JP2778458B2 - Traveling robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling robot and, more particularly, to a traveling robot for cleaning a water tank for cleaning a bottom of the water tank.

[0002]

2. Description of the Related Art Conventionally, in this type of traveling robot, an ultrasonic sensor for measuring a positional relationship between a wall surface of a water storage tank and the robot body by ultrasonic waves is fixed to a traveling vehicle of the robot body.

[0003] In addition, there are many traveling robots for cleaning a place other than the water tank, for example, a room, equipped with an ultrasonic sensor or the like in order to identify a self-position and avoid an obstacle. .

[0004] In these traveling robots, it is possible to avoid obstacles and the like by using an ultrasonic sensor or the like, so that the traveling robot can travel in a fixed pattern according to a program.

On the other hand, Japanese Patent Application Laid-Open No. Sho 59-121408 discloses a technique in which a robot has a function of learning a traveling path or a traveling area, and performs a predetermined unmanned traveling according to the learning content. Have been.

In Japanese Unexamined Patent Publication No. 3-292513, an area to be traveled is divided by a step-shaped boundary fold line, and the area to be traveled is spirally moved so that the area to be traveled is divided. There is disclosed a technology that allows all the races to be completed.

On the other hand, in Japanese Patent Application Laid-Open No. 168508/1992, a plurality of ultrasonic sensors are used to measure the distance at the same time, and the smallest value of the distance measurement results is determined as the shortest distance to the obstacle. In addition, a technique for improving the ability to detect an obstacle is disclosed.

[0008]

In the conventional traveling robot described above, the ultrasonic sensor for identifying its own position and avoiding obstacles is fixed to the traveling vehicle of the robot body, so that the traveling path of the robot body is If the ultrasonic sensor is not parallel to a wall surface or an obstacle due to correction or the like, the level of a received wave of the ultrasonic sensor decreases, and distance measurement becomes impossible.

In this case, it is possible to prevent the distance measurement from becoming impossible by increasing the transmission power of the ultrasonic sensor. However, in this method, the accurate distance between the wall or the obstacle and the robot body is reduced. Measurement becomes impossible. That is, assuming that the distance between the wall surface or the obstacle and the robot body is r and the angle formed between the ultrasonic sensor and the wall surface or the obstacle is α, the measured distance is r / cos α.

[0010] Further, even when the traveling surface of the traveling body of the robot body is inclined or uneven, the ultrasonic sensor is not parallel to the wall surface or the obstacle in the same manner as described above. It will be an accurate ranging.

Accordingly, an object of the present invention is to solve the above-mentioned problems, to keep an ultrasonic sensor parallel to a wall surface or the like, and to enable accurate distance measurement without falling into a distance measurement impossible. It is an object of the present invention to provide a traveling robot capable of performing the following.

[0012]

A traveling robot according to the present invention is a traveling robot including a sensor member for measuring a positional relationship between at least a wall surface of an object to be used as a reference when traveling, and an X-axis direction of a robot body. X-axis direction angle detection means for detecting the angle of the robot body, Y-axis direction angle detection means for detecting the angle of the robot body in the Y-axis direction orthogonal to the X-axis direction, the X-axis direction and the robot body Z-axis direction angle detection means for detecting an angle in a Z-axis direction orthogonal to each of the Y-axis directions, and an angle in the X-axis direction of the sensor member
X-axis direction angle change detecting means for detecting a change,
Y-axis direction angle for detecting a change in the Y-axis direction angle of the support member
Degree change detecting means, and the angle of the sensor member in the Z-axis direction
And Z-axis angular change detecting means for detecting a degree change, the cell
Wherein the X-axis direction rotating means for rotating the capacitors member about axis the X axis direction, the Y-axis direction rotating means for rotating the sensor member about axis the Y-axis direction, the sensor member Z-axis direction rotating means that rotates around the Z-axis direction as a center axis, and the sensor set before the robot body runs.
The angle of the member in the X-axis direction, the angle in the Y-axis direction,
Storage means for storing the angles in the Z-axis direction, respectively , detection results of the X-axis direction angle detection means, detection results of the Y-axis direction angle detection means, and detection results of the Z-axis direction angle detection means
The detection result of the X-axis direction angle change detection means and the Y-axis direction change
Detection result of direction change detection means and Z-axis direction angle change
The X-axis direction rotation unit, the Y-axis direction rotation unit, and the Z-axis direction rotation unit based on the detection result of the detection unit and the storage content of the storage unit
Control means for driving the axial rotation means and controlling the sensor surface of the sensor member and at least the wall surface of the object to be parallel to each other.

[0013] The other traveling robot according to the present invention, the back
Comprises an angle holding means to keep the capacitors member in a horizontal state, the
The sensor member held in the horizontal state by angle holding means
The angle in the X axis direction, the angle in the Y axis direction, and the Z axis
The angle of the direction and the initial value are stored in the storage means.
I'm trying .

