JP4034773B2 - Mobile operation system - Google Patents

Description

  The present invention relates to a moving body operating system applied to, for example, a self-propelled electric vacuum cleaner or an electric carriage.

Conventionally, for example, in a self-propelled electric vacuum cleaner, a plurality of receivers are provided on the upper surface of the main body of the cleaner, which is a moving body, and a user has a transmitter that transmits infrared rays. It is known to remotely control the movement of the cleaner body by irradiating infrared rays toward the camera, that is, to perform forward, backward, right turn, left turn control by combining infrared irradiation to each receiving unit (For example, refer to Patent Document 1).
JP-A 63-234925

  However, the one described in this patent document is troublesome because it gives instructions for forward, backward, right turn, left turn, etc. by combining infrared irradiation to a plurality of receivers, and if the combination is incorrect, the main body of the vacuum cleaner There was also a problem of giving an incorrect instruction.

  Therefore, the present invention provides a moving body operating system that is easy to operate and can always give a correct moving instruction to the moving body.

  The present invention comprises a mobile body having traveling means capable of moving forward, backward, and turning, such as a self-propelled electric vacuum cleaner and an electric carriage, and a remote operation terminal for remotely operating the mobile body. Is at least information for measuring distance and information for measuring direction angle, information transmitting means such as electromagnetic wave transmitting means such as infrared rays and ultrasonic transmitting means, and transmission control for controlling transmission of this information transmitting means The mobile unit includes a traveling control unit that controls the traveling unit, a receiving unit that receives information from a remote operation terminal, such as an electromagnetic wave receiving unit such as an infrared ray, an ultrasonic receiving unit, and the receiving unit. Measuring means for measuring the distance to the remote control terminal based on the information and measuring the direction angle with respect to the direction of the remote control terminal when receiving information for distance measurement and direction angle measurement The travel control means is to travel control the travel means so that the distance measured by the measurement means is a predetermined distance set in advance and the direction angle measured by the measurement means is a predetermined angle set in advance. .

  According to the present invention, it is possible to provide a moving body operating system that is easy to operate and that can always give a correct moving instruction to the moving body.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(First embodiment)
FIG. 1 is a diagram showing a configuration of a main part of a moving body 1, and wheels 2 and 3 are provided on the left and right sides of the central portion of the moving body 1. In the moving body 1, the direction indicated by the arrow in the figure is the forward direction, the wheel 2 on the left side in the forward direction is provided with a speed reducer 4 and a left wheel motor 5, and the wheel 3 on the right side has a speed reducer. 6 and a right wheel motor 7 are provided.

  The wheels 2 and 3, the speed reducers 4 and 6, and the wheel motors 5 and 7 constitute a traveling means, and the vehicle 1 is moved forward, backward, and swiveled by controlling the wheel motors 5 and 7 in forward and reverse directions. It is like that. In other words, the left and right wheel motors 5 and 7 can be moved forward by rotating at the same rotational speed, and the vehicle can be moved backward by reversing at the same rotational speed. By reducing the rotational speed of one of the wheel motors, It can be turned, and it can be turned on the spot by rotating in opposite directions. In addition, as a traveling means, you may use a caterpillar etc. other than a wheel, for example.

  A driven wheel 8 is provided on the bottom surface of the front of the moving body 1 so as to be rotatable and changeable in direction. Receiving means 9 is disposed rearwardly above the rear of the moving body 1. In this case, the receiving means 9 may be arranged on the upper surface above the rear part or on the rear surface above the rear part. In this receiving means 9, an ultrasonic receiver 10 as an ultrasonic receiving means is arranged at the center, and infrared photodetectors 11 and 12 as infrared receiving means as electromagnetic wave receiving means are arranged close to both sides thereof. Yes. Examples of infrared photodetectors include photodiodes and phototransistors.

  A polarizing plate 13 whose polarization direction is parallel to the forward direction of the moving body 1 is disposed on the light receiving surface of one infrared photodetector 11 as a polarizing means, and the polarization direction as a polarizing means is disposed on the light receiving surface of the other infrared photodetector 12. A polarizing plate 14 that is inclined by 45 ° with respect to the forward direction of the moving body 1 is disposed.

