JPH07116087A - Movable working robot - Google Patents

Abstract

PURPOSE:To run a working robot with compensation for an affection by a degree of weave of a carpet with a simple structure by providing running means with rectilinearly moving means for rectilinearly moving a body in a desired direction in accordance with an output from' direction measuring means, and correcting means for adjusting the rate of amplitude of output from rotation detecting means for detecting a rotating angle so as to correct the rate of amplitude in the desired direction. CONSTITUTION:Running control means 20 receives an output from rotation detecting means 10 for detecting a rotating angle of a driven wheel 9 relative to a body, and rectilinearly moving means 51 in the running control means 20 controls drive motors 3L, 3R in order to rectilinearly move the body in a desired direction in accordance with an output from a direction measuring means 21. Adjusting means 52 receives and amplifies an output from the rotation detecting means 10, and correcting means 55 corrects the desired direction for the rectilinearly moving means 51 by an amplitude value. As a result, a rate of variation theta' in the angle of the drive wheel is amplified by the adjusting means 52 so as to estimate an actual slip angle theta even though an affection by a degree of weaves of a carpet is present, and accordingly, this actual slip angle is corrected by the correcting means.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile work robot, such as an automatic floor cleaner or an automatic floor finishing device, which automatically performs work while repeating reciprocating movement.

[0002]

2. Description of the Related Art In recent years, various types of mobile work robots have been developed in which a work drive device, sensors, travel control means and the like are added to a work machine to automatically perform work. For example, a self-propelled vacuum cleaner has a suction nozzle, a brush, etc. at the bottom of the main body as a cleaning function, and an obstacle detection means for detecting traveling and steering means and an obstacle during traveling and a position recognition means for recognizing a position as a moving function. The position detecting means recognizes the cleaning area while moving along the wall around the cleaning place by the obstacle detecting means, and the entire cleaning area is moved and cleaned.

First, the carpet pattern related to the present invention will be described. What is a carpet pattern? It is a property that is the same as that of a carpet, because the tufting of the carpet is not perpendicular to the base cloth but rather oblique.

Now, the influence of the stitches of the carpet when traveling straight on the carpet will be described with reference to FIGS. 9, 10 and 11. FIG. 9 shows a movement trajectory in which the main body is driven straight on a flat floor surface without a carpet. At this time, since there is no carpet, there is no influence of the carpet eyes, and the movement locus of the main body 1 is a broken line a which goes straight in the direction desired by the robot driver. Meanwhile, Figure 1
As shown in 0, when the main body 1 is driven straight ahead on a carpet whose carpet direction (the direction in which the fur coat lies) is, for example, from left to right, the running main body 1 faces the desired broken line a. Despite that, due to the influence of the carpet, it gradually moves in parallel to the right. As a result, the movement locus becomes the solid line b which is deviated from the straight line a to the right by the angle θ. When reciprocating with this deviation of the angle θ, a gap is created between the straight trajectories, leaving behind uncleaned parts. The efficiency may be reduced (the angle θ may be large, the direction may be opposite to the intended cleaning direction).

Therefore, as a method of detecting this angle θ, a carpet stitch detecting means shown in FIG. 11 has been considered. Figure 11
The configuration of the carpet pattern detecting means of the conventional mobile work robot will be described with reference to FIG. The roller 43 is grounded on the floor surface F and is rotatably supported by the lever 42 via a roller shaft 46.
The lever 42 is freely rotatable via a lever shaft 45.
Supported by 1. Including the roller 43, the portion from the lever 42 to the floor surface F constitutes a lever portion. The support shaft 41 is rotatably attached to a mounting base 48 fixed to the main body 1, and its rotation center line is perpendicular to the floor surface F (line d). On the other hand, the rotation detector 47 is fixed to the mounting base 48 and detects the rotation angle of the support shaft 41 with respect to the main body 1. The lever 42 and the support shaft 41 are connected by an elastic body 44 made of a spring or the like.
3 is urged to the floor surface F with an appropriate load.

With the above structure, the operation is as follows.
When the main body 1 moves, the roller 43 follows the main body 1 by rolling on the floor surface F around the roller shaft 46 while facing the direction of the movement trajectory of the main body 1. The direction of the roller 43 at this time (that is, the direction of the movement trajectory of the main body 1) is transmitted to the support shaft 41, and the rotation detector 47 detects this direction. Further, since the roller 43 is biased to the floor surface F, inadvertent angular shake due to disturbance such as unevenness of the floor surface F is unlikely to occur.