Another traveling robot according to the present invention is a traveling robot including a sensor member for measuring a positional relationship between at least a wall surface of an object to be a reference when traveling, and
A first gimbal for rotatably holding the sensor member in a direction about the X-axis as a center axis, and a first gimbal for rotating the sensor member in a direction about a Y-axis direction orthogonal to the X-axis direction as a center axis; A second gimbal for holding and the sensor member
A third gimbal that rotatably holds in a direction about a central axis about a Z-axis direction orthogonal to each of the axial direction and the Y-axis direction;
X-axis direction angle detection means for detecting the angle of the robot body in the X-axis direction, Y-axis direction angle detection means for detecting the angle of the robot body in the Y-axis direction orthogonal to the X-axis direction,
Z-axis direction angle detection means for detecting an angle in the Z-axis direction orthogonal to each of the X-axis direction and the Y-axis direction of the robot body, and an angle change in the X-axis direction of the first gimbal
X-axis direction angle change detecting means for detecting the
Y-axis direction angle for detecting a change in the angle of the valve in the Y-axis direction
Degree change detecting means, and the Z-axis direction of the third gimbal
A Z-axis direction angle change detecting means for detecting an angle change of the first gimbal, a first rotating means for rotating the first gimbal, a second rotating means for rotating the second gimbal, a third rotating means for rotating the third gimbal, the robot present
The X-axis of the first gimbal set before running the body
Direction angle and the angle of the second gimbal in the Y-axis direction
And the angle of the third gimbal in the Z-axis direction.
Storage means for storing , detection results of the X-axis direction angle detection means, detection results of the Y-axis direction angle detection means, detection results of the Z-axis direction angle detection means, and detection of the X-axis direction angle change
Detection result and detection of the Y-axis direction angle change detection means
And the detection result of the Z-axis direction angle change detection means and
The first rotation unit, the second rotation unit, and the third rotation unit are driven based on the contents stored in the storage unit, and
There is provided control means for controlling the sensor surface of the sensor member and at least the wall surface of the object to be parallel to each other.

[0015]

The ultrasonic sensor is rotatably held around a yaw axis by a torque motor mounted on an inner gimbal, and the inner gimbal is held rotatably about a pitch axis by a torque motor mounted on an outer gimbal. ,
The outer gimbal is rotatably held around a roll axis by a torque motor attached to the robot body.

The angle change of the ultrasonic sensor section around the yaw axis, the angle change of the inner gimbal around the pitch axis,
A change in the angle of the outer gimbal around the roll axis is detected. Further, the angle around the yaw axis of the ultrasonic sensor unit, the angle around the pitch axis of the inner gimbal, and the angle around the roll axis of the outer gimbal set before the robot body travels are stored.

Based on these values and the angle around the yaw axis, the angle around the pitch axis, and the angle around the roll axis during traveling of the robot body, the torque motor is driven and controlled by the control of the CPU. And the inner gimbal and the outer gimbal are rotated around the yaw axis, the pitch axis, and the roll axis, respectively, to keep the ultrasonic sensor unit and the wall surface parallel.

Thus, even when the running surface of the robot body is inclined or has irregularities, accurate distance measurement can be performed without impeding distance measurement.

[0019]

Next, an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention. In the figure, an ultrasonic sensor unit 1 is rotatably held around a yaw axis by a torque motor 4 attached to an inner gimbal 2, and the inner gimbal 2 is rotated around a pitch axis by a torque motor 5 attached to an outer gimbal 3. The outer gimbal 3 is rotatably held, and is rotatably held around a roll axis by a torque motor 6 attached to a robot body (not shown).

That is, the ultrasonic sensor unit 1 is rotated around the yaw axis by the torque motor 4 and the inner gimbal 2
Is rotated about a pitch axis by a torque motor 5, and the outer gimbal 3 is rotated about a roll axis by a torque motor 6.

An angle detector 7 for detecting a change in the angle of the ultrasonic sensor 1 around the yaw axis is attached to the ultrasonic sensor 1, and an angle change about the pitch axis of the inner gimbal 2 is mounted on the inner gimbal 2. The outer gimbal 3 is provided with an angle detector 9 for detecting a change in the angle of the outer gimbal 3 around the roll axis.

The angles detected by the angle detectors 7 to 9 are used by the ultrasonic sensor unit rotation control unit 15, the inner gimbal rotation control unit 16, and the outer gimbal rotation control unit 1 of the CPU 14.
7 are output respectively.

The initial angle storage units 10 to 12 store the angle of the ultrasonic sensor unit 1 around the yaw axis and the angle of the inner gimbal 2 around the pitch axis, which are set before the traveling vehicle of the robot body travels. And the angle of the outer gimbal 3 around the roll axis are stored.

