JPH02311908A - Mobile robot - Google Patents

Abstract

PURPOSE:To ensure the smooth operation, the improvement of working efficiency, and the safety for a mobile robot by providing a driving mode memory which stores the data designating the driving attitude of the robot or a unidirectional driving section and a control means which controls the driving mode of the robot based on the contents of the driving mode memory. CONSTITUTION:A control station 1 is connected to each mobile robot 2 by radio, and the robot 2 moves along a magnetic tape set on the floor surface of a prescribed driving path. The station 1 is constituted of a CPU 1a, a program memory 1b, a collision table 1c, a map memory 1d, a driving mode table 1e, a data memory 1f, etc. Consequently, the unified control is attained for the driving direction and the driving posture of the robot 2. Then the smooth operation of the robot 2 is ensured together with the improvement of the working efficiency and the high safety.

Description

DETAILED DESCRIPTION OF THE INVENTION "Field of Industrial Application" The present invention relates to a mobile robot whose running direction and running posture can be regulated and controlled.

"Prior Art" In recent years, with the development of FA (factory automation), various mobile robot systems consisting of a plurality of mobile robots and a control station that controls these mobile robots have been developed and put into practical use.

In this type of system, a control station instructs each mobile robot, wirelessly or by wire, at each destination and the work to be performed at that destination. Each mobile robot receives instructions from the control station and searches for an optimal route by referring to map information written in its own memory. Once the optimal route is searched, each mobile robot automatically travels to the designated location along the searched optimal route, and when it reaches the designated location, it performs the designated task at that location. and when the work is completed, wait for the next instruction on the spot.

[Problem to be solved by the invention] By the way, since conventional mobile robots were not equipped with a means to control their own posture while traveling, it is difficult to determine in what posture each mobile robot walks along a certain path. It has not always been easy for humans to predict whether a vehicle will run. In other words, a human determines in advance whether the mobile robot will run forward or backward (hereinafter referred to as forward/backward movement) or sideways (hereinafter referred to as traverse) with respect to the passage. It was difficult to know. For this reason, there is a risk that many collision accidents will occur between the mobile robot and objects installed near the travel path. Also,
For a mobile robot, which prefers to work with its side facing the work point, it is preferable for work efficiency to move sideways when approaching the work point, but conventionally, whether a mobile robot moves sideways or not depends on movement. It was left to the robots. Furthermore, in the case of a grid-like or platform-like running road network, it is preferable from the viewpoint of operation efficiency to uniformly regulate the running posture of mobile robots, but as mentioned above, such regulation has not been done in the past. It wasn't.

Additionally, there are some passages where it is desirable to have one-way traffic for safety reasons, as the width of the road is narrow. However, conventional mobile robots were not provided with means for regulating the direction of travel, which hindered the smooth operation of the mobile robot.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a mobile robot whose running direction and running posture can be regulated and controlled.

"Means for Solving the Problems" In order to solve the above problems, the present invention has a map memory that stores map information, and searches for a driving route based on the map information read from the map memory. and controlling the running mode of the automatically running mobile robot according to a running mode memory storing data specifying the running posture of the mobile robot or data indicating a one-way running section, and the contents of the running mode memory. It is characterized by comprising a control means.

"Operation" According to the present invention, humans can regulate and control the running direction and running posture of the mobile robot, so the operation of the mobile robot can be facilitated, and work efficiency can be improved. It is possible to improve the performance and ensure safety.

Embodiment A mobile robot system to which a mobile robot, which is an embodiment of the present invention, is applied will be described below with reference to the drawings. FIG. 1 is a block diagram showing the overall configuration of the mobile robot system. In this figure, 1 is a control station, 2 (
2-1, 2-2, . . . ) are mobile robots, and the control station 1 and each mobile robot 2 are connected wirelessly. The mobile robot 2 moves along a magnetic tape attached to the floor of a predetermined running path, and nodes are set at appropriate intervals on the running path. Here, a node is a position on a traveling road (an intersection, a branch point, a stopping position), etc. where the traveling state of the mobile robot 2 changes. FIG. 2 is a diagram showing an example of a running route, and in this diagram, ■, ■, . . . , . . . are nodes. A node mark is affixed to the floor of each 7-board, and the mobile robot 2 is provided with a detector for detecting this node mark. There are also three types of nodes:

(1) Map entry node: This is the node that becomes the starting point when the mobile robot 2 newly enters the travel route, and in FIG. 2, these are ■, ■, and ■. Note that the traveling mobile robot is not allowed to travel via the map entry node in order to avoid the risk of collision with the mobile robot 2 that is entering the map.