  FIG. 2 is a diagram showing the configuration of the main part of the remote control terminal 15. The remote control terminal 15 is gun-shaped and has an ultrasonic transmitter 16 and an information transmitter as an ultrasonic transmitter that constitutes an information transmitter at the tip thereof. An infrared light emitting means, for example, an infrared LED (light emitting diode) 17 is disposed as an electromagnetic wave transmitting means that constitutes, and a grip portion 18 is formed at a rear end portion thereof, and a battery 19 serving as a power source is accommodated in the grip portion 18. ing. The remote control terminal 15 may have a rod shape.

  A polarizing plate 20 as a polarizing means is disposed on the light emitting surface of the infrared LED 17. The polarization direction of the polarizing plate 20 is the same as that of the infrared detector 11 of the receiving means 9 above the rear part of the moving body 1 in a state where the front end direction of the remote control terminal 15 and the forward direction of the moving body 1 are matched. It is set to be parallel to the polarization direction of the attached polarizing plate 13.

  An initial setting button 21 that constitutes an initial setting start instruction means for transmitting an initial setting command as information to the infrared LED 17 of the information transmitting means on the upper surface of the central portion of the remote operation terminal 15, and a code and a command as information to the infrared LED 17 are transmitted. A command button 22 or the like is provided. Infrared light from the infrared LED 17 is high-frequency modulated so as not to malfunction due to high-frequency noise such as fluorescent lamps.

  FIG. 3 is a block diagram showing the configuration of the control unit of the moving body 1, and a CPU (central processing unit) 30 is provided as the control unit main body. The CPU 30 controls the operation of a counter 31, a memory 32, a motor driver 33 that drives the left wheel motor 5, and a motor driver 34 that drives the right wheel motor 7.

  The light reception output of the photodetector 11 is amplified by an amplifier 35 and supplied to a detection circuit 37 via a band pass filter 36. The detection circuit 37 detects an envelope of a signal that has been modulated at a high frequency, detects a peak from the detected signal by a peak detection circuit 38, and holds the detected peak value in a peak value holding unit 39.

  The light reception output of the photodetector 12 is amplified by an amplifier 40 and supplied to a detection circuit 42 via a band pass filter 41. The detection circuit 42 detects an envelope of a signal subjected to high frequency modulation, detects a peak from the detected signal by a peak detection circuit 43, and holds the detected peak value in the peak value holding unit 39.

  The peak value held by the peak value holding unit 39 is converted into digital data by the A / D conversion unit 44 and then supplied to the CPU 30. The detection signal from the peak detection circuit 38 is binarized by the binarization circuit 45, and then supplied to the CPU 30 via the OR circuit 46, and the detection signal from the peak detection circuit 43 is binarized. After being binarized at 47, it is supplied to the CPU 30 via the OR circuit 46.

  A received signal from the ultrasonic receiver 10 is amplified by an amplifier 48 and then supplied to a comparator 49. The comparator 49 determines whether or not the received signal is noise, and supplies it to the CPU 30 if it is correct as a signal.

  FIG. 4 is a block diagram showing the configuration of the control unit of the remote control terminal 15, and a CPU (Central Processing Unit) 51 is provided as a control unit main body. The CPU 51 takes in the operation signals of the initial setting button 21 and the command button 22, controls the emission of the infrared LED 17, controls the driver 52, and controls the transmission of the ultrasonic transmitter 16 via the driver 52. I am doing so. That is, the CPU 51 controls the blinking of the infrared LED 17 to transmit a code such as a manufacturer code or a remote control code, and also transmits a command, and controls the transmission of the ultrasonic transmitter 16 in synchronization with the command. In addition, as a command, if it is a vacuum cleaner, there exists a command etc. which control ON / OFF of a suction motor, for example.

  As shown in FIG. 5A, the remote operation terminal 15 first transmits the code C1 by controlling the infrared LED 17 by the CPU 51, and then transmits the command C2. Then, an ultrasonic signal S is transmitted from the ultrasonic transmitter 16 in synchronization with the command C2. The timing for transmitting the code C1, the command C2, and the ultrasonic signal S is not necessarily limited to this.

