JP5449873B2 - Control system for autonomous robot - Google Patents

Description

  The present invention relates to a control system for an autonomous mobile robot that moves to a desired floor using an elevator installed in a building having a plurality of floors such as a high-rise building and a factory.

  Conventionally, as an autonomous traveling robot using an elevator, for example, a self-propelled cleaning robot is known. This self-propelled cleaning robot uses an elevator used by a general user as in Patent Document 1, for example, calls a car, etc., and gets on and off the elevator on a desired floor of the building. It has become.

  Thus, when using the elevator which a general user uses, conventionally, as shown, for example in patent documents 2, both a self-propelled cleaning robot and a user are the same from a viewpoint of safety. Elevator operation is controlled so that the car is not boarded at the same time.

JP 2000-339030 A JP 2009-051617 A

  By the way, work by a self-propelled cleaning robot is usually performed at night when a general user does not exist in a building. In the case of such nighttime work, the self-propelled cleaning robot can continue to use the elevator, so that the predetermined work can be executed almost as scheduled.

  However, in recent years, there are cases where it is desired that a general user perform work during a time zone such as a daytime in a building depending on the work content of the autonomous traveling robot, not limited to cleaning. In this case, in the conventional elevator operation control system, since the autonomous traveling robot cannot get on the elevator on which the user rides, it waits for a time when the user is not using the elevator. For this reason, movement to a desired floor is not performed smoothly, and work efficiency will fall.

  In order to solve this, it is conceivable to install an elevator dedicated to the robot. However, in an existing building or the like, it is extremely difficult to newly install an elevator dedicated to the robot in terms of cost and the like.

  For these reasons, in recent years, it has been desired to develop an autonomous traveling robot control system that uses an existing elevator and is excellent in safety so that both the autonomous traveling robot and the user can get on the car at the same time.

  The present invention has been made in response to the above-described demand, and an object thereof is to provide an autonomous traveling robot control system excellent in safety that allows an autonomous traveling robot and a general user to get on an elevator car at the same time. To do.

  The autonomous traveling robot control system according to the first aspect of the present invention that achieves the above object controls a drive motor that rotationally drives a drive wheel and the drive of the drive motor so as to move according to a preset route. An autonomous traveling robot control system comprising a motor control means for performing a robot movement detection means installed in an elevator for detecting movement of the autonomous traveling robot in a car, and installed in the elevator, the robot A robot abnormality signal transmitting means for receiving a movement detection signal from the movement detecting means and transmitting an abnormality signal to the autonomous traveling robot; and provided in the autonomous traveling robot for receiving the abnormality signal and receiving the abnormal traveling robot. Robot abnormal stop means for stopping the movement is provided.

  According to this, when the autonomous traveling robot moves in the elevator car, the movement is detected by the robot movement detecting means, and an abnormal signal is transmitted from the robot abnormality signal transmitting means to the autonomous traveling robot. Then, the autonomous mobile robot receives the abnormality signal and stops moving by the robot abnormality stopping means. As a result, the movement of the autonomous running robot in the elevator car is reliably prevented, so that even if a general user gets on the car at the same time, it is possible to ensure the safety of the user. Become.

  According to a second aspect of the present invention, in the autonomous traveling robot control system according to the first aspect, the robot movement detection means detects the movement of the autonomous traveling robot when the elevator door is closed. And

  According to this, since the robot movement detecting means does not detect the movement of the autonomous traveling robot when the door is open, the autonomous moving robot is abnormally stopped by the robot abnormal stopping means when getting on and off the car. Can be surely prevented. Therefore, it is possible to safely and smoothly get on and off the car of the autonomous traveling robot.

  According to a third aspect of the present invention, in the autonomous traveling robot control system according to the second aspect, after the autonomous traveling robot gets on the car and stops at a robot stop fixed position in the car, The open / close door is closed.

  According to this, the robot movement detecting means detects the movement of the autonomous traveling robot after the autonomous traveling robot stops at a predetermined robot stop fixed position in the cage and the open / close door is closed. It is possible to get on and off the vehicle more safely and smoothly.

