 46. Counting is started (step S15).
The counted time is stored in a “timer counter” storage area in the RAM 482 as needed.

  Next, the CPU 481 executes the random travel control program 483a to cause the security robot 4 to travel at random (step S16), and determines whether the obstacle B is detected by the obstacle detection unit 47 (step S17).

  If it is determined in step S17 that the obstacle detection unit 47 has detected the obstacle B (step S17; Yes), the CPU 481 executes the determination program 483e and stores it in the “timer counter” storage area in the RAM 482. It is determined whether or not the value falls below a predetermined threshold (for example, 10 seconds) (step S18).

  If it is determined in step S18 that the value stored in the “timer counter” storage area in the RAM 482 does not fall below a predetermined threshold (for example, 10 seconds) (step S18; No), the CPU 481 displays “N ( The number of obstacles continuously detected) is set to “0” (step S19), and the “timer counter” storage area in the RAM 482 is reset (step S20).

  Next, the CPU 481 executes the avoidance / escape control program 483f to cause the security robot 4 to execute an obstacle avoidance operation (step S21), and repeats the processing after step S16.

  On the other hand, if it is determined in step S18 that the value stored in the “timer counter” storage area in the RAM 482 is below a predetermined threshold (for example, 10 seconds) (step S18; Yes), the CPU 481 displays “N” in the RAM 482. “N + 1” is set in the “(obstruction continuous detection count)” storage area (step S22), the avoidance escape control program 483f is executed, and stored in the “N (continuous obstacle detection count)” storage area in the RAM 482. It is determined whether or not the calculated value exceeds a predetermined limit number of times (for example, 10 times) (step S23).

  If it is determined in step S23 that the value stored in the “N (continuous obstacle detection times)” storage area in the RAM 482 does not exceed a predetermined limit number (for example, 10 times) (step S23; No), the CPU 481 Then, the “timer counter” storage area in the RAM 482 is reset (step S24), the obstacle avoidance operation is executed by the security robot 4 (step S25), and the processes after step S16 are repeated.

  On the other hand, if it is determined in step S23 that the value stored in the “N (continuous obstacle detection times)” storage area in the RAM 482 exceeds a predetermined limit number (for example, 10 times) (step S23; Yes), the CPU 481. Resets the “timer counter” storage area in the RAM 482 (step S26), causes the security robot 4 to execute the escape operation (step S27), and repeats the processing from step S16.

  If it is determined in step S17 that the obstacle detection unit 47 has not detected the obstacle B (step S17; No), the CPU 481 executes the determination program 483b to charge the security robot 4 set in advance. It is determined whether or not it is time (step S28).

  If it is determined in step S28 that the preset timing for charging the security robot 4 is not reached (step S28; No), the CPU 481 repeats the processes in and after step S16.

  On the other hand, when it is determined in step S28 that the preset charging timing of the security robot 4 has been reached (step S28; Yes), the CPU 481 determines whether or not the light signal M is received by the light receiving sensor 452 (step S29). ).

  If it is determined in step S29 that the light signal M is not received by the light receiving sensor 452 (step S29; No), the CPU 481 repeats the processes in and after step S16.

  On the other hand, if it is determined in step S29 that the light signal M has been received by the light receiving sensor 452 (step S29; Yes), the CPU 481 executes the rotation control program 483c so that the security robot 4 moves in the direction in which the light signal M arrives. The security robot 4 is rotated so that the traveling direction is directed, and the straight traveling control program 483d is executed to cause the security robot 4 to travel straight in the direction in which the optical signal M arrives (step S30).

  Next, the CPU 481 determines whether or not the terminal 431 is in contact with the contact terminal 21 of the charging device 2 electrically or by a switch (step S31).

  If it is determined in step S31 that the terminal 431 is not in contact with the contact terminal 21 of the charging device 2 (step S31; No), the CPU 481 repeats the processing from step S29.

  On the other hand, if it is determined in step S31 that the terminal 431 has come into contact with the contact terminal 21 of the charging device 2 (step S31; Yes), the CPU 481 turns off the traveling unit 41, and the left traveling motor 412L and the right traveling motor 412R. Is terminated (step S32), and this process is terminated.

According to the security robot 4 of the present invention described above, the main body 40 of the security robot 4 is formed in a substantially rectangular shape in plan view, and includes the left cover member 402L, the right cover member 402R, and the obstacle detection unit 47. The obstacle 48 located in front and side of the security robot 4 can be detected, and the left cover member 402L, the right cover member 402R, and the obstacle detection unit 47 can detect the obstacle 48 by executing the avoidance / escape control program 483f. When the obstacle B is detected, after the security robot 4 is moved backward for the first predetermined time, it is possible to cause the security robot 4 to execute an obstacle avoidance operation for rotating for a predetermined time, and the CPU 481 that executes the determination program 483e Left cover member 402L, right cover member 402R, and obstacle detection unit 4 The CPU 481 that has executed the avoidance / escape control program 483f can determine whether or not the time interval of the detection of the obstacle B due to is less than a predetermined threshold. When the obstacle detection unit 47 detects the obstacle B, the CPU 481 that has executed the determination program 483e sets a predetermined time interval for detecting the obstacle B by the left cover member 402L, the right cover member 402R, and the obstacle detection unit 47. When the number of times continuously determined to be below the threshold value exceeds a predetermined limit number, an escape operation is performed in which the security robot 4 is moved backward for a second predetermined time longer than the first predetermined time and then rotated for a predetermined time. It can be executed by the security robot 4.
That is, when the obstacle B is detected continuously for a short time, it is determined that the security robot 4 is in the bag alley D, and the security robot 4 is moved backward so that it escapes from the bag alley D without rotating. As a result, even if a bag path D narrower than the rotation diameter of the security robot 4 is entered, the bag path D can be escaped.

