JPH05257533A - Method and device for sweeping floor surface by moving robot - Google Patents

Abstract

PURPOSE:To enable a moving robot, which sweeps a floor surface, to efficiently and safely sweep all given work areas throughly without overlapping while avoiding obstacles. CONSTITUTION:This device is provided with a robot position detecting operation part 5 including a direction detecting part 3 and a covered distance detecting part 4, front, right, and left obstacle optical and ultrasonic detections parts 1, 6A, and 6B which detect obstacles existing in the front, the right, and the left of the robot respectively, and an obstacle avoiding sweep processing part 7 which makes a plan to throughly sweep the floor, surface of a prescribed work area while avoiding obstacles by position information from the position detecting operation part 5 and obstacle information from optical and ultrasonic detection parts 1, 6A, and 6B and outputs a running control command of the moving robot based on the plan.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for sweeping a floor surface of a mobile robot for performing work while moving on a floor surface in a predetermined work area.

[0002]

2. Description of the Related Art At present, unmanned transfer robots for carrying parts and luggage are used in factories and warehouses. The purpose of this unmanned transfer robot is to transfer articles from a certain point to the destination, and in order to achieve this purpose,
When an obstacle is detected on the travel route by the obstacle detection sensor, it is possible to move while re-planning the optimum route for avoiding the obstacle one after another. However, in the case of a "floor work robot" such as a robot that cleans the floor surface or a robot that trowels the cement on the floor surface, all the given areas are fully occupied and overlapped. The original purpose is to work by sweeping (moving) without moving, and when the above-mentioned sweeping is performed, many work robots automatically perform the work during the sweeping. Therefore, if an obstacle is detected on the movement route by the obstacle detection sensor while the floor work robot is sweeping (moving), it is necessary to avoid the obstacle and perform the sweep so as not to impair the original purpose. However, this sweeping method is naturally different from the case of the unmanned transfer robot.

The guideline for the floor work robot to avoid obstacles and perform sweeping is as follows. During the work in the area (a), the same obstacle is encountered many times, and if the avoidance is repeated repeatedly, the work is wasteful. Therefore, have a global sweep algorithm that fits the goal of efficiently performing tasks in the area. (B) Minimize the area where work cannot be performed due to avoiding obstacles. (C) The safety factor that prevents collision with obstacles is being improved. (D) The sweep algorithm does not stray. (E) A sweep algorithm that can be realized by using a relatively low-cost ultrasonic sensor or optical sensor as the obstacle detection means.

[0004]

However, the floor work robot is very recently born, and the guidelines (a) to (e) for the floor work robot to avoid obstacles and perform sweeping. The floor sweeping method and apparatus for mobile robots that satisfy the above requirements have not yet been developed. Therefore, when the obstacle avoidance algorithm developed for the unmanned transfer robot is used when avoiding the obstacle, there is a problem that the work in the area cannot be efficiently performed.

The present invention has been made in order to solve the above problems, and a mobile robot working on the floor avoids obstacles and completely fills all the given areas and overlaps them. It is an object of the present invention to provide a method and apparatus for sweeping a floor surface of a mobile robot, which can efficiently and safely perform work.

[0006]

A method or apparatus for moving a floor surface of a mobile robot according to claim 1 or 5 of the present invention is a floor surface of a mobile robot for performing work while moving the floor surface in a predetermined work area. In the sweeping method or apparatus, a position detecting / calculating means for calculating the position of the robot, including means for detecting the traveling direction of the mobile robot and means for detecting the traveling distance, and a traveling direction of the mobile robot within the predetermined work area are included. An obstacle is detected by an obstacle detection unit that detects an obstacle existing in any of a plurality of directions, the position information of the mobile robot calculated by the position detection calculation unit, and the obstacle information detected by the obstacle detection unit. A plan for sweeping the floor surface of the predetermined work area while avoiding is generated, and a traveling control command for the mobile robot is issued based on the generated sweep plan. The obstacle avoidance sweep processing means for applying force, the obstacle avoidance sweep processing means is an obstacle-free area sweep processing means for performing sweep processing by a predetermined moving fixed pattern in an area where the obstacle does not exist, and a mobile robot. In the area where there is an obstacle in the front of the traveling path, while continuing the sweep in the movable fixed pattern in the movable area that avoids this, a through path that can move a predetermined distance immediately before and immediately after the obstacle existing area. And an obstacle existing area sweeping and recognition processing means for recognizing the area between the two through paths as an obstacle existing area, and the movement from the end point of the through path recognized immediately after the obstacle existing area. An obstacle existing unswept area sweep processing means for sweeping an unswept area in the obstacle existing area by a fixed pattern A.

A floor sweep method or apparatus for a mobile robot according to claim 2 or 6 of the present invention is the method according to claim 1.
Alternatively, in the method or apparatus for sweeping a floor surface of a mobile robot according to claim 5, a target for measuring a position of a target existing on the left and right sides of the mobile robot and a distance to the target by ultrasonic waves, respectively. The robot is provided with position detecting and calculating means for the robot, which is provided with position and distance measuring means.

A floor sweeping method or apparatus for a mobile robot according to claim 3 or 7 of the present invention is the method according to claim 1 above.
Alternatively, in the method or apparatus for sweeping a floor surface of a mobile robot according to claim 2, or 5 or 6,
A management map information memory provided corresponding to each unit area obtained by subdividing the predetermined work area, and obstacle existence information and work management information are sequentially stored in the management map information memory according to the progress of work. It is provided with an obstacle avoidance sweep processing means to which an information processing means for storing and updating as necessary is added.

A floor sweep method or apparatus for a mobile robot according to claim 4 or 8 of the present invention is the method according to claim 1 above.
To any one of claims 3 to 5, or claims 5 to 7
In the method or apparatus for sweeping the floor surface of a mobile robot according to any one of the above, if there is a closed area in the obstacle existing area that cannot be moved due to the moving fixed pattern, a swirlable area is searched for in the closed area. However, obstacle avoidance with a closed area sweep and escape processing means for performing a sweep processing of a movable area using the swivel area and an escape processing from the closed area via the swivel area after the sweep processing is completed It is equipped with a sweep processing means.