  As shown in FIG. 5B, when the photodetectors 11 and 12 receive the code C1, the moving body 1 prepares for distance and angle measurement. Subsequently, when the photodetectors 11 and 12 receive the command C2, the CPU 30 controls the counter 31 to start counting the clock signal. When the ultrasonic receiver 10 receives the ultrasonic signal S after the elapse of time t, the counting operation of the counter 31 is stopped. The CPU 30 measures the distance from the remote operation terminal 15 from the count value of the counter 31. In this method, distance measurement is performed using the difference between the speed of light and the speed of sound. Then, the measured distance is preset in the memory 32 as a predetermined distance.

  As for the codes and commands received by the respective photodetectors 11 and 12, the two received signals are binarized by the binarization circuits 45 and 47, the sum of the data is taken, and the CPU 30 reads them. Interpret codes and commands.

  Further, the relationship between the polarization direction of the polarizing plate 20 attached to the infrared LED 17 of the remote control terminal 15 and the polarization direction of the polarizing plates 13 and 14 attached to the respective photodetectors 11 and 12 of the moving body 1 is shown. As shown in FIG. 6, the level of the received light intensity with respect to the relative angle of each of the photodetectors 11 and 12 with the infrared LED 17 changes as shown in FIG.

  A waveform W1 represents the light reception intensity of the photodetector 11, and a waveform W2 represents the light reception intensity of the photodetector 12. Accordingly, the relative angle between the moving body 1 and the remote control terminal 15 can be obtained by obtaining the difference between the peak value of the light reception output of the photodetector 11 and the peak value of the light reception output of the photodetector 12. That is, it is possible to know which direction angle the remote control terminal 15 is viewed from the moving body 1.

  The CPU 30 measures the direction angle with the remote control terminal 15 using this principle. That is, in the initial setting, the peak value of the light reception output of the photodetector 11 and the peak value of the light reception output of the photodetector 12 are measured and stored in the memory 32 in advance. These two peak values indirectly indicate the direction angle with the remote control terminal 15 from the relationship of FIG. For example, if the relationship between the two peak values is the relationship of 0 ° in FIG. 7, the direction angle “0 °” with respect to the remote operation terminal 15 is set in advance from the two peak values.

  When the initial setting is completed, the CPU 30 subsequently controls the traveling of the moving body 1 by operating the remote control terminal 15. At this time, the CPU 30 uses a predetermined distance preset in the memory 32. Thus, the distance from the remote control terminal 15 is controlled so as to always maintain the predetermined distance.

  As for the direction angle with the remote operation terminal 15, the infrared rays from the remote operation terminal 15 are received by the two photodetectors 11 and 12, and the CPU 30 determines the direction angle by the peak value of the two photodetectors 11 and 12. Measurement is performed, and the direction of the moving body 1 is controlled so that the measured direction angle becomes a predetermined angle set in advance. That is, the direction of the moving body 1 is controlled so that the peak values of the received signals of the two photodetectors 11 and 12 coincide with the peak value preset in the memory 32.

  As described above, the remote operation terminal 15 repeats transmission of the code C1, the command C2 and the ultrasonic signal S to the mobile body 1 with a certain interval, so that the CPU 30 of the mobile body 1 always has the remote control terminal 15 and It is possible to control the travel by recognizing the distance and the direction angle.

  In such a configuration, an operator who has the remote operation terminal 15 first performs an initial setting operation. That is, standing behind the moving body 1 and operating the initial setting button 21 with the tip of the remote control terminal 15 facing the receiving means 9 of the moving body 1. At this time, it is desirable that the direction of the moving body 1 and the tip of the remote control terminal 15 be within ± 45 °.

  By operating the initial setting button 21, the code C1 is transmitted from the infrared LED 17 of the remote operation terminal 15, and subsequently the command C2 for initial setting is transmitted. In addition, an ultrasonic signal S is transmitted from the ultrasonic transmitter 16 in synchronization with the command C2.

  When the mobile unit 1 receives the command C2, it performs an initial setting operation. The CPU 30 controls the counter 31 to count the clock signal. When the ultrasonic signal S is received, the counter 31 stops counting, the distance is obtained from the count value at that time, and this distance is stored in advance in the memory 32 as a predetermined distance from the remote operation terminal 15.

