JP4159711B2 - Self-supporting moving body and moving plan inspection device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a self-supporting moving body and a movement plan inspection apparatus. In particular, the present invention relates to a self-supporting movable body and a movement plan inspection apparatus that prevent a connected cord or the like from being wound or twisted with movement.
[0002]
[Prior art]
In a mobile body such as a transport vehicle or a robot used in industry, there is a type that uses power supplied through a cord connected from an external power source as a power source. Moreover, in the same apparatus, there is a type in which an energy substance such as fuel is supplied through a connected pipe. There are also types that exchange information with the outside via code.
[0003]
The exchange of information here is, for example, input / output of various information including voice information and image information to the moving body. Also, for example, control information for controlling a motor and various devices provided in the moving body, and exchange of sensing information detected by various sensors such as a position sensor, a contact sensor, and an optical sensor provided in the moving body. .
[0004]
Since such cords and tubes used for these moving bodies are usually made of a flexible and deformable material, the degree of freedom of movement of the device is increased. For example, a coated copper wire or the like is used as a means for transmitting electric power, a coated copper wire or an optical fiber is used as a means for transmitting information, and a tube made of rubber or the like is used as a means for supplying a substance. Used.
[0005]
[Problems to be solved by the invention]
8, FIG. 9, and FIG. 10 are diagrams showing examples of problems in such a moving body. In these drawings, reference numeral 10 is a self-supporting mobile robot (self-supporting mobile body), and 34 is a power cord for supplying power to the self-supporting mobile robot 10. The power cord 34 is suspended from a power outlet 50 provided on the ceiling and connected to the self-supporting mobile robot 10, and can be deformed as the self-supporting mobile robot 10 moves.
[0006]
FIG. 8 shows a state in which the power cord 34 has been wound due to repeated rotation in the same direction when the self-supporting mobile robot 10 moves. In such a state, not only the effective length of the power cord 34 is shortened and the movement range is restricted, but also the movement and work of the autonomous mobile robot 10 may be hindered.
[0007]
Further, FIG. 9 shows that the power cord 34 is curled due to the accumulation of torsion as the autonomous mobile robot 10 repeatedly moves in the same direction so as to draw an arc around the power outlet 50 in a plan view, for example. Indicates the state of being closed. In such a state, the effective length of the power cord is shortened and the movement range is limited, and the power cord 34 may be worn out or damaged by applying an excessive twisting force.
[0008]
FIG. 10 shows a state in which the power cord 34 is wound around the pillar 80 due to the autonomous mobile robot 10 repeatedly moving in the same direction so as to draw an arc around the pillar 80 in plan view. Show. Even in such a state, the effective length of the power cord 34 is shortened and the movement range of the self-supporting mobile robot 10 is limited.
[0009]
Problems such as these are likely to occur when the autonomous mobile robot 10 is repeatedly subjected to the same work. For example, it is an operation that repeats the transportation of luggage between two points, an operation that repeatedly patrols a certain route or area for security, etc., but such a relatively simple repetitive operation is the main application of the robot. One of them is desired to solve the above problems.
[0010]
The present invention has been made in consideration of the above circumstances, and a self-supporting mobile object that inspects a movement plan in advance or creates a movement plan so that the number of rotations of the mobile object falls within a predetermined range, and It aims at providing a movement plan inspection device. It is another object of the present invention to provide a self-contained moving body and a movement plan inspection apparatus that create a movement plan so that the cord of the moving body and the twisting amount of the tube are within a predetermined range.
[0011]
[Means for Solving the Problems]
In order to solve the above-described problems, the invention described in claim 1 is directed to a self-supporting moving body that is connected to an external device or an energy supply source via a flexible and linearly formed cord, and moves independently. A rotational speed detection means for detecting the rotational speed of the device or the energy supply source in view, and a movement plan creation means for planning a movement path so that the total number of the rotational speeds in all movement strokes is zero. The feature is a self-supporting mobile object.
