JPH08278818A - Steering system for self-traveling robot and automatic steering device - Google Patents

Abstract

PURPOSE: To provide a steering system of a self-traveling robot and an automatic steering device in order to make the robot travel and perform its work in a field while detecting accurately its own position. CONSTITUTION: A self-travelign robot is provided with a traveled distance detection means 3, a traveling azimuth measurement means 4, an absolute position detection means 5, a traveling error measurement means 6, and a control means 7 which controls the traveling of the robot by the input of a course set between a starting point and a target point. In such a constitution, the robot can travel while detecting an error between its traveling azimuth and a check point based on the absolute position information and also can easily recognize its own position in a field even while it is traveling on a set course. Then the robot can perform its work while traveling accurately on the set course.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled robot steering system and automatic steering device, and more particularly to a self-propelled robot steering system capable of traveling in a field while accurately detecting its own position. And an automatic steering device.

[0002]

2. Description of the Related Art A system or apparatus has been considered which allows a self-propelled robot to run in a specific field such as a gymnasium, a ground, or a lobby of a hotel to carry out various tasks such as carrying and cleaning luggage. As a technique for automatically steering a moving body such as a self-propelled robot or a vehicle in such a case, there is an "automatic steering method for a vehicle and its automatic steering device" disclosed in Japanese Patent Laid-Open No. 3-230203. . This automatic steering device is used for mobile stations such as vehicles.
Azimuth measuring means for detecting the traveling direction, a storage means for storing a set course from the starting point to the target point, and a detecting means for measuring a position deviation from the set course when passing a predetermined check point. , A calculation means for calculating the azimuth error of the azimuth measuring means from the position deviation and the traveled distance, and the snake so that the output from the azimuth measuring means is subtracted from the azimuth error to proceed in the direction obtained. It is designed to control the corners.

[0003]

However, in such a conventional automatic steering device, an error when passing through a check point and a measurement result of the azimuth measuring means while moving on a predetermined course. The method of adjusting the difference between the two is used.The measurement at this checkpoint is performed by transmitting the optical signal and receiving the reflected signal on both sides of the moving body, and is the method of obtaining the deviation due to the movement from the difference. In order to obtain the deviation, it is necessary to use a highly accurate device, which is expensive. Also, when there is an error in the measured value itself at the check point, the error of the self position obtained as the final result will be accumulated,
Finally, there was a problem that the self-propelled robot itself could not know where in the field.

The present invention has been made in view of the above problems, and an object thereof is a self-propelled type capable of traveling in a field while accurately detecting its own position with a relatively inexpensive structure. A robot steering system and an automatic steering device are provided.

[0005]

In order to achieve the above object, the present invention provides a plurality of position signal transmitting means on the floor surface of a field on which a self-propelled robot moves, and the position signal transmitting means is provided in the position signal transmitting means. While transmitting a signal for specifying the position, the self-propelled robot receives a signal from the position signal transmitting means and measures a deviation from a moving route, and a travel deviation measuring means and a position signal generating means. An absolute position detecting means for determining the absolute position of the self-propelled robot in the field based on the signal and the distance from the wall surface is provided, and the self-propelled robot detects the absolute position and the deviation from the movement route. The main point is a steering system that moves while moving.

According to the present invention, in the steering system as described above, a fixed number unit group of position signal transmitting means is arranged in a row in the lateral direction at a fixed number with respect to the moving path of the self-propelled robot. Each position signal transmitting means is made to transmit its own position information signal different from other position signal transmitting means, while the self-propelled robot is allowed to transmit the position signal transmitting means at fixed intervals. At least two position signal receiving means having a smaller receiving area are provided, and when the self-propelled robot passes over one unit group of the position signal transmitting means, at least one of the plurality of position signal receiving means is provided. One is provided with a travel deviation measuring means for receiving the position information signal and measuring a deviation from the movement path by the position information signal, and the self-propelled robot is Les is summarized in that which is adapted to move while detecting.

