JP4340247B2 - Autonomous mobile robot - Google Patents

Autonomous mobile robot Download PDF

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JP4340247B2
JP4340247B2 JP2005070262A JP2005070262A JP4340247B2 JP 4340247 B2 JP4340247 B2 JP 4340247B2 JP 2005070262 A JP2005070262 A JP 2005070262A JP 2005070262 A JP2005070262 A JP 2005070262A JP 4340247 B2 JP4340247 B2 JP 4340247B2
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mobile robot
autonomous mobile
obstacle detection
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淳一 玉本
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser

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Description

本発明は、移動ロボットや自律走行自動車などの自律移動ロボットに関する。   The present invention relates to an autonomous mobile robot such as a mobile robot or an autonomous vehicle.

周囲の物体をセンサで検出して、自律移動装置の移動を停止する例が特許文献１に記載されている。この公報には、障害物認識装置、障害物認識方法及び障害物認識プログラム並びに移動型ロボット装置が開示されている。そして、複数の撮像手段から得られた画像の視差情報より、障害物の位置や形状を認識している。   An example in which a surrounding object is detected by a sensor and movement of the autonomous mobile device is stopped is described in Patent Document 1. This publication discloses an obstacle recognition apparatus, an obstacle recognition method, an obstacle recognition program, and a mobile robot apparatus. And the position and shape of an obstruction are recognized from the parallax information of the image obtained from the several imaging means.

特開2003-269937号公報JP 2003-269937 A

周囲の物体を検出するセンサを備える自律移動装置は、センサを設置する筐体が地平面に対して傾斜しない構成がほとんどである。しかしながら、加速度の大きい機敏な動作を実現するために、筐体を傾けて重心を移動する自律移動装置が考えられる。このとき、センサが地平面を検出し、周囲の物体の検出が正常になされないことがあった。   In most cases, autonomous mobile devices including sensors that detect surrounding objects have a configuration in which the casing in which the sensors are installed does not tilt with respect to the ground plane. However, in order to realize an agile operation with a large acceleration, an autonomous mobile device that tilts the housing and moves the center of gravity can be considered. At this time, the sensor may detect the ground plane, and surrounding objects may not be detected normally.

本発明は上記従来技術の不具合に間がみなされたものであり、その目的は自律移動ロボットが、加速度の大きい機敏な動作を実現することにある。また、筐体を傾けて重心を移動する自律移動ロボットが、周囲の物体を、常に正常に検出することにある。   The present invention has been regarded as having a shortcoming in the above-mentioned problems of the prior art, and an object of the present invention is to realize an agile operation with a large acceleration of the autonomous mobile robot. In addition, the autonomous mobile robot that moves the center of gravity by tilting the housing always detects surrounding objects normally.

上記目的を達成するために、筐体の重心を傾けることにより移動を制御する自律移動ロボットにおいて、前記筐体に設けられ周囲の物体を検出する障害物検知センサと、前記筐体の傾き角度を検出する傾斜角度測定手段とを備え、前記傾斜角度測定手段の測定角度に従って、検出範囲を変更する障害物検知センサを有することで解決できる。   To achieve the above object, in an autonomous mobile robot that controls movement by tilting the center of gravity of the casing, an obstacle detection sensor that is provided in the casing and detects surrounding objects, and an inclination angle of the casing This can be solved by including an obstacle detection sensor that includes an inclination angle measuring means for detecting, and changes a detection range according to the measurement angle of the inclination angle measuring means.

また、前記障害物検知センサは前記自律移動ロボットの傾斜方向に角度を変えて複数設けられ、前記傾斜角度測定手段の測定角度に従って、複数の前記障害物検知センサを選択することで解決できる。   Further, the obstacle detection sensor can be provided by changing the angle in the tilt direction of the autonomous mobile robot, and selecting the plurality of obstacle detection sensors according to the measurement angle of the tilt angle measuring means.

本発明によれば、障害物検出センサ６５を設置した部位を含めて傾斜させ、機敏な動作を実現する自律移動ロボット１において、胴体部４に設けたジャイロ８の出力により、障害物検出センサ６５の検出範囲を変更することによって、障害物を正確に検出できる。   According to the present invention, in the autonomous mobile robot 1 that tilts including the part where the obstacle detection sensor 65 is installed and realizes an agile operation, the obstacle detection sensor 65 is output by the output of the gyro 8 provided on the body part 4. By changing the detection range, obstacles can be detected accurately.