[0012]
With such a configuration of the present invention, the rotation angle of the self-supporting mobile body with respect to the position of the energy source in plan view does not change between the start and end of the travel stroke. Here, the cord formed in a linear shape is, for example, a power cord, a cable for transmitting information, or a pipe for supplying fuel. Further, since the cord is made of an appropriate material and structure, the cord is flexibly deformed to a certain degree in accordance with the movement of the self-supporting movable body.
Therefore, the self-supporting mobile body can move while receiving energy supply and exchanging information with an external device via the above code, and this code is entangled at the end of the movement process. It will not be in a state of being wrapped around a self-supporting mobile object.
[0013]
The invention according to claim 2 is a self-supporting moving body that is connected to an external device or an energy supply source via a flexible and linearly formed cord, and moves independently. A gist of a self-supporting moving body comprising: a rotation speed detection means for detecting a rotation speed with respect to a source; and a movement plan creation means for planning a movement path so that the rotation speed is within a predetermined range. .
[0014]
With such a configuration of the present invention, the rotation angle of the self-supporting mobile body that is always based on the position of the energy source in a plan view is always within a predetermined range even during the movement stroke. Thus, the self-supporting mobile body can move while receiving energy supply and exchanging information with an external device through the above-mentioned code, and from the start to the end of the travel process, The cord does not get tangled or wrapped around a self-supporting mobile object.
[0015]
When the predetermined range of the rotational speed is, for example, a range of −0.5 to 0.5, the amount of the self-supporting mobile body that can be directed in any direction and the amount of power cord or the like wound around the self-supporting mobile body Is also limited. However, the predetermined range of the rotational speed is not limited to the example described here.
[0016]
According to a third aspect of the present invention, there is provided a self-supporting mobile body that is connected to an external device or an energy supply source via a flexible and linearly formed cord, and that is configured to supply the device or energy supply in a plan view. Rotation speed detection means for detecting the rotation speed with respect to the source, and movement plan creation means for planning a movement path so that the total amount of twisting of the cord due to rotation detected by the rotation speed detection means becomes zero. The gist of the present invention is a self-supporting movable body.
[0017]
With this configuration of the present invention, the amount of twisting of the power cord, communication cable, energy material supply pipe, and other cords does not change at the start and end of the travel stroke. Therefore, the self-supporting mobile body can move while receiving energy supply via the cord and exchanging information with an external device. In addition, if the cord is not twisted at the start of the moving stroke, it is not twisted at the end of the movement stroke, so that it does not become exhausted or shorten its effective length.
[0018]
According to a fourth aspect of the present invention, there is provided a self-supporting mobile body that is connected to an external device or an energy supply source via a flexible and linearly formed cord, and that is configured to supply the device or energy supply in plan view. Rotation speed detection means for detecting the rotation speed with respect to the source, and movement plan creation means for planning the movement path so that the twist amount of the cord due to the rotation detected by the rotation speed detection means falls within a predetermined range. The gist of the present invention is a self-supporting movable body.
[0019]
With this configuration of the present invention, the amount of twisting of the cords such as the power cord, the communication cable, and the energy substance supply pipe is always within a predetermined range even during the movement process. Therefore, the self-supporting mobile body can move while receiving energy supply via the cord and exchanging information with an external device. In addition, if the cord is not twisted at the start of the moving stroke, it is not twisted at the end of the movement stroke, so that it does not become exhausted or shorten its effective length.
[0020]
The invention according to claim 5 is an input unit for inputting a moving plan of a moving body from the outside, and the rotation of the moving body in plan view with respect to an external reference point based on the moving plan input at the input unit. The gist of the present invention is a movement plan inspection apparatus comprising a determination unit that inspects a number and determines whether or not the rotation speed falls within a predetermined range during movement according to the movement plan.
[0021]
With such a configuration of the present invention, the inputted movement plan can be inspected in advance. As a result of this inspection, if it is determined that the rotation speed is outside the predetermined range during movement, a warning signal is issued, etc., to stop movement based on the plan, or to prompt for input of another movement plan It is possible. Therefore, it is possible to prevent malfunctions in the function of the moving body and reduction in effective length due to the power cord being entangled or wound around the moving body.