[0010]

According to the first or fifth aspect of the present invention, in the floor sweeping method or apparatus for a mobile robot that performs work while moving on the floor of a predetermined work area, the position detection calculation means is the mobile robot. The position of the robot is calculated by including means for detecting the traveling direction and means for detecting the traveling distance. The obstacle detecting means detects an obstacle existing in any of a plurality of directions including the traveling direction of the mobile robot within the predetermined work area. The obstacle avoidance sweep processing means leaves the floor surface of the predetermined work area while avoiding an obstacle based on the position information of the mobile robot calculated by the position detection calculation means and the obstacle information detected by the obstacle detection means. A plan for sweeping is generated without any action, and a traveling control command for the mobile robot is output based on the generated sweep plan. The obstacle avoidance sweep processing means includes obstacle-free area sweep processing means, obstacle-existing area sweep and recognition processing means, and obstacle-existence unswept area sweep processing means. Then, the obstacle-free area sweep processing means performs the sweep processing in a predetermined moving fixed pattern in an area where no obstacle exists. The obstacle existing area sweeping and recognition processing means, in an area where an obstacle exists in front of the moving robot, continues the sweep by the moving fixed pattern in a movable area to avoid the obstacle, and immediately before the obstacle existing area. And immediately after that, the through path that can move a predetermined distance is recognized, and the area sandwiched between the two through paths is recognized as the obstacle existing area. The obstacle existing unswept area sweep processing means sweeps the unswept area in the obstacle existing area from the end point of the through path recognized immediately after the obstacle existing area by the moving fixed pattern.

In the invention according to claim 2 or claim 6, in the invention according to claim 1 or 5, the target position and distance measuring means added to the position detecting / calculating means is the moving means. The positions of the targets existing on the left and right sides of the robot and the distances to the targets are measured by ultrasonic waves, respectively, and based on the measured position and distance information, the position detection calculation means determines the azimuth and position of the mobile robot. Correct the error of.

In the invention according to claim 3 or claim 7, in the invention according to claim 1 or claim 2, or claim 5 or claim 6, the obstacle avoidance sweep processing means is used for a management map. An information memory and information processing means are added, and the management map information memory is provided corresponding to each unit area obtained by subdividing the predetermined work area. Further, the information processing means sequentially stores the existence information of the obstacle and the work management information in the management map information memory according to the progress of the work, and updates them as necessary.

In the invention according to claim 4 or claim 8, the invention according to any one of claims 1 to 3 or claim 5 to 7,
The closed area sweep and escape processing means added to the obstacle avoidance sweep processing means turns within the obstacle existing area when there is a closed area that cannot be moved by the movable fixed pattern. A feasible region is searched for, a sweeping process of a movable region using the swivelable region, and an escape process from the closed region via the swivelable region after the sweeping process is completed.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a block diagram showing the construction of a floor sweeping apparatus for a mobile robot according to the present invention, in which 1 is a front obstacle light / ultrasonic wave detecting section, and 2A is a right target position / distance measuring section. Two
B is a left target position / distance measuring unit, 3 is an azimuth detecting unit, 4 is a traveling distance detecting unit, 5 is a position detecting / calculating unit, 6A is a right obstacle light / ultrasound detecting unit, and 6B is a left obstacle. An object light / ultrasonic wave detection unit, 7 is an obstacle avoidance sweep processing unit, and 8 is a traveling control unit. Further, the devices 1 to 8 are included in the mobile robot 10, but the mobile robot 10 includes a moving mechanism (for example, a driving wheel and a motor, etc.) and a working mechanism (for example, a cement iron finishing mechanism) which are not shown in the figure. Etc. are also included.

FIG. 2 is an explanatory view of the obstacle detecting means by ultrasonic waves of the mobile robot according to the present invention. The ultrasonic transmitting beam and obstacles and wall surfaces in the three directions of front, left and right in the horizontal plane are shown. Shown respectively. FIG. 3 is an explanatory view of the optical obstacle detecting means of the mobile robot according to the present invention, and shows the photodetection beam, the obstacle and the wall surface in the three directions of the front, left and right in the horizontal plane, respectively. FIG. 4 is a waveform diagram for explaining the operation of the ultrasonic range finder.

The function and operation of each device shown in FIG. 1 will be described with reference to FIGS. The front obstacle light / ultrasonic wave detection unit 1 is composed of two parts: a light detection unit that optically detects a front obstacle on which the mobile robot 10 travels, and an ultrasonic wave detection unit that detects ultrasonic waves. Here, the ultrasonic wave detection unit always checks the presence of obstacles in the front, and if it detects the presence of obstacles in the front, then the mobile robot 1
It has a function of measuring the distance from 0 to the obstacle. Here, the reason for providing two, a photodetection unit and an ultrasonic detection unit, for detecting an obstacle ahead will be described. Generally, when an ultrasonic sensor is used, distance information of a target relatively distant (about several meters to 10 meters) can be obtained, but azimuth information in which the target exists is ambiguous. The optical sensor can detect the presence or absence of the target in the light detection beam direction, but the detectable distance is limited to a short distance (for example, about 2 m). Therefore, when the mobile robot approaches the obstacle for several meters to 10 m, the ultrasonic sensor detects the obstacle in front and measures the distance, and when the mobile robot further approaches the obstacle and reaches about 2 m, the optical sensor detects it. The detection of the corresponding obstacle and its direction information can be obtained. In this way, by using the two detection sensors, that is, the light detection unit and the ultrasonic detection unit, the mobile robot can reliably detect a front obstacle from a relatively long distance to a very short distance. Unclear target orientation information can be supplemented by an optical sensor.

The front obstacle ultrasonic detecting section will be described with reference to FIGS. 2 and 4. The front obstacle detection unit is configured by T ₁ , R ₁₁ and R _{12 in} FIG. In the figure, T ₁ is the transmitter, and R ₁₁ and R ₁₂ are the transmitter T ₁ and the distance d ₁ (for example, 25 cm).
The receiver is provided in the direction perpendicular to the transmission direction with a separation of (about). The transmitter T ₁ supplies an oscillator output of, for example, about 20 to 25 kHz to the transmitter during the transmission gate period (for example, several milliseconds) of FIG. 4, and transmits the ultrasonic burst wave of the transmission beam shown in FIG. The directional characteristic (a directional characteristic in the horizontal plane, which is wider than the transmitting beam of the target position / distance measuring unit) is transmitted forward. When there is an obstacle in front of the mobile robot 10, the receivers R ₁₁ and R ₁₂ respectively receive the ultrasonic waves reflected from the obstacle ahead and returned after a certain time, and amplify the received signal. After that, it is detected through a bandpass filter (BPF) having a predetermined bandwidth, the detected signal is compared with a predetermined threshold level, and a binary signal exceeding this level is taken out as a detection output. Then, a built-in counter measures a time T from the ultrasonic wave transmission start time to the detection output generation time. The distance information to the obstacle can be obtained from the measurement time T and the ultrasonic propagation velocity of the ultrasonic wave (about 330 m / sec at room temperature). The waveforms of the above signals are shown in FIG. Incidentally, a pair of receivers R ₁₁ and R ₁₂
The reason for providing is that the principle of triangulation is used so that the distance to the front reflection point of the reflection target and the position of the reflection point can be calculated from the two distance information obtained from each of the pair of receivers. This is because For this calculation method,
The right target position / distance measuring unit 2A will be described.

