JPH032907A - Drive control method for mobile robot - Google Patents

Abstract

PURPOSE:To improve the control efficiency of mobile robots by securing a constitution where each mobile robot searches its drive route by itself and detecting a factor to carry out a process in accordance with the factor if the drive of the robot is impossible. CONSTITUTION:A control station 1 instructs a destination to each mobile robot 2 to reserve each drive route and reports the drive routes, the position data showing the present positions, and the present states of other robots 2. Then each robot 2 searches the route to its destination to report it to the station 1 and runs automatically along the searched route. Then the drive routes of other robots 2 are written into an internal memory together with the position data showing the present positions and the state data showing the present states. If the drive of the robot 2 is impossible, the data stored in the internal data are scanned for detection of the factor of the trouble. Then the drive route is changed in accordance with the detected factor. Thus each robot 2 is effectively controlled in a short time.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] This invention relates to a method for controlling the movement of each mobile robot in a mobile robot system consisting of a plurality of mobile robots and a control station that controls these mobile robots. .

"Prior Art" In recent years, with the development of FA (factory automation), various systems of this type have been developed and put into practical use. In this mobile robot system, a control station instructs each mobile robot, wirelessly or by wire, to a destination and the work to be performed at that destination. A mobile robot that receives instructions from a control station automatically travels to the instructed location, performs the instructed work there, and when the task is completed, waits for the next instruction on the spot.

``Problems to be Solved by the Invention'' In this type of system, each mobile robot changes its route and runs if there is a malfunctioning mobile robot in front of its travel route, or crosses in front of its travel route. If there are several mobile robots, it is necessary to wait for them to pass. When a control station controls such mobile robots, if the number of mobile robots is N, then N:
Since N conflict problems are to be processed, the process is extremely complicated and has the disadvantage that it takes a lot of time.

This invention was made in consideration of these circumstances,
It is an object of the present invention to provide a traveling control method for mobile robots that can efficiently control each mobile robot in a short time.

"Means for Solving the Problem" The present invention provides a mobile robot system comprising a plurality of mobile robots and a control station that controls these mobile robots, wherein the control station instructs each mobile robot to a destination. Then, each mobile robot reserves a traveling route for each mobile robot, and notifies each mobile robot of the traveling route of other mobile robots, position data indicating the current position, and status data indicating the current state, and each mobile robot The vehicle searches for a route to the specified destination and notifies the control station, automatically travels along the searched route, and transmits the travel route, location data indicating the current position, and status data indicating the current state to the control station. The Ike mobile robot's traveling route, position data indicating its current position, and state data indicating its current state are written in the internal memory, and if it becomes unable to move, it scans the data in the internal memory and moves. The feature is that it detects the cause of the failure and changes the driving route depending on the cause.

"Operation" According to the present invention, each mobile robot searches its own travel route, and when it becomes unable to travel, it detects the cause of its inability to travel, and performs processing according to the cause. In other words, if the control station performs these processes for all mobile robots, it becomes an N:N problem and becomes a very complicated process, but if each mobile robot performs these processes individually,
:N problem, which simplifies the process.

Embodiment A mobile robot system to which a travel control method according to 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-
1 to 2-10 are mobile robots, and the control station 1 and each of the mobile robots 21 to 2-10 are connected wirelessly.

The mobile robot 2 is configured to travel along a magnetic tape attached to the floor of a predetermined travel path.
Further, nodes are set on the travel route at appropriate intervals. FIG. 2 is a diagram showing an example of a running route, and in this diagram, ■, ■1, . . . are nodes. A node mark is affixed to the floor of each node, and the mobile robot 2 is provided with a detector for detecting this node mark. Additionally, there are three types of nodes:

(1) Map entry mate: This is the node that becomes the starting point when the mobile robot 2 newly enters the travel path, and in FIG. 2, it is ■, ■, @l, ■.

(2) Work node: Work point S 1. S2. This is a notebook with S3, and in Figure 2, ■■,
■It is. When a mobile robot performs work, it temporarily stops at this work node, then advances to work point Sl (or S2 or S3), stops, and performs the work.

(3) Passing Nodes - There are 7-does that the mobile robot simply passes through, and in FIG. 2, these are all nodes other than the above-mentioned 7-does.