[0022]
According to a sixth aspect of the present invention, the determination unit generates an alternative plan in which the rotational speed falls within the predetermined range when it is determined that the rotational speed does not fall within the predetermined range. It is to be.
[0023]
With such a configuration of the present invention, it is possible to move the moving body by a method different from the inputted movement plan or by a similar method. In addition, this makes it possible to prevent a malfunction in the function of the moving body and a decrease in the effective length due to the power cord being tangled or wound around the moving body.
[0024]
The self-supporting mobile body according to the invention described in claim 7 includes a second rotation speed detection means for detecting a second rotation speed with respect to an arbitrary external point in plan view, and the movement plan creation means includes: The moving route is planned so that the second rotational speed is within a predetermined range.
[0025]
With such a configuration of the present invention, it is possible to create a movement plan in which a cord is not wound around an installation or an obstacle existing at an arbitrary point outside.
[0026]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a self-supporting mobile robot (self-supporting mobile body) according to the embodiment. In FIG. 1, the self-supporting mobile robot 10 includes a power distribution device 33. The power distribution device 33 serves to supply power received from the external power supply 40 (device or energy supply source) to each part in the autonomous mobile robot 10 via a power cord. The external power supply 40 is fixedly installed in the operating environment of the self-supporting mobile robot 10.
[0027]
In the self-supporting mobile robot 10, the rotation speed calculator 12 (the rotation speed detection means) is located at the current position from the start point with respect to the external power supply 40 based on the rotation amount detected by the rotation detector 11 (the rotation speed detection means). The cumulative number of rotations up to is calculated, and the information is passed to the route plan unit 21 (movement plan creation means). Further, the position detection device 13 detects its own position coordinates and passes the information to the route planning unit 21.
[0028]
The route plan unit 21 receives information on its own position and rotation amount as described above, and according to the coordinates of the destination destination set in the destination input unit 22, the route plan and the direction change direction. Create a behavior plan, such as the direction of the turn. The route planning unit 21 drives the wheels by controlling the steer motor 31 and the forward / reverse motor 32 according to the created movement plan, and moves toward a desired destination.
[0029]
In the present embodiment, specifically, an optical fiber gyro locator is used as the rotation detector 11. The optical fiber gyroscope measures the angular velocity of movement, and the rotation speed calculator 12 integrates this value with time, thereby calculating the rotation amount of the autonomous mobile robot 10.
[0030]
Further, the position detection device 13 calculates the trajectory by the dead reckoning method based on the angular velocity measured by the rotation detector 11 and the forward / backward travel obtained by the wheel rotation detector 14, so that the current position of the autonomous mobile robot 10 is calculated. Is detected. Further, the position detection device 13 is provided with means for receiving signals from a GPS (Global Positioning System) satellite 51 and a beacon 52, whereby the position calculation by the locus calculation can be corrected.
[0031]
The self-supporting mobile robot 10 is provided with a distance sensor for measuring the distance to obstacles and the like existing in the surroundings, and determines a route while avoiding an obstacle in the middle of the destination point from the start point. In addition to creating a plan at the start point, the user moves toward the destination point while updating the plan based on the latest situation during the movement.
[0032]
Here, the movement plan created by the route planning unit 21 will be described with a specific example. When the coordinate information of the start point and the destination point is given, the route planning unit 21 performs a simulation of movement in advance, and the amount of rotation during movement always falls within a predetermined range, and the total amount of rotation during movement is calculated. Plan to be zero.
[0033]
FIG. 2 is a plan view showing a movement path of the self-supporting mobile robot 10. In FIG. 2, it is assumed that the self-supporting mobile robot 10 takes a movement path from the start point A to B in the order of B, C, D, and finally returning to A.
[0034]
A control procedure when the autonomous mobile robot 10 moves along the route A-B-C-D-A will be described with reference to a flowchart. 3, 4 and 5 are flowcharts showing such a control procedure.
[0035]
The autonomous mobile robot 10 departs from the point A in step 301 shown in FIG. If the current position is detected in step 302 and it is determined in step 303 that the current position has not yet been reached, the procedure of the moving direction determination routine is executed in step 304 to continue moving toward point B. To do. The processing of steps 304, 302, and 303 is repeated until the point B is reached.