以下に、本発明に係る自律移動ロボットの実施例を、図面を用いて説明する。図１および図２に、自律移動ロボット１の正面図図および側面図を示す。本実施例では、自律移動ロボット１は、ヒューマノイド型ロボットである。   Embodiments of an autonomous mobile robot according to the present invention will be described below with reference to the drawings. 1 and 2 are a front view and a side view of the autonomous mobile robot 1. In this embodiment, the autonomous mobile robot 1 is a humanoid robot.

構成要素として、頭部２と、首部３と、胴体部４と、腕部５と、走行部６とがある。それらの構成要素は、モータ等のアクチュエータやエンコーダ等のセンサを含み、コントローラ７の制御指令に従って動作する。この自律移動ロボット１の特徴は、その重心が２つの車輪より高いところにある倒立振子の構造を採用していることである。静的な不安定さを利用して、機敏な動作を実現する。そのために、少なくとも胴体部４と走行部６は、車輪の移動方向に一体で傾斜し、胴体部４は傾斜角度を計測するジャイロ８を備える。ジャイロ８の信号はコントローラ７へ入力され、走行部６を制御する。すなわち、自律移動ロボット１が前方（図中で左）へ傾斜したとき、走行部６を前方へ進行するように駆動する。逆に、自律移動ロボット１が後方（図中で右）へ傾斜したとき、走行部６を後方へ進行するように駆動する。図３に釣り合いの状態を示す。自律移動ロボット１が角度θ傾斜したとき、重心Ｇにｍｇ×ｓｉｎθの力が発生する。それと釣り合うため、走行部６は駆動力Ｆを発生させる。   The component includes a head 2, a neck 3, a body part 4, an arm part 5, and a traveling part 6. These components include actuators such as motors and sensors such as encoders, and operate according to control commands of the controller 7. The feature of this autonomous mobile robot 1 is that it adopts an inverted pendulum structure whose center of gravity is higher than two wheels. Utilize static instability to achieve agile operation. For this purpose, at least the body part 4 and the traveling part 6 are integrally inclined in the moving direction of the wheel, and the body part 4 is provided with a gyro 8 for measuring an inclination angle. A signal from the gyro 8 is input to the controller 7 to control the traveling unit 6. That is, when the autonomous mobile robot 1 is tilted forward (left in the figure), the traveling unit 6 is driven to advance forward. On the contrary, when the autonomous mobile robot 1 tilts backward (right in the figure), the traveling unit 6 is driven to advance backward. FIG. 3 shows a balanced state. When the autonomous mobile robot 1 is inclined by the angle θ, a force of mg × sin θ is generated at the center of gravity G. In order to balance it, the traveling unit 6 generates a driving force F.

Ｆ＝ｍｇ×ｓｉｎθ×ｓ÷ｔ （式１）
このように、傾斜角θに従って駆動力Ｆを制御することにより、倒立を制御する。ここで、地平面Ｅ近傍の障害物を検出するため、地平面に近接した走行部６に障害物検出センサを設けた。図４に走行部６の構造を示す。 F = mg × sin θ × s ÷ t (Formula 1)
Thus, the inversion is controlled by controlling the driving force F according to the inclination angle θ. Here, in order to detect an obstacle near the ground plane E, an obstacle detection sensor is provided in the traveling unit 6 close to the ground plane. FIG. 4 shows the structure of the traveling unit 6.

車輪６１は、カバー６３に覆われて図示しないモータにより、車軸６２を介して駆動される。カバー６３にはセンサ透過窓６４が設けてある。さらに、障害物検出センサ６５は図５のように、カバー６３の中に設けられる。   The wheel 61 is covered with a cover 63 and is driven via an axle 62 by a motor (not shown). The cover 63 is provided with a sensor transmission window 64. Further, the obstacle detection sensor 65 is provided in the cover 63 as shown in FIG.

