JPH09146640A - Method for controlling unmanned vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable an unmanned vehicle to be inverted correspondingly to a peripheral state, to prevent the occurrence of collision with a wall surface and to reduce data for inversion processing. SOLUTION: In the case of running a vehicle body 21 reciprocally in a certain area by running the vehicle 21 straight by a prescribed distance, and after inverting its running direction, running the vehicle 21 straight again in the reverse direction, a sub-control part detects distances up to right and left side wall surfaces (main and sub reference faces) in the area concerned by detection signals from ultrasonic sensors 3 arranged on both the sides of the vehicle 21. A main control part executes the inversion or U-turn of an initial vehicle or the inversion of a final vehicle based upon the detected distance. When the distances up to the main and sub reference faces are less than a prescribed value, the vehicle 21 is moved backward, the distances up to the main and sub reference faces after backwared movement are detected again and the inversion or U-turn of the initial vehicle or the inversion of the final vehicle are executed based upon the detected distances.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control technique for an unmanned vehicle (for example, a floor cleaning robot that cleans the floor of a building), and more specifically, enables a reversing operation depending on the surroundings of the vehicle body. The present invention relates to a method for controlling an unmanned vehicle that does.

[0002]

2. Description of the Related Art An unmanned vehicle of this type is equipped with a plurality of detecting means (for example, ultrasonic sensors) for detecting the surroundings in order to travel while monitoring the surroundings of the vehicle body. The vehicle automatically travels based on the surrounding conditions detected by.

As shown in FIG. 7, the ultrasonic sensors 2 and 3 attached to the front and left and right side surfaces of the vehicle body 1 detect an object (wall surface) in the front direction and both side directions, and the distance to the wall surface. The vehicle body 1 is run unattended while monitoring the.

For example, in the case of a floor cleaning robot, the ultrasonic sensors 3 attached to the side surface of the vehicle body 1 detect both side wall surfaces (main and sub reference planes) of the area, and the vehicle body 1 follows the main reference plane. When traveling straight ahead and detecting the front wall surface, the vehicle body 1 is stopped in front of the wall surface. The main reference surface is a side wall surface which is close to the vehicle body 1 when the vehicle is traversing, and the sub reference surface is a side wall surface opposite to the main reference surface.

On the other hand, based on the distances to the main and sub-reference planes, the minimum width of the area (width corresponding to cleaning residue)
When there is still a cleaning remaining width, the vehicle body 1 is reversed after the vehicle body 1 is stopped, and the vehicle body travels the same distance as the traveling distance of the first row. By repeating this straight line running and reversing,
In this area, the vehicle body 1 can be reciprocated to clean the floor surface.

In this case, for example, as shown in FIG. 8, when traveling in the first row, since there is no margin on the right side of the vehicle body 1 (main reference plane side), there is no reversal (first rotation) so as not to collide with the main reference plane. Column inversion). To reverse the first row, as shown by the broken line arrow in the figure, the vehicle body 1 is advanced leftward at a predetermined angle to make room on the right side of the vehicle body 1, and then the vehicle body 1 is inverted leftward (for example, about 90 degrees). (Reversed once) to proceed, and then body 1
Rotate by a predetermined angle to make it parallel to the first row.

When traveling in the last row, since there is no margin on the left side (sub reference surface side) contrary to the first row, reversal (reversal of the last row) is performed so as not to collide with the sub reference surface. To reverse the last row, as shown by the broken line arrow in the figure, move the vehicle body 1 forward at a predetermined angle to make room on the left side of the vehicle body 1, and then reverse the vehicle body 1 (for example, flip about 180 degrees). Then, the vehicle body 1 is further rotated by a predetermined angle so as to be parallel to the previous running row.

In the rows other than the first row and the last row, there is a sufficient margin on the left and right sides of the vehicle body 1, and therefore the reversal (U-turn) is performed by shifting the width of the vehicle body 1. In the U-turn, as shown by the broken line arrow in FIG. 8, after the vehicle body 1 is swung 90 degrees, the vehicle body travels for a predetermined distance (vehicle width), swivels 90 degrees again, and the vehicle body 1 is inverted.

As a result, since the vehicle body 1 travels back and forth in the area at a predetermined interval (vehicle width), the floor surface in the area can be cleaned. Further, the vehicle body 1 can be positioned on the start side or the opposite side thereof, and the vehicle body 1 can be moved to an area other than the area.

By the way, if the wall surface shape of the traveling area is different, for example, if it has the shape shown in FIG. 9, that is, if there is some margin on the left and right sides of the vehicle body 1 but a U-turn is not possible, a 180-degree inversion (spin turn) ), It is possible to escape from the narrow portion and continue traveling in the traveling area. The spin turn reverses the vehicle body 1 180 degrees on the spot.

