JP3192964B2 - Obstacle detection device for self-propelled cleaning robot - Google Patents
Obstacle detection device for self-propelled cleaning robotInfo
- Publication number
- JP3192964B2 JP3192964B2 JP06706696A JP6706696A JP3192964B2 JP 3192964 B2 JP3192964 B2 JP 3192964B2 JP 06706696 A JP06706696 A JP 06706696A JP 6706696 A JP6706696 A JP 6706696A JP 3192964 B2 JP3192964 B2 JP 3192964B2
- Authority
- JP
- Japan
- Prior art keywords
- obstacle
- detection
- vehicle body
- self
- traveling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000001514 detection method Methods 0.000 title claims description 44
- 238000004140 cleaning Methods 0.000 title claims description 16
- 238000000034 method Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、自立走行式掃除ロボッ
トの走行路の障害物を検知するために格別な障害物検出
装置を設けることなく、安価で単純なセンサにて確実で
正確に、机、椅子などのような複雑な形状の障害物の先
端の検出を行い、また、上部に障害物があっても車体が
通過できる空間があるような場合は、障害物がないのと
同じ状態で下部空間を走行し、該障害物の近辺まで走
行、清掃できる障害物検出装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled cleaning robot, which does not require any special obstacle detecting device for detecting obstacles on a traveling path, and which is inexpensive and simple using reliable and accurate sensors. Detects the tip of obstacles with complex shapes such as desks and chairs.If there is a space where the car can pass even if there is an obstacle at the top, the state is the same as when there is no obstacle The present invention relates to an obstacle detection device that can travel in a lower space and travel and clean near the obstacle.
【０００２】[0002]
【従来の技術】例えば従来の障害物検出装置において、
複雑な形状の障害物を検出する場合には画像処理装置、
あるいは超音波距離ビームセンサを多数、車体に設置す
る必要があった。2. Description of the Related Art For example, in a conventional obstacle detection device,
When detecting obstacles with complicated shapes, an image processing device,
Alternatively, it was necessary to install many ultrasonic distance beam sensors on the vehicle body.
【０００３】[0003]
【発明が解決しようとする課題】しかし、障害物検出装
置に画像処理装置を利用した場合、従来の技術では例え
ば机、椅子などのような凹凸の多い形状の障害物の先端
を検出し、距離を正確に判断することは非常に困難であ
り、しかも装置自体が非常に高価なものとなっていた。
また超音波距離ビームセンサを多数、車体に設置した場
合でも同様に障害物先端を検出するのは困難であった。However, when an image processing apparatus is used as an obstacle detection apparatus, the conventional technique detects the tip of an obstacle having a large unevenness, such as a desk or a chair, and detects the distance. It is very difficult to judge accurately, and the apparatus itself is very expensive.
Also, even when a large number of ultrasonic distance beam sensors are installed on the vehicle body, it is difficult to detect the tip of an obstacle.
【０００４】本発明は、自立走行式掃除ロボットの走行
に際して、前方の障害物を検出するために格別な画像処
理装置のような障害物検出装置を設けることなく、安価
で単純なセンサにて確実で正確にあらゆる複雑な形状の
障害物の先端の検出を行い、また、上部に障害物があっ
ても車体が通過できる空間があるような場合は、障害物
がないのと同じ状態で下部空間を走行し、障害物に衝突
することなく、障害物近辺まで走行、清掃できる障害物
検出装置を提供することを目的とする。According to the present invention, when a self-propelled cleaning robot travels, an inexpensive and simple sensor is used to detect an obstacle in front without using an obstacle detection device such as a special image processing device. Accurately detect the tip of obstacles of any complex shape, and if there is a space where the car can pass even if there is an obstacle in the upper part, the lower space will be in the same state as there is no obstacle An object of the present invention is to provide an obstacle detection device that can travel and clean near obstacles without traveling on obstacles.