The front obstacle light detection section will be described with reference to FIG. A front obstacle light detection unit is constituted by E ₁ and P _{1 in} FIG. 3, E ₁ is a light projector, and P ₁ is a light receiver. Floodlight E
For example, ₁ emits visible light, collects it with an optical lens, and projects it as a narrow light detection beam (for example, several degrees to 10 degrees) forward. The light receiving device P ₁ is provided in a position very close to the light emitting device E ₁ , receives the reflected light from the front obstacle, amplifies the photo-electrically converted light receiving signal, and compares it with a predetermined threshold level for detection. Get the output. Although the maximum distance at which the target can be detected by this light detection unit is about 2 m, it becomes possible to detect obstacles within this range and obtain accurate azimuth information by the narrow light detection beam. Therefore, the distance information to the obstacle by the light detection unit is not expected.

The right target position / distance measuring unit 2A shown in FIG.
Will be explained. In addition, the left target position / distance measuring unit 2B is 2
It is the same as A, and the difference is that it is simply mounted on the right side or the left side of the mobile robot 10. T _3, R _31, R ₃₂ and the right target object position and distance measuring unit 2A by A ₃ in the figure composed. T ₃ is a transmitter that transmits burst ultrasonic waves that are beamformed in a predetermined direction.
R ₃₁ and R ₃₂ are a pair of receivers, each of which has a distance d ₂ (equal to a predetermined azimuth and a right azimuth, which is the central axis of the ultrasonic transmission beam, from the installation position (that is, the transmission position) of the transmitter T _3. Due to the principle of triangulation, d ₂ should be as large as possible, but since it is generally within the width of the mobile robot 10, it is provided on both sides with a distance of, for example, about 40 cm. A ₃ is a computing unit that calculates the position of the reflecting target and the distance to the reflecting target based on the distance information to the two reflecting points obtained by the pair of receivers R ₃₁ and R ₃₂ . The arithmetic unit A ₃ may be composed of, for example, a microprocessor (hereinafter referred to as CPU), RAM, ROM, an input / output interface and the like. The transmitter T ₃ forms an ultrasonic burst wave having a frequency higher than that of the transmitter T ₁ , for example, about 40 kHz, through a horn to form a narrow transmission beam, and transmits it in a predetermined direction. For example, a beam having a transmission beam width of about 20 degrees is formed as a horizontal directional characteristic. The reason for using the ultrasonic wave with a high frequency is to shorten the wavelength to improve the distance resolution, and to use the beam forming means such as a horn is to improve the azimuth resolution. Receiver R ₃₁
And R ₃₂ are the reflection signals from the two receivable points that can be respectively received among the reflection signals from the right target object (wall surface in the example of FIG. 2), similarly to the operation in the front obstacle ultrasonic wave detection unit 1. Are individually received, the received signal is amplified, and a predetermined BPF is received.
Is detected by passing it through and is compared with a threshold level to obtain a detection output. Then, the distance to each of the two reflection points is calculated from the measurement time from the start of ultrasonic wave transmission to the detection output. The calculation of the position of the reflecting target and the distance to the target from the two pieces of distance information is performed by the built-in computing unit A ₃ , and this calculation method is shown in FIG.
Will be explained.

FIG. 5 is an explanatory view of a target position and distance measuring method using ultrasonic waves according to the present invention. Not only is the distance to a reflecting target measured, but a relative coordinate system set on the mobile robot side. Based on the coordinate position of the reflection target (the reflection position of the central axis of the ultrasonic transmission beam from the mobile robot)
Can be calculated. In FIG. 5, a point T is an ultrasonic wave transmission position (hereinafter referred to as a transmission point), which is a coordinate origin of XY two-dimensional coordinates which are sensor relative coordinates set on the mobile robot. The points R ₁ and R ₂ are the reception positions of the reflected ultrasonic waves (hereinafter referred to as reception points), and are positions separated by a distance d to the left and right from the coordinate origin on the X axis. U is a surface (that is, a reflecting surface) of the object to be measured, which is inclined at a point P in the negative direction by an angle a with the parallel line Q with the X axis. Now, on the reflection surface U of the object to be measured, the reflection point on the central axis of the transmitted beam is P, and the transmission wave from the transmission point T is reflected on the surface U and received at the reception point R ₁ on the U surface. Is P ₁ ,
The extension reflection point R ₂ on the U plane is received, also the linear R ₁ P ₁ and the straight line R ₂ P ₂ were respectively extended reflected to the receiving point R ₂ in the transmission wave is a surface U from the transmission point T Let the intersection be P ₀ . The intersection P ₀ is naturally on an extension of the straight line TP.

In FIG. 5, the distance from the point R ₁ to the point P ₀ is S ₁ (S ₁ = R ₁ P ₁ + P ₁ P ₀ ), and the distance from the point R ₂ to the point P ₀ is S ₂ (S ₂ = R ₂ P ₂ + P ₂ P ₀ ),
If the distance from the point T to the point P ₀ is S, the distance from the point T to the point P is D, the coordinates of the point P are (X _p , Y _p ), and the inclination angle of the surface U with respect to the surface Q is a, By performing the coordinate analysis of 5, the distance D and the distance S are expressed by the following equations (1) and (2).
The coordinates X _p and Y _p of the P point are shown by the following equations (3) and (4), and the inclination angle a is shown by the following equation (5). D = S / 2 (1)

[0022]

[Equation 1]

[0023]

[Equation 2]

[0024]

[Equation 3]

A = −X _p / Y _p (5) Therefore, if a relative coordinate system is provided on the mobile robot 10, the coordinate position of the reflection point P in this relative coordinate system and the distance to the point P can be calculated. In this embodiment, when the ultrasonic transmission frequency is 40 kHz and the transmission beam width is 20 degrees, the minimum detection distance is 0.3 m to the maximum detection distance 10.
It is possible to calculate the position and distance of a drifting object within the range of 0 m.

