JP3316421B2 - Mobile 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 mobile robot capable of moving in cooperation with a human.

[0002]

2. Description of the Related Art In a harsh environment for humans, or
2. Description of the Related Art Development of work robots for performing work in place of humans in dangerous environments has been widely promoted. However, there are many technically unfinished parts to require a robot to perform completely autonomous movements, so it is impossible at present. Therefore, research and development have been conducted on a system in which a robot and a human are allowed to perform their required tasks while sharing their respective work areas with each other and complementing each other.

Here, attention will be paid to the realization of mobile traveling in cooperation with humans.

[0004] As a control method of a robot that realizes a traveling movement in cooperation with a human, a path correction given from an operating device such as a master arm by an operator to the moving route calculated by the robot is used by the operator. There is a technique of overlapping the minutes, which is well known.

However, this method has no concept of performing cooperative control between a mobile robot and a human based on speed information.
This makes the system difficult for the operator to use.

As another method, (1) “Paper:
"Teleoperated robot system featuring joint work with humans" Sato et al. The Robotics Society of Japan
ol. 9, No. 5, pp. 602-pp. 613,1
No. 991 ", which shows a method of performing hierarchical cooperative role sharing from a robot language level to an operation level as a cooperative system with a human in a human cooperative system of a manipulator. ing.

[0007] In this method, work is usually performed autonomously in accordance with a work procedure described in a robot language program. However, when an unexpected situation including lack of information upon execution of the program occurs, the robot is operated by an operator. The system asks for an instruction, avoids an unforeseen situation according to the instruction, and then executes the work according to the conventional work procedure.

[0008] The data of the operating device for coordinating the operation levels used for avoiding an unforeseen situation is added to the motion trajectory of the robot as it moves.

Further, as another method, there is (2) "Robot device, see Japanese Patent Application Laid-Open No. Sho 60-212012, Toshiba Corporation". It is composed of a monorail type command robot, a floor traveling type working robot and an operation panel. The operator issues a command from the operation panel by voice, and the voice command is transmitted to the monorail type command robot first. A system has been disclosed in which a robot transmits a voice command to a floor traveling type working robot and performs remote control.

Another method is (3) "Self-propelled robot; see Japanese Patent Application Laid-Open No. 07-28525, Toshiba Corporation". It consists of a self-propelled robot on the rail and a plurality of intermittent position recognition boards on the rail. The robot's position is determined by starting from the absolute origin (executing the origin in some form). The value of the encoder on the axis is added and measured, but when the information on the absolute position of the robot is lost due to a power failure of the control system or other unforeseen circumstances, the origin is not re-recognized ( A technique of a robot for determining an absolute position by the above-mentioned position recognition plate (without performing the origin search again) is disclosed.

[0011]

SUMMARY OF THE INVENTION Among the mobile robots,
In the case of a vehicle that does not define a detailed movement route, various studies have been made on the autonomous traveling of the vehicle, but none of them is technically immature. Therefore, in the event of an unforeseen event, such as a lack of information, a control that automatically responds to this and automatically returns to a normal travel route and continues to travel without hindrance,
Although it is desired that the control system can be easily realized, the current technology is far from practical use of a control system that enables such autonomous driving.

[0012] Therefore, a simple method for reliably coping with an unforeseen situation is to provide a system that can be supported by a human operator. This is the most realistic at present, and for that purpose, an assist function for complementing a route by a human operator may be provided.

As a conventional cooperative technique that can be used for such an assist function, there is a cooperative method in manipulation.

Although it is considered that applying this concept and method to a mobile robot is an effective means, there are various effective methods for assisting functions by human cooperation, but it is an object of the present invention. However, there is a realization of a mobile robot having a function of cooperating with a human by the assist function.

More specifically, it is an object of the present invention to provide a mobile robot capable of simplifying a route plan in autonomous traveling and simplifying a cooperative remote operation between a robot and a human during actual traveling. .

[0016]

In order to achieve the above object, the present invention is configured as follows. That is, a sensor means for detecting information of the self-position, a sensor processing means for acquiring detection information of the sensor means at a predetermined interval to obtain information of the self-position, and a route to be followed according to preset route information Means for generating reference information for
Means for generating a control value based on the generated reference information and the information obtained by the sensor processing means, and instructing a desired speed setting in a movable robot driven and movable in accordance with the control value. A setting unit that changes the processing time according to the speed set by the setting unit.