The principle of carpet pattern detection by the above-mentioned carpet pattern detection means will be described again with reference to FIG. The roller 43, which can freely change its direction with respect to the main body 1, is hardly affected by the carpet itself. (The inventors have found that the ground surface of the roller 43 has a small area, and the surface is smooth and frictional. It has been confirmed that when the coefficient is small, it is less likely to be affected by the carpet eyes.) The carpet eyes can be detected only by rolling in the direction of the movement trajectory of the main body 1. That is, when the main body 1 goes straight along the solid line b by the carpet while facing the direction of the broken line a, the roller 43 faces the direction of the solid line b. At this time, a relative angular difference is generated between the main body 1 and the roller 43, and this angular difference is the deviation angle between the direction of the main body 1 (broken line a) and the movement locus (solid line b) caused by the above-mentioned carpet. θ. By the way, if the direction of the carpet is from right to left (opposite to the figure), the deviation angle θ will be in the opposite direction, and if the effect of the carpet is large due to the long length of the carpet, the high density of the hair, etc. The deviation angle θ increases (if the carpet is strong). The carpet stitch detecting means detects this angle θ. Moreover, the detected angle θ, that is, the amount of shift to the right due to the influence of the carpet,
When the main body 1 is moved straight to the left (broken line c), a desired broken line a can be obtained as a movement locus.

Next, FIG. 12 shows the entire structure of a conventional mobile work robot, taking a self-propelled cleaner as an example. As a dedicated sensor for detecting the carpet pattern, the above-mentioned carpet pattern detecting means 24
Have. When it is desired to move the main body 1 without cleaning, the floor nozzle 18 and the carpet eye detecting means 24, which are unnecessary cleaning means at this time, are attached to the lifting arm 35 and the lifting fulcrum shaft 3.
4. Raising and lowering means for raising and lowering from the floor surface by means of a raising and lowering action point shaft 33 and the like to protect them from steps and protrusions.

[0009]

However, in the conventional mobile work robot provided with the above-mentioned carpet eye detecting means, the structure of the undercarriage of the main body 1 becomes complicated and dense, and the designing and manufacturing cost becomes high. In addition, the influence of the carpet pattern also appeared in the direction of the main body, and the correction of the trajectory deviation was insufficient with the parallel movement alone.

The present invention is intended to solve the problems of the above-mentioned conventional mobile work robots, and eliminates the dedicated sensor for detecting carpet eyes to simplify the structure of the underbody of the main body. Provided is a mobile work robot that uses a secondary wheel that has a poor sensitivity but supports the main body load for carpet eye detection, and is provided with an adjusting means for compensating for the sensitivity, so that the work traveling can be performed with the effect of the carpet eye corrected almost the same as before. That is the primary purpose.

Further, in connection with the first object, the amplification factor of the adjusting means which is different depending on the work location is individually stored, and the amplification factor is easily selected according to the location to correct the influence of the carpet pattern. A second object is to provide a mobile work robot capable of doing the above.

A third object of the present invention is to provide a mobile work robot capable of performing work traveling in which the influence of the direction of the main body is utilized to more accurately correct the influence of the carpet pattern.

[0013]

[Means for Solving the Problems] A first means of the present invention for achieving the first object is to move a main body composed of left and right independent drive wheels and a supporting wheel whose support shaft is rotatable with respect to the main body. Driving means and steering means, traveling control means for controlling the driving means and steering means to control traveling of the main body, direction measuring means for measuring the direction of the main body, and detecting the rotation angle of the support shaft of the driven wheel. A rotation detecting means and a working means for performing work such as cleaning are provided, and the traveling control means amplifies the output of the rotation detecting means and the straight moving means for moving the main body straight in the target direction based on the output of the direction measuring means. In addition, the mobile work robot has an adjusting unit that can adjust the amplification factor and a correcting unit that corrects the amplification value of the output of the rotation detecting unit in the straight-ahead target direction.

A second means of the present invention for achieving the second object is, in addition to the configuration of the first means of the present invention, that the traveling control means stores a number of amplification values and This is a mobile work robot having an amplification factor recording means capable of easily selecting one of them freely.