(2) Work node 2 work point S 1. S2. S 3. S
4. ... are provided, and in FIG. 2, they are ■, [phase], o, and ■. mobile robot 2
When performing work, it temporarily stops at this work node and then moves to the target work point, e.g. St (or s 2, s3,
S4. ...), then stop and perform the work.

(3) Passing node: A node that the mobile robot 2 simply passes through, and in FIG. 2, it is all nodes other than the above-mentioned nodes.

Also, each node has different functions: a spin-able mate, a non-spin-able node, an automatically rechargeable node, 1. It is classified as a node that cannot be automatically charged.

Here, the spin-capable node refers to a mate that has a function of rotating the mobile robot 2 and changing its direction. Further, the term "autochargeable node" refers to a node that automatically charges the mobile robot 2. Note that it is also possible for one 7-card to have both a spin function and an automatic charging function.

Next, FIG. 3 is a block diagram showing the configuration of the control station 1, in which la is a CPU (central processing unit);
b is a program memory storing programs used in the CPU 1a, 1c is a collision table, 1d is a map memory, and 1e is a driving mode table (lc=le
(will be discussed later).

Further, 1f is a data memory for storing data.

This data memory 1r contains information on whether each node is reserved as a route for a certain mobile robot or whether there is a mobile robot 2 currently parked at each node. Data has been written. 1g is an operation unit, 1h is a communication device, and this communication device 1h is a CPU
It transmits data supplied from 1a on a carrier wave of 200 to 300 MHz, and also receives data transmitted from the mobile robot 2 on a carrier wave.

(B) Collision table 1c The collision table 1c is a table for preventing collisions between the mobile robots 2, 2, and is formed between two nodes adjacent to each other via the travel path 2. , consists of multiple collision data blocks. In the travel path shown in FIG. 2, for example, in the collision data block corresponding to the node set [■, ■], when the mobile robot 2 moves from node ■ to node ■ (or vice versa), other The number of the node with which the mobile robot 2 is likely to collide and the number of such nodes are written.

(B) Map memory 1d The map memory 1d contains so-called map information, that is, the (X-Y) coordinates of each node ■, ■, ... shown in FIG. data indicating the charging function, etc.), the numbers of other nodes connected to the node via the running route, the distances to nodes in various places connected to the node via the running route, etc. are stored. .

(c) Running mode table 1e The running mode table 1e is a table that specifies the running mode of each mobile robot 2, and is composed of a plurality of running mode data blocks BO, Bl, . . . . In this case, one block of each traveling mode data block BO1Bl, . . . is formed corresponding to two adjacent nodes connected by a traveling route. In the road network shown in Figure 2, [■, ■], [■, ■], [■, ■],
Driving mode data blocks B, B, . . . are formed for each of [■, ■], [■, [stock]], . FIG. 4(a) shows the configuration of the running mode table 1c,
In addition, Fig. 4 (b) shows each driving mode data block B O
, B 2. The configuration of ... is shown.

Each driving mode data block B O, B 2. ...
are the starting point node number field 11e and the ending point node number field 12e.
, a running direction instruction column 13e, a running attitude instruction column 14e, and a speed limit column 15e.

The following data is written in each column (11e to 15e) of the driving mode data blocks BQ, B1, . . . .

(A) Starting point node number field lie and ending point node number field 12e The starting point node number is written in the starting point node number field 11e, and the ending point node number is written in the ending point node number field 12b. Node set in Figure 2 [■.

■] Taking the driving mode data block corresponding to [] as an example,
Node ■ is the starting point node, and node ■ is the ending point node. Therefore, the number ■ is in the starting point node field lie in the running mode data block, and the ending point node field 1
A number ■ is written in each field 2e. Note that the starting point and ending point are simply two adjacent nodes, one of which is referred to as the starting point and the other as the ending point.