[0036]
Here, the autonomous mobile robot 10 determines whether or not the current position detected by the dead reckoning method has reached the point B depending on whether or not the current position has reached a predetermined distance range with respect to the position of the B point. Alternatively, it is determined whether or not the vehicle has arrived at the point B using the coordinate data of the point B stored in advance and the current position coordinate data obtained by the position detection device 13. In addition, you may determine whether it arrived by calculating | requiring the present position using a beacon or GPS and having reached the predetermined distance range with respect to the position of B point.
[0037]
Similarly, the process moves toward the point C by repeating steps 305, 306, and 307. Similarly, the robot moves toward point D by repeating steps 308, 309, and 310. Similarly, the robot moves toward point A by repeating steps 311, 312, and 313. When the arrival at point A is recognized in step 312, this series of procedures is terminated.
[0038]
FIG. 4 shows a detailed procedure of the moving direction determination routine shown in FIG. In step 401 in FIG. 4, a direction in which the difference between the two is reduced is obtained based on the information on the destination coordinates and the current position coordinates. In order to proceed in such a direction, a rotation direction determination routine is executed in step 402, the direction is changed in the rotation direction determined in step 403, and the movement is performed in step 404.
[0039]
FIG. 5 shows a detailed procedure of the rotation direction determination routine shown in FIG. The autonomous mobile robot 10 presets and stores a limit amount of rotation in the “+” direction. In step 501, the “+” direction limit amount is compared with the cumulative rotation amount calculated so far by the rotation speed calculator 12. If the cumulative rotation amount up to the present has not reached the “+” direction limit amount, it is determined in step 502 that the rotation amount is in the “+” direction. When the current rotation amount reaches the “+” direction limit amount, the rotation is performed in the “−” direction in Step 503.
[0040]
Here, the rotation in the “−” direction refers to rotation in a direction that reduces the accumulated number of rotations. By performing such a rotation operation, the autonomous mobile robot 10 can be directed in a desired direction while relaxing the accumulation of rotation in the “+” direction.
[0041]
When the movement of the autonomous mobile robot 10 is limited to a reciprocation of a certain section, the direction is changed by a right rotation when reaching one end of the section, and the direction is changed by a left rotation when reaching the other end of the section. A moving plan can be created. In addition, when the travel plan includes a reciprocating motion of a certain section, the route planning unit 21 can create a plan by applying the travel plan patterned as described above to the reciprocating motion portion. It becomes possible to simplify.
[0042]
Similarly, in the case where the reciprocation is limited to a certain range, the movement plan of the forward path is stored, and the movement and the rotation direction that are opposite to the movement of the forward path are taken for the movement of the backward path. Can be. By such a method, it is possible to simplify the plan creation by the route planning unit 21.
[0043]
Next, prevention of harmful effects caused by twisting of the cord will be described. FIG. 6 is a front view and a plan view showing the power cord and the movement route of the self-supporting mobile robot 10. FIG. 6A is a front view. In this figure, reference numeral 10 denotes a self-supporting mobile robot that moves on the floor surface 100F while being supplied with power by a power cord 34 extending from the ceiling 100C. FIGS. 6B and 6C are plan views showing the movement path of the autonomous mobile robot 10.
[0044]
Here, it is assumed that the self-supporting mobile robot 10 repeats the tour of the points ABABABA .... As shown in FIG. 6B, when the movement that rotates in the left direction is repeated every time the direction is changed, the power cord 34 is gradually twisted in the same direction. However, as shown in FIG. 6C, when the point A rotates to the left and the point B rotates to the right, the total amount of torsion of the power cord 34 for each circuit becomes zero. No excessive twisting force in the same direction will occur.
[0045]
In this way, by creating a movement plan in which the total amount of torsion in a predetermined movement section is zero or a movement plan in which the amount of torsion during movement is always within the predetermined range, the power cord 34 is damaged. It is possible to prevent excessive twisting that is given. This also delays exhaustion of the power cord 34 and extends its life.
