JP2010092343A - Control system of self-propelled vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control system of a self-propelled vehicle which achieves a complex purpose and the shortening of working hours in real time control. <P>SOLUTION: The control system 1 of a self-propelled cleaner 100 comprises a displaceable body 110, an arm 120 which is fixed to the body 110 and displaceable relative to the body 110, a wheel driving motor unit 133 for driving the body 110, a first servo 127 and a second servo 128 for driving the arm 120, and a computer 200. The computer 200 suitably controls the wheel driving motor unit 133, the first servo 127, and the second servo 128 so as to control the behavior of the body 110 and the behavior of the arm 120 using an evaluation function to evaluate the behavior of the body 110 and the behavior of the arm 120 based on both factors regarding the displacement of the body 110 and the displacement of the arm 120. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention generally relates to a control system for a self-propelled mobile body, and specifically, for example, a movable member attached to the main body is displaced with respect to the main body while the self-propelled mobile body is moved. As described above, the present invention relates to a control system for a self-propelled moving body that achieves a plurality of objects simultaneously.

  Conventionally, there are self-propelled moving bodies and robots controlled by optimal control. Optimal control of a self-propelled mobile body or robot makes it possible to perform an optimal action for achieving a balanced purpose such as moving to a target position while avoiding an obstacle, for example. Therefore, optimal control is an algorithm suitable for a self-propelled mobile body or robot that performs autonomous behavior.

  For example, Japanese Patent Laid-Open No. 2000-330609 (Patent Document 1) discloses a real-time optimal control method that generates an optimal solution in real time without requiring an iterative calculation that requires enormous calculation time as in the gradient method. Is described.

  However, a common problem with self-propelled mobile bodies and robots controlled by optimal control is that the calculation time required for optimal control is long. Therefore, for example, it is difficult to perform feedback control online.

Therefore, for example, Tomoaki Kobayashi, “Optimum Control Simulation of Mobile Robot”, Simulation, Japan Society for Simulation Technology, March 15, 2005, Vol. 24, No. 1, p. 45-49 (Non-Patent Document 1) describes an optimal control algorithm capable of feedback control in real time, and the practicality of optimal control is increasing.
JP 2000-330609 A Tomoaki Kobayashi, “Optimum Control Simulation of Mobile Robots”, Simulation, Japan Society for Simulation Technology, March 15, 2005, Vol. 24, No. 1, 45-49

  When the above-described optimal control algorithm is used, for example, a simple object in which a self-propelled moving body moves to a target position can be achieved. However, the self-propelled mobile body, for example, when cleaning, the purpose of the self-propelled mobile body to avoid obstacles, the purpose of expanding the articulated arm to clean around the furniture, along the wall In some cases, you may be in a complex situation where you have to achieve the three goals of moving at the same time. When controlling to achieve the objective in such a complicated situation, even if the calculation time required to achieve each objective is shortened using the above-mentioned optimal control algorithm, multiple objectives can be obtained. In order to execute all of the above in real-time control, the total work time required to execute all of the plurality of objectives cannot be reduced depending on hardware conditions, for example, sufficient for online control. There is a case.

  For this reason, it is necessary to devise a technique for shortening the calculation time and a technique for performing highly accurate control regardless of whether or not the real time control is performed.

  As one method for shortening the calculation time, it is conceivable to devise the algorithm itself as described above. However, in the optimal control algorithm, the calculation time and the control accuracy are generally incompatible with each other. If the calculation time is shortened, the control accuracy is lowered. turn into. If the calculation accuracy is lowered to save calculation time, there is a high possibility that the derivation of the optimum solution will fail. Also, when trying to achieve the complex and complex objectives as described above, depending on the situation, multiple sub-objects set to achieve the final major objective may interfere with each other. In some cases, the calculation of the optimal solution that satisfies the target purpose fails, and as a result, the self-propelled mobile body behaves contrary to the designer's intention.

  Therefore, even if the algorithm itself is devised, the calculation time required to execute all of the multiple objectives can be reduced by reducing the calculation time required to execute each of the multiple objectives while maintaining the calculation accuracy. It is difficult to perform real-time control so that the self-propelled mobile body can achieve a plurality of objectives simultaneously by shortening.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a control system for a self-propelled mobile body that can achieve a complex purpose and reduce working time in real-time control.

  A control system for a self-propelled mobile body according to the present invention includes a displaceable main body, a movable member attached to the main body and displaceable with respect to the main body, a first drive unit for driving the main body, A second drive unit for driving the movable member; and a control unit for controlling the first drive unit and the second drive unit. The control unit relates to a displacement factor of the main body and a displacement of the movable member. The first driving unit and the second driving unit are controlled so as to control the behavior of the main body and the behavior of the movable member by using an evaluation function for evaluating the behavior of the main body and the behavior of the movable member based on both factors. And optimally control the drive unit.

  The main body is driven by the first drive unit. The movable member attached to the main body is driven by the second drive unit. The control unit controls the first driving unit and the second driving unit, for example, so that the main body moves and the movable member performs a predetermined operation. The body can achieve multiple purposes.

  In order for the self-propelled mobile body to achieve a composite purpose by performing real-time control, the control unit needs to control each of the first drive unit and the second drive unit in real time. Therefore, as an evaluation function used for optimal control, an evaluation function that evaluates the behavior of the main body and the movable member based on both the factors related to the displacement of the main body and the factors related to the displacement of the movable member is used. To do. That is, for example, first, the behavior of the main body is controlled based on the factor related to the displacement of the main body, and then the behavior of the movable member is controlled based on the factor related to the displacement of the movable member. The behavior of both the main body and the movable member is controlled based on the displacement of both the main body and the movable member, rather than separately and sequentially.

  By doing in this way, in order to achieve a complex purpose in the self-propelled moving body, compared with the case where the main body and the movable member are controlled separately and sequentially, the accuracy is maintained and the working time is shortened. can do.

  By doing so, it is possible to provide a control system for a self-propelled moving body that can achieve a complex purpose and reduce working time in real-time control.

  Also, in situations where it is difficult to calculate a solution in optimal control, a long calculation time may be required.For example, by changing a parameter in the evaluation function depending on the situation, it is possible to calculate a solution in optimal control. Such calculation time can be shortened.

  In the control system for a self-propelled moving body according to the present invention, the control unit controls the first drive unit so that the main body moves toward a predetermined target displacement, so that the movable member performs a predetermined operation. It is preferable to control the first driving unit and the second driving unit.

  By doing so, it is possible to achieve the combined purpose of causing the movable member to perform a predetermined operation while moving the main body toward a predetermined target displacement.

  In the control system for a self-propelled moving body according to the present invention, the control unit controls the first drive unit so that the main body moves while avoiding a predetermined obstacle, and the movable member performs a predetermined operation. Thus, it is preferable to control the first drive unit and the second drive unit.

  By doing so, it is possible to achieve the combined purpose that the movable member performs a predetermined operation while the main body moves while avoiding a predetermined obstacle.

  A control system for a self-propelled moving body according to the present invention includes a visual sensor for detecting an obstacle to be avoided by a main body and a target of work of a movable member, and processing information detected by the visual sensor. It is preferable that the control unit recognizes an obstacle to be avoided by the main body based on the information processed by the visual information processing unit.

  By doing in this way, the control part can recognize easily the obstruction which a main part avoids, and the object of work of a movable member.

  In the control system for a self-propelled moving body according to the present invention, the control unit detects the obstacle that the main body avoids and the target of the work of the movable member when the visual sensor detects the movable member outside the visual field of the visual sensor. It is preferable to control the first drive unit and the second drive unit so as to be moved to each other.

  By doing in this way, the control part can recognize correctly the obstruction which a main part avoids, and the object of work of a movable member.

  In the control system for a self-propelled moving body according to the present invention, the movable member has a working part for performing a predetermined work, and the control part is arranged at a distance between the work target of the working part and the working part. Based on this, it is preferable to change the parameters in the evaluation function.

  For example, when the distance between the work target of the work unit and the work unit is large, control is performed so as not to place importance on the displacement of the work unit but to place the work unit close to the work target in a short time. When the distance between the work target and the work part is small, the displacement of the work part is strictly controlled. By doing so, it is possible to efficiently achieve a composite goal. Moreover, the calculation time in the optimal control can be shortened.

  In the control system for a self-propelled moving body according to the present invention, the movable member has a working unit for performing a predetermined work, and the control unit is based on the distance between the work target of the working unit and the main body. Thus, it is preferable to change the parameter in the evaluation function.

  For example, when the distance between the work target of the work unit and the main body is large, the displacement of the main body is not emphasized, and it is important to bring the main body and the work part of the movable member attached to the main body close to the work target in a short time. On the other hand, when the distance between the work target of the working unit and the main body is small, the displacement of the main body is strictly controlled. By doing so, it is possible to efficiently achieve a composite goal. Moreover, the calculation time in the optimal control can be shortened.

  By reducing the calculation time in the optimum control in this way, the calculation time can be shortened while maintaining accuracy, as compared with the case where the main body and the movable member are separately and sequentially controlled. By reducing the calculation time while maintaining the accuracy in this way, a system using online optimal control can be realized in an embedded system having a limited calculation processing capability, such as a home appliance. Further, by shortening the calculation time while maintaining accuracy, a complicated control model that originally requires calculation time can be used, so that it is not necessary to move the main body and the movable member separately. Therefore, it is possible to realize a complex system that achieves a composite purpose by interlocking the main body and the movable member. In this manner, a self-propelled mobile body having a simple configuration can be provided with a high degree of freedom and a high work ability.