  According to a fourth aspect of the present invention, in the autonomous traveling robot control system according to any one of the first to third aspects of the present invention, in the elevator, a robot detection for further detecting the riding of the autonomous traveling robot on the car. Means for detecting the movement of the autonomous traveling robot when the robot detecting means detects the autonomous traveling robot getting in the car and the door is closed. It is characterized by that.

  According to this, the robot movement detecting means detects the movement of the autonomous traveling robot after the robot detecting means detects that the autonomous traveling robot gets into the elevator and the door is closed. The robot can get on and off the car safely and smoothly.

  According to a fifth aspect of the present invention, in the control system for an autonomous traveling robot according to any one of the first to fourth aspects, the robot abnormal stop means receives the abnormal signal and receives a drive current of the drive motor. It is provided with the interruption circuit which interrupts | blocks a circuit.

  According to this, when the abnormal signal is received, the drive current circuit of the drive motor that rotationally drives the drive wheels is cut off, so that the movement of the autonomous traveling robot can be surely stopped.

  According to a sixth aspect of the present invention, in the autonomous traveling robot control system according to any one of the first to fifth aspects, the robot abnormal stop means receives the abnormal signal and brakes the rotation of the driving wheel. And a brake mechanism.

  According to this, when the abnormal signal is received, the brake mechanism is actuated and the rotation of the driving wheel is braked, so that the movement of the autonomous traveling robot can be surely stopped.

  According to the present invention, when the autonomous traveling robot moves in the elevator car, the autonomous traveling robot stops abnormally, so that even if a general user gets on the car at the same time, the safety of the user can be ensured. It becomes possible. Thereby, the control system of the autonomous traveling robot excellent in the safety | security which the autonomous traveling robot and a general user can get on the elevator car simultaneously is provided.

It is a schematic side view which shows the structure of the self-propelled cleaning robot which comprises the control system which concerns on 1st Embodiment of this invention. It is a schematic bottom view of the self-propelled cleaning robot of FIG. It is a block diagram which shows the circuit structure of the principal part of the self-propelled cleaning robot of FIG. It is a figure which shows schematic structure of the elevator which comprises the control system which concerns on 1st Embodiment of this invention with the self-propelled cleaning robot of FIG. It is a block diagram which shows the circuit structure of the operation control system of the elevator of FIG. It is a flowchart which shows the main routine of the boarding / alighting operation | movement to the elevator of the self-propelled cleaning robot of FIG. Fig. 5 is a flowchart showing a main routine of the operation operation of the elevator of Fig. 4. It is a flowchart which shows the abnormality detection process of the self-propelled cleaning robot by the elevator of FIG. It is a flowchart which shows the abnormal stop process by the self-propelled cleaning robot of FIG. It is a schematic block diagram of the brake mechanism of the self-propelled cleaning robot explaining the principal part of 2nd Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, a self-propelled cleaning robot will be described as an example of an autonomous traveling robot. However, the present invention is not limited to a self-propelled cleaning robot, and moves to a desired floor of a building using an elevator. The present invention can be applied to various autonomous traveling robots.

(First embodiment)
1 and 2 are a schematic side view and a schematic bottom view showing a configuration of a self-propelled cleaning robot constituting the control system according to the first embodiment of the present invention. This self-propelled cleaning robot 1 includes a traveling device 10 that travels on a floor surface to be cleaned while detecting and avoiding an obstacle or the like in a cleaning range, and a cleaning device 20 that cleans the floor surface. Yes.

  The traveling device 10 is provided at the lower part of the self-propelled cleaning robot 1, and is provided with driving wheels 11 </ b> R and 11 </ b> L for traveling provided at the left and right of the center position in the front-rear direction, and the front and rear driving wheels 11 A front caster 12 and a rear caster 13 are provided which can swing according to traveling. The left and right drive wheels 11R and 11L are connected to corresponding drive motors 14R and 14L via reduction gears (not shown), respectively. The traveling steering of the self-propelled cleaning robot 1 is performed by the difference in the rotational speed between the left and right drive wheels 11R and 11L, and the direction change is performed by rotating the left and right drive wheels 11R and 11L in reverse directions.