Further, the processing time of the sensor processing means is set longer as the set speed becomes lower than the upper limit of the speed, so that the number of detection information of the sensor means used for the processing is increased. And

According to the present invention, the processing time of the processing section of the sensor means is changed in accordance with the speed set by the setting device operated by the operator.

In this system, the processing time of the sensor processing unit is
The speed is changed corresponding to the set speed by the setting device operated by the operator.

The present invention provides a conventional emergency stop response.
It is designed to respond step by step including the driving speed.
The autonomous control allows the route to be restored by deviating from the route even if the information volume of the planned route is coarse or the obstacle enters the planned route, despite its simple configuration. It is possible to obtain a cooperative system between a human and a mobile robot, which is capable of autonomously avoiding an unforeseen situation such as an inability or an obstacle collision.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention relates to a driving mechanism 1 for moving wheels and legs, a sensor head 2 composed of an image sensor and a distance sensor, and a motion control unit 3 for traveling. It is intended for a vehicle (mobile robot) having a controller composed of a path planning unit 4, a sensor processing unit 5, a man-machine interface unit 6, and an operating device 7 for an operator. And the route planning unit 4
The basic route trajectory is calculated by the route trajectory generation unit using the map information for movement in the inside, and running, but the sensor data captured by the sensor head is processed by the sensor processing unit and fed back to the basic route trajectory. Has a control function of generating corrected trajectory data to realize traveling with enhanced autonomy, and the sensor processing unit performs sensor processing at a predetermined stepwise processing time according to the speed of the vehicle, and performs processing of the vehicle. A function of generating sensor processing data adapted to the environment corresponding to the speed, that is, an autonomous traveling route based on the corrected trajectory data, based on the cooperative relationship of the vehicle speed set values (including the stop) set by the operator according to the traveling environment. To enable the vehicle to run in cooperation with people.

The operator responds to an unforeseen situation during autonomous traveling by emergency stop of the robot. As a mechanism for adjusting the stop function in a stepwise manner, the speed of the robot traveling is stopped from a high speed in an analog manner (pause). And an emergency stop), a device that can be freely changed by the operator is provided, and the time it takes for the robot to reach the point where an unexpected situation is likely to occur is adjusted with this device, and the side of the running robot Changes the calculation time spent in sensor processing stepwise according to this traveling speed, and corrects the path by sensor processing according to this robot traveling speed (the accuracy of this path correction value differs according to the robot traveling speed, The result of the processing data 12) is superimposed on a conventional planned route (basic route trajectory 10), and a human and a mobile robot that avoid an unexpected situation. A cooperative scheme, hereinafter, with reference to the drawings illustrating a specific example of the present invention.

FIG. 1 is a block diagram showing a main configuration of the system of the present invention. In the figure, 1 is a moving drive mechanism, 2 is a sensor head, 3 is a motion control section, 4 is a path planning section, 5 is a sensor processing section, 6 is a man-machine interface, 7 is an operating device,
8 is map information, 9 is a path trajectory generator, 10 is a basic path trajectory, 11 is a motion instruction command, 12 is sensor processing data,
Reference numeral 3 denotes corrected trajectory data, 14 denotes a corrector, and 100 denotes a mobile robot.

Among these, the moving drive mechanism 1 is a mechanism for moving and moving the mobile robot 100, and is an actuator such as a motor for moving wheels and legs of the mobile robot 100 (a drive amplifier or a controller). Interface hardware with software).
In order to simplify the explanation of the operation, when the joint of the leg or the arm is driven by the rotary motor, the joint speed ω
By inputting a voltage command corresponding to the set value of [rad / s], it is assumed that the motor moves at the joint speed corresponding to the set value (hereinafter, the input command is ω).

The sensor head 2 is connected to the mobile robot 10
0, such as an image sensor using an image sensor, a distance sensor that measures distance by ultrasonic ranging, infrared ranging, or the like, a direction sensor, a traveling distance sensor that detects a traveling distance, and the like. The operating device 7 is for an operator to give an instruction to the system.