図５において、障害物検出センサ６５は、所定の距離で角度Ｒの範囲にある物体を検出するセンサである。ここで、自律移動ロボット１が傾斜すると角度Ｒの範囲に地平面Ｅが進入して検出してしまう。これを回避するため、検出範囲Ｒｓと非検出範囲Ｒｎとを設け、ジャイロ８からの傾斜角度出力にしたがって、ＲｓとＲｎの範囲を変更する。   In FIG. 5, an obstacle detection sensor 65 is a sensor that detects an object within a range of an angle R at a predetermined distance. Here, when the autonomous mobile robot 1 tilts, the ground plane E enters the range of the angle R and is detected. In order to avoid this, a detection range Rs and a non-detection range Rn are provided, and the ranges of Rs and Rn are changed according to the tilt angle output from the gyro 8.

より具体的には、障害物検出センサ６５の例として、レーザ等に角度Ｒの範囲をスキャンして、ある角度での反射光の位相により、物体を検出するものがある。このようなセンサを用いた場合、非検出範囲Ｒｎで検出された物体は地平面Ｅであると判断して、除外する。   More specifically, as an example of the obstacle detection sensor 65, there is one that scans a range of an angle R with a laser or the like and detects an object based on a phase of reflected light at a certain angle. When such a sensor is used, it is determined that the object detected in the non-detection range Rn is the ground plane E and is excluded.

また他の障害物検出センサ６５の例として、レーザ等を角度Ｒの範囲に同時に放射し、反射光の量Ｖで物体を検出するものがある。以下の条件では、地平面Ｅからの反射と判断して、除外する。   Another example of the obstacle detection sensor 65 is one that simultaneously emits a laser or the like in the range of the angle R and detects an object with the amount V of reflected light. Under the following conditions, it is judged as reflection from the ground plane E and excluded.

Ｖ＜Ｒｎ÷（Ｒｓ＋Ｒｎ） （式２）
さらに、図６に示すように、１点における物体の有無を検出するセンサを複数設ける方法もある。ここでは、略水平方向の物体を検出する障害物検出センサ６５ｄと、斜め上方の物体を検出する障害物検出センサ６５ｕとを示している。自律移動ロボット１がほぼ直立状態の角度にあるときは、略水平方向の物体を検出する障害物検出センサ６５ｄにより、障害物の有無を判断する。 V <Rn / (Rs + Rn) (Formula 2)
Furthermore, as shown in FIG. 6, there is a method of providing a plurality of sensors for detecting the presence or absence of an object at one point. Here, an obstacle detection sensor 65d that detects an object in a substantially horizontal direction and an obstacle detection sensor 65u that detects an object obliquely above are shown. When the autonomous mobile robot 1 is at an almost upright angle, the presence or absence of an obstacle is determined by an obstacle detection sensor 65d that detects an object in a substantially horizontal direction.

ジャイロ８の出力により、所定の角度θを超えて自律移動ロボット１が傾斜したとき、略水平方向の物体を検出する障害物検出センサ６５ｄは、地平面Ｅを検出すると判断して、斜め上方の物体を検出する障害物検出センサ６５ｕによって障害物の有無を判断する。   When the autonomous mobile robot 1 is tilted beyond the predetermined angle θ by the output of the gyro 8, the obstacle detection sensor 65d that detects an object in a substantially horizontal direction determines that it detects the ground plane E, and The presence or absence of an obstacle is determined by an obstacle detection sensor 65u that detects an object.

このように、障害物検出センサ６５を設置した部位を傾斜させて、動作の機敏さを実現する自律移動ロボット１において、ジャイロ８の出力により、障害物検出センサ６５の検出範囲を変更することによって、正しい障害物の検出が可能になる。   In this way, by changing the detection range of the obstacle detection sensor 65 by the output of the gyro 8 in the autonomous mobile robot 1 that realizes the agility of the operation by tilting the part where the obstacle detection sensor 65 is installed. , Correct obstacle detection becomes possible.

本発明に係る自律移動ロボットの正面図。The front view of the autonomous mobile robot which concerns on this invention. 図１に示した自律移動ロボットの側面図。The side view of the autonomous mobile robot shown in FIG. 自律移動ロボットの動作を説明する図。The figure explaining operation | movement of an autonomous mobile robot. 図１に示した自律移動ロボットの走行部の正面図。The front view of the traveling part of the autonomous mobile robot shown in FIG. 図１に示した自律移動ロボットが備える障害物検出センサの説明図。Explanatory drawing of the obstacle detection sensor with which the autonomous mobile robot shown in FIG. 1 is provided. 図１に示した自律移動ロボットが備える障害物検出センサの説明図。Explanatory drawing of the obstacle detection sensor with which the autonomous mobile robot shown in FIG. 1 is provided.