【０００５】[0005]
【課題を解決するための手段】本発明は、自立走行自在
な車体、走行路面の清掃を行う吸引器、および車体前方
の障害物を検出する障害物検出装置からなる自立走行式
掃除ロボットにおいて、前記障害物検出装置は縦方向の
検出幅が狭く、横方向の検出幅が広い検出エリアを持つ
第一、第二の障害物検出用光電式ビームセンサと、超音
波距離ビームセンサ、そして前述各センサおよび車体の
走行を制御する制御装置とを備え、第一の障害物検出用
光電式ビームセンサは検出エリア横方向を垂直に車体に
配し、横方向にスキャーニングし、第二の障害物検出用
光電式ビームセンサは検出エリア横方向を水平に車体に
配し、縦方向にスキャーニングし、前記第一、第二の障
害物検出用光電式ビームセンサの同じ障害物を検出した
交点の位置が車体全幅内でかつ車体全高内にある場合に
のみ、それぞれの該交点の位置に超音波距離ビームセン
サを向けて該検出交点と車体との距離を測定し、検出距
離の短い手前の障害物を対象として連続検出し、検出交
点直前で減速、停止する制御装置を備えた構成とし、上
述の課題を解決している。SUMMARY OF THE INVENTION The present invention relates to a self-contained traveling cleaning robot comprising a self-supporting vehicle body, a suction device for cleaning a traveling road surface, and an obstacle detection device for detecting an obstacle in front of the vehicle body. The obstacle detection device has a narrow detection width in the vertical direction, a first and second obstacle detection photoelectric beam sensor having a detection area with a wide detection width in the horizontal direction, an ultrasonic distance beam sensor, and each of the aforementioned. A sensor and a control device for controlling the running of the vehicle body, the first photoelectric detection beam sensor for obstacle detection arranges the detection area laterally vertically on the vehicle body, scans laterally, and detects the second obstacle. The photoelectric beam sensor is arranged horizontally on the vehicle body in the horizontal direction of the detection area, scans in the vertical direction, and the position of the intersection where the first and second obstacle detecting photoelectric beam sensors detect the same obstacle is determined. Car body Only when it is within the width and within the overall height of the vehicle, measure the distance between the detection intersection and the vehicle body by pointing the ultrasonic distance beam sensor to the position of each of the intersections, and target the obstacle in front of the short detection distance The above-described problem is solved by a configuration including a control device that continuously detects and decelerates and stops just before the detection intersection.
【０００６】本発明による障害物検出装置では、第一、
第二の障害物検出用光電式ビームセンサにて障害物の先
端の位置を検出し、その検出位置が車体の走行の妨げに
なる場合にのみ、超音波距離ビームセンサにて車体と障
害物の距離を検出し、障害物直前にて減速、停止する。
従って、あらゆる形状の障害物の先端の位置を測定する
ことができ、障害物があっても車体が通過できる空間が
あるような場合は、障害物がないのと同じ状態で下部空
間を走行でき、障害物の近辺まで確実に走行、清掃する
ことができるものである。In the obstacle detecting device according to the present invention, first,
The position of the tip of the obstacle is detected by the second obstacle detection photoelectric beam sensor, and only when the detected position hinders the traveling of the vehicle body, the ultrasonic distance beam sensor detects the position of the vehicle body and the obstacle. Detects the distance and decelerates and stops just before the obstacle.
Therefore, it is possible to measure the position of the tip of an obstacle of any shape, and if there is a space where the vehicle body can pass even if there is an obstacle, you can travel in the lower space in the same state as there is no obstacle It is possible to reliably run and clean the vehicle near the obstacle.
【０００７】[0007]
【実施例】本発明における実施例を図１から図３に基づ
いて説明すると、１が自立走行式掃除ロボットであり、
２が車体、３が走行路面の清掃を行う吸引器、４が駆動
輪、５が補助輪を示す。駆動輪４には車体２の移動距離
を測定するエンコーダ６が配されている。DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIGS. 1 to 3. Reference numeral 1 denotes a self-supporting traveling cleaning robot.