Here, in this specific example, the operating device 7
As shown in FIG. 2, a speed setting dial 20 for setting a desired speed using a rotary dial, an emergency stop button 23 for giving an emergency stop command, and a movement for giving a movement direction. Instruction command joystick 24
By operating the rotary dial 20, a desired speed (a desired speed within a range from the highest speed to the lowest speed (zero speed = stop)) is set, and the emergency stop button 23 is used to perform an emergency stop. , And a function of operating the joystick 24 to issue an instruction in the direction in which the stick is tilted.

The man-machine interface 6
Is an interface for providing instruction information such as an operation instruction amount and direction from the operation device 7 to the motion control unit 3 and the sensor processing unit 5, and a command value for variously changing the speed and direction of the mobile robot 100. To these. Also, the man-machine interface unit 6
It also has a function of receiving a command for a temporary stop (speed = 0) and an emergency stop from the operating device 7 and giving a corresponding command to the motion control unit 3 and the sensor processing unit 5.

The route planning unit 4 outputs route trajectory information of a route to be driven based on route planning information provided from the outside, and includes a map information holding unit 8 and a route trajectory generating unit 9. . Map information holding unit 8 of route planning unit 4
Is a means for holding map information, that is, various kinds of data which is created and input by the operator at the stage of route planning and is used to generate a traveling route trajectory of the mobile robot 100, and the data format is not limited. However, the data in the simplest form is composed of a plurality of characteristic points (x, y, θ) corresponding to the positional relationship 32 which is a locus of a traveling route as shown in FIG. For example, the map information holding unit 8 holds such map information.

The route trajectory generating unit 9 of the route planning unit 4
Is used to generate a continuous trajectory by finely chopping between a plurality of feature points (x, y, θ) of the map information, and a reference value of a position to be taken by the robot at each time as target position information The output of the route trajectory generating unit 9 is the output of the route planning unit 4. The route planning unit 4 changes the output update timing of the generated trajectory data in the route trajectory generation unit 9 according to the speed of the robot. If the traveling speed of the robot is slow, the output update is correspondingly slow. It is made to become.

The sensor processing section 5 processes the sensor data from the sensor head 2 to obtain, for example, actual movement amount and position information, and outputs this as sensor processing data 12.

The corrector 14 adds the deviation of the deviation by taking into account the sensor processing data 12 from the sensor processing unit 5 which is the actual measurement value with respect to the information on the basic path trajectory 10 from the path planning unit 4 which becomes the target value. The motion control unit 3 calculates a motion control amount based on the corrected trajectory data 13 to obtain corrected trajectory data 13 which is an actual control amount required to follow the basic path trajectory. In addition to outputting as control information, a motion instruction command (motion direction command, emergency stop command,
When there is a pause command, speed setting command, etc. 11,
The motion control information is generated based on the motion command and is given to the movement drive mechanism 1.

The movement drive mechanism 1 drives and moves the robot based on the movement control information.

The main parts of this system having the configuration shown in FIG.
It is configured as a function of a control device (inside a control computer) of the mobile robot 100, and is realized by software. However, it is, of course, possible to configure the hardware.

The operation of the present system having such a configuration starts when the system power is turned on. Then, when the system is started, the route trajectory generator 9 of the route planning unit 4 uses the map information of the map information holding unit 8 which has already been given to the robot 100 to further finer basic route trajectory information (x
b, yb, θb) 10 and the generated basic path trajectory information (xb, yb, θb) 10 is provided to the corrector 14. The corrected trajectory data 13 output from the corrector 14 is sent to the motion control unit 3 of the robot 100.
The robot 100 starts to move by being given while being updated as needed at a cycle of T [sec].

That is, the route planning unit 4 outputs route trajectory information of a route to be traveled based on the route planning information. Mobile robot 100 created by
For example, map information in the form of a plurality of feature points (x, y, θ) in a map corresponding to the positional relationship 32 as shown in FIG. .

The route trajectory generating unit 9 of the route planning unit 4
Generates a continuous trajectory by further finely chopping a plurality of feature points (x, y, θ) as the map information. This is the output of the route planning unit 4.

On the other hand, the sensor processing section 5 fetches sensor data from the sensor head 2 at a period of T and performs arithmetic processing. The time spent for the processing is determined by the set speed of the operating device 2. That is, the operator operates the speed setting dial 20 of the operating device 7 to set the speed at which the robot 100 is moved to a desired speed, and the set value is transmitted via the man-machine interface unit 6 to the motion control unit 3 and the sensor processing unit. Section 5 and the route planning section 4.