The present invention further provides, as a steering device for a self-propelled robot, a drive mechanism, a driver, a distance detection means for detecting a traveling distance of the self-propelled robot, and a traveling direction of the self-propelled robot as a steering device for the self-propelled robot. Azimuth measuring means for detecting a position, an absolute position detecting means for detecting a position relative to a reference position provided in a front and rear pair on the side of the robot body, and a signal from a position signal transmitting means provided for the field structure. The present invention is provided with a travel deviation measuring means for measuring a deviation from a moving route and a control means for controlling the travel of a self-propelled robot by inputting a set course from a starting point to a target point.

[0008]

According to the present invention, the self-propelled robot has the above structure.
First, the absolute position of the self-propelled robot itself in the field is calculated based on the signal from the position signal generating means and the distance from the wall surface. Then, when the vehicle starts traveling, the vehicle travels while detecting the deviation from the travel route based on the absolute position information and the traveling direction and the information obtained at the check points.
Therefore, the self-propelled robot can easily know where in the field it is, even if it is moving on a preset course, and can accurately move the set course.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a block diagram showing the configuration of an automatic steering device incorporated in a robot body B (described later) of a self-propelled robot to which the present invention is applied and which controls the traveling of the self-propelled robot. Is. The operation field of the self-propelled robot is defined by a field structure such as a wall or a floor surface.
In FIG. 1, reference numeral 1 is a drive mechanism that has a motor and wheels that are operated by the motor to drive the robot body B, and 2 is a motor driver that operates the drive mechanism 1.
3 is a distance encoder connected to the drive mechanism 1 as a distance detecting means for detecting the traveling distance of the self-propelled robot, and 4 is an azimuth measuring means provided inside the robot body B for detecting the traveling direction of the self-propelled robot. The optical gyros 5 are ultrasonic distance sensors as absolute position detecting means provided on both sides of the robot body B in front and rear pairs as an absolute position detecting means for detecting its own position with respect to a reference position, and 6 is a position signal provided in the field structure. A transponder communication device, which is a travel deviation measuring means for measuring a position deviation from a set course, that is, a deviation from a moving route by receiving a signal from a transponder (element) which is a transmitting means, and 7 is a distance from a starting point to a target point. The system control unit 8 controls the traveling of the robot body B by inputting the setting course, and 8 is the system control unit 7.
IC card reader for inputting data such as setting course
Reference numeral 9 is a travel control unit that controls the travel operation of the robot body B based on the data from the system control unit 7.

The above functional parts are arranged and attached to the robot body B as shown in FIG. In FIG. 2, the upper part of the drawing is the front part of the self-propelled robot, and the lower part of the drawing is the rear part. That is, the first transponder communication device 6a and the second transponder communication device 6b are provided as a pair on the left and right of the head portion of the robot body B. On the left and right sides of the robot body B, a set of ultrasonic distance sensors 5a, 5b, 5c, 5d is provided, while an optical gyro 4 is provided near the rear portion of the robot body B on the central axis. There is.

As for the positional relationship of the ultrasonic distance sensors 5a to 5d, when viewed from the left side of the robot body B, the ultrasonic distance sensor set 5 is provided at two positions with a certain distance in the front-rear direction.
a and 5b are provided. Also, the robot body B
Looking at the right side of the figure, sets of ultrasonic distance sensors 5c and 5d are provided at two positions spaced a certain distance in the front-rear direction. In this embodiment, the sets 5a to 5d of ultrasonic distance sensors are composed of a first ultrasonic distance sensor 15a and a second ultrasonic distance sensor 15b. The ultrasonic distance sensor emits an ultrasonic wave by itself and detects the distance between itself and the object by capturing the acoustic wave reflected by the ultrasonic wave hitting an object, but in this embodiment, the robot body B is used. The ultrasonic wave is emitted toward the wall of the field structure at the position that is the origin of measurement by being loaded on the robot, and the distance between the robot body B and the wall is measured by receiving the reflected sound wave from this wall. Then, the absolute position of the robot body B is calculated. Also,
The first ultrasonic distance sensor 15a measures the distance between the robot body B and the wall in the range of 0.2 m (meter) to 1.0 m, and the second ultrasonic distance sensor 15b measures the distance between the robot body B and the wall. The distance is set to be measured in the range of 0.4 m to 2.0 m.