The robot posture angle detector 13 detects an angle of the traveling body of the robot body around the yaw axis, an angle around the pitch axis, and an angle around the roll axis, and uses these angles as robot posture angles, respectively, as an ultrasonic sensor. The rotation is output to the unit rotation control unit 15, the inner gimbal rotation control unit 16, and the outer gimbal rotation control unit 17.

Ultrasonic sensor unit rotation control unit 1 of CPU 14
Reference numeral 5 denotes an angle around the yaw axis of the ultrasonic sensor unit 1 from the angle detector 7, an angle around the yaw axis of the ultrasonic sensor unit 1 set in the initially set angle storage unit 10, and a robot posture angle detector 13 The drive of the torque motor 4 is controlled on the basis of the angle of the traveling vehicle around the yaw axis, which is detected in step (1).

The inner gimbal rotation controller 16 controls the angle of the inner gimbal 2 about the pitch axis from the angle detector 8 and
Inner gimbal 2 set in the initial setting angle storage unit 11
The torque motor 5 is driven and controlled based on the angle about the pitch axis of the vehicle and the angle about the pitch axis of the traveling vehicle detected by the robot posture angle detector 13.

The outer gimbal rotation controller 17 determines the angle of the outer gimbal 3 about the roll axis from the angle detector 9 and
Outer gimbal 3 set in initial setting angle storage unit 12
The torque motor 6 is driven and controlled based on the angle about the roll axis of the vehicle and the angle about the roll axis of the traveling vehicle detected by the robot posture angle detector 13.

FIG. 2 is a perspective view of a traveling robot according to one embodiment of the present invention. In the figure, an ultrasonic sensor unit 1 is rotatably held around a yaw axis by a torque motor 4 attached to an inner gimbal 2, and the inner gimbal 2 is rotated around a pitch axis by a torque motor 5 attached to an outer gimbal 3. The outer gimbal 3 is rotatably held, and is rotatably held around a roll axis by a torque motor 6 attached to the robot body 18.

The ultrasonic sensor unit 1 has buoyancy generators 19 to 22 attached to each corner on the upper surface. As the buoyancy generators 19 to 22, a substance having a specific gravity smaller than that of water, for example, a floating bag or a styrene foam piece may be used.

FIGS. 3 to 5 are diagrams showing an operation example of one embodiment of the present invention. FIG. 3 shows an operation example when the posture angle of the traveling vehicle of the robot body 18 changes in the front-back direction with respect to the traveling direction, and FIG. FIG. 5 shows an operation example when the angle between the traveling vehicle of the robot main body 18 and the wall surface 23 changes.

The operation of the embodiment of the present invention will be described with reference to FIGS. In one embodiment of the present invention, the ultrasonic sensor 1
Adjust the position of.

In this position adjustment, the inner gimbal 2 and the outer gimbal 3 are made free by not operating the torque motors 5, 6. Then, the ultrasonic sensor unit 1 is leveled by the buoyancy of the buoyancy generators 19 to 22 regardless of the inclination of the position where the traveling vehicle of the robot body 18 is stopped.

At this time, the angle around the yaw axis of the ultrasonic sensor unit 1 detected by the angle detector 7, the angle around the pitch axis of the inner gimbal 2 detected by the angle detector 8, and the angle detector 9 And the angles of the outer gimbal 3 around the roll axis detected in step (1) are stored in the initial setting angle storage units 10 to 12, respectively.

Thereafter, when the traveling vehicle of the robot body 18 travels and the inclination of the traveling surface changes, for example, as shown in FIG. When it changes, the robot posture angle detector 1
The angle around the pitch axis of the traveling vehicle detected in 3 changes.

Accordingly, the inner gimbal rotation control unit 16 changes the angle of the traveling vehicle by the same angle as the angle around the pitch axis.
The drive control of the torque motor 5 is performed so as to rotate the inner gimbal 2 in a direction opposite to the changed direction. by this,
The ultrasonic sensor unit 1 is kept horizontal even when the angle around the pitch axis changes.

Further, for example, as shown in FIG. 4, when the posture angle of the traveling vehicle of the robot body 18 changes in the left-right direction with respect to the traveling direction, the robot posture angle detector 13 detects the rotation angle around the roll axis of the traveling vehicle. The angle changes.

Therefore, the outer gimbal rotation control unit 17 changes the angle by the same angle as the changed angle around the roll axis of the traveling vehicle.
The drive control of the torque motor 6 is performed so as to rotate the outer gimbal 3 in a direction opposite to the changed direction. by this,
The ultrasonic sensor unit 1 is kept horizontal even when the angle around the roll axis changes.

Further, for example, as shown in FIG. 5, when the angle between the traveling vehicle of the robot body 18 and the wall surface 23 changes, the angle of the traveling vehicle around the yaw axis detected by the robot posture angle detector 13 changes.

Therefore, the ultrasonic sensor rotation control unit 15 controls the torque motor 4 so as to rotate the ultrasonic sensor unit 1 by the same angle as the changed angle around the yaw axis of the traveling vehicle in the direction opposite to the changed direction. Drive control. Thereby, the angle between the ultrasonic sensor unit 1 and the wall surface 23 is kept parallel even when the angle around the yaw axis changes.