  For example, when assuming a cleaning robot equipped with an arm as a self-propelled mobile body, the body is fixed from the object to be cleaned while accurately cleaning the periphery of furniture, gaps, and walls, etc. It is conceivable to control the robot to travel around the work area according to some higher-level action rule, while avoiding obstacles that move around the distance of the user and moving around. Such complicated operations whose results are influenced by the behavior of both the main body and the arm can be performed without failure.

  In the control system for a self-propelled mobile body according to the present invention, the movable member has a working part for performing a predetermined work, and the evaluation function is a distance between the work target of the working part and the working part. Based on this, it is preferable to have a penalty term that increases when it is not desired, and the penalty term includes an in-integration penalty term of the evaluation function and an out-of-integration penalty term of the evaluation function.

  In this way, according to the distance between the work target of the work unit and the work unit, one of the displacement of the main body and the displacement of the movable member is controlled more than the other, or the displacement of the movable member is targeted without deviation. It is possible to control with emphasis on approaching the displacement, or to make a large displacement in a short time without emphasizing that the displacement of the movable member approaches the target displacement without deviation. By doing so, it is possible to efficiently achieve a composite goal. Moreover, the calculation time in the optimal control can be shortened.

  In the control system for a self-propelled mobile body according to the present invention, the control unit preferably changes the weighting factor of the penalty term based on the distance between the work target of the work unit and the work unit.

  By changing the weighting factor of the penalty term based on the distance between the work target of the work part and the work part, the displacement of the work part can be targeted without deviation according to the distance between the work target of the work part and the work part. It is possible to control so as to place importance on approaching the displacement, or to make a large displacement in a short time without placing importance on bringing the displacement of the working unit close to the target displacement without deviation. By doing so, it is possible to efficiently achieve a composite goal.

  In the control system for a self-propelled moving body according to the present invention, the control unit, when the distance between the work target of the work unit and the work unit is larger than a predetermined value, the weighting factor of the penalty term in the integral Is preferably increased and the weighting factor of the off-integration penalty term is decreased.

  By increasing the weighting factor of the penalty term in the integral and decreasing the weighting factor of the penalty term outside the integration, it is possible to make the displacement of the working part large in a short time without placing importance on bringing the displacement of the working part close to the target displacement without deviation. Can do. When the distance between the work target of the work unit and the work unit is larger than a predetermined value, the work unit can be brought close to the work target efficiently by doing in this way.

  In the control system for a self-propelled moving body according to the present invention, the control unit, when the distance between the work target of the work unit and the work unit is smaller than a predetermined value, the weighting factor of the penalty term in the integral Is preferably decreased and the weighting factor of the off-integration penalty term is increased.

  By reducing the weighting factor of the penalty term in the integral and increasing the weighting factor of the penalty term outside the integration, it is possible to control the displacement of the working part strictly with close focus on the target displacement without deviation. When the distance between the work target of the work unit and the work unit is smaller than a predetermined value, the work unit can efficiently perform the predetermined work in this way.

  In the control system for a self-propelled mobile body according to the present invention, the evaluation function includes a penalty term for the control input, and the control unit is configured such that the distance between the work target of the work unit and the work unit is greater than a predetermined value. In the case of being large, it is preferable to reduce the weighting coefficient related to the displacement of the main body among the weighting coefficients of the penalty term for the control input.

  By reducing the weighting factor related to the displacement of the main body among the weighting factors of the penalty terms for the control input, the main body can be largely displaced in a short time. When the distance between the work target of the work part and the work part is larger than a predetermined value, the work part of the movable member attached to the main body and the work part can be efficiently handled in this way. Can be approached.

  In the control system for a self-propelled moving body according to the present invention, the evaluation function has a penalty term that increases when it is not desired based on the target displacement of the main body and the distance from the main body, and the penalty term is an evaluation function. It is preferable to include an in-integration penalty term and an out-of-integration penalty term of the evaluation function.

  In this way, according to the target displacement of the main body and the distance between the main body, one of the main body displacement and the displacement of the movable member is controlled more importantly than the other, or the main body displacement is brought close to the target displacement without deviation. Therefore, it is possible to make a large displacement in a short time without emphasizing that the displacement of the main body is close to the target displacement without deviation. By doing so, it is possible to efficiently achieve a composite goal. Moreover, the calculation time in the optimal control can be shortened.

  In the control system for a self-propelled moving body according to the present invention, the movable member has a work part for performing a predetermined work, and the penalty term is based on the distance between the work target of the work part and the main body. It is preferable that the control unit includes a weighting factor and changes the weighting factor based on the distance between the work target of the working unit and the main body.

  By changing the weighting factor of the penalty term based on the distance between the work target of the work section and the main body, the displacement of the main body is brought close to the target displacement without deviation according to the distance between the work target of the work section and the main body. It is possible to control so as to place importance on this, or to make a large displacement in a short time without placing importance on bringing the displacement of the main body close to the target displacement without deviation. By doing so, it is possible to efficiently achieve a composite goal.

  In the control system for a self-propelled moving body according to the present invention, the control unit sets the weighting factor of the penalty term in the integral when the distance between the work target of the work unit and the main body is larger than a predetermined value. Preferably, it is increased and the weighting factor of the off-integration penalty term is decreased.

  By increasing the weighting factor of the penalty term in integration and decreasing the weighting factor of the penalty term outside integration, it is possible to make a large displacement in a short time without placing importance on bringing the displacement of the main body close to the target displacement without deviation. it can. When the distance between the work target of the work unit and the main body is greater than a predetermined value, the work target of the movable member attached to the main body and the main body can be efficiently handled in this way. Can be approached.

  In the control system for a self-propelled moving body according to the present invention, the control unit sets the weighting factor of the penalty term in the integral when the distance between the work target of the working unit and the main body is smaller than a predetermined value. It is preferable to decrease and increase the weighting factor of the off-integration penalty term.

  By reducing the weighting factor of the penalty term in the integral and increasing the weighting factor of the penalty term outside the integration, the displacement of the main body can be controlled with an emphasis on being close to the target displacement strictly without deviation. When the distance between the work target of the work unit and the main body is smaller than a predetermined value, this makes it possible to bring the main body close to the work target strictly and efficiently perform the predetermined work on the work unit. Can be performed.

  In the control system for a self-propelled mobile body according to the present invention, the evaluation function includes a penalty term for the control input, and the control unit has a distance between the work target of the work unit and the main body greater than a predetermined value. In this case, it is preferable to reduce the weighting factor related to the displacement of the main body among the weighting factors of the penalty term for the control input.

  By reducing the weighting factor related to the displacement of the main body among the weighting factors of the penalty terms for the control input, the main body can be largely displaced in a short time. When the distance between the work target of the work unit and the main body is larger than a predetermined value, the work unit of the movable member attached to the main body and the main body can be efficiently set as a work target by doing in this way. You can get closer.

  In the control system for a self-propelled mobile body according to the present invention, it is preferable that the control unit uses an algorithm capable of online optimal control of the first drive unit and the second drive unit.

  In this way, it is not necessary to arrange the control unit on the main body. Since it is not necessary to arrange the control unit on the main body, the weight of the main body can be reduced.

  In the control system for a self-propelled moving body according to the present invention, the control unit controls the first drive unit so that the main body moves toward a predetermined target displacement, and the movable member performs a predetermined operation. Preferably, the first drive unit and the second drive unit are controlled to update the target position of the main body and the target position of the movable member within the evaluation function for each feedback period of the online optimal control. .

  By updating the position of the movable member work target and the target displacement of the main body in the evaluation function for each feedback cycle of online optimal control, the work target of the movable member and the target displacement of the main body are changed every feedback cycle. Move to. The main body is controlled to be displaced so as to follow the target displacement moved in this manner. Further, the movable member is controlled so as to be displaced so as to follow the target of the work moved in this way. By doing in this way, a main body and a movable member can be displaced smoothly.

  In the control system for a self-propelled moving body according to the present invention, it is preferable that the movable member is configured to be displaceable with two or more degrees of freedom with respect to the main body.

  By doing in this way, it becomes easy to move a movable member toward target displacement.

  In the control system for a self-propelled moving body according to the present invention, the movable member has a working unit for performing a predetermined work, and the control unit is configured to move the main body toward a predetermined target displacement. The first driving unit is controlled, and the first driving unit and the second driving unit are controlled so that the working unit performs a predetermined work, and the evaluation function corresponds to a difference between the target displacement of the main body and the displacement of the main body. A first penalty term and a second penalty term for the distance between the work unit and the work target of the work unit, wherein the weighting factor of the first penalty term is compared with the weighting factor of the second penalty term. Therefore, it is preferable that it is relatively small.

  By doing so, it is possible to control with emphasis on bringing the displacement of the working unit closer to the target displacement rather than bringing the displacement of the main body closer to the target displacement.

  In the control system for a self-propelled moving body according to the present invention, the movable member has a working part for performing a predetermined work, and the control part moves so that the main body avoids a predetermined obstacle. The first driving unit is controlled, and the first driving unit and the second driving unit are controlled so that the working unit performs a predetermined work. In the evaluation function, the obstacle that the main body avoids is the working unit. It is preferable that the point is set to be a point in the vicinity of the target of the work or the target of the work of the working unit.

  By doing in this way, it can control so that a main part does not come too close to the object of work of a work part, while making a work part perform predetermined work to the object of work.

  In the control system for a self-propelled moving body according to the present invention, the control unit controls the first driving unit so that the main body moves toward an arbitrary place where cleaning is required, and the movable member performs cleaning. It is preferable to control the first drive unit and the second drive unit to perform.