A travel deviation measuring method using the transponder communication device 6 according to the present invention will be described. As described above, the first transponder communication device 6a and the second transponder communication device 6b are provided on the left and right of the head portion of the robot body B.
And are provided as a pair. Transponder communication device 6
Has a transmitting and receiving function, emits a radio wave signal by itself, hits a transponder (element) which is a partner, receives a specific radio wave returned in response to this radio wave, and transmits between itself and the transponder element 10. The positional relationship is measured. Then, the first and second transponder communication devices 6
Between a and 6b, different radio signals are set to be transmitted and received. As the performance of the transponder communication device 6, for example, the single communication area has a radius L of 17 cm (centimeter) and a maximum radius L of 19 cm under a normal use condition, and the detection time is 200 ms (millisecond). ) Set below.

On the other hand, in order to automatically steer the self-propelled robot, the operating field of the self-propelled robot, that is, a gymnasium, lobby, or station station where the self-propelled robot is allowed to run. As shown in FIG. 3, a group of a plurality of transponder elements 10 (hereinafter referred to as a transponder group T), which are position signal transmitting means, are provided on the floor surface of a field structure such as a course, as shown in FIG. . When the self-propelled robot passes over the transponder group T, the deviation from the set course accompanying the traveling of the self-propelled robot is detected. And
The travel route of the self-propelled robot is corrected based on the detection result.

In the transponder group T, as shown in FIG. 3, a plurality of transponder elements 10 are laterally aligned on the floor or the like at regular intervals (for example, 40 cm).
It is installed by a method such as embedding with a gap, and forms a specific point (measurement position) in the operation field. The installation intervals (denoted by D) of the antennas of the first and second transponder communication devices 6a and 6b and a plurality of transponder elements 10
The installation interval (denoted by d) is determined in consideration of the performance of the transponder communication device 6.

The interval d between the plurality of transponder elements 10 is set to be wider than the single communication area (transmission / reception area of signals) of the transponder communication device 6. This prevents one transponder communicator 6 from receiving signals transmitted by more than one transponder element 10. In the present embodiment, the installation interval d of the transponder element 10 is set.
Is the maximum diameter of a single communication area of 38 cm (radius L = 19c
m), so that it is wider than m), d = 40 cm is set.

First and second transponder communication devices 6
The antenna distance D between a and 6b is equal to the transponder element 10
The installation interval d is set to about 1.5 times. The installation interval d of the plurality of transponder elements 10 is set to the transponder communication device 6
Since it is set wider than the single communication area of
Even if the transponder communication devices 6a and 6b of 6 above pass over the plurality of transponder groups T, a state occurs in which the transponder elements are not detected. In order to prevent this, in this embodiment, the antenna interval is set to D = 60 cm, and even if one of the first or second transponder communication devices 6a and 6b does not detect the transponder element, the other does not. To detect. In this embodiment, the antenna distance D
Was set to 1.5 times the installation interval d of the transponder element 10, but the antenna interval D can be arbitrarily set according to the size of the robot body B and the number of transponder elements 10 so as to satisfy the above condition.

In the operation field, a plurality of transponder groups T are installed at a plurality of places, and the radio wave output by each transponder group T indicates the position in the operation field. A plurality of transponder elements 1 forming the transponder group T
0 is distinguished from other transponder elements by a method such as attaching a symbol to each other. In the example of FIG. 3, the leftmost transponder element is N1, and the transponder element on the right side thereof is 0. Is N2, and in turn N3, N4, and so on.
N5 and the like are assigned, and the return radio signal (that is, the position signal) transmitted by each transponder element is also set to be different.

When actually measuring the travel deviation using the transponder communication device 6, the first and second transponder communication devices 6a and 6b are alternately switched on or off to allow the transponders in the transponder group T to be switched on or off. The position signals (absolute position information) from the elements 10 (N1 to N5) are received to detect the positional deviation of the self-propelled robot.