When the position of the ultrasonic sensor unit 1 is adjusted, a level is attached to the ultrasonic sensor unit 1 instead of the buoyancy generators 19 to 22, and the ultrasonic sensor unit 1 is used by this level.
May be detected from the horizontal state.

In this case, by changing the angle of the inner gimbal 2 around the pitch axis and the angle of the outer gimbal 3 around the roll axis so that the angle shift becomes zero, the ultrasonic sensor unit 1 is brought into a horizontal state. can do. At this time, the angles of the inner gimbal 2 around the pitch axis and the angles of the outer gimbal 3 around the roll axis are stored in the initial setting angle storage units 11 and 12, respectively.

If an electric level is used as the above level, the angular displacement with respect to the horizontal plane is converted into an electric quantity and output. The ultrasonic motor is controlled by driving the torque motors 5 and 6 according to the electric quantity. The sensor unit 1 can be in a horizontal state.

FIG. 6 is a diagram showing a control system in one embodiment of the present invention. In the figure, K1 indicates a position loop gain, K2 indicates a rate loop gain, T indicates a torque motor gain, and S indicates differentiation.

In the above control system, the same control is performed at each of the angles around the yaw axis, the pitch axis, and the roll axis, so that the ultrasonic sensor unit rotation control unit 15 and the inner gimbal rotation control unit 16 Outer gimbal rotation controller 17
Have the same configuration. However, the position loop gain K1, the rate loop gain K2, and the torque motor gain T have different values in the ultrasonic sensor unit rotation control unit 15, the inner gimbal rotation control unit 16, and the outer gimbal rotation control unit 17, respectively.

In this control system, if the angle command obtained by addition and subtraction of the initial setting angle and the robot attitude angle is not equal to the angle detector output θ from the gimbal inertia, Δθ
= 0, torque is generated in the torque motors 4 to 6, and the angles of the ultrasonic sensor unit 1, the inner gimbal 2, and the outer gimbal 3 change.

When the angles of the ultrasonic sensor unit 1, the inner gimbal 2 and the outer gimbal 3 are changed by driving the torque motors 4 to 6, and Δθ = 0, no torque is generated in the torque motors 4 to 6, so that the ultrasonic wave is not generated. The sensor unit 1, inner gimbal 2, and outer gimbal 3 do not move. That is,
When the angle command is equal to the angle detector output θ, the ultrasonic sensor unit 1, the inner gimbal 2, and the outer gimbal 3 stop.

On the other hand, when the robot main body 18 rotates, the robot posture angle changes, so that Δθ = 0 is not satisfied, and the ultrasonic sensor unit 1, the inner gimbal 2, the outer gimbal and the 3 rotates in a direction opposite to the direction in which the robot posture angle has changed, and stops.
Note that the calculated angular velocity value as a result of the differentiation S is for smoothly stopping the ultrasonic sensor unit 1, the inner gimbal 2, and the outer gimbal 3.

As described above, the ultrasonic sensor unit 1, the inner gimbal 2 holding the ultrasonic sensor unit 1, and the outer gimbal 3 holding the inner gimbal 2 are adjusted according to the change of the robot posture angle of the robot body 18. By controlling the ultrasonic sensor unit rotation control unit 15, the inner gimbal rotation control unit 16, and the outer gimbal rotation control unit 17 that control the torque motors 4 to 6, the rotation is performed around the yaw axis, the pitch axis, and the roll axis. Thereby, the sensor surface of the ultrasonic sensor unit 1 can be always kept parallel to the wall surface. Therefore, even when the running surface of the robot main body 18 is inclined or has irregularities, accurate distance measurement can be performed without falling into a distance measurement impossible state.

The present invention can take the following aspects in connection with the description of the claims.

(1) A traveling robot including a measuring member for measuring a positional relationship with an object to be used as a reference during traveling, an angle holding means for keeping the measuring member in a horizontal state, and an angle holding means for keeping the measuring member in a horizontal state. Initial value holding means for holding the angle of the measurement member as an initial value, a first gimbal for holding the measurement member rotatably in a direction about the X-axis as a central axis, and A second gimbal for rotatably holding a Y-axis direction perpendicular to the axial direction as a center axis, and a Z-axis direction perpendicular to each of the X-axis direction and the Y-axis direction for the measuring member; A third gimbal rotatably held in a direction, an X-axis direction angle detecting means for detecting an X-axis direction angle of the robot body, and a Y-axis direction orthogonal to the X-axis direction of the robot body. Y-axis direction angle detection for angle detection And stage, said X of said robot body
Z-axis direction angle detecting means for detecting an angle in the Z-axis direction orthogonal to each of the axial direction and the Y-axis direction; first rotating means for rotating the first gimbal; and the second gimbal. Second rotating means for rotating, third rotating means for rotating the third gimbal, contents held by the initial value holding means, detection results of the X-axis direction angle detecting means, and Y Driving the first rotating means, the second rotating means, and the third rotating means based on the detection result of the axial angle detecting means and the detection result of the Z-axis direction angle detecting means; And a control means for controlling the measurement member and the object to be parallel to each other.