A third means of the present invention for achieving the third object is a drive means and a steering means for moving the main body, and a travel control for controlling the travel of the main body by controlling the drive means and the steering means. Means, a direction measuring means for measuring the direction of the main body, a carpet eye detecting means for detecting the direction and strength of the carpet eyes while the main body is running, and a working means for performing work such as cleaning. A linear movement means for moving the main body straight in the target direction based on the output of the direction measuring means; a control error calculation means for calculating an error of the main body direction during the straight movement with respect to the target direction; and a control error calculation means for the straight movement target direction. And a mobile work robot having a correction means for correcting the sum of the outputs of the carpet stitch detection means.

[0016]

The first means of the present invention eliminates the dedicated sensor for detecting carpet stitches to simplify the structure of the undercarriage of the main body, and instead, detects the rotation angle of the support shaft of the subordinate wheel supporting the load of the main body. By providing the means, the follower wheel can be used for carpet pattern detection although the sensitivity is poor, and by providing the adjusting means, the output of the rotation detecting means can be amplified to compensate for the poor sensitivity.

According to the second means of the present invention, by providing the amplification factor recording means, the amplification factors of the adjusting means which differ depending on the work place are individually stored, and the amplification factor according to the place can be easily selected. is there.

A third means of the present invention is that, in addition to detecting the parallel movement component by the carpet stitch detecting means as an effect of the carpet stitch received by the main body, by providing a control error computing means, a target direction in the main body direction is obtained. You can extract the angle error for
The correction means corrects the sum of the parallel movement and the angular error in the straight-ahead target direction, whereby the effect of the carpet pattern can be corrected more accurately.

[0019]

【Example】

(Embodiment 1) Hereinafter, the configuration of a mobile work robot which is an embodiment of the first means of the present invention will be described with reference to FIGS. 1 and 2 by taking a self-propelled cleaner as an example. FIG. 1 is a vertical cross-sectional view of the self-propelled vacuum cleaner of the present embodiment, and FIG. 2 is a horizontal cross-sectional view thereof (cross-section AA of FIG. 1). 1 is a main body of a self-propelled cleaner (hereinafter simply referred to as a main body), 2L and 2R are drive wheels provided on the left and right sides of the main body 1, respectively, and drive motors 3L and 3R are speed reducers 4L and 4L.
Left and right are independently driven via 4R. The motor rotation detectors 5L and 5R are rotary encoders and the like connected to the drive motors 3L and 3R, respectively.
The shaft rotation speed of 3R is detected. Reference numeral 9 is a subordinate wheel rotatably attached to the main body 1. Above, drive wheels 2L ・ 2
The R, the drive motors 3L and 3R, the speed reducers 4L and 4R, the rotation detection means 5L and 5R, and the driven wheels 9 constitute drive means and steering means for moving the main body 1. Reference numeral 31 is a storage battery, which supplies power to the entire main body 1. Reference numeral 12 denotes a contact detection means that projects from the main body 1 around the main body 1. The surface of the main body 1 is made of an elastic material, and the main body 1 has obstacles such as projections, steps, furniture, human beings, etc. It reduces the impact when it contacts an obstacle and detects the contact. Reference numeral 22 is a distance measuring means for measuring a distance to an obstacle around the main body 1,
It is composed of an ultrasonic sensor provided around the main body 1. Reference numeral 21 is a direction measuring means for measuring the direction of the main body 1, and in this embodiment, it is composed of a rate gyro and an integrator for integrating the output. 20 is a drive motor 3L / 3R
Is a traveling control means for controlling traveling of the main body 1. Reference numeral 14 is an electric blower, 15 is a dust collecting chamber, and 16 and 17 are filters provided therein. Reference numeral 18 is a floor nozzle provided at the bottom of the main body 1, and the dust collection chamber 1 is connected via a connection pipe 19.
It communicates with 5. Above, electric blower 14 and dust collection chamber 15
・ Filter 16 ・ 17 ・ Floor nozzle 18 ・ Connecting pipe 19
Constitutes a cleaning means. A handle 45 serves as a handle when a person operates the movement of the main body 1. Reference numeral 35 is an elevating arm supported by an elevating fulcrum shaft 34 fixed to the main body 1, one end of which is supported by an elevating operation point shaft 33 fixed to the floor nozzle 18, and an elongated hole 43 is provided on the opposite side. Then, a retractable pedal 40 for operating the elevating arm 35 is provided via a front slide shaft 38 and a rear slide shaft 41 that slide along this. There is a notch at the position where the main body 1 and the pedal 40 of the contact detection means 12 are pulled out.
A protrusion 50 for locking the pedal 40 at a position when the floor nozzle 18 is raised is provided on a side surface of the notch.
As described above, the lifting arm 35, the lifting fulcrum shaft 34, the lifting action point shaft 33, the front slide shaft 38, the rear slide shaft 41, and the pedal 4
The 0 / protrusion 50 constitutes an elevating means for elevating the floor nozzle 18.