As described above, by preparing various reversal patterns, it is possible to reciprocate all over the predetermined area, and in the case of the floor cleaning robot, the floor in the predetermined area can be cleaned.

[0012]

However, in the method for controlling an unmanned vehicle as described above, as shown in FIG. 10, for example, the wall shape of the area is different from usual, and the distance between the vehicle body 1 and the main reference plane is steep. In the case where the vehicle body 1 is narrowed, when the U-turn is executed, the vehicle body 1 may collide with the wall surface when the vehicle body is swung by 90 degrees (reversed by 90 degrees).

Further, as shown in FIG. 11, when the wall shape of the area is different from usual and the distance between the vehicle body 1 and the sub reference plane is suddenly narrowed, a U-turn (either left or right turn) is made. ), It may collide with the wall surface as described above.

Further, as shown in FIG. 12, when the wall shape of the area is special, that is, when there is no margin on the left and right sides of the vehicle body 1, not only the U-turn but also the above-mentioned reversal is performed, 1 collides with the wall surface and the vehicle body 1 gets stuck.

On the other hand, since there are many types of inversion of the first column, inversion of the last column, U-turn and spin-turn as described above, there is a large amount of data for inversion, and further, the inversion considering the case of FIG. If a pattern is newly added and a transition pattern for transitioning the vehicle body 1 from that area to another area is added, the amount of data is further increased. Therefore, it is preferable to reduce the number of types of inversion patterns as much as possible.

The present invention has been made in view of the above problems, and an object thereof is to prevent the vehicle body from colliding with the wall surface and to reduce the types of reversal patterns, that is, to simplify the reversal processing. It is to provide a control method for an unmanned vehicle.

[0017]

In order to achieve the above-mentioned object, the present invention is an unmanned vehicle which allows a vehicle body to travel a predetermined distance in a straight line, and then to reverse the vehicle body to travel in a straight line so that the vehicle can reciprocate in the area. In the above control method, the distance to the left and right side wall surfaces (main and sub reference planes) of the area is detected by the detection means arranged on both side surfaces of the vehicle body when the vehicle body is turned over, and the detection distance is based on the detected distance. It is characterized in that the vehicle body is turned over or the vehicle body is moved backward.

In the control method for an unmanned vehicle according to the present invention, the distance to the left and right side wall surfaces (main and sub reference planes) of the area is detected by the distance detecting means arranged on both side surfaces of the vehicle body when the vehicle body is inverted. However, when the distance to the left and right side wall surfaces is smaller than a predetermined value, the vehicle body is retracted, and after the vehicle body is retracted, the distance to the left and right side wall surfaces in the area is detected, and based on the detected distance, It is characterized in that the columns are inverted, the U-turn, or the last column is inverted.

Further, in the control method of the unmanned vehicle according to the present invention, when the side wall surface close to the vehicle body at the start of traveling of the vehicle body is used as the main reference plane, only the detection distance to the main reference plane is smaller than the predetermined value. Sometimes it is advisable to perform the inversion of the first row.

Further, in the control method for an unmanned vehicle of the present invention, when the side wall surface close to the vehicle body at the start of traveling of the vehicle body is the main reference plane and the other side wall surface is the sub reference plane, the sub reference plane is used. When only the detection distance up to is smaller than the predetermined value, it is advisable to perform the inversion of the final column.

Furthermore, in the control method for an unmanned vehicle according to the present invention, the U-turn may be performed when the detection distances to the main reference surface and the sub reference surface are equal to or more than a predetermined value.

In the control method for an unmanned traveling vehicle according to the present invention, it is preferable that the traveling vehicle is a floor cleaning robot.

[0023]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to FIG.
This will be described in detail with reference to FIG. In FIG. 2,
The same parts as those in FIG. 7 are designated by the same reference numerals, and duplicate description will be omitted.

In FIGS. 1 and 2, a control device for an unmanned vehicle (for example, a floor cleaning robot) monitors a surrounding area and a plurality of ultrasonic sensors (detection means) for detecting a distance to a wall surface. ) Ultrasonic sensor unit 1 having 2, 3
0 and a sub-control unit (CPU board) 11 that detects a detected object (front wall surface, both side wall surfaces, etc.) by detection signals from the ultrasonic sensors 2 and 3 and measures the distance to the detected object.
And drive motors 16 and 17 with rotary encoders 14 and 15 for driving the left and right drive wheels 12 and 13, respectively.
And control instructions for running (speed), stopping and reversing (rotating direction), etc. based on the operation of an operation panel (not shown), the measurement result of the sub-control unit 11, encoder pulses from the rotary encoders 14 and 15, and the like. A main control unit (CPU board) 18 for outputting a drive signal, a drive wheel control circuit 19 for outputting drive signals for the drive motors 16 and 17 according to a control instruction from the main control unit 18, and a drive motor 16 for this drive signal. , 17, and a drive circuit 20 for driving

When detecting the front wall surface of the vehicle body 21 and reversing the vehicle body 21 in front of the wall surface, the main control portion 18 detects the distance between the both side wall surfaces (main and sub reference planes) of the area and the vehicle body 21. Then, the type of reversal (reversal of the first row, reversal of the last row, U-turn or backward (non-reversible)) is determined based on this detection distance.