(2) A traveling robot including a measuring member for measuring a positional relationship with an object to be a reference during traveling, an angle detecting means for detecting an angle of the measuring member with respect to a horizontal direction, and the angle detecting means Means for keeping the measuring member in a horizontal state according to the detection result of the means, initial value holding means for holding the angle of the measuring member kept in the horizontal state as an initial value, and centering the measuring member around the X-axis direction. A first gimbal that rotatably holds in a direction about an axis, a second gimbal that holds the measuring member rotatably in a direction about a Y-axis direction orthogonal to the X-axis direction as a center axis, A third gimbal for rotatably holding the measuring member in a direction about a Z-axis direction orthogonal to each of the X-axis direction and the Y-axis direction as a center axis, and detecting an angle of the robot body in the X-axis direction. X-axis angle detection Means, Y-axis direction angle detection means for detecting the angle of the robot body in the Y-axis direction orthogonal to the X-axis direction, and Z-axis direction of the robot body in the X-axis direction and the Y-axis direction orthogonal to the Y-axis direction, respectively. Z-axis direction angle detecting means for detecting the angle of the first gimbal, first rotating means for rotating the first gimbal, second rotating means for rotating the second gimbal, and the third Third rotating means for rotating the gimbal, the content held by the initial value holding means, the detection result of the X axis direction angle detecting means, the detection result of the Y axis direction angle detecting means, and the Z axis direction angle. The first rotation unit, the second rotation unit, and the third rotation unit are driven based on a detection result of the detection unit, so that the measurement member and the object are parallel to each other. A traveling robot having control means for performing control as described above.

(3) A traveling robot including a measuring member for measuring a positional relationship with an object to be a reference at the time of traveling, wherein a buoyancy is generated with respect to the measuring member to keep the measuring member horizontal. Buoyancy generating means, initial value holding means for holding, as an initial value, the angle of the measurement member held in the horizontal state, and a second means for holding the measurement member rotatably in a direction about the X-axis direction as a central axis. A gimbal, a second gimbal for rotatably holding the measuring member in a direction about a Y-axis direction orthogonal to the X-axis direction, and a second gimbal for holding the measuring member in the X-axis direction and the Y-axis direction. A third gimbal that rotatably holds in a direction about a Z-axis direction orthogonal to each direction as a center axis, and an X that detects an angle of the robot body in the X-axis direction.
Axial direction angle detecting means, Y-axis direction angle detecting means for detecting an angle of the robot body in a Y-axis direction orthogonal to the X-axis direction, and an X-axis direction and a Y-axis direction of the robot body.
A Z-axis direction angle detecting means for detecting an angle in a Z-axis direction orthogonal to each of the axial directions;
Rotating means, second rotating means for rotating the second gimbal, third rotating means for rotating the third gimbal, contents held by the initial value holding means, The first rotation unit and the second rotation unit based on the detection result of the X-axis direction angle detection unit, the detection result of the Y-axis direction angle detection unit, and the detection result of the Z-axis direction angle detection unit. And a control means for driving the third rotating means and the third rotating means to control the measurement member and the object to be parallel to each other.

(4) A running tank for cleaning a water tank including an ultrasonic sensor for measuring a positional relationship with a wall surface of the water tank to be a reference during running, wherein an X-axis angle of the robot body is detected. Axial angle detecting means, Y-axis direction angle detecting means for detecting an angle of the robot body in a Y-axis direction orthogonal to the X-axis direction, and orthogonal to each of the X-axis direction and the Y-axis direction of the robot body Z-axis direction angle detecting means for detecting an angle in the Z-axis direction, X-axis direction rotating means for rotating the ultrasonic sensor around the X-axis direction as a center axis, and the ultrasonic sensor in the Y-axis direction. Y-axis direction rotating means that rotates about the center axis, and the ultrasonic sensor
A Z-axis direction rotating unit that rotates about an axial direction, a detection result of the X-axis direction angle detecting unit, a detection result of the Y-axis direction angle detecting unit, and a detection result of the Z-axis direction angle detecting unit. Control means for controlling the ultrasonic sensor and the wall surface to be parallel to each other by driving the X-axis direction rotation means, the Y-axis direction rotation means, and the Z-axis direction rotation means based on A traveling robot, comprising:

