JPH03184105A - Cleaning robot - Google Patents

Abstract

PURPOSE:To perform a proper performing in accordance with a subject working area via a robot by correcting the data on the lateral sliding extent in consideration of the situation every time the cleaning runs are carried on. CONSTITUTION:A memory card 30 is set to a cleaning robot and the room dimension data 31 on the card 30 is stored as a room dimension data 72. At the same time, the lateral sliding extent data 73 is calculated from the width of the inlet port of a cleaner 60. When a start switch 40 is turned on by an operator, a path planning means 74 plans the cleaning runs based on the data on a path data storing part 71. Then a longitudinal direction calculating means 75 calculates the longitudinal sliding extent of the robot started from a cleaning run start point based on the planned run. Thus the robot is moved to a prescribed point. The lateral movement is performed by a lateral sliding extent calculating means 76. Then the reciprocating frequency of the robot is divided by the logical reciprocating frequency when the robot reaches a cleaning end point. This division data is multiplied by the data 73 and then rewritten into the lateral sliding extent data 32 on the card 30.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to a cleaning robot that cleans a room while autonomously traveling within the room by being taught only the shape of the room.

(b) Conventional technology As a conventional cleaning robot of this type, TRIGGER8
Automax and Electrola I described in 75
There is rAXV-01J, which was jointly developed by Kusu Japan Co., Ltd.

The cleaning and running method of a conventional cleaning robot will be explained below with reference to FIG. That is, robot (10
1) is set parallel to the wall of the room to be cleaned and the start button is pressed, the robot (]01) will automatically run along the wall, or the worker can run the robot (101) by remote control. By running the robot (101), the shape of the room to be cleaned is taught to the robot (101).

Then, the robot (101) sequentially cleans the room while reciprocating within the taught room. Ill of this cleaning robot
! The device is as shown in FIG. 5, and in order to perform this cleaning work, a gas rate gyro (105) is mounted as a sensor to confirm where the user is in the taught room. Other main components related to running include two motors (102) (1t12) for straight forward rotation and backward movement.
) and driving wheels (102) connected to motors (102) (102)
+03), an encoder (106) that detects the rotational speed of the two motors (102) (102), rotatable casters (104), and a control unit (107) that controls travel. During traveling, as shown in Figure 6, the Masu Roposo (101) is placed parallel to the wall (0 point) and the control unit (107) uses the output of the gas rate gyro (105) at that time as the initial value of the traveling direction. ) is memorized and started. While driving, feedback control is applied to the left and right driving wheels (103) by giving a speed difference so that the output of the gas rate gyro (105) is equal to its initial value. ) The straight distance is calculated from the rotation speed of
If it advances from the start of running (0 point) until it stops, it will stop. Next, in the figure, the right driving wheel (103-R) is reversed, and the left driving wheel (103-R) is reversed, and the left driving wheel (103-R) is reversed.
The output of the gas rate gyro (105) is controlled so that the robot (+01) is rotated 90" to the right from the initial ItlI value at the start of the robot's (101) run. .It moves forward again at 11'J-, but the output of the gas rate gyro (105) maintains 90" to the right, moves straight for the width of the suction port of the vacuum cleaner mounted on the robot (101), and stops (B point). At point B, the left and right driving wheels are rotated forward and backward in the same way as at point A, and stopped with the same point at 90" to the right. At this time, the gas rate gyro (1
The output of 05) is at the 0 point, which is 180° to the right from the initial value. From this state, the output of the gas rate gyro (105) is kept constant and the vehicle moves straight to point C and stops. At point C, A, B
Contrary to the point, the right driving wheel (103-R) is rotated forward, the left driving wheel (103-1,) is reversed, and the gas rate gyro (1
05) rotates so that the output is 90 degrees, then moves straight by the width of the suction port of the vacuum cleaner and stops (point D). At point D, it rotates in the same way as at point C, and the output of the gas rate gyro (105) becomes (i (
default value). Thereafter, the above-mentioned operations are repeated to perform the cleaning work.

■゛↓The above is an example of using a gas rate gyro to control the direction of the cleaning port (101). It is also conceivable to perform direction control based on distance.

(c) Problems to be Solved by the Invention In the conventional example, when using a gas rate gyro, there is a drawback that the output value of the gas rate gyro fluctuates by 1 as time passes; Since the control target value in the direction of travel does not take an accurate value, there is a problem that the vehicle deviates from the actual target travel trajectory. On the other hand, when controlling the direction using the encoders of the two driving wheels, there is a problem of the driving wheels (103) (103) slipping against the floor surface, and the value calculated from the rotation speed data of the driving wheels may be different from the actual traveling distance. Similar to when using a gas rate gyro, the trajectory deviates from the target trajectory.

As a result of the above, a small part 1 in which cleaning is left unfinished occurs.

(d) Means for solving the problem The present invention has been made in view of the above points, and includes:
A cleaning robot that cleans while autonomously traveling within a predetermined area by combining vertical reciprocating movement and horizontal sliding movement, collects data on the head to be cleaned and I! in the horizontal direction. ! A driving means for cleaning within the area based on the theoretical sliding amount data, a counting means for counting the reciprocating movement in the vertical direction, and a driving means for counting the vertical reciprocating movement based on the theoretical sliding amount data in the horizontal direction. and a correction means for correcting the slide movement amount data by comparing the calculated theoretical number of reciprocations.