Reference numeral 2 denotes a vehicle body, 3 denotes a suction device for cleaning a running road surface, 4 denotes a driving wheel, and 5 denotes an auxiliary wheel. The drive wheel 4 is provided with an encoder 6 for measuring a moving distance of the vehicle body 2.
【０００８】車体２前方には本発明の特徴である２つの
障害物検出用光電式ビームセンサ（以下、障害物センサ
とする。）７Ａ、７Ｂ、超音波距離ビームセンサ（以
下、超音波センサとする。）７Ｃ、そして上記３つのセ
ンサおよび車体２の走行を制御する制御装置９からなる
障害物検出装置７が配されている。In front of the vehicle body 2, two photoelectric beam sensors (hereinafter referred to as obstacle sensors) 7A and 7B for detecting an obstacle, which are features of the present invention, and an ultrasonic distance beam sensor (hereinafter referred to as an ultrasonic sensor). 7C, and an obstacle detection device 7 including the above-mentioned three sensors and a control device 9 for controlling the traveling of the vehicle body 2.
【０００９】障害物センサ７Ａ、７Ｂは図４のように縦
方向の検出幅が狭く、横方向の検出幅が広い検出エリア
を持っているものとする。障害物センサ７Ａは常に一定
速度にて検出エリア横方向を垂直にして、図３中矢印方
向にθ１°の範囲でスキャーニングしている。障害物セ
ンサ７Ｂも同様に常に一定速度にて検出エリア横方向を
水平にして、図２中矢印方向にθ２°の範囲でスキャー
ニングしている。障害物センサ７Ａ、７Ｂのスキャーニ
ング方法としてはセンサ全体あるいはミラー部分を振っ
てスキャーニングするものとする。また、超音波センサ
７Ｃは車体２前方のあらゆる方向の距離を測定できるよ
うに上下左右にスキャーニング移動可能である。超音波
センサ７Ｃのスキャーニング方法としてはセンサ全体あ
るいはヘッド部分を振ってスキャーニングするものとす
る。It is assumed that the obstacle sensors 7A and 7B have a detection area having a narrow detection width in the vertical direction and a wide detection width in the horizontal direction as shown in FIG. The obstacle sensor 7A always scans in the range of θ1 ° in the direction of the arrow in FIG. Similarly, the obstacle sensor 7B always scans in the range of θ2 ° in the direction of the arrow in FIG. As a scanning method of the obstacle sensors 7A and 7B, scanning is performed by shaking the entire sensor or the mirror portion. The ultrasonic sensor 7C is capable of scanning up, down, left, and right so as to measure distances in all directions in front of the vehicle body 2. As a scanning method of the ultrasonic sensor 7C, scanning is performed by shaking the entire sensor or the head portion.
