JPH06289931A - Autonomous traveling vehicle - Google Patents

Abstract

PURPOSE:To provide an autonomous traveling vehicle which can measure the distances of the front direction and the side direction of the vehicle, can detect an obstacle and the like and can detect an overturn through the use of the same sensor, which can simplify an assembly process and by which cost can be reduced. CONSTITUTION:The autonomous traveling vehicle provided with plural detection means detecting the periphery for unmanned travel measures the distance of the front direction of the autonomous traveling vehicle and the distance of the side direction. For judging the obstacle and the overturn of the autonomous traveling vehicle, the plural sensor parts 2, 3, 4 and 5 such as ultrasonic sensors are provided at the front surface, the both sides and the bottom of the autonomous traveling vehicle, for example. A controller 8 controlling the autonomous traveling vehicle is provided with the time part 8a of a conductor time, an emission timer and a reception time for operating the sensor parts 2, 3, 4 and 5 so as to differ the timer of the reception timer of the respective sensor parts 2, 3, 4 and 5.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-supporting vehicle that is unmanned when cleaning the floor of a building or carrying a load.

[0002]

2. Description of the Related Art This self-supporting vehicle is equipped with a plurality of detecting means (for example, ultrasonic sensors) for detecting the surroundings in order to automatically determine a traveling path such as a floor surface to travel. The vehicle automatically travels based on the surrounding conditions detected by the ultrasonic sensor. Therefore, it can be used for an unmanned device for cleaning the floor surface of a building, carrying luggage, and the like, which is extremely useful.

[0003]

By the way, in the above-mentioned self-supporting vehicle, it is good to drive the vehicle in an area where there are no obstacles, for example, in a predetermined area, but it is not possible to cope with an unexpected situation, and therefore it is not possible to accurately It is difficult to drive.

Therefore, an ultrasonic sensor may be arranged at each part of the self-supporting vehicle. However, for example, in order to measure the distance in the forward and lateral directions and to detect an obstacle, not only ultrasonic sensors having different characteristics are required, but there is a problem in terms of assembly process and cost.

The present invention has been made in view of the above problems, and an object thereof is to measure a distance in a front direction or a lateral direction of a vehicle body,
An object of the present invention is to provide a self-sustaining vehicle that can detect obstacles and the like and can detect falls by using sensors having the same characteristics, and thus can simplify the assembly process and reduce costs.

[0006]

In order to achieve the above object, the present invention relates to a self-sustaining vehicle which detects the periphery of a vehicle body and is capable of traveling unmanned. To detect the obstacle, and to detect the fall of the self-supporting vehicle, the same detecting means arranged on the front surface of the self-supporting vehicle, a plurality of side surfaces and a plurality of bottom surfaces, respectively. An energization timer that sets the time for energizing each ultrasonic sensor that constitutes the detection means, an emission timer that sets the time for emitting ultrasonic waves, and an acceptance timer that sets the time for receiving reflected waves are arranged on the front surface. The distance calculating means for calculating the distance data in the forward direction and the distance data in the lateral direction by the operation of some detecting means and the detecting means arranged on the both side surfaces, and a number of the distance calculating means arranged on the front surface. Of the detection means and the detection means arranged on the bottom surface to determine the presence or absence of an obstacle, and to determine the possibility of falling, obstacle / fall determination means, at least the set time of the reception timer Is different for each of the detecting means for measuring the forward distance, the detecting means for measuring the lateral distance, the detecting means for determining an obstacle, and the detecting means for determining the fall of the self-supporting vehicle. That is the summary.

[0007]

In the self-propelled vehicle having the above structure, the ultrasonic sensors of the respective detecting means are operated during traveling. The time of the reception wave timer of the reflected wave of the forward direction detecting means arranged on the front surface of the vehicle body, the lateral direction detecting means arranged on both side surfaces, the obstacle detecting means arranged on the front surface and the fall detecting means arranged on the bottom surface. Are set to different times.