[0046]
Next, prevention of winding of a cord around a pillar or other installed object will be described. FIG. 7 is a plan view showing the movement path of the self-supporting mobile robot. The self-supporting mobile robot 10 is connected to the power supply outlet 50 by the power cord 34 and performs work while moving in the vicinity of the pillar 80 shown in this figure. The self-supporting mobile robot 10 creates a movement plan that does not move around the pillar 80 in the same direction by a predetermined amount or more.
[0047]
The obstacle rotation speed detection section (second rotation speed detection means) provided in the path planning section 21 calculates the rotation amount around the column 80 by the following method.
Based on the coordinates (x0, y0) of the center of the pillar stored in advance and the current position coordinates (x, y) of the self detected by the position detection device 13, the rotation angle θ with respect to the pillar of the autonomous mobile robot 10 is calculated. ,
θ = arctan ((y−y0) / (x−x0)) (when x ≠ x0)
θ = π / 2 (when x = x0 and y> y0)
θ = −π / 2 (when x = x0 and y <y0)
The amount of rotation around the column 80 is calculated based on the change over time of the rotation angle θ. Here, “arctan ()” represents a tangent inverse function.
[0048]
As a result, when the target movement exceeds the allowable rotation amount, the route planning unit 21 creates a movement plan that reduces the cumulative rotation amount by rotating in the reverse direction. In this way, it is possible to prevent the cord from being wound around the pillar or other installation object.
[0049]
In the above-described embodiment, the angular velocity of the self-supporting mobile robot 10 is measured by the optical fiber gyroscope. However, other rotation detection means such as a vibration gyroscope or a gas rate sensor may be used instead.
[0050]
In the above embodiment, the position is detected by a signal from a GPS satellite or a beacon. However, the position detection may be replaced or supplemented by other means such as a GPS ground fixed station or marking realized by an optical pattern. You may do it.
[0051]
In the above embodiment, the power is transmitted to the self-supporting mobile robot 10 by the power cord. However, the information from the information source is transmitted by the electric signal through the communication cable, or the fuel material from the fuel source is transmitted by the flexible tube. For example, the present invention may be applied to other devices that are formed in a linear shape and connected to transmit energy, substances, information, and the like, so as to prevent winding and twisting.
[0052]
In the above embodiment, the wheel driven by the steer motor 31 and the forward / reverse motor 32 is used as the moving means. However, the present invention is not limited to this, and for example, Japanese Patent Laid-Open No. 7-205070 by the same applicant as the present invention. Other moving means such as a robot that walks with legs as described in the issue may be used. Thus, when moving by walking, the amount of forward / reverse movement is calculated based on the stride and the number of steps.
[0053]
In addition, a value input by the user may be used for the allowable rotation amount (rotation speed or rotation angle) and allowable twist amount of the cord, or the allowable rotation amount and allowable twist amount per unit length of the cord may be set in advance. It may be stored and determined by multiplying the stored amount by the code length input by the user or the code length detected by the autonomous mobile robot.
[0054]
Moreover, in the said embodiment, although the route plan part 21 created the movement plan according to the destination information input in the destination input part 22, the movement plan which an operator inputs is shown in the route plan part 21 (judgment). Part) may check to determine whether or not a predetermined rotation angle or twist amount is exceeded. Similarly, the input movement plan may be checked, and if a defect is found in the plan, the route plan unit 21 may generate an alternative. In other words, if there is a possibility that the cumulative number of rotations may exceed the allowable range during the movement, a reverse rotation movement plan is made and the movement is made toward the destination based on this.
[0055]
【The invention's effect】
As described above, according to the present invention, the path planning unit has a means for detecting the rotational speed of the energy source or the information source connected via the cord of the self-supporting mobile body, and the path planning unit has the rotational speed. In order to create a movement plan that fits within a predetermined range, it is possible to prevent a power cord or the like from being tangled or wrapped around a self-supporting moving body. Therefore, there is no restriction on the operation of the self-supporting mobile body due to such a cause.
[0056]
Further, according to the present invention, since the route planning unit creates a movement plan in which the amount of twisting of the power cord or the like is within a predetermined range, the power cord is twisted into a curled shape, Prevent destruction. Therefore, there is no restriction on the operation of the self-supporting mobile body due to such a cause, and the life of the power cord or the like is not shortened. .