  Further, the CPU 30 drives the left and right wheel motors 5 and 7 to rotate reversely to rotate the moving body 1 to the left and right within a range of ± 45 °. Then, the peak value of the light reception output of the photodetector 11 is monitored and stopped in a posture where the value of the output envelope becomes maximum. That is, the peak value at 0 ° in FIG. 7 is obtained. Then, the digital value obtained by converting the peak value of each of the photodetectors 11 and 12 at this time by the A / D conversion unit 44 is stored in the memory 32 in advance as a peak value for determining the direction angle.

  By performing the initial setting in this way, the moving body 1 substantially matches the polarization direction of the polarizing plate 13 attached to the photodetector 11 with the polarizing direction of the polarizing plate 20 of the remote operation terminal 15 with respect to the remote operation terminal 15. So that the attitude is controlled.

  Thereafter, the CPU 30 controls the rotation of the left and right wheel motors 5 and 7 so that the distance from the remote operation terminal 15 is always kept at a predetermined distance stored in the memory 32 with respect to the movement of the remote operation terminal 15. . Further, with respect to the direction, that is, the direction angle, the peak values of the light reception outputs of the photodetectors 11 and 12 are matched with the two peak values stored in the memory 32, that is, the mobile unit 1 and the remote control terminal 15 The wheel motors 5 and 7 are rotationally controlled so that the relative direction angle is always 0 °.

  Therefore, after the initial setting is completed, if the operator walks forward with the remote control terminal 15 and the front end of the remote control terminal 15 facing the receiving means 9, the mobile unit 1 correspondingly moves the remote control terminal 15. And move forward with the distance kept at a predetermined distance. Moreover, if it backs up, the mobile body 1 will move back in the state which maintained the distance with the remote control terminal 15 at the predetermined distance. Further, if the remote control terminal 15 is shaken back and forth in a stationary state, the moving body 1 moves back and forth accordingly. Further, when the wrist of the hand holding the remote control terminal 15 is twisted while walking, the moving body 1 turns while moving forward according to the angle twisted in the twisted direction.

  In this way, the moving body 1 moves back and forth and right and left as if the moving body 1 and the remote control terminal 15 are connected with an operation rod. In reality, however, there is no such thing as an operating rod, and since all control is performed wirelessly, a large load is not applied to the operator, so the burden is extremely small.

  Further, the remote control terminal 15 is grasped with a hand, the tip is directed to the receiving means 9 of the mobile object 1, and the mobile object 1 is moved by operations such as walking in this state, shaking hands back and forth, and turning the wrist left and right. The operation can be controlled very easily because it can be controlled to move forward, backward, left and right. Moreover, the photodetectors 11 and 12 and the ultrasonic receiver 10 provided in the receiving means 9 of the moving body 1 are not so strong even if they have directivity, and infrared rays and ultrasonic waves from the remote control terminal 15 are made into a beam shape. There is no need to squeeze, and therefore the moving body 1 can be sufficiently moved even if the receiving means 9 of the moving body 1 is roughly irradiated with infrared rays or ultrasonic waves from the remote control terminal 15. Can be improved.

  In this embodiment, an infrared LED, that is, an infrared light emitting means is disposed as an electromagnetic wave transmitting means in the information transmitting means of the remote control terminal 15, and an infrared photodetector, that is, an infrared ray, is disposed as the electromagnetic wave receiving means in the receiving means of the moving body 1. Although what described the thing which has arrange | positioned the light-receiving means was described, it does not necessarily limit to this, A radio wave transmitter is arrange | positioned as an electromagnetic wave transmission means to the information transmission means of the remote control terminal 15, and an electromagnetic wave reception means is set to the reception means of the mobile body 1. A radio wave receiver may be arranged. However, in this case, not a polarizing plate but a deflecting unit that deflects radio waves is used as the deflecting unit. Moreover, you may use visible light instead of infrared rays.

(Second Embodiment)
This embodiment describes a modification of the remote control terminal.
FIG. 8 shows a main configuration of the remote operation terminal 151. The remote operation terminal 151 is provided with a lever 23 that can be operated with a finger, and the electrical value, for example, the resistance value changes depending on the operation of the lever 23. The lever 24 and the potentiometer 24 constitute an operating means for changing the electrical value. In addition to the potentiometer, there is an absolute encoder or the like for detecting the operation of the lever 23.