Next, the details of the subordinate wheel of this embodiment and the relationship between the rotation detecting means will be described with reference to FIGS. 3 and 4. 3 is a vertical sectional view of the driven wheel 9 and the rotation detecting means 10, and FIG. 4 is a lateral sectional view of the driven wheel 9 (cross section BB in FIG. 3). Reference numeral 61 denotes a support shaft for the follower wheel, which is rotatably attached to the main body 1 via a bearing 64 fixed to the main body 1. A frame 62 is firmly fixed to the support shaft 61. Reference numeral 63 denotes a roller, which can freely rotate with respect to a roller shaft 66 fixed to the frame 62. And, in order to support the weight of the main body stably, the ground contact width is set large and the main body 1
In order to smoothly perform the direction change with respect to, a plurality of (in the figure, three) rollers 63 that rotate independently of each other are provided. On the other hand, 10 is a rotation detecting means, which is fixed to the main body 1, and its detecting shaft 10 ′ is fixed to the support shaft 61 via a coupling 65 that absorbs shock and the like. Therefore, the relative direction of the roller 63 to the main body 1 is transmitted to the support shaft 61, and the rotation detecting means 10 can detect the rotation angle of the support shaft 61 with respect to the main body.

Next, the control configuration of this embodiment will be described with reference to the control block diagram of FIG. Motor rotation detectors 5L and 5R that detect the number of rotations of the drive motors 3L and 3R, distance measuring means 22, contact detecting means 12, direction measuring means 21, and the rotation angle of the support shaft 61 of the driven wheel 9 with respect to the main body 1 are detected. The output of the rotation detecting means 10 is transmitted to the traveling control means 20. The traveling control means 20 judges these outputs and outputs a control signal to the drive motors 3L and 3R to control the moving direction and traveling distance of the main body 1. In this embodiment, the traveling control means 2
Reference numeral 0 has a straight-moving means 51, an adjusting means 52, and a correcting means 55. The straight driving means 51 controls the drive motors 3L and 3R so as to move the main body 1 straight in a predetermined target direction based on the output of the direction measuring means 21. The adjusting means 52 receives the output of the rotation detecting means 10 and amplifies it, and the amplification factor can be freely changed by the adjusting knob 52 ′ provided on the operation panel 60. The adjusting knob 52 'is also included in the adjusting means. The correction means 55 receives the output of the rotation detection means 10 amplified by the adjustment means 52, and corrects the target direction of the straight traveling means 51 by the amplification value. Further, the traveling control means 20
Drives the electric blower 14 as a cleaning means and the rotary brush provided on the floor nozzle 18 during the cleaning movement.

The above is the configuration of the self-propelled vacuum cleaner of the present embodiment. Next, the operation of this embodiment will be described.
First, an example of a movement pattern when cleaning is performed autonomously will be described with reference to FIG. The cleaning area is within the rectangular frame. First, the forward movement is started from the start position S. And
The front wall surface w1 is detected or stopped after a certain distance L is advanced, the direction of the main body 1 is slightly changed to the wall surface w3 side where the cleaning is advanced, and the retreat is started this time. Then, when the rear wall surface w2 is detected, the main body 1 changes its direction in the same manner as described above and starts moving forward again. After that, the cleaning is advanced by repeating this process, and when the side wall surface w3 is detected, the autonomous moving cleaning ends. At this time, the forward movement and the backward movement are performed by the straight movement operation using the straight movement means 51, and the target direction thereof is set so as to advance in the cleaning direction by a predetermined cleaning width W in one reciprocation of the forward movement and the backward movement.

