JP3225092B2 - Self-propelled machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an obstacle detecting apparatus provided in a self-propelled machine, and more particularly to a technique for improving the obstacle detecting performance and facilitating traveling on a narrow road.

[0002]

2. Description of the Related Art In recent years, from the viewpoints of labor saving and occupational health, development of self-propelled machines such as floor cleaning robots and automatic guided vehicles that run autonomously has been promoted. Generally, the self-propelled machine is provided with an obstacle detection device, which performs turning, retreating, stopping, and the like based on the detection result to avoid collision with a structure or an operator.

FIG. 9 shows a conventional floor cleaning robot in a plan view. The front and the left and right ends of the front surface of the body 1 of the robot are provided with a front obstacle detecting device (hereinafter referred to as a detecting device). (Abbreviated) 2 to 4 are attached. Further, a pair of left and right side detection devices 5 to 8 are attached to the front and rear ends of the side surface of the body 1. Each detection device 2-8
Detects an obstacle by an obstacle sensor using ultrasonic waves or the like, sends a detection signal to a drive control device (not shown) in the body 1, and the drive control device
The drive control of the steered wheels and drive wheels (not shown) is performed. In the figure, 9 is a bumper attached to the front end surface of the body 1.

In the floor cleaning robot, the cleaning capacity, that is, the cleaning area per unit time is determined by the cleaning width and the traveling speed. Therefore, to increase the cleaning ability, it is effective to increase the cleaning width. Further, even in the automatic guided vehicle, an increase in the loading platform is required to improve the transport capacity. However, the cleaning width and the size of the carrier are naturally proportional to the width W of the body 1 (the bumper 9 in the illustrated example), so that the dimensions are naturally limited. For example, in a floor cleaning robot for cleaning the inside of a building, the width W of the bumper 9 must be such that the bumper 9 can pass through a narrow cleaning target place such as a corridor, mount on an elevator, or pass through a doorway of a room. Condition.

On the other hand, the forward detecting devices 2 to 4 always detect an obstacle ahead in front of the robot while traveling. As described above, the drive control device controls the drive of the steered wheels and the drive wheels based on the detection signals, turns, retreats, and stops the body 1 to prevent the body 1 and the bumper 9 from colliding with the obstacle.

[0006]

The above-mentioned conventional floor cleaning robot has the following disadvantages. That is, the right and left end detection devices 3 and 4 are ideally provided at both end portions of the bumper 9 in order to detect the running trajectory outside the bumper 9 in order to avoid obstacles such as pillars in the running area. It is a target. However, since the detection devices 3 and 4 are fixed to the body 1, the installation portion is located inside the outermost end of the bumper 9, and from the relationship with the detection width of the ultrasonic sensor, the detection devices 3 and 4 are extremely small. It was not possible to reliably prevent collision with a nearby obstacle (indicated by a two-dot chain line in FIG. 9) 10.

In general, the planar shape of the body 1 is often rectangular or oval, and the turning radius R with respect to the width W is large. Therefore, even if a turn for avoiding an obstacle is performed at the detection point, there is a high possibility that it will interfere with the wall surface of the passage (indicated by a two-dot chain line in FIG. 9) 11 and the like, and once the obstacle is detected, the vehicle travels once. A control program that enables complicated operations, such as stopping the vehicle and moving diagonally rearward to secure a space, and then turning again, is required. In addition, in order to perform such an operation, in addition to the detection devices 2 to 8 described above,
Further, obliquely forward and backward detecting devices 12 to 15 (indicated by broken lines in FIG. 9) are required, which causes an increase in cost. Note that O in FIG. 9 is the turning center of the body 1.

Therefore, the present invention solves the above-mentioned problems of the prior art and completely prevents collision between the body and an obstacle.
Self-propelled aircraft that can be stopped and can easily pass on narrow roads
The purpose is to provide a machine .