符号の説明Explanation of symbols

１…自律移動ロボット、２…頭部、３…首部、４…胴体部、５…腕部、６…走行部、７…コントローラ、６１…車輪、６２…車軸、６３…カバー、６４…センサ透過窓、６５…障害物検出センサ。   DESCRIPTION OF SYMBOLS 1 ... Autonomous mobile robot, 2 ... Head, 3 ... Neck part, 4 ... Torso part, 5 ... Arm part, 6 ... Running part, 7 ... Controller, 61 ... Wheel, 62 ... Axle, 63 ... Cover, 64 ... Sensor penetration Window, 65 ... Obstacle detection sensor.

Claims (2)

少なくとも胴体部と走行部とを備えた自律移動ロボットであって、前記走行部は少なくとも一対の車輪と当該車輪を回転駆動する駆動手段とを備えており、当該胴体部と走行部とは、当該自律移動ロボットの移動方向に一体でその重心を傾斜して移動する自律移動ロボットにおいて、
前記胴体部は、少なくとも、前記自律移動ロボットの移動方向での傾斜角度を測定する傾斜角度測定手段を備えており、
前記走行部は、当該自律移動ロボットの移動方向における周囲の物体を検出する障害物検知センサをその一部に固定して備えると共に、当該障害物検知センサの検出範囲は、当該自律移動ロボットの傾斜方向において複数の角度範囲で変更可能であり、かつ、前記傾斜角度測定手段の測定角度に従って、地平面を検出しないように、当該障害物検知センサの検出範囲を変更することを特徴とする自律移動ロボット。 An autonomous mobile robot including at least a body part and a traveling part, wherein the traveling part includes at least a pair of wheels and a driving unit that rotationally drives the wheels. In an autonomous mobile robot that moves by tilting its center of gravity integrally with the direction of movement of the autonomous mobile robot,
The body portion includes at least an inclination angle measuring means for measuring an inclination angle in a moving direction of the autonomous mobile robot,
The traveling unit includes an obstacle detection sensor for detecting a surrounding object in the movement direction of the autonomous mobile robot, and a detection range of the obstacle detection sensor is an inclination of the autonomous mobile robot. Autonomous movement characterized in that the detection range of the obstacle detection sensor can be changed in a plurality of angular ranges in the direction and the detection range of the obstacle detection sensor is changed so as not to detect the ground plane according to the measurement angle of the inclination angle measuring means robot. 少なくとも胴体部と走行部とを備えた自律移動ロボットであって、前記走行部は少なくとも一対の車輪と当該車輪を回転駆動する駆動手段とを備えており、当該胴体部と走行部とは、当該自律移動ロボットの移動方向に一体でその重心を傾斜して移動する自律移動ロボットにおいて、
前記胴体部は、少なくとも、前記自律移動ロボットの移動方向での傾斜角度を測定する傾斜角度測定手段を備えており、
前記走行部は、当該自律移動ロボットの移動方向における周囲の物体を検出する障害物検知センサを、前記自律移動ロボットの傾斜方向において、その取り付け角度を変えて、複数備えており、かつ、前記傾斜角度測定手段の測定角度に従って、地平面を検出しないように、前記複数の障害物検知センサを選択することを特徴とする自律移動ロボット。 An autonomous mobile robot including at least a body part and a traveling part, wherein the traveling part includes at least a pair of wheels and a driving unit that rotationally drives the wheels. In an autonomous mobile robot that moves by tilting its center of gravity integrally with the direction of movement of the autonomous mobile robot,
The body portion includes at least an inclination angle measuring means for measuring an inclination angle in a moving direction of the autonomous mobile robot,
The traveling unit includes a plurality of obstacle detection sensors that detect surrounding objects in the moving direction of the autonomous mobile robot, changing the mounting angle in the tilt direction of the autonomous mobile robot, and the tilt An autonomous mobile robot , wherein the plurality of obstacle detection sensors are selected so as not to detect a ground plane according to a measurement angle of an angle measurement means.
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