  By doing in this way, the control system of the self-propelled movable body which can perform cleaning efficiently can be provided.

  In the control system for the self-propelled moving body according to the present invention, the control unit controls the first driving unit so that the main body moves toward the periphery of the object existing in the work target space, and the movable member It is preferable to control the first drive unit and the second drive unit so as to perform cleaning.

  By doing in this way, the control system of the self-propelled movable body which can perform cleaning efficiently can be provided.

  As described above, according to the present invention, it is possible to provide a control system for a self-propelled mobile body that can achieve multiple purposes and can reduce the work time in real-time control.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a perspective view showing the entirety of a self-propelled cleaner as one embodiment of the present invention. 2 is a perspective view when the inside of the main body of the self-propelled cleaner shown in FIG. 1 is viewed from the direction indicated by the arrow II in FIG. 1, and FIG. 3 is a diagram of the self-propelled cleaner shown in FIG. It is a perspective view when the inside of a main body is seen from the direction shown by the arrow III of FIG.

  As shown in FIG. 1, the surface of the main body 110 of the self-propelled cleaner 100 as the self-propelled cleaner 100 is mainly arranged so that the main body 110 can be displaced on the floor surface. A pair of wheels 130 that support the position and posture so as to be changeable, an arm 120 that is an example of a movable member, and a wide-angle camera 140 as a visual sensor are arranged. For example, the self-propelled cleaner 100 has a size of a cube having a side of about 20 cm except for the arm 120. In this embodiment, it is assumed that the arm 120 is attached to the front side of the main body 110.

  The self-propelled cleaner 100 focuses on cleaning a narrow place or an intricately shaped place where the main body 110 of the self-propelled cleaner 100 cannot enter the room of the work target space by the tip of the arm 120. A self-propelled cleaner 100 intended to be performed. In this embodiment, for example, a room of about 12 to 20 tatami mats is a work target space, that is, a room to be cleaned.

  The wide-angle camera 140 is attached so as to maintain a height of about 160 mm from the floor surface, and is angled so as to face downward.

  As shown in FIGS. 2 and 3, the main body 110 includes a battery 150 as a drive source of the main body 110, a wheel drive motor unit 133 as a first drive unit, and a video camera connected to the wide-angle camera 140. A wireless communication unit 141, a dust collecting fan motor 162, and a dust cup 163 are arranged. In addition, a control circuit unit 171 for controlling these members and a power supply communication circuit unit 172 are arranged inside the main body 110. A suction opening 161 is formed in the lower portion of the main body 110.

  FIG. 4 is a perspective view showing the entire arm.

  As shown in FIG. 4, the arm 120 includes a first link part 121, a second link part 122, a third link part 123, and a first joint that attaches the first link part 121 to the main body 110. 124, a second joint 125 that connects the first link portion 121 and the second link portion 122, and a third joint 126 that connects the second link portion 122 and the third link portion 123. The first servo 127 that drives the first joint 124 and the second servo 128 that drives the second joint 125 are configured. In addition, an intake port 129 that is an example of a working unit is formed at the distal end portion 120 a of the arm 120, that is, at the distal end of the third link portion 123. The air inlet 129 sucks dust for cleaning as a predetermined operation. The first servo 127 and the second servo 128 are an example of a second drive unit for driving the arm 120.

  The first link portion 121 is attached to the main body 110 so as to be displaceable with respect to the main body 110 via the first joint 124. The second joint 125 is located at a substantially middle point of the entire length of the arm 120. The second link portion 122 is attached so as to be displaceable with respect to the first joint 124 via the second joint 125. The third joint 126 is an elastic joint that operates passively. The third link portion 123 is attached to the second link portion 122 via the third joint 126 so as to be passively displaceable. In this way, the arm 120 is configured to be displaceable with two or more degrees of freedom with respect to the main body 110 (FIG. 1).

  A cavity is formed inside the first link portion 121, the second link portion 122, and the third link portion 123 of the arm 120. A flexible hose (not shown) is accommodated in the cavity inside the arm 120. The hose accommodated in the arm 120 forms a flow path that connects the air inlet 129 formed at the tip of the third link portion 123 and the suction opening 161 (FIG. 3) of the main body 110. is doing. Notches are formed in the second joint 125 and the third joint 126. By doing so, even if the arm 120 is bent at the second joint 125 and the third joint 126, the internal hose can be prevented from being crushed and a flow path can be secured.

  In the self-propelled cleaner 100 configured as described above, when the dust collection fan motor 162 is driven, dust and dust are sucked into the arm 120 from the air inlet 129 at the tip of the arm 120. The dust and dust sucked into the arm 120 flows into the main body 110 from the suction opening 161 through the hose inside the arm 120. Dust such as dust and dust that has flowed into the main body 110 passes through a flow path (not shown) in the main body 110, is carried to the dust cup 163, and is accumulated in the dust cup 163.

  FIG. 5 is a block diagram showing a control-related configuration of the control system of the self-propelled cleaner.

  As shown in FIG. 5, the control system 1 of the self-propelled cleaner 100 is arranged separately from the components arranged in the self-propelled cleaner 100 and the self-propelled cleaner 100 as a control-related configuration. Computer 200. The components disposed in the self-propelled cleaner 100 are a wide-angle camera 140, a video wireless communication unit 141, a power communication circuit unit 172 having a communication circuit 173, a control circuit unit 171, and a wheel drive motor unit. 133, a first servo 127, and a second servo 128. The computer 200 includes a transmission / reception unit 210, a visual information processing unit 220, and a control program 230. The computer 200 is an example of a control unit, and for example, a personal computer is used.

  The video wireless communication unit 141 of the self-propelled cleaner 100 wirelessly transmits a signal to the transmission / reception unit 210 of the computer 200. The transmission / reception means 210 of the computer 200 transmits a signal wirelessly to the communication circuit 173 of the self-propelled cleaner 100. Thus, the self-propelled cleaner 100 and the computer 200 perform wireless transmission / reception.

  The wide-angle camera 140 detects an obstacle or a work object, and transmits a signal as image information to the video wireless communication unit 141. The video wireless communication unit 141 wirelessly transmits a signal received from the wide-angle camera 140 to the computer 200.

  The transmission / reception means 210 of the computer 200 receives the information transmitted from the video wireless communication means 141. The visual information processing unit 220 of the computer 200 processes information detected by the wide-angle camera 140 based on the information transmitted from the video wireless communication unit 141, and detects obstacles and work objects detected by the wide-angle camera 140. recognize. The control program 230 of the computer 200, as will be described later, is based on information about obstacles and work objects recognized by the visual information processing unit 220, and the wheel drive motor unit 133, the first servo 127, and the first servo motor. The condition for driving the second servo 128 is calculated. The computer 200 wirelessly transmits a control signal including information on the condition calculated by the control program 230 to the communication circuit 173 of the self-propelled cleaner 100 via the transmission / reception means 210. The control signal includes a command related to the rotational angular velocity of the wheel 130 and the rotational angular velocity of the joint of the arm 120.

  The communication circuit 173 of the self-propelled cleaner 100 transmits the control signal received from the computer 200 to the control circuit unit 171. The control circuit unit 171 drives the wheel drive motor unit 133, the first servo 127, and the second servo 128 based on the received control signal. In this way, the movement and rotation of the main body 110 of the self-propelled cleaner 100 and the posture of the arm 120 are controlled as intended by the control program 230.

  The control circuit unit 171 wirelessly feeds back information about the position and posture of the self-propelled cleaner 100 and information about the position and posture of the arm 120 to the control program 230 via the communication circuit 173.

  As described above, the self-propelled cleaner 100 is operated by wirelessly receiving a command generated by the control program 230 operated on the computer 200, and conversely, the image information detected by the wide-angle camera 140 and the self-propelled cleaner 100 are automatically detected. Information regarding the displacement of the traveling cleaner 100 and the displacement of the arm 120 is fed back to the control program 230 wirelessly.

  Next, the control sequence of the self-propelled cleaner 100 will be described.

  The control system 1 of the self-propelled cleaner 100 of the present invention is a self-propelled cleaner that performs some work requiring accuracy with the arm 120 as an arm-like mechanism extending from the main body 110 while being moved by a wheel 130 as a moving means. For the machine 100, it is possible to save work time and secure control accuracy by changing the contents of a function (evaluation function) serving as an evaluation standard in real time according to the situation.

  The rules for cleaning the entire room in which the self-propelled cleaner 100 is cleaned are not limited here as it is achieved by the existing route planning method for self-propelled vehicles and robots. Below, as a lower-level control method, it is assumed that a rough action route is determined by the higher-level action rules, and as it travels along the route determined by the higher-level action rules as much as possible, it is narrow and complicated Control for precisely cleaning a place will be described.

  First, the self-propelled cleaner 100 takes an image of the interior of the room cleaned by the wide-angle camera 140. As described above, the image photographed by the wide-angle camera 140 is transmitted to the computer 200, and the computer 200 recognizes an object to be cleaned.

  FIG. 6 is a diagram sequentially illustrating a process in which the computer recognizes images taken by the wide-angle camera.

  As shown in FIG. 6A, it is assumed that a cylinder 303 is set up as a cleaning target on the wall 302 on the floor surface 301. In this embodiment, in this case, the self-propelled cleaner 100 performs cleaning along the wall 302 and along the bottom of the cylinder 303. The wide-angle camera 140 captures the image shown in FIG. 6A, and the captured image is transmitted to the visual information processing unit 220 of the computer 200.