(B) Traveling Direction Indication Column 13e The Traveling Direction Indication Column 13e is a column for instructing the traffic direction (one-way or two-way) between two adjacent 71s. In this example, when the content written in the travel direction instruction column 13e is "0", it means that there is no instruction for one-way traffic, and when it is "1", it means that there is no instruction for one-way traffic from the start point /-do to the end point node. It means an instruction, and when it is "2", it means an instruction for one-way traffic from the end node to the start node.

Also, in this example, the 7-1 card set [■] in FIG.

Traveling direction instruction field 1 corresponding to [■] and [■, ■] respectively
"l" is written in column 3e, and "0" is written in the traveling direction direction column 13e corresponding to the other 7-1 card groups. Therefore, in this example, traffic in the direction of node ■→node ■→node ■ shown in FIG. 2 is permitted, but traffic in the opposite direction is prohibited.

(C) Traveling Attitude Instruction Column 14e The Traveling Attitude Instruction Column 14e is a column for instructing the attitude (forward/backward or horizontal) that the mobile robot 2 should take when traveling between two adjacent nodes.

In this example, when the content written in the running attitude instruction field 14e is rOJ, it means a forward/backward direction instruction, and "1"
, it means a rampant instruction.

And the node sets [■, ■], [■, ■] in Figure 2.

"0" is written in the running attitude instruction field 14e corresponding to [■, ■], [■, ■], [■, [phase]], and the node group [■, ■], [■, @) ] , [■,■], [
■、■〕.

In the driving posture instruction column I4e corresponding to [■,■], "
1" is written in each.

(D) Speed limit column 15e □ The maximum speed at which the vehicle travels between nodes is written in the speed limit column 15e.

Next, the mobile robot 2 will be explained. FIG. 5 is a block diagram showing the configuration of the mobile robot 2. In this figure, 2a is a CPU, and 2b is a program memory s2 in which programs used in the CPU 2a are stored.
c is a data memory for data storage, 2d is an operation unit, 2e
2f is a communication device, 2f is a map memory in which the same map information as the map memory 1d in the control station 1 is stored, and 2g is a running mode table in which the same data as the running mode table 1e in the control station 1 is stored. It is 2g. The data stored in the map memory 2r and the traveling mode table 2g are created by the control station 1 and transferred to each mobile robot 2 via an IC card. Also,
2h is a travel control device that receives travel data (destination data, travel mode data, travel speed data, etc.) supplied from the CPU 2a, and controls the drive motor while detecting the magnetic tape and node mark on the floor using a magnetic sensor. Then, the mobile robot 2 is made to travel to the destination node. 21 is an arm control device which receives a work program number supplied from the CPU 2a, reads out the work program of that number from the internal memory when the mobile robot 2 arrives at the work node, and controls the robot arm (not shown) according to the read program. time) to perform various tasks.

Next, the operation of the above-mentioned mobile robot will be explained.

Traveling Example 1 First, an example will be described in which the control station 1 wirelessly instructs the mobile robot 2-1, which is waiting at the map entry node (2), to go to the work point S1 and perform a predetermined work.

When the CPU 2a of the mobile robot 2-1 receives the above-mentioned instruction from the control station 1, it searches for a travel route from the current position (map entry node ■) to the specified location (work point s1). This route search is performed by a conventionally known vertical search method, etc., by looking at predetermined data serving as search targets and search elements in the map memory 2g and driving mode table 2g. At this time, the CPU 2a looks at the travel direction instruction column 13e in the travel mode table 2g, and if there is an instruction for one-way traffic between two adjacent nodes that are the search targets, the CPU 2a searches from the travel-permitted direction. , Do not search from directions where traffic is prohibited. Assuming that the route ■→■→■→■ is searched for by this route search, the CPU 2a then sequentially transmits (uploads) the searched routes to the control station 1. When the CPU 1a of the control station 1 receives the searched route, it determines that there is an obstacle (another mobile robot 2) on the route of ■→■→■→■ based on the collision table lc, data memory 1, etc. Check whether or not there is an obstacle on the route, and send (download) this result to the mobile robot 1-2-1. Later, when there are no obstacles on the route (i.e., when the other mobile robots 2 have finished passing or left), the mobile robot confirms again that there are no obstacles on the route. 2-1.The mobile robot 2-1 is the CP
When it receives a message from U1a that there is an obstacle on the route, it enters a standby state at a predetermined 7-way on the route until it later receives a message that there is no obstacle on the route. The mobile robot 2-1 is operated from the CPU 1a by ■→■→■→
■When you receive a message that there are no obstacles on the route,
The CPU 2a of the mobile robot 2-1 selects the 7-dot sets [■, ■], [■, ■] and [■,
Go to read the contents written in the running attitude instruction field 14e from the running mode data block Bn corresponding to each of [■, ■] (.As a result, in this example, the node set [■, ■]
For ``1'' (traversal instruction), also for node set [
■, ■] and [■.