[0009]

In order to solve the above-mentioned problems, a self-propelled machine according to the present invention is provided on both sides of a body of the self-propelled machine.
It is provided so that it protrudes from the side and
Detects an obstacle stored in the body when hit
Pair of left and right retractable detection devices and a control program
A drive control device that automatically controls the self-propelled machine based on the
The retractable detector is overhanging from the body.
And a detection switch for detecting the
The detection switch detects that it is overhanging from the body
Stops running of the self-propelled machine when it is not detected and issues an alarm
Stop and alarm Uni Tsu door that emits, the self-propelled machine worker
Raised when maneuvering, set up and down on the body
The drive control device and the front
The stop alarm unit allows the operator to raise the handle.
It is characterized in that the operation is canceled when it is made to operate.

[0010]

In the self-propelled machine of the present invention, a pair of left and right storages is provided.
Type detection device overhangs from both left and right sides of body
The collision between the body and obstacles
Can be prevented. Also, if the retractable detector is an obstacle
If it collides with the body, it will be stored in the body.
Damage to both equipment and obstacles can be prevented.
Also, a pair of left and right retractable detection devices are stored in the body.
This reduces the overall width of the self-propelled machine. In addition, retractable inspection
A state in which the ejection device collides with an obstacle and does not protrude from the body
, The self-propelled machine stops automatically.
Driving safety can be ensured and warning
It is emitted so that the worker can notice immediately. Addition
The operator raises the handle to operate the self-propelled machine.
When activated, the drive control unit and the stop alarm unit
The operation is canceled, so the autopilot changes to the manual pilot.
The transition can be performed smoothly, and traffic on narrow roads and
It can be easily mounted on the elevator.

[0011]

BRIEF DESCRIPTION OF THE DRAWINGS FIG.
A floor cleaning robot will be described as an example of a running machine.
You.

As shown in FIGS. 1 and 2, the robot has an upright, substantially cylindrical body 1, and a bumper 9 made of an elastic material is mounted on the lower part of the front surface thereof. On the lower surface of the body 1, relatively large-diameter drive wheels 16 are disposed on the left and right (only the left side is shown in the figure), while driven wheels 17 with casters are disposed on the front and rear. . The left and right drive wheels 16 are driven and controlled by a drive control device (not shown) to rotate independently in forward and reverse directions, and perform forward movement, backward movement, and turning movement of the body 1. A pair of retractable handles 18 are provided on the upper surface of the body 1, and in a state indicated by a solid line (at a normal time), the drive control device controls the drive of the drive wheels 16 based on a control program or the like. Further, in the state indicated by the two-dot chain line (for example, during transportation before and after cleaning or when mounted on an elevator), the drive control device is canceled, and the operator can operate the vehicle freely. In the figure, reference numeral 19 denotes a pair of left and right squeegees made of an elastic member such as rubber, which collects dust and contaminated water, sucks them by a hose 20, and stores them in a tank (not shown).

As shown in FIG. 3, the plane shape of the body 1 including the bumper 9 is a substantially perfect circle with a radius R starting from the turning center O, but only the left and right side surfaces 1a and 1b enter inside. Are formed on planes parallel to each other. Body 1
Immediately above the bumper 9 on the front side, the front detection device 2 is mounted at the center, and the side detection devices 5 and 6 are mounted on the left and right. Also, on the left and right of the back of the body 1,
The detection devices 7 for the side are located symmetrically with the detection devices 5 and 6.
8 is attached. Then, the left and right side surfaces 1a, 1
b, retractable front detection devices 21 and 22 are attached at the same height as the detection devices 2 and 5 to 8. still,
These retractable detection devices 21 and 22 are also contained in the above-mentioned circle having the radius R.