Next, with reference to FIG. 7, the detection and correction of the trajectory deviation due to the influence of the carpet pattern of this embodiment will be described. When the main body 1 travels on a carpet in which the direction of the eyes of the carpet is from left to right, the main body 1 moves parallel to the direction of the eyes while facing the direction of the broken line a of the target direction, and follows the locus of the solid line b (see:
Conventional technology). At this time, the driven wheel 9 also moves in parallel due to the influence of the carpet, but since the support shaft 61 of the driven wheel 9 is free to rotate with respect to the main body 1, the drive wheels 2L and 2R fixed in direction to the main body 1 are used. Compared with this, the degree of parallel movement is small, and the rest appears as an angle change θ ′ of the roller 63 of the driven wheel with respect to the main body 1. Actually, the angle detection by the driven wheel 9 is the detection principle itself described in the conventional technique. However, actually, the angle θ ′ depends on the ground pressure, ground area, ground material of the driving wheels 2L, 2R, and the follower roller 63, the weight balance of the main body, the type of carpet, and the deviation angle θ of the trajectory. About 5
The value is 70%. Therefore, it is possible to estimate the actual deviation angle θ by detecting the angle θ ′ by the rotation detector 10 described above and amplifying θ ′ by the adjusting means 52. Then, the correction means 55 described above uses the estimated angle θ.
By correcting the straight-ahead target direction (broken line c in the figure), the running locus can be set to the desired broken line a.

As described above, by eliminating the dedicated sensor for detecting the stitches of the carpet, the structure of the underbody of the main body can be simplified and the cost can be reduced. Instead, the rotation angle of the support shaft 61 of the driven wheel 9 for supporting the main body load can be reduced. By detecting and amplifying this output, it can be used as a substitute for the carpet stitch detecting means 24 described in the prior art, and a mobile work robot capable of estimating and correcting the deviation angle of the trajectory due to the carpet stitch and constructing a mobile work robot can be constructed. be able to.

Since it is better to finely adjust the amplification factor of the adjusting means 52, the adjusting knob 52 'is provided for easy adjustment. Specifications of adjustment knob 52 '
The form is not limited to that shown in FIG. 5 as long as the purpose is that the adjustment of the amplification factor is free and easy.

Further, as the detected angle θ ′ by the rotation detecting means 10, if the values are sampled successively and several average values are used, highly reliable data can be obtained.

(Embodiment 2) Hereinafter, a mobile work robot which is an embodiment of the second means of the present invention will be described by taking a self-propelled cleaner as an example. The structure of the main body is as shown in FIGS.
The description is omitted because it is the same as. Further, the relationship between the details of the driven wheels and the rotation detecting means is the same as that of the first embodiment shown in FIGS.

FIG. 5 is a control block diagram in the second means of the present embodiment. Since it is basically common to the explanation of the first embodiment, only the additional portion will be explained. In the present embodiment, the traveling control means 20 has an amplification factor recording means 53.
The amplification factor recording means 53 stores the number of amplification factors of the adjusting means (six in the figure), selects a desired amplification factor with the selection switch 53 ′ provided on the operation panel 60, and outputs it to the adjusting means 52. To do. As an example of the storage / selection operation procedure, if an arbitrary number of the selection switch 53 ′ is pressed and held for 3 seconds, the amplification factor indicated by the adjustment knob 52 ′ at that time is stored in that number, and the arbitrary number is momentarily displayed. An operation in which the stored amplification rate can be selected by pressing the button, the selection is canceled by pressing OFF, and the amplification rate indicated by the adjustment knob 52 ′ is selected can be considered. The selection switch 53 ′ is also included in the amplification factor recording means.

The operation of the main body 1 having the above-mentioned configuration is the same as that of the first embodiment shown in FIGS.

From the above, when the work is repeatedly carried out at a certain number of places, it is expected that the amplification factor is slightly different depending on each work place, such as the kind of carpet, the number of years of use, and the working direction. Once the optimum amplification factor is adjusted and stored according to the location, it is not necessary to adjust it each time, the amplification factor can be selected easily, and work can be performed at each location with the effect of the carpet pattern corrected. A robot can be configured.

According to the second means of the present invention, by providing the amplification factor recording means, the amplification factors of the adjusting means which differ depending on the work place are individually stored, and the amplification factor according to the place can be easily selected. is there.

The specification and form of the selection switch 53 'are not limited to those shown in FIG. 5 as long as the intention of storing and selecting the amplification factor is easy.