【００１０】上述の制御装置９の制御内容を図５に基づ
いて説明すると、掃除ロボットが走行中において常にス
キャーニングしている障害物センサ７Ａにて障害物８の
Ｘ方向を検出し、同じく常にスキャーニングしている障
害物センサ７Ｂにて障害物８のＹ方向を検出し、障害物
８の先端の位置、つまり図５中ａ部を確定する。そして
先端の位置が高さ方向、幅方向ともに車体２の走行の妨
げとなる場合にのみ、前記障害物センサ７Ａ、７Ｂの角
度検出位置から障害物８の位置を算出し、先端位置に超
音波センサ７Ｃの向きを合わせ、障害物８と車体２との
距離を検出する。これらにより検出された距離を基に障
害物８の先端直前まで駆動輪５のエンコーダ６によって
車体２の移動距離を測定しながら進み、障害物８の先端
直前で減速、停止する。また、車体２の走行の妨げとな
らない場合には、なお走行を継続する。The control contents of the control device 9 will be described with reference to FIG. 5. The X direction of the obstacle 8 is detected by the obstacle sensor 7A which is always scanning while the cleaning robot is traveling, and the scanning is always performed. The Y direction of the obstacle 8 is detected by the obstacle sensor 7B, and the position of the tip of the obstacle 8, that is, the portion a in FIG. 5 is determined. Only when the position of the tip hinders the running of the vehicle body 2 in both the height direction and the width direction, the position of the obstacle 8 is calculated from the angle detection positions of the obstacle sensors 7A and 7B, and the ultrasonic wave is added to the tip position. The direction of the sensor 7C is adjusted, and the distance between the obstacle 8 and the vehicle body 2 is detected. Based on the distances thus detected, the encoder 6 of the drive wheel 5 measures the moving distance of the vehicle body 2 to the position immediately before the tip of the obstacle 8, and decelerates and stops just before the tip of the obstacle 8. In addition, when the traveling of the vehicle body 2 is not hindered, the traveling is continued.
【００１１】[0011]
【発明の効果】上述の如く本発明の障害物検出装置を備
えることによって、従来の技術では非常に困難とされて
いた机や椅子などの複雑な形状の障害物の先端位置を、
確実で正確に検出することができ、上部に障害物があっ
ても車体が通過できる空間があるような場合は、障害物
がないのと同じ状態で空間を走行でき、更に自立走行式
掃除ロボットは障害物に衝突することもなく障害物の近
辺まで確実に走行、清掃することができるものである。
従って本発明によれば、従来の画像処置装置を用いた場
合と比べて格段に安価なものとなり、かつ精度も良くな
る障害物検出装置を提供することができる。As described above, by providing the obstacle detection device of the present invention, the position of the tip of an obstacle having a complicated shape such as a desk or a chair, which has been extremely difficult in the prior art, can be determined.
Reliable and accurate detection.If there is a space where the car body can pass even if there is an obstacle on the top, it can travel in the space as if there is no obstacle, and furthermore, a self-propelled cleaning robot Can reliably run and clean to the vicinity of an obstacle without colliding with the obstacle.
Therefore, according to the present invention, it is possible to provide an obstacle detection device which is much cheaper and more accurate than the case where a conventional image processing device is used.
【図１】本発明を実施した自立走行式掃除ロボットの前
面図である。FIG. 1 is a front view of a self-contained traveling cleaning robot embodying the present invention.
【図２】本発明を実施した自立走行式掃除ロボットの側
面図である。FIG. 2 is a side view of a self-contained traveling cleaning robot embodying the present invention.
【図３】本発明を実施した自立走行式掃除ロボットの上
面図である。FIG. 3 is a top view of the self-contained traveling cleaning robot embodying the present invention.
【図４】本発明の障害物検出用光電式ビームセンサの検
出エリアの一例である。FIG. 4 is an example of a detection area of the photoelectric beam sensor for obstacle detection of the present invention.
【図５】自立式掃除ロボットから見る障害物の図であ
る。FIG. 5 is a diagram of an obstacle viewed from a self-supporting cleaning robot.