  The visual information processing unit 220 extracts an object shown on the screen, that is, a boundary line between the cylinder 303 and the floor surface 301 as an object to be cleaned by the self-propelled cleaner 100. Although it is considered that a plurality of boundary lines may exist on the screen, in such a case, the boundary line located closest to the self-propelled cleaner 100 is selected.

  Next, as shown in FIG. 6B, the visual information processing unit 220 expands the extracted boundary line into a two-dimensional map. The wide-angle camera 140 is attached so as to maintain a height of about 160 mm from the floor, and is angled so as to face downward. Thus, by processing the image (camera screen) acquired by the wide-angle camera 140, the distance between the boundary line shown in the image and the self-propelled cleaner 100 can be calculated to some extent. Using this, the visual information processing unit 220 generates a two-dimensional map of the boundary line as shown in FIG. 6B from the camera screen from which the boundary line has been extracted.

  Next, as shown in FIG. 6C, the visual information processing unit 220 quantizes the boundary lines in the two-dimensional map at intervals of 5 mm to generate a target point group for the arm 120 to clean.

  Moreover, the control system 1 of the self-propelled cleaner 100 recognizes obstacles that the self-propelled cleaner 100 avoids by photographing a room to be cleaned by the wide-angle camera 140. The self-propelled cleaner 100 uses the area around the static obstacle as an object to be cleaned for an obstacle that does not move (static obstacle). On the other hand, the moving obstacle (dynamic obstacle) is controlled to avoid the dynamic obstacle or to take a distance from the dynamic obstacle. There are many known methods of moving object detection using a camera, but any method may be used in the control system 1 of the self-propelled cleaner 100. Even when the visual information processing unit 220 determines that the obstacle on the camera image is a dynamic obstacle, the coordinates are extracted by image processing as in the case of the static obstacle, and the self-propelled cleaner 100 Clarify the positional relationship with dynamic obstacles.

  When photographing the inside of the room where the wide-angle camera 140 is cleaned, the first servo 127 is set so that the arm 120 is folded in the state of FIG. 1 so that the arm 120 does not block the field of view of the wide-angle camera 140. And the second servo 128 is preferably driven.

  FIG. 7 is a diagram schematically showing a self-propelled cleaner and a target point group for cleaning of the self-propelled cleaner.

As shown in FIG. 7, a reference coordinate system W exists in a work space where the self-propelled cleaner 100 performs cleaning, and the self-propelled cleaner 100 is coordinated at a certain point {W } At position ^w P ₀ (x ₀ , y ₀ ). The self-propelled cleaner 100 captures an image at the position, and generates a target point group for the visual information processing unit 220 to clean by the above-described processing. At this time, a new coordinate system {A} is generated with the position of the self-propelled cleaner 100 as the origin. A new coordinate system {A} is generated by matching the front of the self-propelled cleaner 100 and the y-axis direction. This coordinate system {A} is based on the displacement of the self-propelled cleaner 100, that is, the position and orientation of the self-propelled cleaner 100 at the time of generation, but is then restrained by the environment and is self-propelled. It shall not move with the vacuum cleaner 100. After generating the coordinate system {A}, the self-propelled cleaner 100 acts as the temporary world coordinate system (reference coordinate system) using the coordinate system {A}.

  The target point group cleaned by the arm 120 generated as described above is also expressed based on the coordinate system {A}. The cleaning action of the self-propelled cleaner 100 in the vicinity of the cleaning object is controlled based on the coordinate system {A}.

  The target point group of the self-propelled cleaner 100 is expressed by the following formula (1).

  In the cleaning action of the self-propelled cleaner 100, the value of i in the expression (1) is increased at an appropriate timing. By doing in this way, since the cleaning target can be sequentially changed, the arm 120 can be controlled to follow a complicated shape. By increasing the value of i in the equation (1), the target point for cleaning the arm 120 is changed from left to right in the point group shown in FIG. 6C and FIG. Go. By doing so, it is possible to realize a smooth movement of the arm 120 along the object to be cleaned.

  As a control for causing the arm 120 to follow an obstacle, for example, Tomoaki Kobayashi, “Optimum control simulation of a mobile robot”, simulation, Japan Society for Simulation Technology, March 15, 2005, Vol. 24, No. 1, p. The real-time optimal control algorithm described in 45-49 (hereinafter referred to as Reference 1) is used. This algorithm is a kind of optimal control. There is a problem that many iterative calculations are required in the calculation of the solution in the normal optimal control, and it takes a long calculation time, so feedback control in real time is difficult. On the other hand, the real-time optimal control algorithm described above reduces the accuracy of the instantaneous solution by reducing the number of iterations for solution calculation. Has achieved online calculation while ensuring accuracy.

  In the self-propelled cleaner 100, at the timing of this recalculation, the target point shown in Expression (1) is changed to change the control target point at regular time intervals, and the arm 120 follows the target point group. The command value is given so that the arm 120 moves along the surface of the obstacle.

  FIG. 8 is a diagram schematically showing the relationship between the self-propelled cleaner, the coordinate system {A}, and the coordinate system {B}.

As shown in FIG. 8, the self-propelled cleaner 100 has a coordinate system {B} constrained by the main body 110. The coordinate system {B} is set so that the origin is located between the left wheel 132 and the right wheel 131 and the x axis coincides with the traveling direction of the self-propelled cleaner 100 when traveling straight. In the coordinate system {A}, the origin position of the coordinate system {B} is (x, y), the angle formed by the x axis of the coordinate system {B} and the x axis of {A} is θ _0. Treated as the position and posture of the vacuum cleaner 100.

As shown in FIG. 8, the angle formed by the x-axis of the coordinate system {B} and the first link portion 121 is θ _1, and this is the relationship between the main body 110 and the first link portion 121 at the first joint 124. The angle formed (hereinafter, the angle of the first joint 124). In addition, an angle formed by a line extending along the longitudinal direction of the first link portion 121 and the second link portion 122 is θ _2, and this is defined as the first link portion 121 and the second link at the second joint 125. The angle formed by the link portion 122 (hereinafter, the angle of the second joint 125) is used.

  Since the third joint 126 of the arm 120 is not actively controlled, the illustration is omitted. In this figure, it is assumed that the second link portion 122, the third joint 126, and the third link portion 123 are entirely represented as the second link portion 122. It is assumed that the first joint 124 at the base of the arm 120 is arranged (laid out) on the x-axis of the coordinate system {B}.

  Next, an evaluation function used for optimal control of the self-propelled cleaner 100 will be described.

  The evaluation function described in Document 1 relates to the optimal control of the mobile robot, and selects the position (x coordinate, y coordinate) and azimuth (posture) of the mobile robot as state variables.

  In the control of the self-propelled cleaner 100, in addition to the position (x coordinate, y coordinate) and azimuth (posture) of the main body 110 of the self-propelled cleaner 100, parameters related to the arm 120 are included in the state variable. The behavior of the arm 120 can also be controlled by real-time optimal control. Moreover, since the arm 120 is moved toward the target displacement, that is, the target position and posture, and the main body 110 is controlled by the real-time optimal control, the degree of freedom of work by the arm 120 is improved. In this way, complex behavior cleaning becomes possible.

In the control of the self-propelled cleaner 100, as the state variables ξ, the position (x, y) of the main body 110, the posture θ _{0 of the} main body 110, the angle θ ₁ of the first joint 124, and the second joint An angle θ _{2 of} 125 is selected. It is assumed that the state equation is adjusted accordingly. The state variable ξ is shown in Equation (2).

  The input u to the system is the moving speed ν of the self-propelled cleaner 100, the rotational angular speed ω, the angular speed of the first joint 124, and the angular speed of the second joint 125. The angular velocity of the first joint 124 is expressed by the following (3).

  Further, the angular velocity of the second joint 125 is expressed by the following (4).

  The input u is expressed by equation (5).

  In this case, the state equation is also a five-state, four-input model that matches the number of states and the number of inputs. The equation of state is shown in Equation (6).

  In the optimal control, an input u that makes the evaluation function small is generated, and this allows the controlled object to take a behavior in accordance with the purpose.

  The evaluation function given as an example in Reference 1 is designed mainly with the intention of reducing the gap between the position and orientation of the main body 110 and the target with respect to them, and consequently bringing the main body 110 closer to the target position and posture. Has been.

  In the control of the self-propelled cleaner 100, in addition to the position and posture of the main body 110, the position and posture of the tip 120a of the arm 120 where the air inlet 129 is disposed are included in the evaluation function.

The state variable ξ includes the position and posture of the self-propelled cleaner 100 in the coordinate system {A}, but does not include the position and posture of the tip 120a of the arm 120. For this reason, the position and orientation of the distal end portion 120a of the arm 120 in the coordinate system {A} are calculated from the state variable ξ using the conversion formula. The position and posture of the distal end portion 120a of the arm 120 can be calculated geometrically using the lengths of the first link portion 121 and the second link portion 122, and the like. Hereinafter, the position of the distal end portion 120a of the arm 120 is (x _arm , y _arm ), and the posture of the distal end portion 120a of the arm 120 is θ _arm . The position and posture of the distal end portion 120a of the arm 120 are collectively expressed by Expression (7).

The target value for the position (x _arm , y _arm ) of the distal end portion 120a of the arm 120 is a target value shown in Expression (1) generated by the above-described image processing. The target value for the posture of the distal end portion 120a of the arm 120 with respect to θ _arm is arbitrarily set as the following (8).

  These are collectively expressed by the formula (9).