FIG. 3 is a block diagram showing the configuration of the control station 1. In this figure, 1a is a CPU (central processing unit), 1b is a C
Program memory lc stores programs used in PU la, and lc is a collision table that stores data for preventing collisions between robots. 1d is a map memory, and (x
-y) Coordinates, data indicating node type, numbers of other nodes connected to the node, distances to other nodes connected to the node, etc. are stored. 1
e is a data memory for data storage, and this data memory 1e has a reserve table RV shown in FIG. 4 in advance.
A T is provided. This reserve table RVT has storage slots RVI-RV1 corresponding to nodes ■ to ■, respectively.
4 (each 1 byte). 1r is an operation unit, 1g is a communication device, and this communication device 1g transmits data supplied from the CPU 1a on a carrier wave of 200 to 300 MHz, and also transmits data on a carrier wave from mobile robots 2-1 to 2-10. Receive the data sent on the .

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, 2b is a program memory storing programs used in the CPU 2a, 2c is a data memory for data storage, and 2d is an operation 2e is a communication device, and 2r is a map memory in which the same data as the map memory ld in the control station 1 is stored. A travel control device 2g receives destination data supplied from the CPU 2a, controls a drive motor while detecting the magnetic tape and node mark on the floor using a magnetic sensor, and causes the mobile robot to travel to the destination node.

2h is an arm control device which receives a work program number supplied from the CPU 2a, reads the work program of that number from the internal memory when the mobile robot arrives at the work node, and controls the robot arm (not shown) according to the read program. ) to perform various tasks.

Next, the operation of the mobile robot system described above will be explained.

First, to place the mobile robot 2 under the control of the control station 1,
Manually move the mobile robot 2 to map entry nodes ■, ■,
Move to either [phase] or ■, then move to mobile robot 2.
Enter the number of the node from the operation section 2d, and
Switch to automatic mode.

When the node number is input, the CPU 2a sends the node number and its own robot number to the control station 1 via the communication device 2e. Control station l receives the robot number and node number and writes them into data memory 2c. Through the above process, the control station 1 detects the death number and position of the newly entered robot.

Next, for example, when a work to be performed occurs at a work point S1, the control station L transmits a work point code indicating the work point S1 and a work program number to the mobile robot located closest to the work point. . Assume now that the mobile robot 2-1 is stopped at node (2) and that the control station 1 has transmitted the work point code and program number to this robot 2-1. The CPU 2a of the mobile robot 2-1 stores the received work point code and program number in the data memory 2c, and then searches for a travel route to the work point S1. This route search is performed by a conventionally known vertical search method or the like.

If the route ■→■→■→■ is found through this route search, then the CPU 2a creates the route table shown in FIG. 6 in the data memory 2c, and transfers the created route table to the control station Send to 1.

As shown in the figure, this route table contains the numbers of nodes that should be passed sequentially when going to the target work/do,
A work code indicating that the following data represents the work, a work node number, a work program number, a final posture code indicating that the following data represents the final posture of the robot, a note number to stop, a note number in front, The backward node number and final code representing the end of the route table are written.

Control station 1 stores this route table in internal data memory 2.
c, and then transmits the same table to the other mobile robots 2-2 to 2-10.

The other mobile robots 2-2 to 2-10 each write the same table into their internal data memory 2c.

Next, the mobile robot 2-1 sequentially accumulates the travel distance of the searched route from the starting point node ■ to the destination node ■ based on the inter-node distances stored in the map memory 2r. The first 7-degree that exceeds a predetermined distance X (see FIG. 2) is detected. Suppose that this node is ■. Next, CPU 2a is node ■,
The numbers (2) and (2) and the route reservation request code are each transmitted to the control station 1.

The CPU 1a of the control station 1 receives this node number and route reservation request code, and checks whether or not these nodes have already been reserved using the reserve table RVT. If they are not reserved, that is, if the data in the storage slots RVI to RV14 corresponding to these nodes in the reserve table RVT is "0", the robot number "l" is assigned to each of those storage slots.
Write. This means that the route ■→■−■ has been reserved.

Next, the CPU 1a of the control station 1 transmits the numbers of the nodes 1 to 2 and the reservation completion code to the mobile robot 2-1. The mobile robot 2-1 receives these 71 card numbers and the reservation completion code, and starts traveling toward the square and the /- card.

The mobile robot 21 sequentially transmits data to the control station 1 while traveling.