  As shown in FIG. 9, the control unit of the remote operation terminal 151 converts the resistance value of the potentiometer 24 into a digital value by the A / D conversion unit 53 and supplies it to the CPU 51. The CPU 51 acquires the acquired digital value as position information of the lever 23, and adds the position information when driving the infrared LED 17 and transmitting a command after the initial setting is completed by operating the initial setting button 21. To send. The other configuration of the control unit of the remote operation terminal 151 is the same as that of the first embodiment described above. Further, the configuration of the control unit of the moving body 1 is the configuration of FIG. 3 as in the first embodiment described above.

  When receiving an infrared command from the remote operation terminal 151, the CPU 30 reads the position information of the lever 23 added to the command. Then, the predetermined distance value in the memory 32 that is initially set is changed according to the read position information. For example, the predetermined distance initially set in the memory 32 is set as the closest distance between the mobile body 1 and the remote operation terminal 151, and the predetermined distance is varied in a range equal to or greater than this distance according to position information from the remote operation terminal 151. Like that.

  In such a configuration, the remote operation terminal 151 is gripped by hand and the tip is directed to the information transmission means 9 of the moving body 1, and in this state, walking, shaking hands back and forth, turning the wrist left and right, etc. In addition to being able to freely move and control the moving body 1 back and forth and left and right by operation, the operator can move the moving body 1 back and forth by operating the lever 23 in a stationary state.

That is, by operating the lever 23, the predetermined distance value set for the moving body 1 is changed, so that the moving body 1 has the first position as the closest position, and the front and rear in the front range. To move on.
As a result, the operator can freely move and control the moving body 1 back and forth and right and left only by operating the finger without walking, and the operability can be improved and the burden on the operator can be reduced.
Of course, in this embodiment, the same effects as those of the first embodiment can be obtained in this embodiment.

  In this embodiment, a lever operated with a finger is used to change the resistance value of the potentiometer 24. However, the present invention is not limited to this, and a wheel-shaped one may be used. In addition, the physical quantity is measured by using a touchpad that detects the position by tracing the position information with a finger instead of changing the resistance value, or using a torque sensor attached to the rotating shaft of the semi-fixed lever. A change in the position information may be transmitted to the moving body using a device that converts to a predetermined distance value that is initially set in the moving body. Further, the relative position information may be transmitted using an incremental encoder or the like without absolutely detecting the resistance value or the distance.

(Third embodiment)
In this embodiment, a modified example of the moving body will be described.
In this embodiment, as shown by a dotted line in FIG. 1, one more photo detector 25 is arranged on the receiving means 9 of the moving body 1, and no polarizing plate is arranged on the photo detector 25, and the configuration shown in FIG. Infrared rays from the remote control terminal 15 are directly received.

  Then, as shown in FIG. 10, the control unit of the moving body 1 amplifies the detection output of the detection circuit 37 by the amplifier 61 and then supplies it to the peak detection circuit 38. The detection output of the detection circuit 42 is amplified by the amplifier 62 and then supplied to the peak detection circuit 43.

  The light reception output of the photodetector 25 is amplified by an amplifier 63 and supplied to a detection circuit 65 via a band pass filter 64. The detection circuit 65 detects an envelope of a signal subjected to high frequency modulation, and supplies the detected signal to an auto gain control circuit 66 as automatic amplification value control means.

  The auto gain control circuit 66 determines a gain and an offset for binarization. Then, the gains and offsets of the amplifiers 61 and 62 are controlled so that the peak of the value of the polarized photodetector 25 is close to the full range of the A / D conversion with the value based on the determined gain and offset. Yes.

  The output from the auto gain control circuit 66 is supplied to a peak detection circuit 67 for peak detection, and further binarized by a binarization circuit 68 before being supplied to the CPU 30. The peak values detected by the peak detection circuits 38, 43, and 67 are held in the peak value holding unit 391, and then converted into digital values by the A / D conversion unit 44 and supplied to the CPU 30.

  In such a configuration, even if the intensity of light changes greatly, such as in a room where direct sunlight enters, the external disturbance due to the detection is detected by the photodetector 25, and the auto gain control circuit 66 controls the gain and offset of the amplifiers 61 and 62. , Photometry is not affected by disturbance. Accordingly, the moving body 1 can be accurately controlled by operating the remote control terminal 15 even in an environment where the light intensity changes greatly.