When the mobile robot 10 moves in parallel with the wall surface serving as the reference target as shown in FIG. 2, it first moves based on the azimuth detected by the azimuth detection sensor. One of the target position / distance measuring units 2A or 2B sequentially measures the reflection position of the wall surface and the distance to the reflection position at a plurality of positions where the mobile robot 10 is translating to the wall surface, and the measured plurality of positions are measured. Temporarily store information on position and distance. The position detection calculation unit 5 fits the regression line of the wall surface from the stored plural position and distance information of the wall surface and the position information of the robot. If the orientation of the fitted regression line does not match the orientation of the wall surface that actually exists, the orientation detection sensor has an error and the orientation and position data of the mobile robot is calibrated.
The traveling control of the mobile robot is performed so that the direction of the regression line matches the direction of the existing wall surface. That is, the traveling control is performed so that the actual distance between the mobile robot and the wall surface becomes constant.

The azimuth detecting section 3 shown in FIG.
Of the robot, for example, a sensor such as a gyro compass or a rate gyro is used to detect the traveling direction of the robot. The traveling distance detection unit 4 is a portion that detects the traveling distance of the mobile robot 10, and detects the traveling distance by counting the output signal from the encoder mounted on the moving wheel of the mobile robot 10, for example. The position detection calculation unit 5 is input with an initial coordinate position to start traveling in advance (input from a keyboard (not shown) or the like), azimuth information from the azimuth detection unit 3, and mileage detection unit 4
By inputting the traveling distance information from the vehicle and the right and left target position / distance measuring units 2A and 2B, respectively, the position and distance information of the wall surface or the like to be referenced, the mobile robot 10
Is a part for sequentially calculating the current position of. Therefore, the position detection calculation unit 5 can be configured by, for example, a CPU, a ROM that stores a control program, a RAM that temporarily stores data, a data input / output interface, and an A / D converter as necessary. Further, in this position detection calculation, by obtaining the position and distance information of the wall surface that is the reference target, it is possible to correct the error included in the azimuth and the traveling distance information from the sensor and calculate the position with high accuracy. As described above.

The obstacle avoidance sweep processing unit 7 in FIG. 1 is provided with position information in the work area from the position detection calculation unit 5, front obstacle information from the front obstacle light / ultrasonic wave detection unit 1, right and left sides. By inputting the right and left obstacle information from the obstacle light / ultrasonic wave detectors 6A and 6B, respectively, a plan to sweep the floor surface of a predetermined work area thoroughly while avoiding obstacles is planned. Based on the generated sweeping plan, the control unit 8 outputs traveling control commands for the mobile robot such as straight traveling, stopping, and turning to the traveling control unit 8. In addition, the obstacle avoidance sweep processing unit 7
It also includes a memory for storing necessary initial information (for example, shape and size) for the work area, a management map information memory described later and the memory information processing means, and a closed area sweep and escape processing means. Therefore, the obstacle avoidance sweep processing unit 7 is generally composed of a CPU, a ROM, a RAM, a data input / output interface and the like. The object avoidance sweep processing unit 7 can be configured by the same hardware.

The traveling control unit 8 is, for example, input straight traveling,
An actual traveling control output is supplied to a robot moving mechanism (not shown) based on traveling control commands such as stop and turn.

Before explaining the floor sweeping method for a mobile robot according to the present invention, as background information, the meanings of the terms "moving fixed pattern", "through path", "obstacle existing area", etc., which are used in the present invention, are given. Will be described. FIG. 6 is a diagram for explaining the terms used in the present invention. FIG. 7A shows an example in which the work area is rectangular, and FIG. 7B shows an example in the case where the work area is circular.

First of all, the "moving fixed pattern" means a certain preferable pattern determined in consideration of the efficiency and safety of the work according to the shape of the work area swept by the mobile robot, the position of the obstacle, and the like. It is a movement pattern. Therefore, from among various movement patterns, the movement pattern is selected and determined as the most preferable movement pattern according to the situation. As a specific example, FIG.
In the case of the rectangular work area of (a), it goes straight in parallel with one side in the longitudinal direction from the sweep start position, and stops here when it reaches a position (before the turning boundary line or obstacle) where it cannot go straight any further. Then, turn 180 °, move one lane in the working direction, and go straight in the opposite direction. When it reaches a position where it cannot go straight any further, it repeats the movement pattern of stopping again, turning 180 °, moving one lane in the working direction, and moving straight in the opposite direction. Go straight in the longitudinal direction of this rectangle,
A moving pattern that moves one lane at the limit point and goes straight in the opposite direction is a rectangular moving fixed pattern.

When the work area is circular and there is an obstacle in the center as shown in FIG. 6B, a circle is drawn with a predetermined radius from the sweep start position set in the outermost lane of the circle. Move to, stop before the turning boundary, turn 180 °, move one lane toward the center of the circle, and move again to draw a circle in the opposite direction with the radius reduced by one lane. Repeat the pattern. Or, if you move the first lane and stop before the turning boundary in the figure, move one lane toward the center of the circle and move in the same direction with a radius shortened by the one lane, that is, like a mosquito coil. Repeat the pattern that progresses to. In the case of FIG. 6B, if the movement pattern as described above is determined to be the movement fixed pattern, the number of operations for encountering an obstacle during traveling and avoiding it is small, so that the work efficiency is good.

"Through pass"
h, T. P. Is omitted) is defined as a lane that can move a predetermined distance without any obstacle on the moving route when the mobile robot moves according to the moving fixed pattern. .. In FIG. 6A, a lane in which the mobile robot has been able to move a straight line distance d from one turning boundary line to the other turning boundary line is a “through path”. In FIG. 6 (b), the arc length of the through path changes for each lane.
In the n lane, the mobile robot has an arc length L _n (n = 1, 2, 3 ...) From one side of the turning boundary line to the other side.
The lane that was able to move is a "through pass". Therefore, for mobile robots, the fact that a "through pass" was obtained means that there are no obstacles on the movement route,
It means that a predetermined distance can be moved from one end to the other.

Next, the "obstacle existing area" will be described. Now, in the work area of FIG. 6A, when the mobile robot sweeps from the sweep start position according to the moving fixed pattern, the “through path” is continuously obtained from the # 1 lane to the #n lane, From the # (n + 1) lane to the #m lane, "through pass" cannot be obtained continuously,
It is assumed that the "through pass" is obtained again at # (m + 1).
In this case, the # 1 lane to the #n lane is the “obstacle absent area”, and the # (n + 1) lane to the #m lane is defined as the “obstacle existing area”. And again #
Enter the "obstacle free area" from the (m + 1) lane. The mobile robot completes two through paths while performing the above-mentioned sweep operation, a through path immediately before entering the obstacle existing area (that is, the last through path in the obstacle missing area) and a through path immediately after passing through the obstacle existing area. Is detected and stored, and the area sandwiched between these two through paths is recognized as the “obstacle existing area”.