On the other hand, the absolute position information from the position signal transmitting means and the absolute position information of the self-propelled robot from the wall or the like are determined by the ultrasonic distance sensor, and the self-propelled robot is based on these absolute positions. Letting the self-propelled robot recognize where it is by starting to run.

In addition to the basic structure of the steering device for a self-propelled robot as described above, the device of this embodiment has various functional parts. In FIGS. 1 and 2, reference numerals 16 and 17 denote ultrasonic obstacle sensors and ultrasonic distance sensors attached to the front end and the rear end of the robot body B, and 19 denotes the rear end of the robot body B. It is an infrared beam sensor attached in a pair on the left and right. Also 2
0 is a tilt sensor provided in the center of the robot body B for detecting the tilt of the self-propelled robot due to the tilt of the traveling surface,
21 is an optical sensor. Further, 22 is an optical sensor control unit, 23 is a sensor management unit that manages the operation and detection data of various sensors, and these optical sensor control unit 22 and sensor management unit 23 are the system control unit 7 and the travel control unit. 9 is connected by a system communication section 24 constituted by a bus, and data is transmitted and received.

In addition, the system control unit 7 includes operation keys 2
5 and an LCD display unit 26 are provided for inputting or displaying various commands, while a turn signal 27 and a speaker 28 are connected so that the presence of a self-propelled robot can be notified or cautioned. There is.
Further, the robot body B is equipped with work equipment corresponding to the work to be performed by the self-propelled robot. In the example shown in FIG. 1, since this self-propelled robot is for cleaning work, the scraper 29 and the dust suction device 3 are used.
0, and a water sprinkler 31 and other work equipment are provided, and control signals are sent from the system control unit 7 to these work equipment 29, 30, 31. In FIG. 1, reference numeral 32 is a power supply control unit, which supplies the power of the battery 33 loaded on the self-propelled robot to the system control unit 7 and other operation units.

The steering operation of the self-propelled robot having the above structure will be described below. In FIG. 4, transponder groups T are installed at a plurality of locations in the operation field F, and each transponder group T is
1, T2. Group numbers are attached such as T3, ..., Tn (the start point is the transponder group T1). For example, when a self-propelled robot is installed in the operation field F and started to operate, the self-propelled robot operates the drive mechanism 1 and operates the distance encoder 3, the optical gyro 4, the transponder communication device 6 and the like at the start point. The transponder group T1 is searched for and moved, and when it reaches the start point, positioning is performed by itself. In this case, using the first and second transponder communication devices 6a and 6b, the transponder element 10 of the transponder group T1 is positioned such that N3 is substantially at the center of the self-propelled robot, and the ultrasonic ultrasonic distance sensor is used. By operating 5a and 5b, the distance between the wall W and the self-propelled robot is detected, and the absolute position of the self-propelled robot itself is calculated. This absolute position information is stored in the system controller 7
Stored in memory. In the memory of the system control unit 7, data of a set course from the starting point to the target point and a program for performing a predetermined work while moving the course are stored in advance via the IC card reader 8 or the like. The operation of the self-propelled robot is performed according to this program.

When the self-propelled robot is started from the start point, the self-propelled robot is transponder group T1.
Drive toward the transponder group T2. During this travel, the distance encoder 3 detects the travel distance of the self-propelled robot from the rotation of the motor of the drive mechanism 1 or the rotation of the wheels. The optical gyro 4 detects the traveling direction of the self-propelled robot to measure the direction, and the transponder communication device 6 detects the transponder element 10 when the self-propelled robot approaches the transponder group T2.
In order to communicate with each other, the first transponder communication device 6a and the second transponder communication device 6b alternately emit a radio wave while repeatedly switching on and off. Then, the data from the distance encoder 3, the optical gyro 4, and the transponder communication device 6 are sent to the system control unit 7.
The system control unit 7 processes these data and recognizes where the self-propelled robot is currently located in the operation field F and in what direction and at what speed.