The sensor processing unit 5 determines the time spent for processing according to the information of the given set speed, and sequentially processes the sensor data over the time. Then, when the time has elapsed, the obtained processing result is given to the corrector 14 as the sensor processing data 12.

The corrector 14 uses the basic path trajectory information 10 as a target value to determine a deviation from the sensor processing data 12 which is an actually measured value.
Give to.

The motion control section 3 issues a command for giving a required amount of motion in correspondence with the corrected trajectory data 13, that is, the positional relationship (x, x) of the barycentric coordinate 31 of the mobile robot 100 with reference to the reference coordinate 30 shown in FIG. (y, θ) 32 is generated (input command ω to the motor that is a component of the moving drive mechanism 1). At this time, the input command ω is generated corresponding to the command information given via the man-machine interface unit 6, including the speed setting value. Here, x, y, and θ are as follows.

X: distance from the reference coordinate origin in the X direction of the reference coordinate system to the center of gravity of the center of gravity y: distance from the reference coordinate origin in the reference coordinate system y to the center of gravity of the center of gravity θ: barycentric coordinate about the z axis of the reference coordinate system Angle of rotation.

The movement driving mechanism 1 drives the motor in response to the input command ω, and the robot 100 moves as specified by the command.

The man-machine interface unit 6 in the present system transmits a command value for changing the speed of the mobile robot 100 in various ways to the motion control unit 3 and simultaneously stops (speed = 0), emergency stop. Command function. The speed setting unit is configured so that the maximum speed is 100%, and the specified direction is 3 of x, y, and θ.
Although there are axes, they are collectively set by the speed setting dial 20 in FIG.

In FIG. 2, x, y, and θ are collectively set, but may be set by dividing each of the three dials and the like. Further, by operating the joystick for motion instruction of the operation device 7 (see FIG. 2), an instruction command (x, y, θ) of the motion of the mobile robot 100 can be designated. In this case, the motion control unit 3 An input command ω is generated according to the command to drive the moving drive mechanism 1.

Based on the basic route trajectory information 10 sequentially output from the route planning unit 4 and the sensor processing data 12 output from the sensor processing unit 5, the correction trajectory data 1
By generating 3 and giving it to the motion control unit 3, the robot 100 moves along the path plan.

The above is a rough outline of the operation. The feature of this system is that the operating speed of the robot can be changed by the operating device 7 and the sensor processing is performed in accordance with the change of the operating speed. The point is that the time spent for the arithmetic processing in the section 5 is changed.

The operating device 7 is a device for inputting a command value of the man-machine interface unit 6 by an operator. In this specific example, as shown in FIG. 2, the operating device 7 includes a speed setting dial 20 for setting a desired speed using a rotary dial, an emergency stop button 23 for giving an emergency stop command, A joystick 24 for commanding movement is provided for commanding the direction of movement. By operating the rotary dial 20, a desired speed (from a maximum speed to a minimum speed (zero speed = pause)) is controlled. (Desired speed), an emergency stop command can be issued by the emergency stop button 23, and a function of operating the joystick 24 to give an instruction in the direction in which the stick is tilted is provided.

In this system, the speed of the mobile robot 100 can be variously set by operating the speed setting dial 20 of the operating device 7, and the processing time of the sensor processing unit 5 can be set according to the set speed. And the number of times of reading the sensor data is variously changed.

This is, for example, as shown in FIG. Referring to FIG. 4, _assuming that the maximum speed of the mobile robot 100 is vmax, what is shown as a percentage of this _vmax is “set speed of mobile robot%”.
The “set speed of mobile robot%” is changed to “10
0% or less (v _max ) "," 80% or less (v ₃ ) "," 60
% Or less (v ₁ ) ”,“ 40% or less (v ₂ or less) ”, to“ 0
% (Pause) "in multiple steps.

Then, "set speed of mobile robot%"
Is set to “100% or less (v _max )”, the process of the sensor processing unit 5 is “process 1”, and the time required for the process is T (T is the feedback loop sampling time [sec]). ), The number of readings until the processing of the sensor data is completed is “once”, and when “80% or less (v ₃ )” is set, the processing of the sensor processing unit 5 becomes “processing 2”, and the processing required The time is 2T, the number of readings until the processing of the sensor data is completed is “2 times”, and if “60% or less (v ₁ )” is set, the processing of the sensor processing unit 5 becomes “processing 3”, Is 4T, and the number of readings until the sensor data processing is completed is "4 times".
If set to "40% or less (v ₂ below)", processing of the sensor unit 5 is "process 4" and the time required 8T, read count until the completion of processing of the sensor data processing is "8 times" When "0% (pause)" is set, the process of the sensor processing unit 5 is "process 7", the required time for the process is 100T, and the number of readings until the process of the sensor data is completed is "process 7". 100 times ", so that the number of times of sampling and the processing time are changed.