FIG. 7 is a view for explaining a floor sweep method for a mobile robot according to the present invention. In the example of this figure, the work area is a rectangle as in FIG. 6A, and the area surrounded by the upper and lower wall surfaces and the left and right turning boundary lines is the work area of the mobile robot 10. Required information about this work area, such as the shape and size of the work area (in the case of a rectangular shape, vertical and horizontal distances), azimuth, position of the left and right turning boundaries, the sweep start position of the robot, and the upper and lower walls. The data such as is input to the mobile robot 10 from a keyboard (not shown) or the like in advance, and the required information is stored in the position detection calculation unit 5 and the obstacle sweep processing unit 7, respectively.

However, the mobile robot 10 is not provided with any information about obstacles or obstacle groups such as at what position and in what shape and how many obstacles exist in this work area. .. Therefore, the mobile robot 10 sweeps the floor surface while performing work, always collects data around itself, detects obstacles, and sweeps while avoiding them, and the given work area is not exhausted. In addition, floor work is performed without duplication. In order for the mobile robot 10 to collect data around it, the mobile robot 10 is equipped with target detection and distance measurement means in the three directions of front, right and left as described with reference to FIG. ..

In the case of the work area shown in FIG. 7, the mobile robot 10 sweeps according to the moving standard pattern described with reference to FIG. That is, the mobile robot 10 goes straight in parallel with the upper wall surface from the sweep start position set near the upper left turning boundary line, stops before the right turning boundary line, and turns 180 degrees here. It moves to the lane one direction ahead in the work direction, and this time repeats the movement pattern of going straight in the opposite direction. In the case of this example, the direction from the upper wall surface to the lower wall surface (the negative direction of the Y axis of the two-dimensional coordinate) is the working direction of the mobile robot. The lane means a passage whose width is equal to the working width of the mobile robot.

In the example of FIG. 7, after starting the sweep, the mobile robot 10 continuously obtains through paths from # 1 lane to # 3 lane and continuously obtains through paths from # 4 lane to # 7 lane. No, and the through pass was obtained again in lane # 8. Since the through path (a) immediately before the obstacle existing area is obtained in the # 3 lane and the through path (b) immediately after the obstacle existing area is obtained in the # 8 lane, the two through paths (a) and (b) are used. The area narrowed in the front and back becomes an obstacle existing area B. In addition, the obstacle-free areas are A and C in the figure.

Next, the operation of the mobile robot 10 according to the present invention for constantly collecting data around it while sweeping the floor surface and performing the work will be described. As described with reference to FIG. 1, the mobile robot 10 according to the present invention includes target detection sensors on its front surface and both side surfaces. The surface of the object can be observed several times before the obstacle is blocked. This is because these detection sensors can measure only one point on the surface of the object in stationary observation, so that each time the robot observes one surface of the object while moving, its information is divided into, for example, a work map (Fig. 10). And described in FIG. 11), the probability of failure to detect an obstacle can be further reduced, and the shape of the obstacle can be considerably estimated from the information obtained by observing the obstacle from various locations. Can know. Therefore, the mobile robot 10 can obtain the presence and approximate position information of the obstacle as the a priori information while sweeping the obstacle-free area A of FIG. 7.

The actual confirmation that the mobile robot 10 has entered the obstacle existing area B in FIG. 7 is to detect the presence of an obstacle in front of itself and to stop at the front of the obstacle.
This is the time when the avoidance operation (the operation of turning 180 degrees in the traveling direction, moving to the lane ahead in the working direction, and moving straight in the opposite direction) is required. Details of the avoidance operation will be described with reference to FIG. In this case, the through path (a) immediately before the obstacle existing area in FIG. 7 is the obstacle absent area A up to this through path (a), but indicates the boundary entering the obstacle existing area B from the next lane. The mobile robot 10 stores the through path (a).

In the obstacle existing area B in FIG. 7, the mobile robot 10 sweeps the right turning boundary and the area in front of the obstacle with the moving pattern shown by the arrow in FIG. Collect data around you. Then, when the through path (b) immediately after the obstacle existing area is obtained, the mobile robot 10 has entered the obstacle absent area C from this through path (b) to the lane immediately before this through path (b). Is the obstacle existing area B. In this way, the mobile robot 10 detects the through path (a) immediately before the obstacle existing area and the through path (b) immediately after passing through the obstacle existing area, and is sandwiched by these two through paths (a) and (b). The embedded area is recognized as an obstacle existing area (here, the obstacle may be a plurality of obstacle groups).

When the mobile robot 10 detects the through path (b) immediately after the obstacle existing area, it recognizes that the obstacle existing area B has ended in the previous lane, and stops before the left turning boundary line. Here, it turns 180 degrees and moves so as to return to the direction opposite to the working direction, that is, to return to the previous lane, sweep the unworked area in this obstacle existing area B, and perform the floor work. Collect data around the robot. By constantly collecting data around the robot, it is possible to observe obstacles from various sides and perform not only avoidance motions but also work areas given, and floor work without duplication. Sweep can be performed.

FIG. 8 is a flow chart showing the processing sequence of the floor sweep method for the mobile robot according to the present invention. The flowchart of FIG. 8 will be described with reference to FIG. 7. In step S1 of FIG. 8, the mobile robot 10 operates, for example, in parallel with the upper wall surface from the sweep start position of FIG. 7, floor work and a target (for example, wall surface) or obstacle around the robot (forward, right, and left) or obstacles. Go straight while collecting data on objects. In step S2, it is determined whether or not an obstacle is detected in front of the mobile robot before reaching the turning boundary line. If no obstacle is detected, the process proceeds to step S3, and if an obstacle is detected, the process proceeds to step S5. Move. In step S3, the mobile robot 10 travels to a position before a predetermined turning boundary line, completes the through path, stops there, turns 180 degrees, and moves one lane in the working direction. Then, the process proceeds to the next step S4. In step S4, it is determined whether the work in all the work areas has been completed, and if not completed, the process returns to step S1 again, and if completed, the sweep ends.

In step S5, since an obstacle is detected in front of the robot, the previously completed through path is recognized and stored as the through path immediately before the obstacle existing area. Then, the process proceeds to step S6. In step S6, the mobile robot 10 stops before the detected obstacle and performs an obstacle avoiding operation. In step S7, the mobile robot 10, which has completed the obstacle avoidance operation, moves straight while again performing work and collecting data around the robot. Step S
At 8, it is determined whether the through path immediately after the obstacle existing area is completed. If the through pass immediately after this is not completed, the process returns to step S6, and if completed, the process proceeds to step S9.