When the self-propelled robot reaches the transponder group T2, the position of the self-propelled robot itself with respect to the transponder group T2 (whether it is laterally displaced or not) is detected by the detection results of the first and second transponder communication devices 6a and 6b. ) Is detected. Based on the detection results of the first and second transponder communication devices 6a and 6b, the center of the self-propelled robot is the transponder element 10 of the transponder group T2.
If it is determined that the self-propelled robot is traveling along a preset programmed course, it is determined that the self-propelled robot is traveling along a preset course. An instruction to travel to the group T3 is sent to the travel control unit 9. According to this, the traveling control unit 9 outputs a traveling operation signal to the motor driver 2 to operate the drive mechanism.

On the other hand, based on the detection results of the first and second transponder communication devices 6a and 6b, the center of the self-propelled robot is the transponder element 10 of the transponder group T2.
If it is determined that the deviation is from N3, the system control unit 7 controls the self-propelled robot to return to the preset programmed course. For example, in the example of FIG. 4, the self-propelled robot is displaced to the right (toward N5) from the transponder element N3. Therefore, when the system control unit 7 issues an instruction to travel from the transponder group T2 to the next transponder group T3, the system control section 7 instructs the self-propelled robot to travel slightly leftward than before. In accordance with this, the traveling control unit 9 outputs a traveling operation signal to the motor driver 2 to operate the drive mechanism, and causes the self-propelled robot to travel in a direction to correct the deviation so far.

Such a correction operation of the traveling direction of the self-propelled robot may be carried out immediately when the traveling deviation is detected in the transponder group T2 as described above, but the self-propelled robot is traveling. , Or between the transponder group Tn and the next transponder group Tn + 1, the transponder group T2 takes into consideration the fact that even if a traveling deviation occurs, the deviation amount is small in many cases.
The traveling deviation determination in is stored in the system control unit 7,
When the self-propelled robot reaches the next transponder group T3, the operation for correcting the traveling direction of the self-propelled robot is started,
The traveling route may be corrected during traveling from the transponder group T3 to the transponder group T4. Furthermore, by combining the detection results from the transponder communication device 6 and the optical gyro 4, when the traveling deviation is judged to be extremely large, the operation for correcting the traveling route is immediately started, while in the case of the ordinary traveling deviation, it is slowly performed. The operation of correcting the traveling route may be started. These operation modes are selected according to the contents of the operation program in the system control unit 7, and the program is changed.

When the self-propelled robot reaches the end (the wall W at the end) of the operation field F, the system control unit 7 detects this from various detection data and turns the self-propelled robot in the direction. . For example, in the example shown in FIG. 4, the traveling control is performed such that the self-propelled robot that was traveling in the direction of arrow S1 is rotated 180 degrees in the direction of arrow S2 and traveled in the direction of arrow S2. The actual operation such as turning the direction is performed by the traveling control unit instructed by the system control unit 7. Further, in the case of turning in the above direction, etc., in consideration of the fact that the self-propelled robot is near the wall W, the transponder communication device 6 and the ultrasonic wave are transmitted to the transponder group T and the wall W at that position. The distance sensor 5 may be used to determine the absolute position of the self-propelled robot, and the traveling control of the self-propelled robot thereafter may be performed based on the absolute position information. By doing so, the self-propelled robot can obtain the latest position information by calculating its absolute position several times while moving on the set course from the starting point to the target point. Since it is possible to perform a predetermined work, it is possible to always accurately recognize where in the operation field F the work is being performed, and the work can be performed twice at the same place during the work of the self-propelled robot, or the work can be left blank. There is no inconvenience such as the occurrence of areas.

[0028]

As described above, according to the present invention,
The self-propelled robot is provided with a distance detecting means for detecting the traveling distance of the self-propelled robot, a direction measuring means for detecting the traveling direction of the self-propelled robot, and a reference provided on the side of the robot body in a front-rear pair. An absolute position detecting means for detecting the position of the self-propelled robot itself with respect to the position, and a travel deviation measuring means for receiving a signal from the position signal transmitting means provided in the field structure and measuring a deviation from the movement path, Since it has control means for controlling the traveling of the self-propelled robot by inputting the set course from the starting point to the target point, the vehicle travels while detecting the deviation between the traveling direction and the checkpoint based on the absolute position information. You can easily recognize where you are in the field even while moving the set course, and work while accurately moving the set course. It is possible to row.