Also, only elements relating to the position and posture of the self-propelled cleaner 100 are extracted from the state variable ξ, and this is simply set as η. The target value η _f for η is set based on some other standard. For example, it may be a scheduled traveling course for the main body 110 of the self-propelled cleaner 100 generated by a higher-level control loop, or a point obtained by taking a certain distance offset from the cleaning target point group obtained by image processing A group may be created and transitioned for each recalculation, similar to the target value shown in equation (1). In any case, an ideal course that the self-propelled cleaner 100 wants to pass is set.

The element η related to the position and posture of the main body 110 of the self-propelled cleaner 100 and the target value η _f of η are expressed by the following equation (10).

In the evaluation function J in this embodiment, assuming that the time zone evaluated using the evaluation function J is t ₀ (control start time) to t ₁ (control end time), the basic part is the following equation (11). Expressed.

  The first term not included in the integral term is a penalty term due to the gap between the main body 110 of the self-propelled cleaner 100 and its target value, and the second term is the gap between the tip 120a of the arm 120 and its target value. Is a penalty term. These are hereinafter referred to as off-integration penalty terms.

  Similarly, the first and second terms in the integral term are penalty terms for the main body 110 and the arm 120, respectively. These are hereinafter referred to as in-integration penalty terms.

P _a and P _b are weight matrices of off-integration penalty terms for the main body 110 and the arm 120, respectively. Similarly, Q _a and Q _b are weight matrices for the penalty term in the integration with respect to the main body 110 and the arm 120, respectively. Each of these four matrices is a 3 × 3 diagonal matrix, and each element in the matrix corresponds to a weight for each element of η and η _f to which it corresponds. For this reason, for example, if P _a1 and P _a2 are made larger than other elements, the position of the main body 110 of the self-propelled cleaner 100 is strictly controlled in preference to the position and posture of the tip 120a of the arm 120. The effect appears as a behavior such as approaching. Conversely, if P _a1 , P _a2 ... Are set to be relatively small, the position of the main body 110 of the self-propelled cleaner 100 is not strictly controlled, but the position of the tip 120a of the arm 120 is accurately controlled. Is done. In this way, the main body 110 of the self-propelled cleaner 100 may move away from the target position to some extent in order to preferentially protect the target position of the tip 120a of the arm 120.

  The third term in the integral term generates a penalty term when each element of the input is large, and is a term for controlling to achieve the object with as little energy as possible. V is a 4 × 4 diagonal matrix matched to the input dimension, and similarly functions as a weight for the element of u to which each element corresponds. By increasing or decreasing the element of V, the speed of the main body 110 of the self-propelled cleaner 100 and the movement of the arm 120 are set so as not to suddenly change. You can also set which one to move.

  The weighting coefficient of each penalty term is expressed as the following equation (12).

  The evaluation function J may include a penalty term for the coordinates of the obstacle recognized by the control system 1 of the self-propelled cleaner 100. The position (x, y) of the self-propelled cleaner 100 in this embodiment is equivalent to the position (x, y) of the robot that can be confirmed from the expression (10) in the document 1 shown in the following expression (13). In the same way as the equations (14) and (15) in the literature 1 shown in the equations (14) and (15), it is possible to incorporate penalty terms due to a plurality of obstacles in the evaluation function.

  In Document 1, the penalty term is set to be large when the position of the obstacle and the position of the robot are too close. If this method is used in this embodiment, an input u that prevents the distance between the main body 110 of the self-propelled cleaner 100 and the obstacle from being too close is generated. As a result, the self-propelled cleaner 100 can travel while avoiding obstacles.

  FIG. 9 is a diagram schematically illustrating the self-propelled cleaner and points that the self-propelled cleaner extracts from the target point group.

  As shown in FIG. 9, 3 to 4 points can be extracted from the target point group obtained by the above-described image processing, and these points can be handled as obstacles. Extracted points are shown in black, and unextracted points are shown in white.

  By doing so, it is possible to perform control such that the main body 110 of the self-propelled cleaner 100 does not come too close to the cleaning object while the arm 120 is moved closer to the object and cleaned. In addition, when the position of the third joint 126 is calculated using the state variable ξ and the penalty term is set so that the third joint 126 avoids an obstacle as well as the main body 110 of the self-propelled cleaner 100, It can be expected that the arm 120 is less likely to get entangled with obstacles and gaps having complicated shapes.

  Since the tip 120a of the arm 120 needs to be close to the object to be cleaned for cleaning, no penalty term due to a static obstacle is set for the tip 120a of the arm 120.

  Similarly, when there is a dynamic obstacle, a penalty term is set for the distance between the main body 110 of the self-propelled cleaner 100 and the third joint 126. The area around the dynamic obstacle is not subject to cleaning, and when it collides with the arm 120, a large torque is applied to the joint of the arm 120, and damage such as destruction can occur. Therefore, a penalty term due to a dynamic obstacle is also set for the distal end portion 120a of the arm 120 that was not set in the case of a static obstacle.

  After the image processing is performed, next, the control of moving the arm 120 along the shape of the recognized object to be cleaned (target point group), the target position of the main body 110 in which the main body 110 of the self-propelled cleaner 100 is separately set, and Control close to the posture is simultaneously performed using the real-time optimal control algorithm described in Document 1.

  The basic part of the control in this embodiment conforms to the control of Document 1. The same is true in that recalculation is performed while feeding back the current state ξ and the position of the obstacle at every fixed period ΔT.

  In this embodiment, regarding the distal end portion 120a of the arm 120, target points are selected and reset in order from the above-described target point group for each period ΔT. The left end of the target point group obtained by the image processing is set to i = 0, and i = 1, 2, 3,... By giving this in turn as a target point for each ΔT, the self-propelled cleaner 100 sweeps the tip 120a of the arm 120 from the left to the right along the shape of the static obstacle. When the movement of the target point due to the transition of the tip 120a of the arm 120 is a short distance, the behavior of the self-propelled cleaner 100 sufficiently follows the movement of the target point even if ΔT is small. Since the target points are set at intervals of about 5 mm, once the tip 120a of the arm 120 reaches the vicinity of the obstacle, there is no problem in subsequent tracking.

Immediately after the image processing, the arm 120 is in a folded state, and the gap between η and η _f is in a large state. Further, in terms of distance, there is a possibility that the distance between the recognized cleaning object such as a wall and the main body 110 of the self-propelled cleaner 100 is increased. When the target state is far from the current state, that is, for example, when the tip of the arm 120 is far away from the initial target position, the value J of the evaluation function is not reduced no matter what input is generated. There is a problem that a simple input u cannot be generated. As a result, the control accuracy of the position of the main body 110 of the self-propelled cleaner 100 and the tip 120a of the arm 120 may be lowered, and the target as the self-propelled cleaner 100 that cleans the periphery of the static obstacle is achieved. There are things that cannot be done.

  Therefore, in this embodiment, regarding the distal end portion 120a or the main body 110 of the arm 120, when the distance from the target point of the distal end portion 120a of the arm 120 is equal to or greater than a certain value, the target point is not changed, so Further, the movement of the main body 110 cannot follow the target and the distance is prevented from continuing to be separated. Since the distance from the static obstacle is often immediately after the image processing, if the distance between the target point and the main body 110 is 35 cm or more immediately after the image processing (hereinafter referred to as phase 1), the time Even if ΔT has elapsed, the target point is not changed to the next target point. The length of the arm 120 is about 13 cm for the first link 121, about 15 cm for the second link 122, and about 5 cm from the origin of the coordinate system {B} to the first joint 124. When 120 is fully extended, the distance between the reference point (the origin of the coordinate system {B}) of the main body 110 of the self-propelled cleaner 100 and the tip of the arm 120 is 33 cm.

Further, in such a state that is away from the target, it is meaningless to control the position of the tip 120a of the arm 120 with emphasis, and it becomes a large dominant term in the evaluation function J. The weight matrix P that affects the off-integration penalty term for the tip 120a of the arm 120 in the evaluation function J is hindered from being controlled by other parameters in the evaluation function J, such as posture change and dynamic obstacle avoidance. Decrease the value of _b . Increasing Q _b corresponding to the penalty term in the integral has an adverse effect on controlling the target position and posture without deviation. However, it is not necessary to follow Q _b without deviation in a state separated from the target position and posture. By increasing the size, the effect of shortening the distance between the target position and the posture as soon as possible can be obtained. Therefore, in phase 1, _Qb is increased from the normal time.

At this time, the elements v ₁ and v ₂ related to the movement of the V main body 110 are also reduced, and adjustment is made so that the main body 110 of the self-propelled cleaner 100 moves actively.

  Next, when the distance between the target point and the main body 110 is less than 35 cm, the control parameter is switched depending on the distance between the tip 120a of the arm 120 and the target point.

Phase 2 is when the distance between the tip 120a of the arm 120 and the target point is 5 cm or more. In phase 2, P _b and Q _b are respectively small and large (however, P _b is slightly larger than phase 1) as in phase 1, and v ₁ and v ₂ that have been reduced are restored to their original sizes. In this way, the arm 120 is also actively moved. Also in this phase 2, the target point is not changed.

Phase 3 is the case where the distance between the tip 120a of the arm 120 and the target point is less than 5 cm. In phase 3, the position and posture of the tip 120a of the arm 120 must be strictly controlled for cleaning around the static obstacle. For this reason, P _b is large and Q _b is small for the reasons described above. v ₁ and v ₂ are the same as in phase 2. In this phase, the target point is shifted after the time ΔT has elapsed.

  Even when the tip 120a of the arm 120 is very close to the periphery of the static obstacle, the distance may be increased again for some reason such as the approach of the dynamic obstacle. For this reason, it is re-determined to which of the phases 1 to 3 the current state corresponds to every feedback cycle of ΔT.