In step S9, 2 immediately before and immediately after
Recognize an obstacle existing area that is narrowed by two through paths and requires obstacle avoidance operation. In step S10, it is determined whether or not a work incomplete area has been found in the obstacle existing area. If found, the operation proceeds to step S11. If not found, the operation returns to step S4. In step S11, the robot moves while collecting the work in the work incomplete area and the data around the robot. Then, the process returns to step S9. When the work is completed without leaving all the work areas and without overlapping, the sweep is ended via steps S10 and S4.

The floor sweep method for a mobile robot according to the present invention, as described with reference to FIG. 8, has two through paths (hereinafter referred to as a first T.P. and a second T.P. (Referred to as P.) and a method of performing work while avoiding detected obstacles are important. These operations will be described in detail below. First, the second T.S. P. In the case of searching for, an attention should be paid especially to the front sensor of the robot, and avoidance is performed when an obstacle is found near the front of the traveling direction. However, the first T.S. P. If an obstacle is found while aiming at the turning boundary line on the starting point side (left side in FIG. 7) of the vehicle, avoid the obstacle without fail and check the opposite side (end point side of the first TP). The action method is to reach the turning boundary. As a result, the second T.S. P. The areas where the work is completed after the search are gathered on one turning boundary line side (the right side in FIG. 7) without being scattered. In addition, this method is based on the second T.264 standard. P. It can be said that this is a very simple routine action, since basically the same action may be performed when working on the area remaining after the search. Table 1 below is a table in which obstacle avoidance behavior patterns of the mobile robot according to the present invention are classified.
FIG. 6 is a diagram illustrating an example of obstacle avoidance of the mobile robot according to the present invention.

[0047]

[Table 1]

The obstacle avoidance behavior patterns of the mobile robot 10 are classified as shown in Table 1 according to the moving direction of the robot and the attribute of the obstacle. A. The first T.O. P. (A) In this case, the robot is always in the first T.S. P. Therefore, the turning action described in the action pattern a in Table 1 is performed. An example of turning in this case is shown in FIG.

B. The first T.O.
P. If you are traveling in the same direction as. In this case, it is further classified into the following (b) to (e). (B) When an obstacle exists sufficiently away from the turning boundary line of the work area In this case, since the obstacle is sufficiently far from the turning boundary line, the back side of the obstacle is located on the first T.I. P. Since there is a sufficient area for work up to the end point of,
As described in the behavior pattern b in Table 1, avoiding the preceding lane and performing the work on the back side of the obstacle. This k =
An example of avoiding the k-1 lane is shown in FIG. (C) When there is a long obstacle in contact with the wall In this case, there is less information about the obstacle existing up to the turning boundary line opposite to the starting point than the point where the robot is stopped. .. Therefore, as described in behavior pattern c in Table 1, change lanes to move to the next lane,
Try to push it all the way in. Then the robot
The first T.S. P. Go straight in the direction opposite to the direction of travel. Figure 9 shows an example of how to avoid this lane change.
(C).

(D) When a short obstacle in contact with the wall is found In this case, even if the robot does not forcibly reach the turning boundary line opposite to the starting point, information on obstacles between them is obtained. Even if it does not have much influence on the behavior of the robot thereafter, as described in the behavior pattern d of Table 1,
At that point, make a 180 degree turn. An example of avoidance in this case is shown in FIG. (E) The surrounding area is surrounded by obstacles. P. In the case where it is difficult to find the T.s., in this case, it is decided that the user has fallen into the closed region, and as described in the behavior pattern e in Table 1, the first T.S. P.
Or the second T.I. P. Or the T.
P. Go to and decide to escape from the closed area. An example of this closed area is shown in FIG. A method of escaping from this closed area will be described with reference to FIG.

In the present invention, the first and second T.S. P. Alternatively, as an information processing method for recognizing the obstacle existing area by the above, in the memory in the obstacle avoidance sweep processing unit 7,
A management map information memory corresponding to each cell is created by dividing the entire work area into a grid pattern, and the area information is written in the memory corresponding to each cell, and the area where obstacles exist and the work state I was able to manage. Table 2 below shows an example of an index assigned to each cell of the management map.

[0052]

[Table 2]

The index data shown in Table 2 indicates the state of each cell corresponding to the data value "0" to "5". Then, the obstacle avoidance sweep processing unit 7 in the mobile robot 10 detects the position of the robot in operation, which is sequentially calculated by the position detection calculation unit 5, and the robot and the obstacle detected by the front and side sensor systems. The position of the obstacle is calculated with reference to the distance and the direction, and the index data is written in the corresponding cell of the management map based on the data. Moreover, the index data of each cell is rewritten and updated based on new data obtained by the subsequent movement of the robot. However, due to an error in the sensor system or the like, there may be a case where an obstacle is actually present but it is judged that there is no obstacle, and the vehicle turns, which is very dangerous. Therefore, considering the safety of the robot, as shown in Tables 3 and 4 below,
"When rewriting is possible" and "When rewriting is not possible" are provided.

[0054]

[Table 3]

[0055]

[Table 4]

When the management map is updated while working in the work area according to the above rules, the management map with good information accuracy is gradually completed as the work progresses.

FIG. 10 and FIG. 11 are views showing the traveling position of the mobile robot and Examples 1 and 2 of the management map of the present invention, respectively. In FIG. 10A, the robot is the first T.S.
P. (B) of the figure shows a state in which only the information on the upper surface of the obstacle is written on the management map. In FIG. 11A, the robot is the second T.S. P. (B) in the figure shows a state in which information about the entire area around the obstacle is written on the management map. 10 and 11
As can be seen from the above, in order to avoid the obstacles scattered in the work area and to work the remaining area, the first and second two T.S.T. P. The method of grasping an obstacle with is easy to grasp the contour of the obstacle. Therefore, when moving the lane, even if there are obstacles around it and it is impossible to move, it is possible to know how far back it can move the lane without colliding with the obstacle. In addition, the second T.S. P. There is a lot of unworked area after the search, and there is an advantage that you can easily calculate how to work efficiently and safely.

Next, the first and second T.S. P. Is completed,
A method of working the remaining unworked area after the obstacle existing area is sandwiched in the work direction of the robot (Y-axis direction of the two-dimensional coordinate) will be described. In order to create a work plan for the unworked area, the obstacle avoidance sweep processing unit 7 sets the unworked area in the robot sweep direction (two-dimensional coordinate X-axis direction) as follows.
Consider the blocks with obstacles and the blocks without obstacles separately. That is, the second T.S. P. After the discovery, the entire area is projected in the work direction from the management map information held by the robot, and the first T.S. P. And the second T.S. P.
Between them, a block with an obstacle (block 1), a block without an obstacle (block 2), T.I. P. During the search, the work is divided into three blocks (block 3) where the work is completed, and the extent to which each block continues in the moving direction of the robot is calculated. FIG. 12 is a diagram showing an example of block classification of unworked areas in the management map shown in FIG. After the blocks of the unworked area are classified as shown in FIG. P. Work should be performed block by block from the turning boundary line on the starting point side.