As a result, the operation of the present system exhibits the following operation differences.

<< Operation During Normal Movement Operation >> The trajectory to be followed by the robot 100 is input and stored in the map information storage unit 8 as map information in accordance with the established route plan in advance.

The operation is started by turning on the power of the robot and turning the speed setting dial 20 of the operating device 7 from the position of the speed "0" to the desired speed position. Thereby, in the route planning unit 4, the route trajectory generating unit 9 converts the basic route trajectory (xb) from the map information in the map information holding unit 8 at the update speed corresponding to the speed information given via the man-machine interface unit 6. , Yb, θb) 10,
The generated basic route trajectory information (xb, yb, θb) 1
0 is given to the corrector 14. Then, the output from the corrector 14 is provided to the motion control unit 3 of the robot 100 at a period of T [sec] as the corrected trajectory data 13 so that the motion control unit 3 follows the corrected trajectory data 13 and Then, the motion control information is generated so as to maintain the speed corresponding to the speed information provided via the man-machine interface unit 6 and provided to the mobile drive mechanism 1, and the mobile robot 100 starts moving by driving the motor. .

By the way, in normal times, the mobile robot 100 operates the speed setting dial 20 of the operating device 7 to set the speed to, for example, about v ₁ so that the operator can follow.

That is, the operator sets the mobile robot 1
00 is changed to v1 in FIG.
%). This setting information is provided to the motion control unit 3 and the sensor processing unit 5 via the man-machine interface unit 6.

Based on the setting information, the motion control unit 3 determines the speed v based on the trajectory correction data 13 from the corrector 14.
_In order to make the mobile robot 100 run at a speed of ₁ , a control output for driving and controlling the mobile drive mechanism 1 is generated. As a result, the movement drive mechanism 1 is driven in accordance with the control output, and the robot 10 moves along a predetermined trajectory at a speed of v _1.
0 will be driven.

On the other hand, the sensor processing section 5 is set to “processing 3” by the setting information given via the man-machine interface section 6. Therefore, the sensor processing unit 5
Operates such that the sensor data is processed in a processing time of 4T.

However, also in this case, the sampling time in the motion control unit 3 is T [sec], and similarly, the sensor data input to the sensor processing unit 5 is once every sampling time T [sec]. Since the data is taken in, the sensor data is read into the sensor processing unit 5 four times during the processing time 4T.

At each sampling time T [sec], the basic route trajectory information 10 is updated and given as trajectory correction data 13 to the motion control unit 3 as a command.

The calculation processing time of the sensor processing unit 5 becomes 4T [sec] according to FIG. 4, and the sensor processing data 12 is calculated and updated every 4T [sec].

On the other hand, from the sensor head 2 to the sensor processing unit 5
(Inevitably 4T [sec]), and the sensor processing unit 5 calculates and generates the sensor processing data 12 over 4T [sec]. Then, the generated sensor processing data 12 is stored in the basic route trajectory information 1 described above.
This is fed back to 0, the corrected trajectory data 10 is generated, and output to the motion control unit 3 every 4T [sec].

That is, the basic path trajectory information 10 is given to the corrector 14 as a target value, and the sensor processing data 12 generated by the sensor processing unit 5 is also given to the corrector 14 as an actually measured value. The deviation between the two is determined. And this deviation is 4T as the corrected orbit data 13.
It is provided to the exercise control unit 3 every [sec].

As a result, the sensor processing data 12 is fed back to the basic path trajectory information 10 to generate the corrected trajectory data 10, which is given to the motion control unit 3 every 4 T [sec]. The update of the trajectory correction data 13 including the sensor processing data 12 at every 4T [sec] as shown in FIG.

<< Operation at the Time of Contingency >> 20 in FIG.
FIG. 6 shows the operation of the operation of the mobile robot 100 after T [sec].