As shown in FIG. 4 (enlarged sectional view of part A in FIG. 3), the retractable detection device 21 includes a bracket 23 of a steel plate welded structure, an ultrasonic sensor 24 fixed to a side end of the bracket 23, And a cover 25 made of synthetic resin for covering the bracket 23. The distal end of the bracket 23 is fixed to a frame 26 in the body 1 via a hinge 27 so that the retractable detection device 21 is swung in the direction indicated by the arrow in FIG. In the case of the present embodiment, the swing angle of the retractable detection device 21 is 45 °.

At the rear end of the bracket 23, a fixing device 29 having a locking pin 28 at the rear is attached. The tip of the locking pin 28 is formed in a hemispherical shape, and is relatively weakly urged rearward by the spring force of a spring (not shown) in the fixing device 29. On the other hand, a stopper 30 for fixing the retractable detection device 21 in an extended state (shown by a solid line) and a stopper 31 for fixing the retractable detection device 21 in a stored state (shown by a two-dot chain line) are attached to the frame 26. Both stoppers 30 and 31 are formed in a substantially L-shape in which the side surface of the fixing device 29 abuts, and locking holes 30a and 31a into which the locking pins 28 are fitted are formed. Also,
In the vicinity of the stopper 30 on the extended position side, the locking pin 28
Is installed. Although the above description has been made with respect to the left-side retractable detection device 21, the right-side retractable detection device 22 is symmetric with respect to this.

The operation of this embodiment will be described below. In the floor cleaning robot of this embodiment, as shown in FIG. 3, the retractable detection devices 21 and 21 are manually operated from the left and right side surfaces 1a and 1b of the body 1.
2, while the left and right handles 18 are tilted as shown by solid lines in FIGS. Then, arithmetic processing based on the control program is performed in the drive control device, and a cleaning operation by automatic driving is started. Body 1
The vehicle travels forward (to the left in the figure) as both the left and right drive wheels 16 rotate forward, and the detection devices 2, 5 to 8 and the retractable detection devices 21, 22 detect a wall surface or an obstacle. At this point, a turning motion is performed to avoid collision.

At this time, in this embodiment, since the mounting width of the two retractable detection devices 21 and 22 is wider than the width W of the bumper 9, it is possible that the detected obstacle collides with the body 1, the bumper 9, and the like. Can't happen. In addition, due to the fact that the plane shape of the body 1 including the bumper 9 is a perfect circle, even if the vehicle 1 turns at the point where the obstacle is detected, the obstacle may collide with the body 1, the bumper 9, or the like. There is no.

On the other hand, while the robot is moving forward, the obstacle 3
When 3 (shown by a two-dot chain line in FIG. 4) jumps out, the retractable detection device 21 may collide with the obstacle 33. However, at this time, the locking pin 28 of the fixing device 29 easily falls off the locking hole 30a of the stopper 30.
The retractable detection device 21 swings toward the body 1 as shown by the arrow, thereby preventing both the obstacle 33 and the retractable detection device 21 from being damaged.

The robot according to the present embodiment is provided with a stop alarm system that constantly monitors the state of extension of the retractable detection device and stops the running and issues an alarm when a collision with an obstacle or the like occurs. As shown in FIG. 5, the stop alarm system includes a proximity switch 3 provided in the left and right retractable detection devices 21 and 22.
Stop alarm unit 35 to which signals from
A motor driver 3 that stops the left and right driving wheel motors 36 and 37 in response to a stop command from the stop alarm unit 35.
8, an audio device 40 for driving the speaker 39 in response to a warning sound command from the stop alarm unit 35, and the stop alarm unit 3
5, and a pilot lamp 41 blinking.

In this stop alarm system, as shown in the control flowchart of FIG.
2 and 34 are sequentially input to the stop alarm unit 35. Next, the stop alarm unit 35 calculates the logical sum of the two data. The value of the logical sum is 1, for example, when at least one of the left and right retractable detection devices 21 and 22 is not in the overhang state, that is, when a collision with an obstacle has occurred, and when both are in the overhang state. Becomes 0.