The work after dividing the blocks is performed in the following manner. Basically, we focus on a block that does not have a certain obstacle, but in order to work efficiently on the block, the robot is blocked by the obstacle,
Continue to work without changing lanes until you reach the point where the work has already been completed, so that other blocks adjacent to that block will also work. If an obstacle is found after changing lanes, the second T.S. P. Determine the attribute of the obstacle defined during the search and move to the next action.

FIG. 13 shows the second T.S. P. It is a figure which shows the example of the work order of the unworked area remaining after the search, and according to the figure, 2nd T. P. Work that moves from the block on the right side of the work area, which is the block where the work is completed during the search, to the work of the next work block, which is the center block, and then moves to the new work block, which is the block on the left side, due to another obstacle An example sequence is shown. By this moving method, when the work of a block where one obstacle is not present is completed, the safe passage of the first or second T.I.
P. Move to the next block where there is no obstacle, and move to the work there. By repeating these operations, the second T.S. P. All the areas remaining after the search are made to work, and when the work of all the areas is completed, the lane of the new area is moved to and new first and second T.S.T. P. Work while doing a search.

Next, a method of working the closed area will be described. In the description so far, the discussion has been made on the assumption that the robot does not fall into the maze, but in reality, for example, a U-shaped obstacle as shown in (e) of FIG. 9 exists. If you do, you may fall into a maze because the work direction is constant. In this case, the robot is working as safely as possible in many parts of its area, and
You must be able to escape from the area as easily as possible. Escape from this maze is done by the following method. The robot is the second T.S. P. When searching, the first T.S. P.
In the direction opposite to the traveling direction of the second T. P. After the search, the second T.S. P. It is assumed that the robot has stopped due to an obstacle or a turning boundary when the robot is traveling in the opposite direction to the traveling direction of the robot. At that time, the work area is judged from the point where the robot is stopped in the backward direction by the same method as the block classification described in FIG. Then, when it is determined that the entire area from the robot stop position to the turning boundary line is the area where the obstacle exists, it is determined that the area has fallen into the closed area, and the operation method of the closed area is started.

FIG. 14 is a diagram for explaining an example of the closed region and the sweep method according to the present invention. The working method for the closed region will be described with reference to FIG. In FIG. 14, the mobile robot 10 finishes work from the left end to the right end of the # 1 lane, moves to the # 2 lane, and encounters a U-shaped obstacle in front while proceeding from the right end to the left end. The U-shaped obstacle determines that it is a closed region, and the region where the robot can turn to the deepest end of the U-shape (turnable region) and its center line are searched for, and the turnable region's Retreat to the center line and move to the next # 3 lane. Work on # 3 lane after this movement by moving forward from the center line of the turnable area, and when reaching an obstacle or turning boundary line, move backward to the center line of the turnable area and turn 180 degrees in the same lane. In the opposite direction, move forward until you can work in the same way, and then move backward to the center line of the turnable area, then
Move to 4 lanes. In this way, after finishing the work from the center line of the turnable area to the obstacle in the # 5 lane and retreating, it has reached an unturnable point where it can no longer go in the opposite direction or go further So I will escape from this area here.

This escape method is as shown by the broken line in FIG.
Move the center line of the turnable area in the direction opposite to the working direction to the # 1 lane, that is, until you escape from the area where the closed area is judged, and proceed in the direction opposite to the direction that first passed on this # 1 lane. The second T.I. P. If the second T.S. P. If it is after the search, move to the area where there is no obstacle that has been worked before falling into the closed area. However, after exiting the closed area, there may be a further closed area on the back side of the area, but if it falls into this area, the first or second T.S.T. P. In the area where the closed area exists, do not change lanes while escaping, and retreat to areas other than that area and change lanes because there is a possibility that you cannot move to that area. By this method,
The robot can work efficiently without falling into a maze in the closed area, and can escape from the area at any time.

[0064]

As described above, according to the present invention, in the method or apparatus for sweeping the floor surface of a mobile robot that performs work while moving on the floor surface in a predetermined work area, the position detection calculation means is an orientation sensor and a travel distance sensor. The position of the robot is calculated from the signal from the obstacle detecting means, and the obstacle detecting means detects an obstacle existing in any of a plurality of directions including the traveling direction of the mobile robot in the predetermined work area. The obstacle avoidance sweep processing means including the obstacle-absent area sweep processing means, the obstacle-existing area sweep and recognition processing means, and the obstacle-existence unswept area sweep processing means is the mobile robot calculated by the position detection calculation means. Based on the position information and the obstacle information detected by the obstacle detection means, a plan for sweeping the floor surface of the predetermined work area while avoiding obstacles is generated, and a mobile robot is generated based on the generated sweep plan. Since the traveling control command of is output, the area where the mobile robot working on the floor cannot work due to the obstacle avoidance is extremely reduced, and the unworked area and the overlapping work area are also eliminated, and the work efficiency is improved. Furthermore, the effect that the safety factor without collision with an obstacle can be improved can be obtained.

Further, according to the present invention, the target position and distance measuring means added to the position detecting / calculating means and the position of the reference target such as a wall existing to the left and right of the mobile robot are Since the distance to the target is measured by ultrasonic waves, the position detection calculation means inputs from the azimuth sensor and the travel distance sensor including an error based on the position and distance information of the reference target and the position information of the robot. It is possible to calibrate the calculated azimuth data and position data and to calculate the azimuth and position of the mobile robot with high accuracy.

Further, according to the present invention, a management map information memory and an information processing means are added to the obstacle avoidance sweep processing means, and the management map information memory is divided into unit areas obtained by subdividing the predetermined work area. The information processing means is configured to store the presence information of obstacles and the work management information in the management map information memory provided in accordance with the progress of the work, and to update them as necessary. Therefore, it is possible to obtain an effect that the obstacle avoidance and the sweep plan can be generated with good work efficiency in the obstacle existing unswept region.

Further, according to the present invention, in the closed area sweep and escape processing means added to the obstacle avoidance sweep processing means, there is a closed area in the obstacle existing area that cannot be moved depending on the moving fixed pattern. In case,
A swirlable area is searched for in the closed area, and a sweeping process of a movable area using the swivelable area and an escape process from the closed area via the swivelable area are performed after the sweeping processing is completed. Therefore, the mobile robot is prevented from entering the maze and being unable to escape, and it is possible to effectively perform the work even in the closed region and to escape.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a floor sweep device for a mobile robot according to the present invention.