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a self-supporting mobile robot according to an embodiment of the present invention.
FIG. 2 is a plan view showing a movement path of the self-supporting mobile robot according to the embodiment.
FIG. 3 is a flowchart showing a movement control procedure of the self-supporting mobile robot according to the embodiment.
FIG. 4 is a flowchart showing a movement control procedure of the self-supporting mobile robot according to the embodiment.
FIG. 5 is a flowchart showing a movement control procedure of the autonomous mobile robot according to the embodiment.
FIG. 6 is a front view and a plan view showing a moving path of the self-supporting mobile robot according to the embodiment.
FIG. 7 is a plan view showing a movement path of the self-supporting mobile robot according to the embodiment.
FIG. 8 is a front view showing winding of a cord of a self-supporting mobile robot according to a conventional technique.
FIG. 9 is a front view showing a curled state of a cord of a self-supporting mobile robot according to a conventional technique.
FIG. 10 is a front view showing winding of a cord of a self-supporting mobile robot according to a conventional technique.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Self-supporting mobile robot 11 Rotation detector 12 Rotation number calculator 13 Position detection device 14 Wheel rotation detector 21 Path planning unit 22 Destination input unit 31 Steer motor 32 Forward / reverse motor 33 Power distribution device 34 Power cord 40 External power supply

Claims (7)

In a self-supporting mobile body that is connected to an external device or an energy supply source via a flexible and linearly formed cord, and moves independently,
A rotational speed detection means for detecting the rotational speed of the device or the energy supply source in plan view;
A total rotation amount calculating means for calculating a total rotation amount of the rotation speeds detected by the rotation speed detection means so far in the entire travel stroke;
A movement plan creation means for determining a rotation direction of the self-supporting mobile body based on the cumulative rotation amount and planning a movement path so that the cumulative rotation amount in all movement strokes is zero;
A self-supporting movable body characterized by comprising: In a self-supporting mobile body that is connected to an external device or an energy supply source via a flexible and linearly formed cord, and moves independently,
A rotational speed detection means for detecting the rotational speed of the device or the energy supply source in plan view;
A total rotation amount calculating means for calculating a total rotation amount of the rotation speeds detected by the rotation speed detection means so far in the entire travel stroke;
A movement plan creation means for planning a movement route so that the cumulative rotation amount falls within a predetermined range;
A self-supporting movable body characterized by comprising: In a self-supporting mobile body that is connected to an external device or an energy supply source via a flexible and linearly formed cord, and moves independently,
A rotational speed detection means for detecting the rotational speed of the device or the energy supply source in plan view;
A movement plan creation means for planning a movement path so that the total amount of twist of the cord due to the rotation detected by the rotation speed detection means becomes zero;
A self-supporting movable body characterized by comprising: In a self-supporting mobile body that is connected to an external device or an energy supply source via a flexible and linearly formed cord, and moves independently,
A rotational speed detection means for detecting the rotational speed of the device or the energy supply source in plan view;
A movement plan creation means for planning a movement route so that the twist amount of the cord due to the rotation detected by the rotation speed detection means falls within a predetermined range;
A self-supporting movable body characterized by comprising: An input unit for inputting the movement plan of the moving object from the outside;
Based on the movement plan input in the input unit, the rotational speed of the moving body in a plan view with respect to an external reference point is inspected, and the cumulative amount of the rotational speeds examined so far during the movement according to the movement plan is A determination unit for determining whether or not it falls within a predetermined range;
The movement plan inspection apparatus characterized by comprising.   The said determination part produces | generates the alternative plan in which the said rotation speed is settled in the said predetermined range, when it judges that the said rotation speed does not fall in the said predetermined range. Movement plan inspection device. Comprising a second rotational speed detection means for detecting a second rotational speed with respect to an arbitrary external point in plan view;
3. The self-supporting mobile body according to claim 1, wherein the movement plan creation unit plans a movement path so that the second rotational speed is within a predetermined range.

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