  Of course, in this embodiment, the same effects as those of the first embodiment can be obtained in this embodiment.

(Fourth embodiment)
This embodiment describes a modification of the remote control terminal.
FIG. 11 shows a configuration of a main part of the remote operation terminal 152. The remote operation terminal 152 is provided with a hand switch 26 on the grip 18 so that the hand switch 26 is turned on by gripping the grip 18. It has become. Here, a mechanical button switch is used as the hand switch 26, but a switch having another configuration may be used. For example, two metal plates are arranged side by side on the surface, and a gripping portion 18 is gripped so that a palm touches the two metal plates and a weak current flows, and this is detected and turned on. May be.

  As shown in FIG. 12, the control unit of the remote operation terminal 152 supplies an on signal of the hand switch 26 to the CPU 51. A timer 54 is provided and is controlled by the CPU 51. Other configurations of the control unit of the remote operation terminal 152 are the same as those in the first embodiment described above. In this case, the configuration of the control unit of the moving body 1 may be the configuration of FIG. 3 or the configuration of FIG.

  As shown in FIG. 13, the CPU 51 of the remote operation terminal 152 checks whether or not the hand switch 26 is on at S1, and if it is on, clears the timer 54 at S2 and at S3. The driving of the ultrasonic transmitter 16 and the infrared LED 17 is permitted. As a result, the remote control terminal 152 starts transmitting ultrasonic waves and emitting infrared rays.

  If it is determined in S1 that the hand switch 26 is turned off, the driving of the ultrasonic transmitter 16 and the infrared LED 17 is stopped in S4. Thereby, the remote operation terminal 152 stops the transmission of ultrasonic waves and the emission of infrared rays. Subsequently, in S5, the timer 54 is started to count time.

  In S6, it is checked whether the count time of the timer 54 has reached the set time. If not, the routine is returned to the on check of the hand switch 26 in S1. If it is determined that the set time has been reached, the CPU 51 is set in the sleep mode in S7 and the process is terminated.

  In such a configuration, in order to operate the remote operation terminal 152, the grip 18 is grasped with a hand, and then the hand switch 26 is turned on by pressing the hand switch 26, and the ultrasonic transmitter 16 and the infrared LED 17 are turned on. Driving is started. Thereby, the moving operation of the moving body 1 by the remote operation device 15 becomes possible.

  Further, when the remote operation terminal 152 is released from the hand, the hand switch 26 is turned off, so that the remote operation terminal 152 stops transmitting ultrasonic waves and emitting infrared light. At the same time, the timer 54 starts counting time. When the timer 54 counts the set time, the CPU 51 enters a sleep mode.

  As described above, when the remote operation terminal 152 is not operated, the transmission of ultrasonic waves and the emission of infrared light are stopped, and further, when the time continues, the CPU 51 enters the sleep mode. Suppressed as much as possible. Therefore, the life of the battery 19 as a power source can be extended.

(Fifth embodiment)
This embodiment describes a modification of the remote control terminal.
FIG. 14 is a block diagram showing a control unit of a remote operation terminal. This remote operation terminal uses an acceleration sensor 27 which is a motion detection means instead of the hand switch 26 in the fourth embodiment. That is, since the remote operation terminal moves by holding the remote operation terminal in the hand, the movement is detected by the acceleration sensor 27. The acceleration sensor 27 is incorporated in the remote operation terminal, but may be located anywhere.

  The detection output of the acceleration sensor 27 is amplified by a signal detection circuit 55, converted into a digital signal, and supplied to the CPU 51. When the CPU 51 captures a detection signal from the signal detection circuit 55, the CPU 51 drives the ultrasonic transmitter 16 and the infrared LED 17 to start transmitting ultrasonic waves and emitting infrared rays.

  Further, when the CPU 51 determines that the detection signal from the acceleration sensor 27 is lost, the CPU 51 stops driving the ultrasonic transmitter 16 and the infrared LED 17 and stops transmitting ultrasonic waves and emitting infrared light. Further, the timer 54 is counted. When the count time of the timer 54 reaches the set time, the CPU 51 is set to the sleep mode. In this case, the configuration of the control unit of the moving body 1 may be the configuration of FIG. 3 or the configuration of FIG.