(Embodiment 3) A mobile work robot which is an embodiment of the third means of the present invention will be described below by taking a self-propelled cleaner as an example. The structure of the main body is as shown in FIGS.
The description is omitted because it is the same as. Further, the relationship between the details of the driven wheels and the rotation detecting means is the same as that of the first embodiment shown in FIGS. However, as the means for detecting the trajectory deviation due to the influence of the carpet stitches, the rotation detecting means 10 and the adjusting means 52, 52 'may be replaced with the carpet stitch detecting means 24 which is a dedicated sensor described in the conventional art.
Hereinafter, the description will be simply made with the term "carpet stitch detecting means".

FIG. 5 is a control block diagram in the third means of the present embodiment. Since it is basically common to the explanation of the first embodiment, only the addition and different parts will be explained. In the present embodiment, the traveling control means 20 includes the control error calculation means 54.
have. The control error calculating means 54 is a straight traveling means 51.
By receiving the output of the direction measuring means 21 while the vehicle is traveling straight, the error of the direction of the main body 1 with respect to the target direction is calculated. The correcting means 55 receives the outputs of the carpet detecting means 24 (adjusting means 52) and the control error calculating means 54, and corrects the target direction of the straight traveling means 51 by the sum of the outputs of both means.

The above is the configuration of the self-propelled vacuum cleaner of the present embodiment. Next, the operation will be described. An example of the movement pattern when cleaning is performed autonomously is the same as that in FIG. 6 of the first embodiment, and therefore the description thereof is omitted.

Next, with reference to FIG. 8, the detection and correction of the trajectory deviation due to the influence of the carpet pattern of this embodiment will be described. When the main body 1 travels on a carpet in which the direction of the eyes of the carpet is from left to right, according to the conventional art, the main body 1 moves parallel to the direction of the eyes while facing the target direction of the broken line a (broken line a ′). It was explained that the trajectory of the solid line b is followed. Strictly speaking, however, the direction of the main body 1 itself is also slightly tilted to the right due to the influence of the carpet and faces the direction of the chain line d (angle θ in the figure).
g). Then, an angle deviation θc occurs due to the parallel movement with respect to the direction of the one-dot chain line d. Therefore, each angle deviation θg
And θc, the locus deviation angle θ is generated, and the running locus becomes the solid line b. Although it depends on the performance of the traveling drive system, the inclination angle θg in the direction of the main body 1 is actually about 10% of the angular deviation θc due to the parallel movement, and although the influence is small, the inclination angle θg of Ingredients can no longer be ignored.
Further, if the feedback gain (control amount) of the straight-ahead control by the straight-ahead traveling means 51 is increased so that θg becomes zero, the vehicle will meander and cannot make a stable straight-ahead drive. Therefore, the strict deviation angle θ can be detected by detecting θc by the carpet detecting means 24 and extracting θg by the control error calculating means 54 using the output of the direction measuring means 21.
Then, if the above-mentioned correction means 55 corrects the target direction of straight traveling by the angle θ which is the sum of the angles θc and θg (broken line c in the figure), the traveling locus can be set to the desired broken line a.

As described above, by correcting not only the parallel movement component but also the control angle error of the main body 1 with respect to the straight-ahead target direction, it is possible to construct a mobile work robot capable of more accurately correcting the influence of the carpet pattern and traveling. .

Further, as the detection angle θ by the carpet stitch detecting means 24 and the control error calculating means 54, highly reliable data can be obtained by successively sampling and using some average values.

[0039]

As described above, according to the first means of the present invention, the structure of the underbody of the main body is simplified and the cost is reduced by eliminating the dedicated sensor for detecting the carpet stitches. By providing rotation detection means for detecting the rotation angle of the support shaft of the subordinate wheel that supports the load, the subordinate wheel is used for carpet detection, although the sensitivity is poor, and by providing adjustment means, the output of the rotation detection means is amplified. Thus, it is possible to realize a mobile work robot that compensates for the poor sensitivity and thus performs work traveling with the effect of the carpet eyes almost the same as the conventional one corrected.

Further, according to the second means of the present invention, by providing the amplification factor recording means, the amplification factor of the adjusting means which is different depending on the work place is stored for each place, and the amplification factor according to the place can be easily obtained. It is possible to realize a mobile work robot which selects and corrects the influence of the carpet pattern to perform work traveling.

Further, according to the third means of the present invention, as the effect of the carpet stitch received by the main body, in addition to the parallel movement component being detected by the carpet stitch detecting means, the control error calculating means is provided, whereby the main body is provided. By extracting the error with respect to the target direction of the direction and correcting the sum of the parallel movement amount and the angular error in the straight target direction by the correction means, it is possible to perform work traveling in which the influence of the carpet stitch is corrected more precisely. It is possible to realize a mobile work robot.