Therefore, even if the detection means have the same characteristics, the sampling time of the reflected ultrasonic waves is different, so that the distance in the forward direction and the distance in the lateral direction are changed depending on the time from the ultrasonic wave emission to the ultrasonic wave reception. It becomes possible to measure. In addition, it is possible to determine an ultrasonic obstacle and to determine whether the self-sustaining vehicle falls down depending on whether or not ultrasonic waves are received within a predetermined time.

[0009]

Embodiments of the present invention will be described in detail below with reference to FIGS. First, in FIG. 1 to FIG. 3, this self-supporting vehicle includes a forward direction sensor unit (ultrasonic sensor; detecting means) 2 arranged on a front surface 1a of a vehicle body 1 for measuring a forward direction distance l1, and a vehicle body 1 Lateral distance l
Lateral direction sensor portions (ultrasonic sensors; detecting means) 3 arranged on both side surfaces 1b and 1c of the vehicle body 1 for measuring 2, 13 and a front surface 1a of the vehicle body 1 for determining an obstacle.
Obstacle sensor section (ultrasonic sensor; detection means)
4, a fall sensor unit (ultrasonic sensor; detecting means) 5 disposed on the bottom surface 1d of the vehicle body 1 to determine whether the vehicle body 1 falls over, and a left and right wheel for traveling the vehicle body 1. Motors 6 and 7, and a timer unit 8a including an energization timer for setting energization time of each ultrasonic sensor, an emission timer for setting emission time of each ultrasonic wave, and an acceptance timer for setting time for accepting reflected waves, The distances l1, l2, l3, l4 are measured on the basis of the time (the time from the ultrasonic emission to the reception of the reflected wave) obtained by operating each ultrasonic sensor in a predetermined manner, and the obstacle and the fall are determined. A control device 8 is provided for controlling the left and right wheel motors 6 and 7 in a predetermined manner so that the vehicle body 1 is traveled, travel corrected, travel stopped or reversed by measurement and determination.

To be more specific, as shown in FIG.
Four front direction sensor units 2 for detecting a frontward distance l1 (for example, a reverse position) are arranged in the center of the front surface 1a of the vehicle body 1, and on the left and right sides of the front surface 1a for detecting an obstacle. Three obstacle sensor units 4 are arranged.

Further, as shown in FIG. 5, four lateral sensor units 3 are provided on the left and right sides of the side surface of the vehicle body 1 for detecting lateral distances 12 and 13 (for example, side wall distances). It is arranged.

Further, as shown in FIG. 6, two fall sensor portions 5 for determining fall of the vehicle body 1 are arranged on the bottom surface of the vehicle body 1, and the fall sensor portions 5 are in front of the front wheels. And is located behind the rear wheels.

Furthermore, the same ultrasonic sensor is used for the forward direction sensor unit 2, the lateral direction sensor unit 3, the obstacle sensor unit 4, and the fall sensor unit 5.

Next, the operation of the self-supporting vehicle having the above-described structure will be described with reference to FIG.
And it demonstrates with reference to the flowchart figure of FIG. It is assumed that the self-sustaining vehicle is traveling at the position shown in FIG.

First, in order to obtain predetermined information from the forward direction sensor unit 2, the lateral direction sensor unit 3, the obstacle sensor unit 4 and the fall sensor unit 5, the control unit 8 has an internal timer unit 8a.
Activate the timer. In addition, each front direction sensor part 2, the lateral direction sensor part 3, the obstacle sensor part 4, and the fall sensor part 5
Regarding, the set time of the acceptance timer (sampling timer) of the timer unit 8a is different.

Regarding the measurement of the distance in the forward direction and the distance in the lateral direction, the control device 8 starts the reception timer (sampling timer) set to a predetermined time (step ST1), and simultaneously detects each of the forward direction sensor unit 2 and the lateral direction sensor. The ultrasonic wave emission from the unit 3 is controlled (step ST2).