(5) A running robot for cleaning a water tank including an ultrasonic sensor for measuring a positional relationship with a wall surface of a water tank to be a reference when traveling, and an angle holding means for keeping the ultrasonic sensor in a horizontal state. An initial value holding means for holding an angle of the ultrasonic sensor held in the horizontal state as an initial value; an X-axis direction angle detecting means for detecting an X-axis direction angle of the robot body; Y-axis direction angle detection means for detecting an angle in the Y-axis direction orthogonal to the X-axis direction, and a Z-axis for detecting an angle in the Z-axis direction of the robot body orthogonal to each of the X-axis direction and the Y-axis direction. Direction angle detecting means, X-axis direction rotating means for rotating the ultrasonic sensor about the X-axis direction as a central axis, and Y-axis direction rotating for rotating the ultrasonic sensor about the Y-axis direction as a central axis. Moving means and said supersonic Z-axis direction rotating means for rotating a sensor about the Z-axis direction as a center axis, contents held by the initial value holding means, detection results of the X-axis direction angle detecting means, and detection of the Y-axis direction angle detecting means Based on the result and the detection result of the Z-axis direction angle detection means, the X-axis direction rotation means, the Y-axis direction rotation means and the Z-axis direction rotation means are driven to drive the ultrasonic sensor and the Control means for controlling the storage tank wall surface to be parallel to each other.

(6) A running robot for cleaning a water tank including an ultrasonic sensor for measuring a positional relationship with a wall surface of a water tank to be a reference when traveling, and detecting an angle of the ultrasonic sensor with respect to a horizontal direction. Angle detecting means, means for keeping the ultrasonic sensor in a horizontal state according to the detection result of the angle detecting means, and initial value holding means for holding the angle of the ultrasonic sensor kept in the horizontal state as an initial value, ,
X-axis direction angle detection means for detecting the angle of the robot body in the X-axis direction, Y-axis direction angle detection means for detecting the angle of the robot body in the Y-axis direction orthogonal to the X-axis direction,
Z-axis direction angle detecting means for detecting an angle in the Z-axis direction orthogonal to each of the X-axis direction and the Y-axis direction of the robot body, and X for rotating the ultrasonic sensor about the X-axis direction as a central axis. Axial rotation means, Y-axis rotation means for rotating the ultrasonic sensor about the Y-axis as a central axis, and Z-axis direction for rotating the ultrasonic sensor about the Z-axis as a central axis Rotation means, based on the content held by the initial value holding means, the detection result of the X axis direction angle detection means, the detection result of the Y axis direction angle detection means, and the detection result of the Z axis direction angle detection means. Control means for controlling the ultrasonic sensor and the water storage tank wall surface by driving the X-axis direction rotation means, the Y-axis direction rotation means, and the Z-axis direction rotation means, and A traveling robot, comprising:

(7) A running tank for cleaning a water tank including an ultrasonic sensor for measuring a positional relationship with a wall surface of the water tank to be a reference when the vehicle runs, and generating buoyancy for the ultrasonic sensor. Buoyancy generating means for holding the ultrasonic sensor in a horizontal state, initial value holding means for holding the angle of the ultrasonic sensor held in the horizontal state as an initial value, and detecting an angle in the X-axis direction of the robot body X-axis direction angle detection means, Y-axis direction angle detection means for detecting the angle of the robot body in the Y-axis direction orthogonal to the X-axis direction, and in the X-axis direction and the Y-axis direction of the robot body, respectively. Z-axis direction angle detection means for detecting an angle in the orthogonal Z-axis direction, X-axis direction rotation means for rotating the ultrasonic sensor about the X-axis direction as a central axis, and the Y-axis ultrasonic sensor
A Y-axis direction rotating unit that rotates around an axial direction as a center axis, a Z-axis direction rotating unit that rotates the ultrasonic sensor around the Z-axis direction as a center axis, and the contents held by the initial value holding unit. The X-axis direction rotation unit and the Y-axis direction rotation based on the detection result of the X-axis direction angle detection unit, the detection result of the Y-axis direction angle detection unit, and the detection result of the Z-axis direction angle detection unit And a control means for controlling the ultrasonic sensor and the water storage tank wall so as to be parallel to each other by driving the means and the Z-axis direction rotating means.

(8) A running robot for cleaning a water tank including an ultrasonic sensor for measuring a positional relationship with a wall surface of a water tank to be a reference at the time of running, and an angle holding means for keeping the ultrasonic sensor horizontal. An initial value holding means for holding an angle of the ultrasonic sensor held in the horizontal state as an initial value, and a first means for holding the ultrasonic sensor rotatably in a direction about the X-axis as a central axis. A gimbal, a second gimbal for rotatably holding the ultrasonic sensor in a direction about a Y-axis direction orthogonal to the X-axis direction, and a second gimbal for holding the ultrasonic sensor in the X-axis direction and the Y-axis direction. A third gimbal rotatably held in a direction about a Z-axis direction orthogonal to each axial direction as a center axis, X-axis direction angle detecting means for detecting an angle of the robot body in the X-axis direction, and the robot body Perpendicular to the X-axis direction Y-axis direction angle detection means for detecting an angle in the Y-axis direction; Z-axis direction angle detection means for detecting an angle in the Z-axis direction orthogonal to each of the X-axis direction and the Y-axis direction of the robot body; First rotating means for rotating the first gimbal, second rotating means for rotating the second gimbal, third rotating means for rotating the third gimbal, The first cycle is performed based on the content held by the initial value holding means, the detection result of the X axis direction angle detection means, the detection result of the Y axis direction angle detection means, and the detection result of the Z axis direction angle detection means. Control means for driving a moving means, said second rotating means, and said third rotating means to control said ultrasonic sensor and said water tank wall surface to be parallel to each other. And a traveling robot.