Assume that the operator predicts an unexpected situation at 20T. Then, for example, the operator determines that the speed of the mobile robot 100 is to be reduced from the current v ₁ (the speed of 60% in the table of FIG. 4) to v ₂ (the speed of 40% in the table of FIG. 4), and to hear the situation. Suppose you did.

In this case, the operator operates the speed setting dial 20 of the operating device 7 from the position of the speed v _{1 to} the position of the speed v ₂ . This operation information is transmitted to the route planning unit 4, the motion control unit 3,
It is provided to the sensor processing unit 5.

When the speed v ₂ is set, the sensor processing section 5 enters the “processing 4” mode, and the required processing time is 8T [sec]. As a result, the sensor processing data 12 is calculated by doubling the time from the previous 4T [sec] to 8T [sec]. During this time, the robot 100 is moved at the speed v ₂ and T
The sensor head 2 collects the sensor data of 8 times every [sec].
It is taken in further, and precise position information is calculated to become sensor processing data 12.

By spending twice as much processing time as before, sensor processing data 12 obtained by calculation using eight times of sensor data is obtained from the sensor processing unit 5 at 28 T [sec]. Acted upon.

Here, as described above, the sensor processing data obtained by using the sensor data for eight times is the sensor processing data obtained by using the sensor data for four times. Higher accuracy than data.
Therefore, the accuracy of the corrected trajectory data obtained using this sensor data can be ensured. In addition, when the control target is a mechanical mechanism, a delay in the response characteristic is inevitable, so that the drive speed of the mechanical drive mechanism 1 is controlled in conjunction with the slowing down of the operation speed. Ensuring the accuracy of the corrected trajectory data means that the target route can be followed with high accuracy, and that deviation from the planned trajectory can be avoided even when the route plan is rough.

In the case where an obstacle enters the moving route temporarily, the moving speed of the robot 100 is slowed down, so that there is a great possibility that the obstacle will disappear before the robot 100 reaches the entry position. With a simple control of reducing the speed, an unexpected situation such as collision with an obstacle can be avoided.

In this way, 36T [sec] is reached,
It is assumed that an unexpected situation has been avoided. Then, the operator determines that an unexpected situation has been avoided, and at this time, sets the speed of the mobile robot to, for example, v ₃ (80% in the table in FIG. 4) and increases the speed. v For ₃ speed settings, according to the example of FIG. 4, the sensor processor 5 processes time is 2T, therefore, the robot 100 moves while reflecting the sensor processing data for each 2T [sec] Will go.

Even when the moving speed = 0 (temporary stop), the updating of the corrected trajectory data 10 is repeated according to the processing as shown in FIG.

The mobile robot 100 to which the present invention is applied is not limited to a wheel type, a leg type, or the like. However, the path trajectory (x, y, θ) which is a command value for the movement of the robot shown in FIG. 2 is set assuming a wheel type, and the operation has been described based on this. However, it is the coordinate value of the path trajectory applicable to not only the wheel type but also the leg type.

As described above, in the present system, during a normal moving operation, the operator sets the speed of the mobile robot 100 to, for example, v ₁ (60%) in FIG. The sampling time of the motion control unit 3 is T [sec]. Similarly, the sensor data which is an input from the sensor head 2 to the sensor processing unit 5 is fetched once every sampling time T [sec]. The basic route trajectory 10 is updated every T [sec] and given as a trajectory correction data 13 to the motion control unit 3 as a command.

The arithmetic processing time of the sensor processing unit 5 in this case is 4T [sec] according to FIG.
The sensor processing data 12 is calculated and updated every [sec].

Then, the route planning unit 4 generates a basic route trajectory (xb, yb, θb) 10 as an output from the map information already given to the robot 100, and sends it to the motion control unit 3 of the robot 100. , T [sec], and outputs the data while updating it as needed.
, And at the same time, sensor data is taken into the sensor processing unit 5 from the sensor head 2 provided in the robot 100 (necessarily 4 T [sec]), and this sensor data is converted into 4 T [ [sec], the sensor processing data 12 is calculated and generated, and the sensor processing data 12 is fed back to the previous basic path trajectory to generate corrected trajectory data, which is corrected every 4T [sec]. The output is output to the motion control unit 3 to control the drive. The update timing of the trajectory correction data 13 including the sensor processing data 12 in this state is every 4T [sec] as shown in FIG.