  Obstacle sensors 15a and 15b that detect front and left and right obstacles are provided at the front position of the front caster 12, and lateral obstacles are detected at the rear position of the rear caster 13. An obstacle sensor 16 is provided. Further, an infrared communication port 17 for communication with an elevator operation control system, which will be described later, is provided on the upper part of the self-propelled cleaning robot 1.

  The cleaning device 20 is driven to rotate by a brush motor 24 behind the nozzle 23 for spraying the cleaning liquid stored in a cleaning liquid tank (not shown) from the lower part of the self-propelled cleaning robot 1 to the floor surface. Three rotating brushes 25 to be polished and a squeegee portion 26 for sucking cleaning liquid including dust on the floor surface together with working air are arranged in order from the front to the rear.

  The squeegee portion 26 is provided with a rubber wiper portion 28 in contact with the floor surface at the lower end of the squeegee main body 27 curved in a substantially semicircular arc shape at a position below the rear portion of the self-propelled cleaning robot 1. The suction passage 29 has a suction opening. Although not shown, the suction passage 29 communicates with a dust collection chamber disposed inside, and further communicates with the blower device from the dust collection chamber via a filter.

  FIG. 3 is a block diagram showing a circuit configuration of a main part of the self-propelled cleaning robot 1 of FIG. The self-propelled cleaning robot 1 includes a CPU 50 that controls the entire operation. The CPU 50 is connected to a data memory 51 that stores cleaning data for the self-propelled cleaning robot 1 and a main controller 52. The main controller 52 includes an operation panel 53 for input, a gyroscope 54 for autonomous traveling, a bumper sensor 55 for collision detection, a magnetic sensor 56 and magnetic mark reader 57 for position detection, and obstacle sensors 15a, 15b, 16 Are connected to an infrared communication port 17 for communication with an elevator operation control system, which will be described later.

  Here, the magnetic sensor 56 for position detection detects a magnetic tape attached to the elevator hall in order to position the self-propelled cleaning robot 1 with respect to the hall door of the elevator hall when getting on and off the elevator. To do. A magnetic mark reader 57 for position detection is attached to the elevator hall at a position where it communicates with hall transmission / reception means of an elevator operation control system, which will be described later, via the infrared communication port 17 when the elevator car gets on the elevator car. The magnetic mark for positioning is detected.

  The driving motors 14R and 14L that rotationally drive the driving wheels 11R and 11L for traveling are connected to the battery 62 via corresponding drivers 61R and 61L. Similarly, the brush motor 24 that rotationally drives the rotary brush 25 is connected to the battery 62 via the driver 63, and the blower motor 64 that rotationally drives the blower fan constituting the blower device is also connected via the driver 65. Connected to the battery 62. These motors are driven and controlled by the CPU 50 via corresponding drivers based on the cleaning data stored in the data memory 51.

  In the present embodiment, the driving current circuit between the driver 61R and the driving motor 14R and the driving current circuit between the driver 61L and the driving motor 14L are respectively turned on / off by the relay electromagnetic solenoid 71. The normally closed relay switches 72R and 72L are connected. The electromagnetic solenoid 71 is driven and controlled independently from the normal control system by the CPU 50 by an abnormal stop control means 73 including an abnormal signal receiver transmitted by radio waves or infrared rays from an elevator operation control system, which will be described later.

  Thus, when the abnormal stop control means 73 receives an abnormal signal from the elevator operation control system, the electromagnetic solenoid 71 is driven, the relay switches 72R and 72L are turned off, and the drive motors 14R and 14L are turned off. The drive current circuit is opened to stop the rotation of the drive wheels 11R and 11L. The receiver of the abnormal stop control means 73 is installed on the upper part of the self-propelled cleaning robot 1 as with the infrared communication port 17.

  Next, the elevator which comprises the control system which concerns on 1st Embodiment of this invention with the self-propelled cleaning robot 1 mentioned above is demonstrated.

  FIG. 4 is a diagram showing a schematic configuration of the elevator, and FIG. 5 is a block diagram showing a circuit configuration of the elevator operation control system of FIG.