Weight _P a with respect to the body 110 position and orientation of the self-propelled cleaner 100, with respect to _{Q a,} is large distance to the target position of the body 110 is reduced _{P a,} increases the _{Q a.} On the other hand, when the distance to the target is small large P _a, it is desirable to reduce the Q _a. However, in this embodiment, emphasis is placed on the control of the tip 120a of the arm 120, and from the viewpoint of achieving cleaning, priority is given to the control accuracy of the arm 120 in some cases even at the expense of the control accuracy of the position of the main body 110. Therefore, P _a and Q _a are set relatively small with respect to P _b and Q _b .

When the distance of the position of the main body 110 with respect to the target is large, the elements v ₁ and v ₂ related to the movement of the main body 110 of V are also reduced, and the main body 110 of the self-propelled cleaner 100 is adjusted to move actively.

Examples of specific parameters for each phase are shown in the following equations (16) to (18). Equation (16) shows an example of phase 1, Equation (17) shows an example of phase 2, and Equation (18) shows an example of a parameter of phase 3. In the following example, P _b3 and Q _b3 are all 0, which means that the posture of the distal end portion 120a of the arm 120 does not matter.

  As shown in FIG. 9, when the arm 120 enters the field of view of the wide-angle camera 140 of the self-propelled cleaner 100 for cleaning, the position of the target point may not be acquired in real time. When the arm 120 enters the field of view of the wide-angle camera 140 of the self-propelled cleaner 100 for cleaning, image processing is not performed, and the self-propelled cleaner 100 has a static obstacle on the coordinate system {A}. The coordinates of the target point group acquired at the time of the first image processing are used on the assumption that they exist at the same position. The self-position (x, y, θ) in the coordinate system {A} of the self-propelled cleaner 100 included in the state variable is the value of the input u during traveling or the rotation of the wheel 130 detected by means such as an encoder. Update based on quantity. In this case, a slight error occurs between the estimated position and posture of the self-propelled cleaner 100 and the actual position and posture, but since the image processing is reset again when the image processing is performed again, the image processing interval is set to 10 In this embodiment in which the moving speed of the self-propelled cleaner 100 is set to 15 [cm / s] at maximum for 20 seconds, no problem due to error occurs.

  When the target points are changed in Phase 3 and all the target points obtained in the first image processing are covered, it is determined that the vicinity of the nearby static obstacle has been cleaned, and the image is moved to another location and the image is moved. The processing and the control of phases 1 to 3 are resumed. For movement to another location, the action is determined by a higher-level control algorithm such as a route plan based on a room map. By repeating this process endlessly, the area around the static obstacle in the room can be cleaned.

  As described above, the control system 1 of the self-propelled cleaner 100 includes the displaceable main body 110, the arm 120 attached to the main body 110 and displaceable with respect to the main body 110, and the wheels for driving the main body 110. Computer for controlling drive motor unit 133, first servo 127 and second servo 128 for driving arm 120, wheel drive motor unit 133, first servo 127, and second servo 128 The computer 200 uses an evaluation function J that evaluates the behavior of the main body 110 and the behavior of the arm 120 based on both the factor relating to the displacement of the main body 110 and the factor relating to the displacement of the arm 120. , The wheel drive motor unit 133 and the first servo 127 so as to control the behavior of the main body 110 and the behavior of the arm 120. Optimally controls the second servo 128.

  The main body 110 is driven by a wheel driving motor unit 133. The arm 120 attached to the main body 110 is driven by a first servo 127 and a second servo 128. The computer 200 controls the wheel drive motor unit 133, the first servo 127, and the second servo 128, for example, to move the main body 110 and cause the arm 120 to perform cleaning. In addition, the self-propelled cleaner 100 can achieve multiple purposes.

  In order to make the self-propelled cleaner 100 achieve a composite purpose by performing real-time control, the computer 200 causes each of the wheel drive motor unit 133, the first servo 127, and the second servo 128 to operate. Real-time control is required. Therefore, an evaluation for evaluating the behavior of the main body 110 and the behavior of the arm 120 based on both the factors relating to the displacement of the main body 110 and the factors relating to the displacement of the arm 120 as the evaluation function J used for optimal control. Use function J. That is, for example, the behavior of the main body 110 is first controlled based on the factor related to the displacement of the main body 110, and then the behavior of the arm 120 is controlled based on the factor related to the displacement of the arm 120. The behavior of both the main body 110 and the arm 120 is controlled based on the displacement of both the main body 110 and the arm 120, instead of performing the control separately and sequentially.

  By doing in this way, in order to make the self-propelled cleaner 100 achieve a composite purpose, the working time is maintained with accuracy compared with the case where the main body 110 and the arm 120 are controlled separately and sequentially. Can be shortened.

  By doing in this way, in real time control, the control system of self-propelled cleaner 100 which can achieve a complex objective and can shorten work time can be provided.

  Further, in a situation where it is difficult to calculate a solution in optimal control, a long calculation time may be required. For example, by changing a parameter in the evaluation function J according to the situation, calculation of a solution in optimal control is performed. It is possible to shorten the calculation time required for.

  In the control system 1 of the self-propelled cleaner 100, the computer 200 controls the wheel drive motor unit 133 so that the main body 110 moves toward a predetermined target displacement, and the arm 120 performs cleaning. The wheel drive motor unit 133, the first servo 127, and the second servo 128 are controlled.

  By doing so, it is possible to achieve the combined purpose of causing the arm 120 to perform cleaning while moving the main body 110 toward a predetermined target displacement.

  In the control system 1 of the self-propelled cleaner 100, the computer 200 controls the wheel drive motor unit 133 so that the main body 110 moves while avoiding a predetermined obstacle, and the arm 120 performs cleaning. The wheel drive motor unit 133, the first servo 127, and the second servo 128 are controlled.

  By doing so, it is possible to achieve the combined purpose that the arm 120 performs cleaning while the main body 110 moves while avoiding a predetermined obstacle.

  In addition, the control system 1 of the self-propelled cleaner 100 processes the information detected by the wide-angle camera 140 and the wide-angle camera 140 for detecting the obstacle that the main body 110 avoids and the work target of the arm 120. The computer 200 recognizes an obstacle to be avoided by the main body 110 based on the information processed by the visual information processing unit 220.

  By doing in this way, the computer 200 can easily recognize the obstacle to be avoided by the main body 110 and the work target of the arm 120.

  In the control system 1 of the self-propelled cleaner 100, when the wide-angle camera 140 detects the obstacle to be avoided by the main body 110 and the work target of the arm 120, the computer 200 moves the arm 120 to the wide-angle camera 140. The wheel drive motor unit 133, the first servo 127, and the second servo 128 are controlled so as to be moved out of the field of view.

  By doing in this way, the computer 200 can correctly recognize the obstacle to be avoided by the main body 110 and the work target of the arm 120.

  Further, in the control system 1 of the self-propelled cleaner 100, the arm 120 has an intake port 129 for performing cleaning, and the computer 200 sets the distance between the work target of the intake port 129 and the intake port 129. Based on this, the parameter in the evaluation function J is changed.

  For example, when the distance between the work target of the air intake 129 and the air intake 129 is large, the displacement of the air intake 129 is not emphasized, and control is performed so as to place importance on bringing the air intake 129 closer to the work object in a short time. On the other hand, when the distance between the work target of the air inlet 129 and the air inlet 129 is small, the displacement of the air inlet 129 is strictly controlled. By doing so, it is possible to efficiently achieve a composite goal. Moreover, the calculation time in the optimal control can be shortened.

  Further, in the control system 1 of the self-propelled cleaner 100, the arm 120 has an air inlet 129 for cleaning, and the computer 200 is based on the distance between the work target of the air inlet 129 and the main body 110. Thus, the parameter in the evaluation function J is changed.

  For example, when the distance between the work target of the intake port 129 and the main body 110 is large, the displacement of the main body 110 is not considered important, and the main body 110 and the air intake port 129 of the arm 120 attached to the main body 110 can be operated in a short time. Control is performed so as to place importance on being close to the target. On the other hand, when the distance between the work target of the air inlet 129 and the main body 110 is small, the displacement of the main body 110 is strictly controlled. By doing so, it is possible to efficiently achieve a composite goal. Moreover, the calculation time in the optimal control can be shortened.

  By shortening the calculation time in the optimal control in this way, the calculation time can be shortened while maintaining accuracy as compared with the case where the main body 110 and the arm 120 are separately and sequentially controlled. By reducing the calculation time while maintaining the accuracy in this way, a system using online optimal control can be realized in an embedded system having a limited calculation processing capability, such as a home appliance. Further, by shortening the calculation time while maintaining accuracy, it is possible to use a complicated control model that originally requires calculation time, so that it is not necessary to move the main body 110 and the arm 120 separately. Therefore, it is possible to realize a complicated system in which the main body 110 and the arm 120 are interlocked to achieve a composite purpose. In this way, the self-propelled cleaner 100 having a simple configuration can have a high degree of freedom and a high work ability.

  For example, when assuming a cleaning robot equipped with an arm 120 as the self-propelled cleaner 100, the arm 110 performs cleaning of a narrow place such as the periphery of a furniture, a gap, or a wall with accurate control by the arm 120, while the main body 110 is It is conceivable to control the robot so as to move at a certain distance from the object to be cleaned, avoid obstacles that move around, and further circulate around the work area according to some higher-level action rule. Such a complicated work whose result depends on the behavior of both the main body 110 and the arm 120 can be performed without failure.