(e) Operation Even if there is a strip or the like when the cleaning robot is running, the amount of horizontal sliding movement is corrected sequentially.

(f) Example of the cleaning robot (1) of the example of the present invention! A perspective view is shown in Figure 7JS1. (3) is a driving wheel, and (10) is a forward ultrasonic sensor that detects the distance to obstacles and walls in front. (11) is a lateral ultrasonic sensor that detects the distance to a lateral obstacle or wall. The lateral ultrasonic sensors (11) are provided on both left and right sides of the cleaning robot (1). (14) is a bumper switch that detects the collision and stops when the cleaning robot (1) collides with an obstacle that cannot be confirmed by the forward ultrasonic sensor (10) while the cleaning robot (1) is running. It is a sensor of (20
) is an AC coco winding mechanism, and (21) is an AC cord.In the cleaning robot (1) of the embodiment, the power supply is metered using an AC power source instead of a storage battery, making continuous use possible. Reference numeral (30) denotes a memory card, which stores dimension information of the room to be cleaned and information regarding the amount of slide movement in the lateral direction. (40) is the start switch, (
41) is a stop switch. (50) is a handle used by a worker to push the cleaning robot (1) when the cleaning robot 7) (1) is moved between rooms to be cleaned.

FIG. 2 is a schematic IIN diagram of this embodiment. Explanation of the numbers used in FIG. 1 will be omitted. (2) is a motor with two left and right
There are two types, each of which is driven independently. (4) is an encoder for detecting the rotation speed of the two motors (2). (5) is a rotating white flower with casters and two driving wheels (3)
It also supports the cleaning robot (1). (12)
is a rear superwave sensor that detects the distance to rear obstacles and walls. (60) is a vacuum cleaner, and (61) is a suction port of the vacuum cleaner. (70) is a control unit that controls the running and cleaning work of the cleaning robot (1).

FIG. 3 is a functional block diagram of an embodiment of the present invention. The memory card (30) contains room dimension data (31) and lateral movement data (32) when the cleaning robot makes a round trip.
)It is included. Further, the ROM (33) stores theoretical lateral movement amount data corresponding to the size of the suction port of the vacuum cleaner of the cleaning port (1). The control unit includes a route data storage unit (71) that stores information on the memory card (30) and ROM (33), and a route data storage unit (71) that stores information on the memory card (30) and ROM (33).
The data stored in 71) includes room dimension data (71).
2) and lateral movement amount data (73>), and the lateral movement amount data (73) is rewritten every time the cleaning robot (1) cleans and is stored in the memory card (71) via the route data storage section (71). 30) lateral movement amount data (32
) can also be rewritten. Other components of the control unit (70) include a route planning means (74), a vertical movement amount calculation means (75), and a lateral movement amount calculation means (76).
There are forward and backward Ik integration/calculation means (77), lateral movement amount data calculation means (78), and cleaning control means (79).

The route planning means (74) includes a route data storage unit (7
1), the room dimension data (31), the lateral movement amount data (32), and the front ultrasonic wave sensor (10),
Lateral ultrasonic sensor (11), rear ultrasonic sensor (
12), the traveling route of the cleaning robot (1) is determined based on the detection information of the bumper (14). The vertical movement amount calculation means (75) is a route planning means (74)
The encoder (4) outputs a command value to the driving wheel motor (2) to rotate the driving wheel motor (2) according to the travel route of the cleaning robot (1> determined by the robot) and detects the rotation speed of the driving wheel motor (2). Cleaning robot from value (1)
This calculates the actual amount of vertical movement of . The lateral movement amount calculation means (76) includes a route planning means (74).
) An encoder (4) that outputs a command value to the driving wheel motor (2) to rotate the driving wheel motor (2) according to the travel path of the cleaning robot (1) determined by the robot (1) and detects the rotation speed of the driving wheel motor (2). Cleaning robot (1
) is used to calculate the actual amount of lateral movement. The reciprocating number integration/calculation means (77) is the vertical movement amount calculation means (7
This is means for integrating the actual number of reciprocations of the room cleaned by the cleaning robot (1) from the vertical and horizontal movement calculation results by the horizontal movement amount calculation means (76) and the horizontal movement amount calculation means (76). Lateral movement amount data The calculation means (78) is a cleaning robot (1)
Means for accumulating and calculating the number of reciprocations when the robot finishes cleaning (77
) and the results of measuring the distance between the cleaning robot (1) and the side opposite to the cleaning start point using the lateral ultrasonic sensor (11), the optimal horizontal position of the cleaning robot (1) without any unfinished cleaning This is to calculate the amount of directional movement. The calculation result of this optimum lateral movement amount is stored in the memory card (30) by the route data storage unit (71) which also functions as an interface between the memory card (30) and the cleaning robot (1).
) The lateral movement amount data (32) before the cleaning run is rewritten as the lateral movement amount data (32). The cleaning control means (79) drives the vacuum cleaner (60) and the AC winding mechanism (20) by turning on the start switch (40), and also turns on the stop switch (41) and drives the bumper switch (14). ), and the vacuum cleaner (60) determines that the number of reciprocations has reached the predetermined number of reciprocations for the end of cleaning, based on the determination of the number of reciprocations by the number of reciprocating calculation means (77).
This stops the drive of the AC winding mechanism (2o).