  Therefore, also in this embodiment, as in the fourth embodiment described above, the ultrasonic transmitter 16 and the infrared LED 17 operate only when held in the hand to operate the remote control terminal. Then, by releasing the remote control terminal from the hand, transmission of ultrasonic waves and emission of infrared light are stopped. Further, when the set time has elapsed, the CPU 51 enters a sleep mode. Therefore, also in this embodiment, the power consumption in the remote operation terminal can be suppressed as much as possible, and the life of the battery 19 can be extended.

(Sixth embodiment)
This embodiment describes a modification of the remote control terminal.
FIG. 15 shows a main configuration of the remote operation terminal 153, and the remote operation terminal 153 uses a rotatable polarizing plate 28 instead of the polarizing plate 20. The polarizing plate 28 rotates so that the forward direction of the moving body 1 and the tip direction of the remote control terminal 153 coincide with each other. At this time, the polarizing direction of the polarizing plate 13 of the moving body 1 coincides with the polarization direction ± 45 ° In this range, the polarization angle can be arbitrarily changed. Other configurations of the control unit of the remote operation terminal 152 are the same as those in the first embodiment described above. In this case, the configuration of the control unit of the moving body 1 may be the configuration of FIG. 3 or the configuration of FIG.

  By using the remote operation terminal 153 having such a configuration, the polarization directions of the polarizing plate 13 and the polarizing plate 28 of the moving body 1 when the forward direction of the moving body 1 and the tip direction of the remote operation terminal 153 coincide with each other. In order to make them coincide with each other, it is not necessary to make adjustments such as twisting the wrist, and it is sufficient to rotate and adjust the polarizing plate 28. Therefore, the remote operation terminal 153 can always be operated in a natural manner. Therefore, the degree of freedom of the wrist can be increased.

The figure which shows the principal part structure of the moving body which concerns on 1st Embodiment of this invention. The figure which shows the principal part structure of the remote control terminal which concerns on the same embodiment. The block diagram which shows the structure of the control part of the moving body which concerns on the same embodiment. The block diagram which shows the structure of the control part of the remote control terminal which concerns on the same embodiment. The timing diagram which shows the relationship between the infrared LED signal and ultrasonic signal which the remote control terminal in the embodiment transmits, and the infrared LED signal and ultrasonic signal which a mobile body receives. The figure which shows the relationship between the polarizing direction of the polarizing plate by the side of the remote control terminal in the same embodiment, and the polarizing plate by the side of a mobile body. The wave form diagram which shows the received light intensity change with respect to the relative angle of the photodetector of the mobile body in the same embodiment, and infrared rays LED of a remote control terminal. The figure which shows the principal part structure of the remote control terminal which concerns on 2nd Embodiment of this invention. The block diagram which shows the structure of the control part of the remote control terminal in the embodiment. The figure which shows the principal part structure of the moving body which concerns on 3rd Embodiment of this invention. The figure which shows the principal part structure of the remote control terminal which concerns on 4th Embodiment of this invention. The block diagram which shows the structure of the control part of the remote control terminal in the embodiment. The flowchart which shows the principal part control by CPU of the remote control terminal in the embodiment. The block diagram which shows the structure of the control part of the remote control terminal which concerns on 5th Embodiment of this invention. The figure which shows the principal part structure of the remote control terminal which concerns on the 6th Embodiment of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Mobile body, 2, 3 ... Wheel, 5, 7 ... Wheel motor, 9 ... Receiving means, 10 ... Ultrasonic receiver, 11, 12 ... Photo detector, 13, 14 ... Polarizing plate, 15 ... Remote operation terminal, DESCRIPTION OF SYMBOLS 16 ... Ultrasonic transmitter, 17 ... Infrared LED, 30 ... CPU, 31 ... Counter, 32 ... Memory, 38, 43 ... Peak detection circuit.