Normally, the operation is performed autonomously in this manner. Then, at the time of contingencies occur, when the operator predicted contingencies, but will or the travel of the robot 100 is or is stopped or decelerated, if not required emergency, the operator, the operation Vessel 7
Operating the speed setting dial 20 of the mobile robot 10
For example, the setting of the speed of 0 is changed to a speed of v2, which is lower than the current speed.
If the speed is reduced from v2 (the speed of the mobile robot set speed of 40% shown in the table of FIG. 4) to v2 (the speed of the mobile robot set speed of 40% shown in the table of FIG. 4), 4T [ sec], the processing time was 8T
[Sec], the sensor processing unit 5 will process the sensor data twice as long as before, and the sensor processing unit 5 will calculate twice as long as before. To the sensor processing data 12 corrector 14,
The correction trajectory data is generated and given to the motion control unit 3.

As described above, in the present system, the processing time of the sensor processing section is changed corresponding to the speed set by the setting device operated by the operator.

In the present invention, the conventional emergency stop
It is designed to respond step by step including the driving speed.
In addition , by enabling autonomous control, it is possible to provide a cooperative system between a human and a mobile robot, which is capable of autonomously avoiding an unexpected situation with a simple configuration.

[0080]

As described in detail above, according to the present invention,
In addition to realizing a mobile robot that has a method of cooperating with humans, it is possible to simplify route planning in autonomous driving, and it is also possible to simplify remote operation of robots and humans during driving A mobile robot can be provided.

[Brief description of the drawings]

FIG. 1 is a diagram for explaining the present invention, and is a block diagram of a main part according to an embodiment of the present invention.

FIG. 2 is a diagram for explaining the present invention, and is an external view illustrating a configuration example of an operating device used in the system of the present invention.

FIG. 3 is a diagram for explaining the present invention, and is a diagram for explaining a coordinate system defining a positional relationship of the mobile robot according to one embodiment of the present invention.

FIG. 4 is a diagram for explaining the present invention, and is a diagram showing an example of a relation of calculation time of sensor processing according to a set speed according to an embodiment of the present invention.

FIG. 5 is a diagram for explaining the present invention, showing a transition example of a command value of a moving route during a moving operation according to an embodiment of the present invention.

FIG. 6 is a diagram for explaining the present invention, showing a transition of a command value of a moving route at the time of occurrence of an unexpected event as one embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Movement drive mechanism 2 ... Sensor head 3 ... Motion control unit 4 ... Route planning unit 5 ... Sensor processing unit 6 ... Man-machine interface unit 7 ... Manipulator 8 ... Map information holding unit 9 ... Route trajectory generation unit 10 ... Basic Path trajectory 11 ... Motion support command 12 ... Sensor processing data 13 ... Corrected trajectory data 14 ... Corrector 20 ... Speed setting dial 21 ... Minimum speed v = 0 22 ... Maximum speed vmax 23 ... Emergency stop button 24 ... Motion instruction Command joystick 25 ... Motion command X26 ... Motion command y30 ... Reference coordinate 31 ... Barycentric coordinate 32 ... Position relation 100 ... Mobile robot (moving vehicle).

Continuation of the front page (56) References JP-A-61-294512 (JP, A) JP-A-5-233067 (JP, A) JP-A-61-81185 (JP, A) JP-A-62-143109 (JP) JP-A-63-62007 (JP, A) JP-A-7-244162 (JP, A) JP-A-3-266005 (JP, A) JP-A-1-231809 (JP, A) 4-113219 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05D 1/02 G01C 22/00

Claims (2)

(57) [Claims] According to the present invention, there is provided a sensor means for detecting information of a self-position, a sensor processing means for obtaining detection information of the sensor means at predetermined intervals to obtain information of a self-position, Means for generating reference information for a route to be followed in accordance with the route information, and means for generating a control value based on the generated reference information and the information obtained by the sensor processing means. A mobile robot that can be driven and moved, and that has a setting device for instructing a desired speed setting among multiple stages, and the sensor processing means has a processing time corresponding to the speed set by the setting device. To change the detection information
A mobile robot characterized in that the number of acquisitions is changed . 2. The processing time of the sensor processing means is set longer as the set speed becomes lower than the upper limit of the speed, so that the number of pieces of detection information of the sensor means used for processing is increased. The mobile robot according to claim 1, wherein