The operation of the cleaning robot (1) of this embodiment, which has a mouth-like configuration, will be explained with reference to a room cleaning run shown in FIG.

FIG. 4(a) shows the teaching route and actual traveling route of the cleaning robot γ-to (1). Figure 4 (b
) is the area cleaned by the cleaning robot (1). In Fig. 4(a), S and E are respectively cleaning robots (
Room dimension data (7) in the route data storage section (71) of 1)
2) and the cleaning travel start point and cleaning travel end point calculated from the lateral movement amount data (73). The broken line is the teaching route calculated from the room dimension data (72) and the lateral movement data (73) in the route data storage section (71), and when the cleaning robot (1) travels along this -L, it is the lateral direction of the room. This allows cleaning in all directions without leaving any residue. The solid line is the route taken by the cleaning robot (1), and point E is the actual end point of the cleaning run, which is the fourth point.
The hatched area in Figure (b) is the area that has been cleaned, and unfinished cleaning occurs in the horizontal direction of the room.

At this time, the cleaning run is performed as follows. When the person (operator) operating the cleaning robot (1) uses the teaching device to input the cleaning travel start point S for the room shape shown in Fig. 4, the room dimension data ( 3]) and is stored in memory.

The operator moves the cleaning robot (1) to the cleaning start point S, turns on the power of the cleaning robot (1), and installs the memory card (30) in a predetermined place on the cleaning robot (1). (30) Room dimension data (31)
is stored as room dimension data (72) in the route data storage section (71), and lateral movement amount data (73) is calculated from the width of the suction port (61) of the vacuum cleaner (60). Operator turns on the start button (40)
Then, the route planning means (74) performs all the planning of the cleaning run from the data in the route data storage section (71), and according to the planning, the vertical movement amount from the cleaning start point S is calculated by the vertical movement amount calculation means ( 75) to drive the driving wheel motor (2), and the encoder (
Based on the data in 4), the vehicle moves straight to point A by controlling the straight-ahead departure and straight-ahead travel. Movement from point A to point B is performed in a similar manner by the lateral movement calculation means (76). The above movement is repeated, the number of reciprocations is accumulated by the reciprocating number accumulating means (78), and when the cleaning robot (1) reaches the cleaning work end point (El), the lateral movement amount data calculating means (78) Number of round trips (23 times in Figure 4)
is the number of reciprocations calculated based on the theoretical lateral movement amount data when the cleaning robot (1) moves
(3 times in Figure 4). And the division value K(2
, 5/3) is multiplied by the lateral movement amount data (72) and stored in the route data storage section (71) as new lateral movement amount data (72).
71) rewrites the new lateral movement amount data (72) as lateral movement interval data (32) in the memory card (30). In the next cleaning run, new lateral movement data (
32), cleaning is performed in one line, resulting in more accurate cleaning than in the previous cleaning run, with less unfinished cleaning. Therefore, the accuracy improves with each cleaning run.

(G) As described in the Effects of the Invention section, the cleaning robot of the present invention corrects the data on the amount of slide movement in the lateral direction by taking into account conditions such as slips each time it cleans, so that it can be adjusted to the target work area. Appropriate cleaning work can be carried out according to the requirements, and there will be no cleaning residue left.

[Brief explanation of drawings]

Figure 1 is an external perspective view of the cleaning robot of the present invention, Figure 2 is a schematic configuration diagram of the cleaning robot of the present invention, Figure 3 is a functional block diagram of the cleaning robot of the present invention, and Figure 4(a) is the movement of the cleaning robot. An explanatory diagram to show the route, Figure (b) is an explanatory diagram to show the area actually cleaned, Figure 5 is the constituent countries of the conventional cleaning robot, and Figure 6 (a) is the cleaning area teaching operation. FIG. 3B is an explanatory diagram to show the cleaning running operation. (30)...Memory card, (33)...ROM,
(71)...route data storage unit, (74)...route planning means, (75)...vertical movement amount calculation means, (76)...horizontal movement amount calculation means, (77)...・
... Reciprocating number accumulating means, directional movement amount data calculating means. (78)...Horizontal

Claims (1)

[Claims] 1) Data on the area to be cleaned and theoretical sliding amount in the horizontal direction for a cleaning robot that cleans while autonomously moving within a predetermined area by combining vertical reciprocating movement and horizontal sliding movement. A driving means for cleaning within the area based on the data, a counting means for counting the reciprocating movement in the vertical direction, and a theoretical sliding amount calculated based on the data of the theoretical sliding amount in the horizontal direction. A cleaning robot comprising: correction means for correcting slide movement amount data by comparing the number of reciprocations.