After calculating the logical sum, the stop alarm unit 3
In 5, it is determined whether both the left and right retractable detection devices 21 and 22 are in the overhang state. If either one is not in the overhang state, a stop command is issued to the motor driver 38 to stop the left and right drive wheel motors 36 and 37,
At the same time, a warning sound command is issued to the audio device 40 to cause the speaker 39 to sound and the pilot lamp 41 to blink.
Thus, the worker recognizes the collision between the retractable detection devices 21 and 22 and the obstacle, and removes the obstacle and moves the robot. Naturally, when the stop alarm unit 35 determines that both the left and right retractable detection devices 21 and 22 are in the overhang state, the above stop and alarm operations are not executed. Further, the control of the stop alarm system is repeatedly performed at predetermined intervals during the operation of the robot.

On the other hand, the width of the passage and the like is larger than that of the bumper 9 when the vehicle is to be passed through a narrow place to be cleaned such as a corridor, mounted on an elevator, or passed through an entrance of a room. There are times when 22 interferes. In this case, in the present embodiment, first, as shown in FIGS. 3 and 4, the storage-type detection devices 21 and 22 are stored on the left and right side surfaces 1a and 1b of the body 1, and at the same time, as shown by broken lines in FIGS. Raise the left and right handles 18. Then, the entire width of the robot is reduced, and the robot can be moved without interfering with traffic. still,
At this time, the drive control device and the stop alarm system described above are both canceled, and the steering is performed by the operator appropriately operating the handle 18.

The modified example shown in FIG .
The actuator is driven by an actuator.
The other configuration is substantially the same as the above configuration,
Description is omitted.

In FIG. 1, reference numeral 42 denotes an air cylinder as an actuator, which comprises a cylinder body 43 and a rod 44 which expands and contracts by compressed air. Cylinder body 4
3 is connected to the frame 26 via the pin 45.
Slot 47 formed in a cylinder bracket 46 integral with
Is fitted. The tip of the rod 44 is
Via 8, it is swingably fixed to a stay 49 protruding from the bracket 23. A stopper pin 50 is provided on the inner side of the frame 26 on the side of the cylinder bracket 46.
And a cylinder stopper 52 having a coil spring 51 for urging the stopper pin 50 with a predetermined spring force. In the state shown in FIG. 7, the truncated cone-shaped distal end 50a of the stopper pin 50 locks the base end 43a of the cylinder body 43 at the retracted position (to the right in FIG. 7), and the pin 45 It is located at the end of 47.

The state in this modification, when performing cleaning operation by the autopilot, defeating the left and right handle 18
To Then, compressed air is supplied via a control device (not shown), and the rod 44 of the air cylinder 42 is extended,
Retractable detection device 2 from left and right side surfaces 1a, 1b of body 1
1,22 overhang. Then, arithmetic processing based on the control program is performed in the drive control device, and the cleaning operation is started.

When the vehicle is to be used in a narrow corridor or mounted on an elevator , the left and right handles 18 are raised.
State. Then, the compressed air is exhausted through a control device (not shown), and the rod 44 of the air cylinder 42 is shortened. As a result, the retractable detection devices 21 and 22 swing in the directions indicated by the arrows, and are stored in the body 1 as indicated by the two-dot chain line in FIG. Then, the entire width of the robot is reduced, and the robot can be moved without interfering with traffic. still,
At this time, the drive control device is canceled in the same manner as in the above-described configuration, and the steering is performed by the operator appropriately operating the handle 18. Note that, in the case of this modified example as well,
As described above, the swing angle of the retractable detection device 21 is 45 °.

On the other hand, in this modification, when the obstacle 33 suddenly jumps out and collides with the retractable detection device 21 while the robot is moving forward, as shown in FIG.
Swings toward the body 1 side. However, the air cylinder 42
Is not shortened, so that a forward force acts on the cylinder body 43. Then, the base end portion 43a pushes the distal end portion 50a of the stopper pin 50, and the above-described locking is released, and the cylinder body 43 moves forward as indicated by the arrow in the figure. The cylinder body 43 can be advanced to the position where the pin 45 is located at the front end of the elongated hole 47. At this point, the retractable detection device 21 is completely stored in the body 1. In addition, this
Also in the modified example, it is possible to provide the stop alarm system as described above .