  Further, in the control system 1 of the self-propelled cleaner 100, the arm 120 has an intake port 129 for cleaning, and the evaluation function J is a distance between the work target of the intake port 129 and the intake port 129. And the penalty term includes an in-integration penalty term for the evaluation function J and an out-of-integration penalty term for the evaluation function J.

  In this way, depending on the distance between the work of the intake port 129 and the intake port 129, one of the displacement of the main body 110 and the displacement of the arm 120 is controlled more importantly than the other, or the displacement of the arm 120 is controlled. It is possible to control with an emphasis on approaching the target displacement without deviation, or to make a large displacement in a short time without emphasizing the approach of the displacement of the arm 120 to the target displacement without deviation. By doing so, it is possible to efficiently achieve a composite goal. Moreover, the calculation time in the optimal control can be shortened.

  In the control system 1 of the self-propelled cleaner 100, the computer 200 changes the weighting factor of the penalty term based on the distance between the work target of the air intake 129 and the air intake 129.

  By changing the weighting factor of the penalty term based on the distance between the work target of the air intake 129 and the air intake 129, the weight of the work of the air intake 129 is changed according to the distance between the work target of the air intake 129 and the air intake 129. It is possible to control so that the displacement approaches the target displacement without deviation, or to make a large displacement in a short time without placing importance on bringing the displacement of the intake port 129 close to the target displacement without deviation. . By doing so, it is possible to efficiently achieve a composite goal.

In the control system 1 of the self-propelled cleaner 100, the computer 200 determines the weight of the penalty term in the integral when the distance between the work target of the air inlet 129 and the air inlet 129 is larger than a predetermined value. increasing the coefficient Q _b, reducing the weight coefficient P _b of the integral outer penalty term.

The weighting factor Q _b of the integral in the penalty term is increased, by reducing the weight coefficient P _b of the integral outer penalty term, without emphasis that approach the deviation without target displacement the displacement of the inlet 129, in a short time A large displacement can be caused. When the distance between the work target of the air intake port 129 and the air intake port 129 is larger than a predetermined value, the air intake port 129 can be brought closer to the work target efficiently by doing in this way.

Further, in the control system 1 of the self-propelled cleaner 100, the computer 200 determines the weight of the penalty term in the integral when the distance between the work target of the air inlet 129 and the air inlet 129 is smaller than a predetermined value. reducing the factor Q _b, to increase the weight coefficient P _b of the integral outer penalty term.

The weighting factor Q _b of the integral in the penalty term is reduced, by increasing the weighting coefficients P _b of the integral outer penalty term, strictly controlled emphasizes that approach the deviation without target displacement the displacement of the inlet 129 be able to. When the distance between the work target of the air intake port 129 and the air intake port 129 is smaller than a predetermined value, the air intake port 129 can be efficiently cleaned by doing in this way.

Moreover, in the control system 1 of the self-propelled cleaner 100, the evaluation function J includes a penalty term for the control input, and the computer 200 indicates that the distance between the work target of the intake port 129 and the intake port 129 is a predetermined value. If it is larger than the above, among the weighting factors of the penalty term for the control input, the weighting factors v ₁ and v ₂ relating to the displacement of the main body 110 are decreased.

  By reducing the weighting factors v1 and v2 relating to the displacement of the main body 110 among the weighting factors of the penalty term for the control input, the main body 110 can be largely displaced in a short time. When the distance between the work target of the air intake port 129 and the air intake port 129 is larger than a predetermined value, the air intake port 129 of the arm 120 attached to the main body 110 and the main body 110 is efficiently configured in this way. Can be brought closer to the object of work.

  Moreover, in the control system 1 of the self-propelled cleaner 100, the evaluation function J has a penalty term that increases when it is not desirable based on the target displacement of the main body 110 and the distance between the main body 110, and the penalty term is It includes an in-integration penalty term for the evaluation function J and an out-integration penalty term for the evaluation function J.

  In this manner, according to the target displacement of the main body 110 and the distance between the main body 110, one of the displacement of the main body 110 and the displacement of the arm 120 is controlled more importantly than the other, or the displacement of the main body 110 is targeted without deviation. It is possible to control with emphasis on approaching the displacement, or to make a large displacement in a short time without emphasizing that the displacement of the main body 110 approaches the target displacement without deviation. By doing so, it is possible to efficiently achieve a composite goal. In addition, the calculation time required for calculating the solution in the optimal control can be shortened.

  Further, in the control system 1 of the self-propelled cleaner 100, the arm 120 has an air inlet 129 for performing a predetermined work, and the penalty term is the distance between the work target of the air inlet 129 and the main body. The computer 200 changes the weighting coefficient of the penalty term based on the distance between the work target of the air inlet 129 and the main body 110.

  By changing the weighting coefficient of the penalty term based on the distance between the work target of the air inlet 129 and the main body 110, the displacement of the main body 110 is deviated according to the distance between the work target of the air intake 129 and the main body 110. Therefore, it is possible to control so as to place importance on approaching the target displacement without any difference, or to make a large displacement in a short time without placing importance on bringing the displacement of the main body 110 close to the target displacement without deviation. By doing so, it is possible to efficiently achieve a composite goal.

Further, in the control system 1 of the self-propelled cleaner 100, the computer 200, when the distance between the work target of the air inlet 129 and the main body 110 is larger than a predetermined value, the weight coefficient of the penalty term in the integral. increasing the Q _a, it reduces the weight coefficient P _a of the integral outer penalty term.

The weighting factor Q _a of the integral in the penalty term is increased, by reducing the weighting coefficient P _a of the integral outer penalty term, without emphasis that approach the deviation without target displacement the displacement of the main body 110, a large in a short period of time It can be displaced. When the distance between the work target of the air inlet 129 and the main body 110 is larger than a predetermined value, the air inlet 129 of the arm 120 attached to the main body 110 and the main body 110 can be efficiently performed in this way. Can be brought closer to the object of work.

Further, in the control system 1 of the self-propelled cleaner 100, the computer 200, when the distance between the work target of the air inlet 129 and the main body 110 is smaller than a predetermined value, the weight coefficient of the penalty term in the integral. reducing the Q _a, increasing the weighting factor P _a of the integral outer penalty term.

The weighting factor Q _a of the integral in the penalty term is reduced, by increasing the weighting coefficients P _a of the integral outer penalty terms, exactly the displacement of the main body 110, by controlling emphasizes that approach the deviation without the target displacement Can do. When the distance between the work target of the air inlet 129 and the main body 110 is smaller than a predetermined value, the main body 110 is brought closer to the work target strictly and in this way, the air intake port 129 can be efficiently performed. Can be cleaned.

Moreover, in the control system 1 of the self-propelled cleaner 100, the evaluation function J includes a penalty term for the control input, and the computer 200 indicates that the distance between the work target of the intake port 129 and the main body 110 is greater than a predetermined value. Is also larger, the weighting factors v ₁ and v ₂ relating to the displacement of the main body 110 are reduced among the weighting factors of the penalty term for the control input.

  By reducing the weighting factors v1 and v2 relating to the displacement of the main body 110 among the weighting factors of the penalty term for the control input, the main body 110 can be largely displaced in a short time. When the distance between the work target of the air inlet 129 and the main body 110 is larger than a predetermined value, the main body 110 and the air inlet 129 of the arm 120 attached to the main body 110 can be efficiently connected in this way. Can be brought closer to the work target.

  In the control system 1 of the self-propelled cleaner 100, the computer 200 uses an algorithm capable of optimally controlling the wheel drive motor unit 133, the first servo 127, and the second servo 128 online. To do.

  By doing so, it is not necessary to arrange the computer 200 on the main body 110. Since it is not necessary to arrange the computer 200 on the main body 110, the weight of the main body 110 can be reduced.

  In the control system 1 of the self-propelled cleaner 100, the computer 200 controls the wheel drive motor unit 133 so that the main body 110 moves toward a predetermined target displacement, and the arm 120 performs cleaning. The wheel drive motor unit 133, the first servo 127, and the second servo 128 are controlled, and the target position of the arm 120 in the evaluation function J and the target of the main body 110 for each feedback cycle of online optimal control. Update the displacement.

  By updating the work target position of the arm 120 and the target displacement of the main body 110 in the evaluation function J for each feedback cycle of the online optimal control, the work target of the arm 120 and the target displacement of the main body 110 are Move every feedback cycle. The main body 110 is controlled to be displaced so as to follow the target displacement moved in this manner. Further, the arm 120 is controlled so as to be displaced so as to follow the target of the work moved in this way. By doing in this way, the main body 110 and the arm 120 can be displaced smoothly.

  In the control system 1 of the self-propelled cleaner 100, the arm 120 is configured to be displaceable with respect to the main body 110 with two or more degrees of freedom.

  By doing so, it becomes easy to move the arm 120 toward the target displacement.

  Further, in the control system 1 of the self-propelled cleaner 100, the arm 120 has an intake port 129 for cleaning, and the computer 200 drives the wheels so that the main body 110 moves toward a predetermined target displacement. The motor unit 133 is controlled, and the wheel drive motor unit 133, the first servo 127, and the second servo 128 are controlled so that the intake port 129 performs cleaning. The evaluation function J is a target displacement of the main body 110. And a second penalty term for the distance between the intake port 129 and the work target of the intake port 129, and the weighting factor of the first penalty term is: It is relatively small compared to the weighting factor of the second penalty term.

  By doing so, it is possible to control with emphasis on bringing the displacement of the intake port 129 closer to the target displacement than bringing the displacement of the main body 110 closer to the target displacement.