[Brief description of drawings]

FIG. 1 is a block diagram showing an example of automatic steering of a self-propelled robot according to the present invention.

FIG. 2 is a plan view showing the arrangement of various sensors loaded on the robot body in the embodiment.

FIG. 3 is a diagram for explaining a traveling deviation measuring method of a self-propelled robot using a transponder communication device according to the present invention.

FIG. 4 is a diagram illustrating a traveling operation of the self-propelled robot of the present invention.

[Explanation of symbols]

 1 Drive Mechanism 2 Motor Driver 3 Distance Encoder (Distance Detecting Means) 4 Optical Gyro (Azimuth Measuring Means) 5 Ultrasonic Distance Sensor (Absolute Position Detecting Means) 6 Transponder Communication Machine (Running Deviation Measuring Means) 7 System Controller 8 IC Card Reader 9 Travel control unit

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shinichirou Kawasaki 4-3-1, Tsunashima-higashi, Kohoku-ku, Yokohama-shi, Kanagawa Matsushita Communication Industrial Co., Ltd. (72) Inventor Genji Torii Nagoya, Aichi Prefecture Nakamura-ku 1-4-1, Tokai Passenger Railway Co., Ltd. (72) Inventor Kazuhiro Ishizu 1-4-1, Mei-eki, Nakamura-ku, Aichi Prefecture Tokai Passenger Railway (72) Inventor Katsumi Shimizu I 1-4-1 Mei Station, Nakamura-ku, Nagoya, Aichi Prefecture Tokai Passenger Railway Co., Ltd.

Claims (3)

[Claims] 1. A self-propelled robot, wherein a plurality of position signal transmitting means are provided on a floor surface of a field in which the self-propelled robot moves, and the position signal transmitting means transmits a signal for specifying the position thereof. A traveling deviation measuring means for receiving a signal from the position signal transmitting means to measure a deviation from a moving route, and a self-propelled type in the field based on a signal from the position signal generating means and a distance from a wall surface. A steering system for a self-propelled robot, which is provided with absolute position detection means for calculating an absolute position of the robot itself, and is configured to move the self-propelled robot while detecting the absolute position and the deviation from the movement path. 2. A fixed number of units are arranged on a floor surface of a field where the self-propelled robot moves in a row in a lateral direction in a fixed installation interval with respect to a movement path of the self-propelled robot, in units of a fixed number unit group. A plurality of position signal transmitting means are provided, and each of the position signal transmitting means is caused to transmit its own position information signal different from the other position signal transmitting means, while the self-propelled robot is caused to transmit the position signal. At least two position signal receiving means having a receiving area smaller than a fixed installation interval of the transmitting means are provided, and when the self-propelled robot passes over one unit group of the position signal transmitting means, the plurality of position signal receiving means are received. At least one of the means receives a position information signal, and a travel deviation measuring means for measuring a deviation from a movement route by the position information signal is provided. A self-propelled robot steering system that moves while detecting a deviation from the movement path. 3. A robot main body, a drive mechanism for moving the robot main body, a driver for operating the drive mechanism, a distance detection means connected to the drive mechanism for detecting a travel distance of a self-propelled robot, and a robot. Azimuth measuring means provided inside the main body for detecting the traveling direction of the self-propelled robot, and an absolute position for detecting the own position with respect to the reference position such as the wall of the field structure provided in front and rear pairs on the side of the robot body Self-propelled by inputting the set course from the starting point to the target point, and the detecting means and the traveling deviation measuring means for receiving the signal from the position signal transmitting means provided in the field structure to measure the deviation from the moving route. An automatic steering device for a self-propelled robot, comprising a control means for controlling the traveling of the self-propelled robot.