Subsequently, it is determined whether or not the ultrasonic waves emitted by the front direction sensor section 2 and the lateral direction sensor section 3 are reflected by a wall or the like (step ST3), and the sampling timer time (for example, 1 for direction
When the reflected ultrasonic wave is received within 2 ms and 30 ms in the lateral direction, the sampling timer is stopped (step ST4). The time of this sampling timer,
That is, the time from the emission of ultrasonic waves to the reception of ultrasonic waves is converted into a distance (step ST5). The control device 8 has a distance 11 in the forward direction.
Then, the horizontal distances l2 and l3 in the horizontal direction are stored in the internal memory (step ST6), and the no data flag in the internal register is reset (step ST7).

If no reflected ultrasonic wave is received even after the sampling timer time has elapsed, step ST
From 8 to ST9, the control device 8 sets a no data flag in an internal register or the like.

On the other hand, for the determination of obstacles, the control device 8
Starts the reception timer (sampling timer) set to a predetermined time (step ST10) and controls the ultrasonic wave emission from each obstacle sensor unit 4 (step ST11).

Subsequently, it is determined whether or not the ultrasonic wave emitted by each obstacle sensor unit 4 is reflected by a wall or the like (step ST12), and the reflected ultrasonic wave is generated within the time (for example, 2 ms) of the sampling timer. When received,
Stop the sampling timer (step ST1)
3). Upon receipt of this reflected ultrasonic wave, the control device 8 determines that there is an obstacle ahead and sets an obstacle detection flag such as an internal register (step ST14).

If no reflected ultrasonic wave is received even after the time of the sampling timer has elapsed, step ST
From 15 to ST16, the controller 8 resets an obstacle detection flag such as an internal register.

For the determination of the fall, the same processing as described above is executed, but the control device 8 sets each fall sensor unit 5 within the time (for example, 1 ms) of the acceptance timer (sampling timer) set to a predetermined time. When the ultrasonic wave is reflected by, it is determined that there is a convex portion on the floor surface, and the fall detection flag of the internal register or the like is set. If the fall sensor unit 5 does not receive the reflected ultrasonic wave, it is determined that the floor surface has a recess, and the fall detection flag of the internal register or the like is reset. However, when the reflected ultrasonic waves are received at a value (time) close to the time of the sampling timer and at the same time, the fall detection flag of the internal register or the like is reset.

When the vehicle 1 is running, the control device 8
Controls the left and right wheel motors 6 and 7 by monitoring the states of flags such as the internal register. In this case, for example, when the flag without data flag is set, it is determined that the front direction stored in the internal memory can travel forward, and the left side wall in the travel direction is far, for example.

The right side wall in the traveling direction is set to, for example, a reference plane (distance l3) for the traveling, and the no-data flag is not set even when the emitted ultrasonic wave is received from this reference plane. Further, when the obstacle detection flag and the fall detection flag are reset, it is determined that there is no obstacle ahead and there is no uneven portion on the floor surface, and therefore the vehicle can travel.

However, when the no-data flag is reset, the end point is a dead end, or the right side wall in the traveling direction is approaching, so the measured data (distances l1, l2) stored in the internal memory. Based on the above, the reversal position of the vehicle 1 is determined and the reversing operation of the vehicle 1 is performed, or the vehicle 1 is prevented from approaching the right side wall.
Fix the run of.

When the obstacle detection flag is set, it is determined that there is an obstacle ahead of the vehicle, and the vehicle 1 is stopped and controlled. Further, when the fall detection flag is set, it is determined that there is an uneven portion at the traveling destination and the vehicle falls, and the vehicle 1 is stop-controlled.

In this way, the forward direction sensor unit 2, the lateral direction sensor unit 3, the obstacle sensor unit 4 and the fall sensor unit 5 for detecting the surroundings of the self-sustaining vehicle are energized by the ultrasonic sensors of the timer unit 8a. Are controlled by an energization timer for setting the time, a firing timer for setting the time for emitting each ultrasonic wave, and a reception timer for setting the time for receiving reflected waves, and the time of each reception timer is controlled by the forward direction sensor unit 2 and the lateral direction sensor unit 3. ,
The obstacle sensor unit 4 and the fall sensor unit 5 are different from each other. Therefore, the forward direction sensor unit 2, the lateral direction sensor unit 3, the obstacle sensor unit 4, and the fall sensor unit 5
Can have the same characteristics, and can simplify the assembly process of the self-supporting vehicle and reduce the cost.