  Further, the obstacle detection unit 47 detects the obstacle B located in front and side of the security robot 4 based on the contact between the left cover member 402L or the right cover member 402R and the obstacle B. Obstacle B can be reliably detected with a simple configuration.

  The present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the gist thereof.

The self-propelled device is not limited to the security robot 4 and may be any device that can autonomously travel.
In addition, the device for guiding the self-propelled device is not limited to the charging device 2, but may be any light-emitting device including the light-emitting unit 22 for guiding the self-propelled device.

The obstacle detection means is not limited to the contact type sensor configured by the left cover member 402L, the right cover member 402R, and the obstacle detection unit 47, but is also an obstacle located in front and side of the security robot 4. It is arbitrary as long as B can be detected, and may be an ultrasonic sensor or the like, for example.
When the obstacle detection means is, for example, a non-contact type sensor (for example, an ultrasonic sensor or the like) that can detect the obstacle B without contact, the security robot 4 rotates without moving backward for the first predetermined time. The obstacle avoidance operation can be executed simply by doing.

  The predetermined threshold is not limited to 10 seconds and is arbitrary, and the predetermined limit number is not limited to 10 and is arbitrary.

It is a top view which shows the structure of a self-propelled apparatus guidance system provided with the security robot in this invention. It is a perspective view of the security robot in the present invention. It is a block diagram which shows the functional structure of the security robot in this invention. It is a figure for demonstrating the method of the obstacle avoidance of the security robot in this invention. It is a figure for demonstrating how the security robot in this invention escapes a dead end. It is a 1st flowchart for demonstrating operation | movement of the security robot in this invention. It is a 2nd flowchart for demonstrating operation | movement of the security robot in this invention.

Explanation of symbols

4 Security robot (self-propelled device)
40 Main unit 47 Obstacle detection unit (obstacle detection means)
402L Left cover member (obstacle detection means)
402R Right cover member (obstacle detection means)
481 CPU (determination means, control means)
483e Determination program (determination means)
483f Avoidance escape control program (control means)
B Obstacle F Floor

Claims (4)

In a self-propelled device that autonomously travels on a predetermined floor surface,
The body portion of the self-propelled device is formed in a substantially rectangular shape in plan view,
A left cover member provided from the front left side of the main body of the self-propelled device to the front side of the left side, and a right cover member provided from the front right side of the main body of the self-propelled device to the front side of the right side. And obstacle detection means for detecting obstacles located in front and side of the self-propelled device based on the contact between the left cover member or the right cover member and the obstacle, and
When the obstacle is detected by the obstacle detection means, a control means for causing the self-propelled device to execute an obstacle avoidance operation for rotating the self-propelled device after moving it backward for a first predetermined time; and
Determination means for determining whether or not the time interval of obstacle detection by the obstacle detection means falls below a predetermined threshold,
The control means, when an obstacle is detected by the obstacle detection means, the number of times that the determination means has continuously determined that the obstacle detection time interval by the obstacle detection means has fallen below a predetermined threshold. When the number of times exceeds a predetermined limit number, the self-propelled device is caused to execute an escape operation of rotating the self-propelled device after moving the self-propelled device backward for a second predetermined time longer than the first predetermined time. A self-propelled device. In a self-propelled device that autonomously travels on a predetermined floor surface,
Obstacle detection means for detecting obstacles located in front and side of the self-propelled device;
Control means for causing the self-propelled device to execute an obstacle avoidance operation for rotating the self-propelled device when an obstacle is detected by the obstacle detecting means,
Determination means for determining whether or not the time interval of obstacle detection by the obstacle detection means falls below a predetermined threshold,
The control means, when an obstacle is detected by the obstacle detection means, the number of times that the determination means has continuously determined that the obstacle detection time interval by the obstacle detection means has fallen below a predetermined threshold. A self-propelled device that causes the self-propelled device to execute an escape operation of rotating the self-propelled device after rotating the self-propelled device when the number exceeds a predetermined limit. The self-propelled device according to claim 2,
The obstacle detection means detects an obstacle located in front of and side of the self-propelled device based on contact with the obstacle. The self-propelled device according to claim 3,
The obstacle detecting means includes a left cover member provided from the front left side of the main body of the self-propelled device to the front side of the left side, and from the front right side of the main body of the self-propelled device to the front side of the right side. A right cover member provided to detect an obstacle located in front and side of the self-propelled device based on contact between the left cover member or the right cover member and the obstacle. A self-propelled device characterized by

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