◇Status data, data indicating the robot's current status (running, waiting, working, abnormality, etc.) ◇Position data: Data indicating the robot's current position The control station 1 receives data sent from the mobile robot 21. The mobile robot 2-1 sends the mobile robot 2-2 to the other mobile robots 2-2 to 2-10 the status data and position data, and reserved node data indicating the node currently reserved by the mobile robot 2-1. These mobile robots 2-2 to 210 write the received data into internal data memory 2c.

Furthermore, the control station 1 checks the current position data transmitted from the mobile robot 21, and when it detects that the mobile robot 2-1 has passed through the node ■, cancels the reservation for the route ■→■. That is, the storage slots RV1 and RV2 of the reserve table RVT are cleared.

On the other hand, mobile robot No. 2-1 always detects the first node that exceeds the distance X from the current position to the destination node while traveling, and if the detected node becomes , ■ and the route reservation request code are transmitted to the control station 1, respectively. The control station 1 receives this node number and route reservation request code and makes a /-dore reservation. Then, if the node reservation is completed, note ■,■
number and reservation completion code to the mobile robot 2-1. The mobile robot 21 receives these node numbers and reservation completion codes, and travels to the node ■. When the mobile robot 2-1 passes through the node (2), the control station 1 only cancels the reservation for the route (2)→(2), in the same way as in the case described above. When the node ■ is reached, the work point S1 is then traversed (progressing in the tM force direction).
Proceed to. When the mobile robot y) 2-1 reaches the work point S1, the reservation for the route ■→■ is canceled. After that, work is performed using the arm.

As described above, the mobile robot 2-1 transmits the route table to the control station 1 before starting to travel, and sequentially transmits status data and position data to the control station 1 while traveling. The control station l stores the transmitted route table, status data, and position data in the data memory le, and transmits these tables, data, and reserved node data to all mobile robots 2. Exactly the same process is performed when the other mobile lohonos 1-2-2 to 2-10 are running. Therefore, in this mobile robot system, each mobile robot 2 holds the route table, status data, position data, and reserved node data of other mobile robots 2 in its internal data memory 2c. Thereby, each mobile robot 2 can constantly detect the traveling route, current state, current position, and reserved node of the mobile robot 2 in the pond.

Next, a description will be given of a process to be performed when, for example, the mobile robot 2-1 cannot proceed further for some reason.

Now, mobile robot 2-1?■→■→■→■→■→＠→
Suppose that you proceed to 7-do ■ via the route ■. As described above, the mobile robot 2-1 advances while reserving a route for each predetermined distance. Now, the vehicle makes a reservation for the node ■, starts traveling, and requests a reservation for the next node ■ during the trip. However, when reaching node ■,
If the last node ■ cannot be reserved, node ■ will be temporarily stopped and the next process will be performed.

(1) First, the route tables of the other mobile robots 2-2 to 2-10 stored in the data memory 2c are scanned to detect the mobile robot 2 that has node (2) as part of its travel route. Now, mobile robots 2-3 and 2
-5 or applicable.

(2) Next, from each reservation/-doteday of the mobile robots 2 3, 2 5 stored in the data memory 2c,
A mobile robot 2 that has reserved node ■ is detected. Suppose now that mobile robot 2-3 is detected.

(3) Next, from the state data of the mobile robot 2-3 stored in the data memory 2c, the mobile robot 2-3 is
Detects the state in which it is and performs the following processing depending on the state.

(1) When the hyperactive lohonoto 2-3 is on standby, the mobile robot 2-1 has its own status: ■ ``Waiting for expulsion completion''
It is sent to control station 1 as The control station l receives this state data, finds out the waiting mobile robot 123 based on the route table and current position data of each mobile robot 22 to 2-10 stored in the internal data memory le, and controls its movement. A route transfer instruction is sent to robots 2 and 3. Mobile robot 2 3 that received this route transfer instruction
As in the case described above, the vehicle searches for a route to the designated node, makes a route reservation, and then travels to that node.

When this mobile robot 2-3 moves, the node reservation is canceled.

On the other hand, the mobile robot 2-1 transmits the status data to the control station 1 as "waiting for ejection completion", and then transmits a travel route reservation request to the control station 1 every certain period of time.Control station 1
moves the mobile robot 23, and when the node reservation is canceled, it makes a reservation for the mobile robot 2-1 and sends a reservation completion message to the mobile robot 2-1. Mobile robot y)2
1 starts traveling upon receiving this reservation completion. If a re-route search instruction is sent from the control station 1 while the travel route reservation request is being issued, the route will be searched and the route will be changed.