FIG. 2 is an explanatory diagram of an obstacle detecting unit using ultrasonic waves of the mobile robot according to the present invention.

FIG. 3 is an explanatory view of an optical obstacle detecting means of the mobile robot according to the present invention.

FIG. 4 is a waveform diagram illustrating the operation of the ultrasonic range finder.

FIG. 5 is an explanatory diagram of a target position and distance measuring method using ultrasonic waves according to the present invention.

FIG. 6 is a diagram for explaining terms used in the present invention.

FIG. 7 is a diagram illustrating a floor sweep method for a mobile robot according to the present invention.

FIG. 8 is a flowchart showing a processing sequence of a floor sweep method for a mobile robot according to the present invention.

FIG. 9 is a diagram illustrating an obstacle avoidance example of the mobile robot according to the present invention.

FIG. 10 is a diagram showing a traveling position of a mobile robot and Example 1 of a management map of the present invention.

FIG. 11 is a diagram showing a traveling position of a mobile robot and a second example of a management map of the present invention.

FIG. 12 is a diagram showing an example of block classification of an unworked area according to the present invention.

FIG. 13 shows a second T.P. P. It is a figure which shows the work order example of the unworked area remaining after the search.

FIG. 14 is a diagram illustrating an example of a closed region and a sweep method according to the present invention.

[Explanation of symbols]

 1 Front obstacle light / ultrasonic wave detection unit 2A Right target position / distance measuring unit 2B Left target position / distance measuring unit 3 Direction detection unit 4 Travel distance detection unit 5 Position detection / calculation unit 6A Right obstacle Light / ultrasound detector 6B Left obstacle light / ultrasound detector 7 Obstacle avoidance sweep processor 8 Travel controller

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kyoyuki Takeuchi 2-16-46 Minami-Kamata, Ota-ku, Tokyo Tokimec Co., Ltd.

Claims (8)

[Claims] 1. A method for sweeping a floor surface of a mobile robot, which performs work while moving on a floor surface of a predetermined work area, including a step of detecting a traveling direction of the mobile robot and a step of detecting a traveling distance, and the position of the robot. A position detection calculation step for calculating, an obstacle detection step for detecting an obstacle existing in any of a plurality of directions including the traveling direction of the mobile robot in the predetermined work area, and the position detection calculation step Based on the position information of the mobile robot and the obstacle information detected by the obstacle detection step, a plan for sweeping the floor surface of the predetermined work area is generated while avoiding obstacles, and the generated sweep plan is created. Based on this, there is an obstacle avoidance sweep processing step for outputting a traveling control command of the mobile robot, and the obstacle avoidance sweep processing step is performed in an area where no obstacle exists. And obstacle absence area sweeping process In its sweeping processed by predetermined movement rituals, in the region where the obstacle present in the traveling front of the mobile robot,
In the movable area that avoids this, while continuing the sweeping by the moving standard pattern, the through path that can move a predetermined distance immediately before and immediately after the obstacle existing area is recognized and sandwiched between the two through paths. The obstacle existing area sweeping and recognition processing step of recognizing the area as an obstacle existing area, and the moving fixed pattern from the end point of the through path recognized immediately after the obstacle existing area, in the obstacle existing area An obstacle existing unswept area sweep processing step for sweeping an unswept area. A method for sweeping a floor surface of a mobile robot, comprising: 2. A position of a target existing on the left and right sides of the mobile robot and a position of the robot to which a distance measuring step is added to measure a distance to the target by ultrasonic waves, respectively. The floor sweep method for a mobile robot according to claim 1, further comprising a detection calculation step. 3. A management map information memory provided corresponding to each unit area obtained by subdividing the predetermined work area, and obstacle existence information and work management information are stored in the management map information memory. The floor sweep method for a mobile robot according to claim 1 or 2, further comprising an obstacle avoidance sweep processing step in which an information processing step of sequentially storing according to progress and updating as necessary is added. 4. If a closed area that cannot move due to the movable fixed pattern exists in the obstacle existing area, a turnable area is searched in the closed area,
A sweep process of a movable area using the swivelable area,
The obstacle avoidance sweeping process step further comprising a closing region sweeping process and an escape processing process of performing an escape process from the closed region through a swirlable region after the sweeping process is completed. Floor sweep method for mobile robots. 5. A floor sweeping apparatus for a mobile robot, which performs work while moving on a floor in a predetermined work area, including a means for detecting a traveling direction of the mobile robot and a means for detecting a traveling distance to determine the position of the robot. Position detection calculation means for calculating, obstacle detection means for detecting an obstacle existing in any of a plurality of directions including the traveling direction of the mobile robot within the predetermined work area, and movement calculated by the position detection calculation means Based on the position information of the robot and the obstacle information detected by the obstacle detecting means, a plan for sweeping the floor surface of the predetermined work area while avoiding the obstacle is generated, and the plan is moved based on the generated sweep plan. An obstacle avoidance sweep processing means for outputting a traveling control command of the robot, wherein the obstacle avoidance sweep processing means is provided in an area where no obstacle exists. And obstacle absence area swept processing means for sweeping processed by predetermined movement rituals, in the region where the obstacle present in the traveling front of the mobile robot,
In the movable area that avoids this, while continuing the sweep by the moving pattern, the through path that can move a predetermined distance immediately before and immediately after the obstacle existing area is recognized and sandwiched between the two through paths. The obstacle existing area sweep and recognition processing means for recognizing the area as the obstacle existing area, and the moving fixed pattern from the end point of the through path recognized immediately after the obstacle existing area, in the obstacle existing area An obstacle existing unswept area sweep processing means for sweeping an unswept area. 6. A position of a target existing on the left and right sides of the mobile robot and a position of the robot to which a distance measuring means is added for measuring a distance to the target by ultrasonic waves, respectively. The floor sweep device for a mobile robot according to claim 5, further comprising a detection calculation unit. 7. A management map information memory provided corresponding to each unit area obtained by subdividing the predetermined work area, and existence information of obstacles and work management information in the management map information memory for work. 7. The floor sweeping apparatus for a mobile robot according to claim 5, further comprising an obstacle avoidance sweeping processing unit that is additionally stored with an information processing unit that stores the data sequentially according to the progress and updates the data as needed. 8. If there is a closed area in the obstacle existing area that cannot be moved depending on the movable fixed pattern, a swivelable area is searched for in the closed area,
A sweep process of a movable area using the swivelable area,
7. An obstacle avoidance sweep processing means provided with a closed area sweep and escape processing means for performing escape processing from the closed area via a swivelable area after the sweep processing is completed. 7. A floor sweep device for a mobile robot according to 7.