Claims (10)

It consists of a moving body having traveling means that can move forward, backward, and turn, and a remote operation terminal that remotely operates the moving body.
The remote control terminal includes at least information for measuring distance and information transmitting means for transmitting information for measuring a direction angle, transmission control means for controlling transmission of the information transmitting means, and initial setting for the information transmitting means An initial setting start instruction means for transmitting a command ;
When the mobile body receives travel information, the travel control means for controlling the travel means, the reception means for receiving information from the remote control terminal, and the reception means for measuring the distance and the direction angle, Information for measuring a distance from the remote control terminal based on information and measuring a direction angle with respect to the direction of the remote control terminal, and for receiving the initial setting command and distance from the remote control terminal by the receiving means The measuring means measures the distance to the remote control terminal, and provides a means for presetting the measured distance as a predetermined distance in the storage unit ,
The travel control unit is configured to perform the travel so that the distance measured by the measurement unit is a predetermined distance preset in the storage unit , and the direction angle measured by the measurement unit is a predetermined predetermined angle. A moving body operating system characterized in that the means is travel controlled. The remote operation terminal is provided with an operation means for changing an electric value by an operation, and the information transmission means transmits the change information of the electric value due to the operation of the operation means by adding to the transmission information.
Mobile, when the receiving means receives the change information of the electrical values from the remote control terminal, the mobile operating system of claim 1, wherein varying the predetermined distance set in advance based on the information . The information transmission means of the remote control terminal includes an electromagnetic wave transmission means and an ultrasonic wave transmission means, and transmits an electromagnetic wave from the electromagnetic wave transmission means via the deflection means and transmits an ultrasonic wave from the ultrasonic wave transmission means,
The receiving means of the mobile body includes an electromagnetic wave receiving means and an ultrasonic wave receiving means, and receives the electromagnetic waves from the remote operation terminal by the electromagnetic wave reception means via the deflection means and also receives the ultrasonic waves from the remote operation terminal. Received by ultrasonic receiving means,
The moving body operating system according to claim 1 or 2, wherein the measuring means of the moving body measures a distance from a time difference between the received electromagnetic wave and the ultrasonic wave and measures a direction angle from the received electromagnetic wave. The information transmitting means of the remote control terminal uses infrared light emitting means as electromagnetic wave transmitting means, and transmits infrared light from the infrared light emitting means through the polarizing means,
4. The moving body according to claim 3 , wherein the receiving means of the moving body is provided with an infrared light receiving means as an electromagnetic wave receiving means, and the infrared light receiving means receives the infrared light from the remote operation terminal via the polarizing means. Operation system. The infrared light emitting means of the remote control terminal emits infrared light polarized in a predetermined direction by the polarizing means,
The receiving means of the moving body has a pair of infrared light receiving means arranged close to each other, and each infrared light receiving means is polarized light whose infrared light from the infrared light emitting means of the remote control terminal is different from each other by 45 ° to 90 °. Receive light through each means,
5. The moving body operating system according to claim 4 , wherein said moving body measuring means measures a direction angle from an intensity level of infrared light received by each of said infrared light receiving means. The receiving means of the mobile body further arranges another infrared light receiving means in close proximity, and this infrared light receiving means receives the infrared light from the infrared light emitting means of the remote control terminal as it is without passing through the polarizing means. To the automatic amplification value control means,
The outputs of the pair of infrared light receiving means that receive light through the polarizing means are amplified and extracted by the amplifying means, and the amplification values of the respective amplifying means are variably controlled based on the control values of the automatic amplification value control means. The moving body operating system according to claim 5 . The polarization direction of the polarizing means attached to the infrared light emitting means and the receiving means of the moving object in a state where the direction of the infrared light emitted from the infrared light emitting means of the remote control terminal coincides with the direction of the moving body forward 7. The moving body operating system according to claim 5 , wherein one polarization direction of polarizing means attached to the pair of infrared light receiving means is set to be parallel to each other. 7. The moving body operating system according to claim 5 , wherein the polarizing means attached to the infrared light emitting means of the remote operation terminal is provided so that the angle of polarization can be varied.   The mobile operation system according to claim 1, wherein the remote operation terminal is provided with grip detection means in the grip portion, and turns on the information transmission means and the transmission control means only when the grip detection means detects the grip state. .   The mobile operation system according to claim 1, wherein the remote operation terminal is provided with a motion detection means, and the information transmission means and the transmission control means are turned on only when the motion detection means detects the motion state of the terminal.

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