  The elevator 100 is configured such that a car 101 is moved to each floor within a hollow elevator tower 102 by a lifting device (not shown). The car 101 includes an operation unit having a destination floor designation button 111 for designating a destination floor, an open button 112 for opening the car door 103, a display device 113 indicating information such as the current position of the car 101, and the car. A car door opening / closing device 114 for opening and closing the door 103, an audio output device 115 for outputting an audio signal indicating that overloading or robot operation is in progress, and an illumination device 116 for illuminating the interior of the car 101 are provided. It is controlled by.

  The elevator hall on each floor is provided with a hall call button 117 for calling the car 101 and a hall door opening / closing device 118 that opens and closes the hall door 104 in conjunction with the car door 103. To be controlled.

  The car 101 includes a car transmission / reception means 121 that transmits and receives signals to and from the infrared communication port 17 of the self-propelled cleaning robot 1, and a robot movement detection that detects the movement of the self-propelled cleaning robot 1 within the car 101. A robot abnormality signal transmission means 123 for transmitting an abnormality signal by radio waves or infrared rays is attached to the means 122 and the abnormality stop control means 73 of the self-propelled cleaning robot 1 in the car 101. Moreover, hall transmission / reception means 124 for transmitting / receiving signals to / from the infrared communication port 17 of the self-propelled cleaning robot 1 is attached to the elevator hall on each floor.

  The in-car transmission / reception means 121, the robot movement detection means 122, the robot abnormality signal transmission means 123 and the hall transmission / reception means 124 are connected to the elevator control device 105 via the interface device 106. The robot movement detection means 122 has an image sensor such as an electronic camera, for example, and processes an image signal obtained from the image sensor to detect the movement of the self-propelled cleaning robot 1.

  The elevator control device 105 is connected to the elevator monitoring center 107 via a communication line so that the elevator operation is monitored.

  The self-propelled cleaning robot 1 according to the present embodiment automatically starts operation at the operation start time regardless of whether there is a general user who uses the elevator 100, moves from the storage location, Each of the cleaning floors is cleaned while moving between the cleaning floors using the elevator 100, and when it is detected that the cleaning work of the final cleaning floor has been completed, it moves to a storage place and stops its operation.

  Hereinafter, operation | movement of the control system of the self-propelled cleaning robot 1 which concerns on this Embodiment is demonstrated. In the following description, the car door 103 and the hall door 104 of the elevator 100 are collectively referred to as an open / close door.

  FIG. 6 is a flowchart showing a main routine of the operation of getting on and off the elevator 100 of the self-propelled cleaning robot 1. The self-propelled cleaning robot 1 calls the car 101 of the elevator 100 by communication with the hall transmitting / receiving means 124 on the current floor, and gets on the car 101 when the car 101 arrives and the door is opened. When the self-propelled cleaning robot 1 completes the stop of the car 101 at the robot stop position (step S601), the infrared communication port 17 sends a stop completion signal and the destination floor signal to the in-car transmission / reception means 121. Information is transmitted (step S602).

  Thereafter, when the self-propelled cleaning robot 1 receives a signal indicating that it has arrived at the destination floor from the in-car transmission / reception means 121 via the infrared communication port 17 (step S603), it receives the opening / closing door opening signal and gets off the elevator. Control is executed (step S604), and the car 101 gets off.

  FIG. 7 is a flowchart showing a main routine of the driving operation of the elevator 100. When the self-propelled cleaning robot 1 gets on the car 101 and receives the stop completion signal and the destination floor information from the self-propelled cleaning robot 1 via the in-car transmission / reception means 121 (step S701). ), The robot destination floor is set as the stop floor (step S702), and the closing operation of the open / close door by the general user is permitted (step S703).

  Thereafter, it is determined whether or not the opening / closing door is requested by a general user (step S704). If there is an opening request (in the case of Y), the door is opened by the car door opening / closing device 114 and the hall door opening / closing device 118. (Step S705) If there is no opening request (in the case of N in S704), the door is closed (Step S706), and the robot movement detecting means 122 is activated (Step S707).