[Brief description of drawings]

FIG. 1 is a vertical cross-sectional view of a mobile work robot that is an embodiment of the first, second, and third means of the present invention.

FIG. 2 is a cross-sectional view of the mobile work robot.

FIG. 3 is a vertical cross-sectional view showing the relationship between the details of the slave wheels of the mobile work robot and the rotation detection means.

FIG. 4 is a cross-sectional view of a follower wheel of the mobile work robot.

FIG. 5 is a control block diagram of travel control means of the mobile work robot.

FIG. 6 is a diagram showing a movement pattern for autonomous traveling cleaning of the mobile work robot.

FIG. 7 is a diagram for explaining detection / correction of a trajectory deviation due to a carpet of a mobile work robot that is an embodiment of the first and second means of the present invention.

FIG. 8 is a diagram for explaining detection / correction of a trajectory deviation due to a carpet of a mobile work robot, which is an embodiment of a third means of the present invention.

FIG. 9 is a diagram showing straight running of a conventional mobile work robot on a bare floor.

FIG. 10 is a diagram showing a principle of straight traveling on a carpet and detection of a carpet eye of the mobile work robot.

FIG. 11 is a schematic view of a carpet eye detecting means of the mobile work robot.

FIG. 12 is a vertical sectional view of the mobile work robot.

[Explanation of symbols]

 1 main body 2 drive wheel 3 drive motor 4 speed reducer 5 motor rotation detector 9 driven wheel 10 rotation detection means 12 contact detection means 14 electric blower 15 dust collection chamber 16, 17 filter 18 floor nozzle 19 connection pipe 20 travel control means 21 direction measurement Means 24 Carpet detecting means 51 Straightening means 52 Adjusting means 52 'Adjustment knob 53 Amplification factor recording means 53' Selection switch 54 Control error calculating means 55 Correcting means 61 Support shaft

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Internal reference number FI Technical display location G05D 1/02 L 9323-3H (72) Inventor Hidetaka Yabuuchi 1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric Industrial Co., Ltd. (72) Inventor Mitsuyasu Ogawa 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Inventor Toshiaki Fujiwara 1006 Kadoma, Kadoma City, Osaka Matsushita Electric Industrial Co., Ltd. (72) Inventor Osamu Eguchi 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Inventor Hirofumi Inui 1006 Kadoma, Kadoma City Osaka Prefecture, Matsushita Electric Industrial Co., Ltd. (72) Takafumi Ishibashi Kadoma City, Osaka Prefecture Daiji Kadoma 1006 Matsushita Electric Industrial Co., Ltd. (72) Inventor Yoshitaka Kuroki Kadoma, Osaka Prefecture 1006 Kadoma Matsushita Electric Industrial Co., Ltd. The Corporation

Claims (3)

[Claims] 1. A drive means and a steering means for moving the main body, which are left and right independent drive wheels and a support wheel whose support shaft is freely rotatable with respect to the main body, and a traveling control of the main body by controlling the drive means and the steering means. The travel control means, the direction measurement means for measuring the direction of the main body, the rotation detection means for detecting the rotation angle of the support shaft of the driven wheel, and the working means for performing work such as cleaning. , A straight advancing means for moving the main body straight in a target direction based on the output of the direction measuring means, an adjusting means for amplifying the output of the rotation detecting means and adjusting the amplification factor, and an amplification of the output of the rotation detecting means for the straight advancing target direction. A mobile work robot having a correction means for correcting the value. 2. The mobile work robot according to claim 1, wherein the traveling control means has an amplification factor recording means capable of storing several kinds of amplification values and easily selecting one of them. 3. A drive means and a steering means for moving the main body, a travel control means for controlling the drive means and the steering means to control the travel of the main body, a direction measuring means for measuring the direction of the main body, and the main body. It is provided with a carpet eye detecting means for detecting the direction and strength of the carpet eye during traveling, and a working means for performing work such as cleaning, and the traveling control means directs the main body to the target direction based on the output of the direction measuring means. Straight-moving means for moving straight, control error calculating means for calculating an error of the main body direction while moving straight ahead, and correction means for correcting the sum of the outputs of the control-error calculating means and the carpet detecting means in the straight-direction target direction. Mobile work robot having.