[2] "0" (forward/forward instruction) is read out.

Next, the CPU 2a of the mobile robot 2-1 transfers the read content, that is, the running posture instruction data, to the running control device 2h.
Transfer to. When the travel control device 2h receives the travel posture instruction data from the CPU 2a, it instructs the mobile robot 2 to:
The vehicle adopts the running posture indicated by the supplied running posture instruction data and runs the route ■→, ■→■→■.

That is, the travel control device 2h causes the mobile robot 2-1 to move sideways between ■→■. When the node ■ is reached, the mobile robot 2 spins the node ■ and
After changing the direction of -1 by 90 degrees, the vehicle runs forward and backward between ■→■→■. When the mobile robot 2-1 reaches the node (2), it then moves forward to the work point S1 by traversing. .

Traveling Example 2 Next, an example will be described in which the control station 1 wirelessly instructs the mobile robot 2-1 waiting at the work point S4 to go to the work point S1 and perform a predetermined work. Upon receiving the above instruction from the control station 1, the CPUs 2a of the mobile robots 2 to 1 search for a travel route from the current position (work point $4) to the designated location (work point SL) in travel example 1. A similar method is used. In this case, if the traveling direction between nodes is not a search element, ■→■→■
The route →■→■ will be searched, but in this example, the traveling direction between nodes is a search element, so the route search will not be performed by referring to the traveling direction between nodes. As mentioned above. Therefore, in this example, as mentioned above, the route ■→■→■ is passable, but the opposite direction is prohibited, so
The route →■→■→■→■ was not explored, and in the end, the second
The detour route shown in the figure is searched as ■→■→■→■→[phase]→■→■→■. Note that, after the detour route has been searched, the operation processing procedure when the mobile robot 2 moves to the work point S1 through the detour route while exchanging data with the control station 1 is the same as in the case of traveling example 1. Since there is, I will omit it.

In this way, according to the above configuration, a human can uniformly control the running of a plurality of mobile robots. This makes it possible to avoid collisions between the mobile robot and installed equipment. Installation space for other equipment can be effectively and safely secured.

In addition, in the above embodiment, the mobile robot detects a magnetic tape on the floor and moves along the same tape, but in this invention, the mobile robot moves while detecting the surrounding situation using an ultrasonic sensor. It can also be applied to Further, although the mobile robot in the above embodiment has an arm, the present invention can also be applied to a mobile robot (for transportation, etc.) that does not have an arm and simply moves automatically.

"Effects of the Invention" As explained above, the present invention provides a traveling mode memory in which data specifying the traveling posture of a mobile robot or data indicating a one-way traveling section is stored, and a traveling mode memory in accordance with the contents of the traveling mode memory. Since the robot is equipped with a control means for controlling the mode, a human can uniformly control the movement of a plurality of mobile robots. This makes it possible to smooth the operation of the mobile robot, improve work efficiency, and ensure safety.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of a mobile robot system to which a mobile robot 2 according to an embodiment of the present invention is applied;
FIG. 2 is a diagram showing an example of the traveling path on which each mobile robot 2 travels, FIG. 3 is a block diagram showing the configuration of the control station 1 in FIG. 1, and FIG. 4 is a traveling method table l in FIG. 3.
FIG. 5 is a block diagram showing the configuration of the mobile robot 2. FIG. ■...Control station, 2.2-1 to 2-10...
・・Mobile robot, l a, 2 a”・”・CPU
, 1 d., 2 r...Map memory, l
e, 2 g... Running mode table, 2h...
... Traveling control device, 13e... Traveling direction instruction column, 14e... Traveling attitude instruction column.

Claims (1)

[Scope of Claims] A mobile robot that has a map memory that stores map information, searches a travel route based on the map information read from the map memory, and travels automatically. A mobile robot comprising: a running mode memory storing data specifying a posture or data indicating a one-way running section; and a control means for controlling the running mode according to the contents of the running mode memory.