  Further, in the control system 1 of the self-propelled cleaner 100, the arm 120 has an intake port 129 for cleaning, and the computer 200 has wheels so that the main body 110 moves while avoiding a predetermined obstacle. The drive motor unit 133 is controlled, and the wheel drive motor unit 133, the first servo 127, and the second servo 128 are controlled so that the intake port 129 performs cleaning. The obstacle to be avoided is set to be a work target of the intake port 129 or a point in the vicinity of the work target of the intake port 129.

  By doing so, the main body 110 can be controlled so as not to be too close to the work target of the air intake port 129 while the air intake port 129 cleans the work target.

  Moreover, in the control system 1 of the self-propelled cleaner 100, the computer 200 controls the wheel drive motor unit 133 so that the main body 110 moves toward an arbitrary place that needs to be cleaned, and the arm 120 is cleaned. The wheel drive motor unit 133, the first servo 127, and the second servo 128 are controlled so as to perform the above.

  By doing in this way, the control system 1 of the self-propelled cleaner 100 which can perform cleaning efficiently can be provided.

  In the control system 1 of the self-propelled cleaner 100, the computer 200 controls the wheel drive motor unit 133 so that the main body 110 moves toward the periphery of the object existing in the work target space, and the arm The wheel drive motor unit 133, the first servo 127, and the second servo 128 are controlled so that 120 performs cleaning.

  By doing in this way, the control system 1 of the self-propelled cleaner 100 which can perform cleaning efficiently can be provided.

  The embodiment disclosed above should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above embodiments but by the scope of claims, and includes all modifications and variations within the meaning and scope equivalent to the scope of claims.

1 is a perspective view showing an entire self-propelled cleaner as one embodiment of the present invention. FIG. It is a perspective view when the inside of the main body of the self-propelled cleaner shown in FIG. 1 is viewed from the direction indicated by the arrow II in FIG. It is a perspective view when the inside of the main body of the self-propelled cleaner shown in FIG. 1 is viewed from the direction indicated by arrow III in FIG. It is a perspective view which shows the whole arm. It is a block diagram which shows the control relevant structure of the control system of a self-propelled cleaner. It is a figure which shows the process in which a computer recognizes the image which the wide angle camera image | photographed in order. It is a figure which shows typically a self-propelled cleaner and the target point group of cleaning of a self-propelled cleaner. It is a figure which shows typically the relationship between a self-propelled cleaner, coordinate system {A}, and coordinate system {B}. It is a figure which shows typically the point which a self-propelled cleaner and a self-propelled cleaner extract from a target point group.

Explanation of symbols

  1: control system for self-propelled mobile body, 100: self-propelled cleaner, 110: main body, 120: arm, 127: first servo, 128: second servo, 130: wheel, 131: right wheel, 132: Left wheel, 133: Wheel drive motor unit, 140: Wide-angle camera, 141: Video wireless communication means, 200: Computer, 220: Visual information processing unit.

Claims (24)

A displaceable body;
A movable member attached to the body and displaceable with respect to the body;
A first drive unit for driving the body;
A second drive unit for driving the movable member;
A control unit for controlling the first drive unit and the second drive unit;
The control unit uses an evaluation function that evaluates the behavior of the main body and the behavior of the movable member based on both the factor related to the displacement of the main body and the factor related to the displacement of the movable member. A control system for a self-propelled moving body that optimally controls the first drive unit and the second drive unit so as to control the behavior of the movable member and the behavior of the movable member.   The control unit controls the first driving unit so that the main body moves toward a predetermined target displacement, and the first driving unit and the second driving unit perform a predetermined operation. The control system of the self-propelled moving body according to claim 1 which controls a drive part.   The control unit controls the first driving unit so that the main body moves while avoiding a predetermined obstacle, and the first driving unit and the second driving unit perform a predetermined operation. The control system of the self-propelled mobile body according to claim 1 or 2, wherein the drive unit is controlled. A visual sensor for detecting an obstacle to be avoided by the main body and a work target of the movable member;
A visual information processing unit for processing information detected by the visual sensor;
The control system according to claim 3, wherein the control unit recognizes an obstacle to be avoided by the main body based on information processed by the visual information processing unit.   When the visual sensor detects an obstacle to be avoided by the main body and a work target of the movable member, the control unit moves the movable member out of the visual field of the visual sensor. The control system of the self-propelled moving body according to claim 4 which controls a drive part and said 2nd drive part. The movable member has a working part for performing a predetermined work,
The self-control unit according to any one of claims 1 to 5, wherein the control unit changes a parameter in the evaluation function based on a distance between a work target of the work unit and the work unit. Control system for traveling vehicles. The movable member has a working part for performing a predetermined work,
The said control part changes the parameter in the said evaluation function based on the distance of the object of the operation | work of the said working part, and the said main body, The self-propelled of any one of Claim 1- Claim 6 Type mobile body control system. The movable member has a working part for performing a predetermined work,
The evaluation function has a penalty term that increases when it is not desirable, based on the distance between the work unit and the work unit.
The control system for a self-propelled mobile body according to any one of claims 1 to 7, wherein the penalty term includes an in-integration penalty term of the evaluation function and an out-of-integration penalty term of the evaluation function. .   The self-propelled mobile control system according to claim 8, wherein the control unit changes a weighting factor of the penalty term based on a distance between a work target of the work unit and the work unit.   The control unit increases the weighting factor of the in-integration penalty term when the distance between the work target of the working unit and the working unit is greater than a predetermined value, and the weighting factor of the out-of-integration penalty term The control system of the self-propelled mobile body according to claim 9, wherein   When the distance between the work target of the work unit and the work unit is smaller than a predetermined value, the control unit decreases the weight coefficient of the integral penalty term and the weight coefficient of the non-integral penalty term The control system of the self-propelled mobile body according to claim 9 or 10, wherein The evaluation function includes a penalty term for the control input;
The control unit, when the distance between the work target of the work unit and the work unit is larger than a predetermined value, out of the weight coefficients of the penalty term for the control input, The control system for a self-propelled moving body according to any one of claims 9 to 11, wherein the control system is decreased. The evaluation function has a penalty term that increases when it is not desirable based on the target displacement of the body and the distance between the body and
The control system for a self-propelled mobile body according to any one of claims 1 to 12, wherein the penalty term includes an in-integration penalty term of the evaluation function and an out-of-integration penalty term of the evaluation function. . The movable member has a working part for performing a predetermined work,
The penalty term includes a weighting factor based on a distance between a work target of the working unit and the main body,
The self-propelled mobile control system according to claim 13, wherein the control unit changes the weighting coefficient based on a distance between a work target of the working unit and the main body.   When the distance between the work target of the working unit and the main body is larger than a predetermined value, the control unit increases the weighting factor of the in-integration penalty term and the weight of the out-of-integration penalty term. The self-propelled mobile control system according to claim 14, wherein the coefficient is decreased.   When the distance between the work target of the working unit and the main body is smaller than a predetermined value, the control unit decreases the weight coefficient of the in-integration penalty term and the weight of the out-of-integration penalty term. The self-propelled mobile control system according to claim 14 or 15, wherein the coefficient is increased. The evaluation function includes a penalty term for the control input;
The control unit, when the distance between the work target of the working unit and the main body is larger than a predetermined value, out of the weighting factors of the penalty term for the control input, the weighting factor related to the displacement of the main body The control system of the self-propelled mobile body according to any one of claims 14 to 16, wherein   The self-control unit according to any one of claims 1 to 17, wherein the control unit uses an algorithm capable of performing on-line optimal control of the first drive unit and the second drive unit. Control system for traveling vehicles.   The control unit controls the first driving unit so that the main body moves toward a predetermined target displacement, and the first driving unit and the second driving unit perform predetermined operations. The self-propelled type according to claim 18, wherein the drive unit is controlled, and the position of the work target of the movable member in the evaluation function and the target displacement of the main body are updated for each feedback period of online optimal control. Mobile control system.   The control of the self-propelled mobile body according to any one of claims 1 to 19, wherein the movable member is configured to be displaceable with two or more degrees of freedom with respect to the main body. system. The movable member has a working part for performing a predetermined work,
The control unit controls the first driving unit so that the main body moves toward a predetermined target displacement, and the first driving unit and the second driving unit perform a predetermined operation. Control the drive,
The evaluation function includes a first penalty term for a difference between a target displacement of the main body and a displacement of the main body, and a second penalty term for a distance between the working unit and a work target of the working unit,
21. The self-propelled movement according to any one of claims 1 to 20, wherein a weighting factor of the first penalty term is relatively smaller than a weighting factor of the second penalty term. Body control system. The movable member has a working part for performing a predetermined work,
The control unit controls the first driving unit so that the main body moves while avoiding a predetermined obstacle, and the first driving unit and the second driving unit perform a predetermined operation. Control the drive part of
In the evaluation function, the obstacle to be avoided by the main body is set so as to be a work target of the working unit or a point in the vicinity of the work target of the working unit. 21. The self-propelled mobile control system according to any one of items 21 to 21.   The control unit controls the first driving unit so that the main body moves toward an arbitrary place that needs to be cleaned, and the first driving unit and the first driving unit perform cleaning. The control system for a self-propelled mobile body according to any one of claims 1 to 22, wherein the control system controls two drive units.   The control unit controls the first driving unit so that the main body moves toward the periphery of an object existing in the work target space, and the first driving unit performs cleaning of the movable member. The self-propelled moving body control system according to any one of claims 1 to 22, wherein the control system controls the motor and the second drive unit.

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