  Thereafter, every time the car 101 stops on the stop floor and opens the door (step S708), the elevator controller 105 determines whether the stop floor is the destination floor of the self-propelled cleaning robot 1 (step S709). ).

  When the stop floor is the destination floor of the self-propelled cleaning robot 1 (Y in step S709), the elevator control device 105 stops the operation of the robot movement detection means 122 (step S710), and hall transmission / reception means The fact that it has arrived at the destination floor is transmitted to the self-propelled cleaning robot 1 via 124 (step S711).

  Thereafter, when the elevator controller 105 confirms that the self-propelled cleaning robot 1 gets out of the car 101 through communication between the self-propelled cleaning robot 1 and the hall transmission / reception means 124 (step S712), the elevator control device 105 is for general users. Transition to normal operation control.

  Here, when the robot movement detection unit 122 is activated in step S707, the elevator control device 105 executes abnormality detection processing of the self-propelled cleaning robot 1 by a subroutine. In this abnormality detection process, as shown in the flowchart in FIG. 8, it is detected by the robot movement detection means 122 whether or not the self-propelled cleaning robot 1 has moved (step S801), and if movement is detected (Y In the case), an abnormal signal is transmitted to the self-propelled cleaning robot 1 via the robot abnormal signal transmitting means 123 (step S802).

  On the other hand, when the self-propelled cleaning robot 1 gets on the car 101 and transmits a stop completion signal and destination floor information to the elevator control device 105, an abnormal stop process of the self-propelled cleaning robot 1 is performed by a subroutine. Run. In this abnormal stop process, as shown in the flowchart in FIG. 9, the abnormal stop control means 73 monitors the reception of the abnormal signal from the elevator control device 105 (step S901), and when the abnormal signal is received (in the case of Y), The electromagnetic solenoid 71 is driven to turn off the relay switches 72R and 72L. As a result, the drive current circuits of the drive motors 14R and 14L are opened, and the rotation of the drive wheels 11R and 11L is forcibly stopped independently of the normal control system by the CPU 50.

  When the self-propelled cleaning robot 1 is abnormally stopped in the car 101 as described above, the stopped state is maintained, for example, from the elevator monitoring center 107 to the operator of the self-propelled cleaning robot 1. Notify and take action.

  In the present embodiment, the CPU 50, the data memory 51, and the drivers 61R and 61L constitute motor control means, and the abnormal stop control means 73, the electromagnetic solenoid 71, and the relay switches 72R and 72L constitute robot abnormal stop means. The relay switches 72R and 72L constitute a cutoff circuit. In addition, the infrared communication port 17 and the in-car transmission / reception means 121 also constitute a robot detection means according to signal transmission / reception timing.

  As described above, according to the control system for the self-propelled cleaning robot 1 according to the present embodiment, the self-propelled cleaning robot 1 gets on the car 101 of the elevator 100, stops at a predetermined robot stop fixed position, and opens and closes. When the movement of the self-propelled cleaning robot 1 is detected by the robot movement detection means 122 provided in the car 101 after the door is closed, the self-propelled cleaning robot 1 rotates the drive wheels 11R and 11L. The relay switches 72R and 72L connected to the drive current circuits of the drive motors 14R and 14L are turned off. Thereby, since the movement of the self-propelled cleaning robot 1 is forcibly stopped, even if a general user gets on the car 101 at the same time, the safety of the user can be ensured and the safety can be improved. An excellent control system for the self-propelled cleaning robot 1 can be realized.

(Second Embodiment)
FIG. 10 is a diagram for explaining a main part of the second embodiment of the present invention. In this embodiment, in the self-propelled cleaning robot 1 shown in the first embodiment, instead of the relay switches 72R and 72L, the rotation of the drive wheels 11R and 11L is braked by the brake mechanism 130, and the self-propelled The movement of the type cleaning robot 1 is stopped.