(9) A traveling robot for cleaning a water tank including an ultrasonic sensor for measuring a positional relationship with a wall surface of a water tank to be a reference when traveling, and detecting an angle of the ultrasonic sensor with respect to a horizontal direction. Angle detecting means, means for keeping the ultrasonic sensor in a horizontal state according to the detection result of the angle detecting means, and initial value holding means for holding the angle of the ultrasonic sensor kept in the horizontal state as an initial value, ,
A first gimbal for rotatably holding the ultrasonic sensor in a direction about the X-axis direction, and a first gimbal for rotating the ultrasonic sensor in a direction about a Y-axis direction perpendicular to the X-axis direction; A second gimbal movably held, and a third gimbal rotatably holding the ultrasonic sensor in a direction centered on a Z-axis direction orthogonal to the X-axis direction and the Y-axis direction. X that detects the angle of the robot body in the X-axis direction
Axial direction angle detecting means, Y-axis direction angle detecting means for detecting an angle of the robot body in a Y-axis direction orthogonal to the X-axis direction, and an X-axis direction and a Y-axis direction of the robot body.
A Z-axis direction angle detecting means for detecting an angle in a Z-axis direction orthogonal to each of the axial directions;
Rotating means, second rotating means for rotating the second gimbal, third rotating means for rotating the third gimbal, contents held by the initial value holding means, The first rotation unit and the second rotation unit based on the detection result of the X-axis direction angle detection unit, the detection result of the Y-axis direction angle detection unit, and the detection result of the Z-axis direction angle detection unit. And a control means for controlling the ultrasonic sensor and the water storage tank wall surface to be parallel to each other by driving the ultrasonic wave sensor and the third rotating means.

(10) A traveling robot including an ultrasonic sensor for measuring a positional relationship with a water tank wall surface to be used as a reference when traveling, wherein the ultrasonic sensor generates buoyancy to apply the ultrasonic sensor to the ultrasonic sensor. Buoyancy generating means for maintaining a horizontal state, initial value holding means for maintaining an angle of the ultrasonic sensor maintained in the horizontal state as an initial value, and rotation of the ultrasonic sensor in a direction about the X-axis as a central axis. The first to hold freely
A gimbal, a second gimbal for rotatably holding the ultrasonic sensor in a direction about a Y-axis direction orthogonal to the X-axis direction, and a second gimbal for holding the ultrasonic sensor in the X-axis direction and the Y-axis direction. A third gimbal rotatably held in a direction about a Z-axis direction orthogonal to each axial direction as a center axis, X-axis direction angle detecting means for detecting an angle of the robot body in the X-axis direction, and the robot body Y-axis direction angle detecting means for detecting an angle in the Y-axis direction orthogonal to the X-axis direction; and Z for detecting an angle in the Z-axis direction orthogonal to each of the X-axis direction and the Y-axis direction of the robot body. Axial direction detecting means,
First rotating means for rotating the first gimbal; second rotating means for rotating the second gimbal;
Third rotating means for rotating the gimbal, the content held by the initial value holding means, the detection result of the X axis direction angle detecting means, the detection result of the Y axis direction angle detecting means, and the Z axis direction angle. The ultrasonic sensor and the wall surface of the water storage tank are driven in parallel by driving the first rotation unit, the second rotation unit, and the third rotation unit based on the detection result of the detection unit. Control means for controlling the traveling robot so that

[0061]

As described above, according to the present invention, during traveling, the X-axis direction of the robot body, the Y-axis direction orthogonal to the X-axis direction, and the Z-axis orthogonal to each of the X-axis direction and the Y-axis direction. The ultrasonic sensor is controlled to rotate in the X-axis direction, the Y-axis direction, and the Z-axis direction based on the detected angles in the X-axis direction, the Y-axis direction, and the Z-axis direction. This has the effect that the ultrasonic sensor can be kept parallel to the wall surface or the like, and accurate distance measurement can be performed without the distance measurement being disabled.

[Brief description of the drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention.

FIG. 2 is a perspective view of a traveling robot according to one embodiment of the present invention.

FIG. 3 is a diagram showing an operation example of one embodiment of the present invention.

FIG. 4 is a diagram showing an operation example of one embodiment of the present invention.

FIG. 5 is a diagram showing an operation example of one embodiment of the present invention.