１ 自立走行式掃除ロボット ２ 車体 ３ 吸引器 ４ 駆動輪 ５ 旋回輪 ６ エンコーダ ７ 障害物検出装置 ７Ａ 障害物検出用光電式ビームセンサ ７Ｂ 障害物検出用光電式ビームセンサ ７Ｃ 超音波距離ビームセンサ ８ 障害物 ９ 制御装置 １０ 角度検出器 DESCRIPTION OF SYMBOLS 1 Self-propelled cleaning robot 2 Body 3 Suction unit 4 Drive wheel 5 Turning wheel 6 Encoder 7 Obstacle detecting device 7A Photoelectric beam sensor for obstacle detection 7B Photoelectric beam sensor for obstacle detection 7C Ultrasonic distance beam sensor 8 Obstacle Object 9 Control device 10 Angle detector
Claims (1)
う吸引器、および車体前方の障害物を検出する障害物検
出装置からなる自立走行式掃除ロボットにおいて、 前記障害物検出装置は縦方向の検出幅が狭く、横方向の
検出幅が広い検出エリアを持つ第一、第二の障害物検出
用光電式ビームセンサと、超音波距離ビームセンサ、そ
して前述各センサおよび車体の走行を制御する制御装置
とを備え、 第一の障害物検出用光電式ビームセンサは検出エリア横
方向を垂直に車体に配し、横方向にスキャーニングし、 第二の障害物検出用光電式ビームセンサは検出エリア横
方向を水平に車体に配し、縦方向にスキャーニングし、 前記第一、第二の障害物検出用光電式ビームセンサの同
じ障害物を検出した交点の位置が車体全幅内でかつ車体
全高内にある場合にのみ、それぞれの該交点の位置に超
音波距離ビームセンサを向けて該検出交点と車体との距
離を測定し、検出距離の短い手前の障害物を対象として
連続検出し、検出交点直前で減速、停止する制御装置を
備えたことを特徴とする障害物検出装置。1. A self-contained traveling cleaning robot comprising a self-sustainable traveling vehicle body, a suction device for cleaning a traveling road surface, and an obstacle detection device for detecting an obstacle in front of the vehicle body, wherein the obstacle detection device is in a vertical direction. The first and second obstacle-detecting photoelectric beam sensors and the ultrasonic distance beam sensor having a detection area with a narrow detection width and a wide detection width in the lateral direction, and the above-described sensors and the traveling of the vehicle body are controlled. The first photoelectric beam sensor for obstacle detection is arranged vertically on the vehicle body in the lateral direction and scans laterally, and the second photoelectric beam sensor for obstacle detection is the detection area. The horizontal direction is arranged horizontally on the vehicle body, the vertical scanning is performed, and the position of the intersection where the first and second obstacle detection photoelectric beam sensors detect the same obstacle is within the entire body width and the entire body height. To Only in some cases, the distance between the detection intersection and the vehicle body is measured by directing the ultrasonic distance beam sensor to the position of each intersection, and the obstacle is detected continuously shortly before the detection intersection. An obstacle detection device comprising a control device for decelerating and stopping at a speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP06706696A JP3192964B2 (en) | 1996-02-27 | 1996-02-27 | Obstacle detection device for self-propelled cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP06706696A JP3192964B2 (en) | 1996-02-27 | 1996-02-27 | Obstacle detection device for self-propelled cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH09230937A JPH09230937A (en) | 1997-09-05 |
| JP3192964B2 true JP3192964B2 (en) | 2001-07-30 |
Family
ID=13334112
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP06706696A Expired - Fee Related JP3192964B2 (en) | 1996-02-27 | 1996-02-27 | Obstacle detection device for self-propelled cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3192964B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106093948B (en) * | 2016-06-03 | 2018-06-22 | 南阳中衡智能科技有限公司 | A kind of sweeping robot is stranded detection method |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060059006A (en) | 2004-11-26 | 2006-06-01 | 삼성전자주식회사 | Method and apparatus of self-propelled mobile unit with obstacle avoidance during wall-following |
| KR101623871B1 (en) * | 2015-07-02 | 2016-05-24 | 주식회사 파인로보틱스 | A robot cleaner |
| CN108628319B (en) * | 2018-07-04 | 2021-10-19 | 山东鹏耀智佳精密工业有限公司 | Intelligent obstacle avoidance system of sweeping robot |
-
1996
- 1996-02-27 JP JP06706696A patent/JP3192964B2/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106093948B (en) * | 2016-06-03 | 2018-06-22 | 南阳中衡智能科技有限公司 | A kind of sweeping robot is stranded detection method |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH09230937A (en) | 1997-09-05 |
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