Next, the operation of the control device for the unmanned vehicle will be described in detail with reference to the flow chart of FIG. 3 and the travel route diagrams of FIGS. 4 to 6.

First, when an operation of the operation unit of the unmanned vehicle, for example, a traveling operation is performed, the main control unit 18 controls the left and right drive wheels 12 and 13 to rotate to start the vehicle body 21 and to a predetermined speed. To accelerate.

At this time, the side wall surface close to the vehicle body 21 (side wall surface of the traveling area) is used as the main reference surface, the other side wall surface is used as the sub reference surface, and the ultrasonic sensor 3 detects the main reference surface and the sub reference surface. While measuring the distance, the vehicle body 21 is controlled to travel straight along the main reference plane based on the encoder signals from the rotary encoders 14 and 15, and the traveling distance is measured.

When the ultrasonic sensor 2 detects the front wall surface, the vehicle body 21 is stopped before the wall surface, and then the vehicle body 2 is stopped.
Invert 1 At the time of this reversal, it is determined whether or not there is a predetermined interval between the vehicle body 21 and the reference planes (main and sub reference planes) (step ST1).

When the vehicle is traveling in the first row, the distance to the main reference surface is smaller than the predetermined value and the distance to the sub reference surface is not less than the predetermined value. To ST3, the inversion process of the first column is executed.

In this reversing process, as described in the conventional example, the car body 21 is reversed and moved in accordance with the broken line arrow in FIG. 4, so that the car body 21 is in a row parallel to the first row and in the opposite direction.

After traveling in the first row, if the distance to the main reference surface is equal to or greater than a predetermined value and the distance to the sub reference surface is equal to or greater than the predetermined value, steps ST1 and ST4 are followed by step ST5.
Proceed to and execute U-turn processing.

In this reversing process, as described in the conventional example, the vehicle body 21 is swung 90 degrees to the left, the vehicle runs for the width of the vehicle body 21, and 90 degrees is swung in the same direction again. In a row parallel to the previous row and in the opposite direction.

In the case of traveling in the final row, the distance to the main reference surface is equal to or larger than a predetermined value and the distance to the sub reference surface is smaller than the predetermined value. Therefore, steps ST1 and ST4 are performed and step S is performed.
Proceeding to T6, the inversion processing of the final column is executed.

In this reversing process, as explained in the conventional example, as shown by the broken line arrow in FIG. 5, after making a margin on the left side of the car body 21, the car body 21 is reversed to shift to the previous row reverse. Let's face it. It should be noted that after the traveling of the last row is completed, the vehicle body 21
Does not shift to another area and remains stopped, it is not necessary to perform the inversion processing of the last column.

As shown in FIG. 6, when there is no margin on the left and right of the vehicle body 21 and the distance to the main and sub reference planes is smaller than a predetermined value, the process proceeds to step ST7 via steps ST1 and ST2 to execute the backward process. .

In this retreat processing, the vehicle body 21 is retracted, and the vehicle body 21 is retracted to a position where there is a margin on the left and right sides of the vehicle body 21 and stopped. By executing the routine shown in FIG. 3 after the backward movement process, the vehicle body 21 can be inverted to continue traveling in the area.

By the way, as shown in FIG. 4, the wall surface shape of the predetermined area is changed, and when the vehicle body 21 is inverted, the distance to the sub reference plane is a predetermined value or more, but the distance to the main reference plane is predetermined. If it is smaller than the value, the routine proceeds to step ST3 through steps ST1 and ST2 in the routine of FIG.
Invert the first row, not the turn. Thereby, the vehicle body 21 can be turned over without colliding with the side wall surface.

Further, as shown in FIG. 5, when the wall surface shape of the predetermined area is changed and the distance to the main reference surface is equal to or more than the predetermined value, but the distance to the sub reference surface is smaller than the predetermined value,
In the routine of FIG. 3, the process proceeds to step ST6 through steps ST1 and ST4, and the inversion processing of the final column is executed instead of the U-turn. Thereby, the vehicle body 21 can be turned over without colliding with the side wall surface.