FIG. 6 is a diagram showing a control system in one embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Ultrasonic sensor 2 Inner gimbal 3 Outer gimbal 4-6 Torque motor 7-9 Angle detector 10-12 Initial setting angle storage part 13 Robot attitude angle detector 14 CPU 15 Ultrasonic sensor rotation control part 16 Inner gimbal rotation control part 17 Outer gimbal rotation controller 18 Robot body 19-22 Buoyancy generator

Claims (5)

(57) [Claims] 1. At least the object to be used as a reference when traveling
A traveling robot including a sensor member for measuring a positional relationship with a wall surface , an X-axis direction angle detecting means for detecting an angle of the robot body in the X-axis direction, and a Y perpendicular to the X-axis direction of the robot body. Y-axis direction angle detection means for detecting an angle in the axial direction, Z-axis direction angle detection means for detecting an angle in the Z-axis direction orthogonal to each of the X-axis direction and the Y-axis direction of the robot body, and the sensor X for detecting a change in the angle of the member in the X-axis direction
Axial angle change detection means, and Y for detecting an angle change in the Y-axis direction of the sensor member
Axial direction angle change detecting means, and a Z for detecting an angle change in the Z-axis direction of the sensor member
Axial angle change detection means, X-axis direction rotation means for rotating the sensor member about the X-axis direction as a central axis, and Y-axis direction rotation for rotating the sensor member about the Y-axis direction as a central axis. Moving means; Z-axis direction rotating means for rotating the sensor member around the Z-axis direction as a central axis; and the sensor member set before the robot body travels
The angle in the X axis direction, the angle in the Y axis direction, and the Z axis
Storage means for storing direction angles, a detection result of the X-axis direction angle detection means, a detection result of the Y-axis direction angle detection means, a detection result of the Z-axis direction angle detection means, and the X-axis direction angle. Change detection means and previous
The detection result of the Y-axis direction angle change detection means and the Z-axis direction
Detection result of angle change detection means and contents stored in storage means
Preparative by driving said X-axis direction turning means based on said Y-axis direction rotation means and the Z-axis direction turning means of said sensor member
A traveling robot, comprising: control means for controlling a sensor surface and at least a wall surface of the object to be parallel to each other. 2. A saw including an angle holding means for maintaining said sensor member in a horizontal state, kept in the horizontal state by the angle holding means
Angle of the sensor member in the X-axis direction and the Y-axis direction
And the angle in the Z-axis direction as initial values.
2. The storage device according to claim 1 , wherein the information is stored in storage means.
The traveling robot described. 3. The angle holding means comprises an angle detecting means for detecting an angle of the measuring member with respect to a horizontal direction, and means for keeping the measuring member in the horizontal state according to a detection result of the angle detecting means. The traveling robot according to claim 2, wherein: 4. The traveling robot according to claim 2, wherein said angle holding means comprises buoyancy generating means for generating buoyancy to said measuring member. 5. An object to be used as a reference when traveling
A mobile robot also includes a sensor member for measuring the positional relationship between the wall surface, and the first gimbal for holding rotatably the sensor member in the direction about axis X-axis direction, the sensor member and the A second gimbal for rotatably holding a Y-axis direction perpendicular to the X-axis direction as a center axis, and a Z-axis direction perpendicular to each of the X-axis direction and the Y-axis direction for the sensor member; A third gimbal rotatably held in a direction to be an axis, an X-axis direction angle detecting means for detecting an angle of the robot body in the X-axis direction, and a Y-axis direction orthogonal to the X-axis direction of the robot body. Y-axis direction angle detection means for detecting the angle of the robot body; Z-axis direction angle detection means for detecting the angle of the robot body in the Z-axis direction orthogonal to each of the X-axis direction and the Y-axis direction ; Gimbal in the X-axis direction To detect the degree change
X-axis direction angle change detecting means for detecting an angle change of the second gimbal in the Y-axis direction.
Detecting a change in the angle of the third gimbal in the Z-axis direction.
Z-axis direction angle change detecting means, first rotating means for rotating the first gimbal, second rotating means for rotating the second gimbal, and the third gimbal. Third rotating means for rotating, and the first gin set before traveling of the robot body.
The angle of the X-axis direction of the gimbal and the angle of the second gimbal
The angle in the Y-axis direction and the angle in the Z-axis direction of the third gimbal.
Storage means for storing the respective angles, the detection results of the X-axis direction angle detection means, the detection results of the Y-axis direction angle detection means, the detection results of the Z-axis direction angle detection means, and the X-axis direction angle change detection. Means of detection and previous
The detection result of the Y-axis direction angle change detection means and the Z-axis direction
Detection result of angle change detection means and contents stored in storage means
Preparative by driving said first rotating means based on said second rotating means and said third turning means sensors of the sensor member
Mobile robot, characterized in that a control means for controlling so that at least the wall surface and the object are parallel to each other.