(ii) When the mobile robot 2-3 is running towards that node, the mobile robot 7) 2-1 sends the status data as "waiting to pass" to the control station 1, and thereafter requests a travel route reservation every certain period of time. is not sent to control station 1, and waits for the reservation to be completed. In addition, the mobile robot that is about to pass.

If an abnormality occurs in port 2-3, re-route search is performed.
Change route and drive.

(Mountain) When the mobile robot 2-3 is working, the mobile robot 2-1 performs a route search again. That is, mobile robot l
-1 first sends a route search permission request to control station 1.

The control station 1 receives this request, and if there are no other mobile robots searching for a route, sends route search permission to the mobile robot 21. The mobile robot 2-1 receives this route search permission and searches for a route that detours around the mobile robot 23. If a route is found, the route table is sent to the control station 1, as in the case described above, and the control station 1 transmits this route table to other mobile robots 2-2 to 2-2.
Send to 2-10. Next, the mobile robot 2-1 transmits a route reservation request to the control station 1, and starts traveling upon completion of the reservation from the control station 1.

If the mobile robot 21 is unable to search for a detour route, it sends status data as ``wait for work completion'' to the control station 1 and waits for the route to become available.

(Iv) When an abnormality is occurring In the same way as in the above case, a reroute search is performed to find a route that detours around the mobile robot 2-3, and the robot changes the route and runs. In addition, if a detour route cannot be searched, the status data is sent to the control station 1 as "waiting for abnormality recovery",
Wait for the route to become available.

(When resolving a conflict problem) This conflict problem resolution means that the mobile robot 23 is "waiting to complete expulsion,""waiting to complete work,""waiting to pass,"
This is a case where the device is in a state such as "waiting for abnormality recovery". In this case, the mobile robot 7) 21 sends status data to the control station 1 as "waiting for conflict problem resolution" and waits for the mobile robot 2-3 to resolve the problem.

In this way, each of the mobile robots 2-1 to 2-10 in this mobile robot system can decide by itself whether to stand by or change the route and take the most appropriate action when it becomes unable to travel. .

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, according to the present invention, each mobile robot searches its own travel route, and when it becomes unable to travel, it detects the cause of its inability to travel by itself.
Since processing is performed according to the cause, it is no longer a problem of running control of each mobile robot, and the effect of improving control efficiency can be obtained.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of a mobile robot system according to an embodiment of the present invention, FIG. 2 is a diagram showing an example of a travel path on which each mobile robot (y) travels, and FIG. 3 is a control diagram in FIG. FIG. 4 is a block diagram showing the configuration of the station 1; FIG. 4 is a diagram showing the reserve table RVT set in the data memory ld in FIG. 3; FIG. 5 is a block diagram showing the configuration of the mobile robot 2; The figure shows an example of the configuration of a route table. 1...Control station, 1a...CPU, 1b...
...Program memory, 1e...Data memory, 2-1 to 2-10...Mobile robot, 2a...
・・CPU, 2b・old・program memory, 2c・・
...Data memory.

Claims (2)

[Claims] (1) In a mobile robot system consisting of a plurality of mobile robots and a control station that controls these mobile robots, the control station instructs each mobile robot to a destination and reserves a travel route for each mobile robot. Then, each mobile robot is notified of the travel route of other mobile robots, position data indicating the current position, and status data indicating the current state, and each mobile robot follows the route to the destination instructed by the control station. It searches and notifies the control station, automatically travels along the searched route, notifies the control station of the travel route, position data indicating the current position, and status data indicating the current status, and stores the pond movement in internal memory. It writes the robot's travel route, position data indicating its current position, and status data indicating its current state, and when it becomes unable to run, it scans the data in the internal memory to detect the cause of the robot's inability to run, and determines the cause. A traveling control method for a mobile robot, characterized in that the traveling route is changed according to. (2) In a mobile robot system consisting of a plurality of mobile robots and a control station that controls these mobile robots, each mobile robot contains position data indicating the current position of other mobile robots and status data indicating the current state. When a mobile robot becomes unable to run, the mobile robot scans the position data and status data of the other mobile robots mentioned above to detect the cause of the inability to run, and changes the running route depending on the cause. A traveling control method for a mobile robot, characterized by performing standby.