Further, since the surroundings of the self-supporting traveling vehicle are detected by the above-mentioned respective sensor parts to perform traveling, reversing, traveling correction, and traveling stop, it is possible to ensure safety in traveling of the self-sustaining traveling vehicle. Needless to say.

[0029]

As described above, according to the present invention, in a self-sustaining vehicle equipped with a plurality of detecting means for detecting the surroundings in order to enable unmanned traveling, a distance in the forward direction of the self-sustaining traveling vehicle. In order to determine the obstacle and the fall of the self-supporting vehicle by measuring the distance in the lateral direction and the self-supporting vehicle, multiple sensors are provided on the front and both sides and the bottom of the self-supporting vehicle to control the self-supporting vehicle. The control device is provided with a timer section 8 for the energization timer, the firing timer, and the acceptance timer for operating those sensor sections, and the time of the acceptance timer of each sensor section is made different, and each sensor section is based on the time of the timer section. Is activated to detect the surroundings of the vehicle, and the traveling, reversal, running repair, and stopping of the vehicle are performed by detecting the surroundings, so that each sensor can have the same characteristics. Simplify the assembling process of the autonomous vehicle, it is possible to achieve a cost reduction.

[Brief description of drawings]

FIG. 1 is a schematic control block diagram of an autonomous vehicle showing an embodiment of the present invention.

FIG. 2 is a schematic plan view of the self-supporting vehicle shown in FIG.

FIG. 3 is a schematic side view of the self-supporting vehicle shown in FIG.

FIG. 4 is a schematic front view of the self-supporting vehicle shown in FIG.

FIG. 5 is a schematic side view of the self-supporting vehicle shown in FIG.

FIG. 6 is a schematic bottom view of the self-supporting vehicle shown in FIG.

FIG. 7 is a schematic flowchart illustrating the operation of the self-supporting vehicle shown in FIG.

FIG. 8 is a schematic flowchart illustrating the operation of the self-supporting vehicle shown in FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Car body (for self-supporting vehicle) 1a Front surface (for self-supporting vehicle) 1b, 1c Side surface (for self-supporting vehicle) 2 Front direction sensor section (front detecting means) 3 Lateral direction sensor section (detecting means on both side walls) 4 Obstacle sensor section 5 Fall sensor section 6 Right wheel motor 7 Left wheel motor 8 Control device (microcomputer) 8a Timer section (energization timer, firing timer, reception timer)

Claims (1)

[Claims] 1. A self-sustaining vehicle capable of unmanned traveling by detecting the periphery of a vehicle body, measuring the distance in the forward direction and the lateral direction of the self-sustaining vehicle, detecting an obstacle, and detecting the obstacle. In order to detect a fall of the traveling vehicle, the same detecting means is provided on the front surface of the self-sustaining traveling vehicle, a plurality of which are arranged on both side surfaces and the bottom surface, and the time to energize each ultrasonic sensor constituting the detecting means is set. The energization timer, the emission timer that sets the time for emitting the ultrasonic wave, the reception timer that sets the time for receiving the reflected wave, and some detection means arranged on the front surface and the detection arranged on the both side surfaces. Distance calculating means for calculating the distance data in the forward direction and the distance data in the lateral direction by the operation of the means, some detecting means arranged on the front surface and each detection arranged on the bottom surface The presence or absence of an obstacle is determined by the operation of the step, and an obstacle / fall determination means for determining the possibility of falling is provided, and at least the set time of the reception timer is a detection means for measuring the forward distance, A self-sustaining vehicle that is different in each of the detecting means for measuring a lateral distance, the detecting means for determining an obstacle, and the detecting means for determining a fall of the self-sustaining traveling vehicle.