  For this reason, as shown in FIG. 10, the brake mechanism 130 on the one drive wheel 11R side is provided with a link 132 rotatably on the bracket 131, and one end of the link 132 can be slidably contacted with the drive wheel 11R. A brake pad 133 is attached, and one end portion of the rod 135 is connected to the other end portion of the link 132 via a connecting means 134. The rod 135 is attached to the bracket 131 so as to be displaceable in the longitudinal direction, and the other end is connected to the electromagnetic solenoid. Then, as in the case of the first embodiment, the electromagnetic solenoid is driven by the abnormal stop control means 73 by the abnormal signal from the operation control system of the elevator 100, so that the rod 135 is displaced upward in FIG. The link 132 is rotated. As a result, the brake pad 133 is brought into sliding contact with the drive wheel 11R to brake its rotation. The brake mechanism of the other drive wheel 11L is configured similarly. Other configurations and operations are the same as those in the first embodiment.

  As described above, in the present embodiment, the brake mechanism 130 is operated and the rotation of the drive wheels 11R and 11L is stopped by the abnormal signal from the operation control system of the elevator 100, so the first embodiment As in the case of the above, even if a general user gets on the car 101 of the elevator 100 at the same time, the safety of the user can be secured, and the control system of the self-propelled cleaning robot 1 excellent in safety is provided. realizable.

  In addition, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the meaning of invention. For example, in the first embodiment, as shown in FIG. 3, the drive current circuits of the drive motors 14R and 14L are cut off by the relay switches 72R and 72L driven by the electromagnetic solenoid 71. Instead of the solenoid 71 and the relay switches 72R and 72L, a drive circuit for the drive motors 14R and 14L is selectively cut off using a cut-off circuit having a semiconductor switch (semiconductor relay) such as a thyristor. You can also. Moreover, the interruption of the drive current circuit of the drive motors 14R, 14L according to the first embodiment and the rotational braking of the drive wheels 11R, 11L by the brake mechanism according to the second embodiment can be combined.

1 Self-propelled cleaning robot (autonomous traveling robot)
DESCRIPTION OF SYMBOLS 10 Traveling apparatus 11R, 11L Drive wheel 14R, 14L Drive motor 17 Infrared communication port 50 CPU (motor control means)
51 Data memory 52 Main controller 62 Battery 71 Electromagnetic solenoid (cutoff circuit)
72R, 72L Relay switch 73 Abnormal stop control means 100 Elevator 101 Car 103 Car door (open / close door)
104 Hall door (open / close door)
105 Elevator Control Device 106 Interface Device 107 Elevator Monitoring Center 121 Car Transmission / Reception Unit 122 Robot Movement Detection Unit 123 Robot Abnormal Signal Transmission Unit 124 Hall Transmission / Reception Unit 130 Brake Mechanism

Claims (5)

An autonomous traveling robot control system comprising: a drive motor for rotationally driving a drive wheel; and a motor control means for controlling the drive of the drive motor so as to move according to a preset route,
A robot movement detecting means installed in an elevator for detecting movement of the autonomous traveling robot in a car;
A robot abnormality signal transmission means installed in the elevator and receiving a movement detection signal from the robot movement detection means and transmitting an abnormality signal to the autonomous traveling robot;
A robot abnormal stop means provided in the autonomous mobile robot, for receiving the abnormal signal and stopping the movement of the autonomous mobile robot ,
The robot movement detection means detects the movement of the autonomous traveling robot when the elevator door is in a closed state . The elevator is the autonomous mobile robot is riding in the car, after stopping the robot stop position within the cage, the control of the autonomous mobile robot according to claim 1, characterized in that closing the door system. In the elevator, there is further provided robot detection means for detecting the autonomous traveling robot getting on the car,
The robot movement detecting means is characterized in that the robot detecting means detects the autonomous traveling robot getting on the car and detects the movement of the autonomous traveling robot when the door is closed. The control system of the autonomous traveling robot according to claim 2 or 3 . The robot abnormal stop means is:
And receiving the abnormality signal, the control system of the autonomous mobile robot according to any one of claims 1 to 3, characterized in that it comprises a blocking circuit for blocking the drive current circuit of the drive motor. The robot abnormal stop means is:
The autonomous traveling robot control system according to any one of claims 1 to 4 , further comprising a brake mechanism that receives the abnormal signal and brakes rotation of the drive wheel.

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