Although the description of the concrete embodiment has been completed, the embodiments of the present invention are not limited to this embodiment. For example,
In the above embodiment, the retractable detection device is stored in the body by swinging, but may be stored by sliding using a guide rail or a tension spring. Further, a laser sensor or the like may be used as the obstacle sensor, or a hydraulic cylinder or an electric motor may be used as the storage actuator instead of the air cylinder. Furthermore,
In the above embodiment, the present invention is applied to a floor cleaning robot. However, the present invention may be applied to other self-propelled machines such as an automatic transport vehicle and a hazardous material recovery vehicle.

[0029]

As is apparent from the above description, the present invention
In the self-propelled machine, a pair of left and right retractable detection devices
It is provided so that it protrudes from both left and right sides of the day
To prevent collision between the body and obstacles
it can. Also, if the retractable detection device collides with an obstacle,
Because it is stored in the data, retractable detection device and obstacles
Both damages can be prevented. Also, a pair of left and right
When the retractable detection device is stored in the body,
Body width is reduced. In addition, retractable detectors can
When the vehicle does not protrude from the body due to collision, the self-propelled
The machine stops automatically, ensuring the safety of traveling of the self-propelled machine.
As well as an alarm,
Workers can immediately notice. In addition, workers
When you raise the steering wheel to control the running machine,
The operation of the control unit and the stop alarm unit has been cancelled.
Smooth transition from autopilot to manual pilot
It can be used for narrow roads and mounting on elevators
Can be easily performed.

[Brief description of the drawings]

FIG. 1 is a floor cleaning robot as a self-propelled machine according to the present invention .
FIG.

FIG. 2 is a side view of the same.

FIG. 3 is a plan view of the same.

FIG. 4 is an enlarged sectional view of a portion A in FIG. 3;

FIG. 5 is a block diagram of a stop alarm system according to the embodiment.

FIG. 6 is a flowchart of a stop alarm system according to the embodiment.

FIG. 7 is a sectional view showing a modification of the self-propelled machine according to the present invention .
FIG.

FIG. 8 is a sectional view showing a modification of the self-propelled machine according to the present invention .
FIG.

FIG. 9 is a perspective view showing a floor cleaning robot equipped with a conventional obstacle detection device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Body 2,5-8 Obstacle detection device 9 Bumper 16 Drive wheel 17 Follower wheel 18 Handle 21,22 Retractable obstacle detection device 23 Bracket 24 Ultrasonic sensor 25 Cover 26 Frame 27 Hinge 29 Fixing device 30,31 Stopper 32 , 34 Proximity switch 33 Obstacle 35 Stop alarm unit 36, 37 Motor for driving wheel 38 Motor driver 39 Speaker 40 Audio device 41 Pilot lamp 42 Air cylinder 45 Pin 46 Cylinder bracket 47 Long hole 49 Stay 52 Cylinder stopper

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) G05D 1/00-1/12

Claims (1)

(57) [Claims] 1. The body of a self-propelled machine projects from both left and right sides of the body.
When the vehicle collides with an obstacle,
Left and right pair for detecting obstacles stored in the data
Automatically operating the self-propelled machine based on the retractable detection device and the control program
The drive control device and the retractable detection device extend from the body.
And a detection switch for detecting that the retractable detection device extends from the body.
When the detection switch does not detect
A stop alarm unit for stopping traveling of the vehicle and issuing an alarm, and the body used by an operator to operate the self-propelled machine.
A handle provided so as to be able to move up and down, and the drive control device and the stop alarm unit
An operator raises the handle to operate the self-propelled machine
A self-propelled machine characterized in that its operation is canceled when it is made to operate .