Further, as shown in FIG. 6, when the wall surface shape of the predetermined region is special, the distance to the main reference surface is smaller than the predetermined value, and the distance to the sub reference surface is smaller than the predetermined value, FIG. Steps ST1 and ST2 in the routine
After that, the process proceeds to step ST7 and only the reverse process is executed without inverting the vehicle body 21. In this backward movement process, the vehicle body 21 is moved backward to a place where both sides of the vehicle body 21 are wide.

After this backward movement processing, the routine of FIG. 3 is executed again, that is, the U-turn, the inversion of the first row or the inversion of the last row is executed based on the detection distances to the main and sub reference planes. As a result, traveling in the area can be continued.

As described above, when the vehicle body 21 is inverted, the surrounding conditions are detected (the distances to the main and sub reference planes are detected), and the type of the inversion process is determined according to this condition (distance). For example, in the case of the wall surface shape shown in FIG.
If the wall shape shown in FIG. 5 is executed without performing a U-turn, the same process is performed for the last row without making a U-turn for the vehicle body 21, and the special process shown in FIG. With such a wall shape, the vehicle body 21 is retracted, and after exiting this special wall shape, a U-turn, inversion of the first row or inversion of the last row can be executed.

Therefore, the vehicle body 21 can be turned upside down without colliding with the wall surface in accordance with the situation around the vehicle body 21, and as a result, traveling in the area can be continued.

In addition, inversion of the first row, U
By selecting the turn and the inversion of the last row, the vehicle body 21 can be inverted in response to various situations, that is, the use of each inversion pattern is expanded, while the spin turn described in the conventional example can be omitted. The amount of data for the result inversion process can be reduced.

If the unmanned vehicle is a floor cleaning robot, unmanned reciprocating traveling can be performed in a variety of wall surface regions to clean the floor surface, and since it does not collide with the wall surface, it is safe. Sex can be achieved. In this case, the car body 2
1 is equipped with cleaning means (brush, squeegee, etc.).

[0046]

As described above, according to claim 1 of the method for controlling an unmanned vehicle of the present invention, when the vehicle body is turned over, the ultrasonic sensors arranged on both side surfaces of the vehicle body are used to detect the left and right side wall surfaces of the area. The distance to the (main and sub-reference planes) is detected, and the vehicle body is turned upside down or retracted based on these detected distances, so it may collide with the wall surface depending on the surroundings of the vehicle body. Instead, the vehicle body can be inverted, and the use of each inversion pattern is expanded, while the amount of data for the inversion process can be reduced.

According to claim 2 of the present invention, in addition to claim 1, when the distance to the left and right side wall surfaces of the region is smaller than a predetermined value, the vehicle body is retracted, and after the vehicle body is retracted, the left and right regions of the region are Since the distance to the side wall surface is detected and the first row is inverted, the U-turn or the last row is inverted by these detected distances, in addition to the effect of claim 1,
Even if a special wall-shaped portion shown in FIG. 2 is entered, there is an effect that it is possible to escape from this portion and turn over the vehicle body, and thus to continue running in the area.

According to Claim 3 of the present invention, in Claim 1 or 2, when the side wall surface close to the vehicle body at the start of traveling of the vehicle body is used as the main reference plane, only the detection distance to the main reference plane is a predetermined value. Since the first row is reversed when the size is smaller, the same effect as that of claim 1 or 2 can be obtained, and even if the wall shape shown in FIG.
The car body can be turned over.

According to claim 4 of the present invention, in claim 1 or 2, when the side wall surface close to the vehicle body at the start of traveling of the vehicle body is used as the main reference plane, only the detection distance to the sub reference plane is a predetermined value. When it is smaller, the last row is inverted, so that the same effect as that of claim 1 or 2 can be obtained, and even if the wall shape shown in FIG. 5 is present, the vehicle body can be inverted without colliding with the wall surface. You can

According to a fifth aspect of the present invention, in the first or second aspect, when the detection distance to the main reference surface and the sub reference surface is equal to or more than a predetermined value, the U-turn is performed. Alternatively, the same effect as that of 2 can be obtained, and the traveling in the area can be optimized.

According to claim 6 of the present invention, since the unmanned traveling vehicle according to any one of claims 1 to 5 is used as a floor cleaning robot, in addition to the effects according to any one of claims 1 to 5, the wall surface shape of the traveling region can be understood. In addition, it is possible to drive the area in an unmanned manner, the floor surface of the area can be cleaned without manpower, and there is no collision with the side wall surface of the traveling area, which is excellent in safety. There is an effect.

[Brief description of the drawings]

FIG. 1 is a schematic block diagram of a control device according to an embodiment of the present invention, to which a control method of an unmanned vehicle is applied.

FIG. 2 is a schematic front view of the unmanned traveling vehicle according to the present invention.

FIG. 3 is a schematic flowchart illustrating the operation of the control device for the unmanned vehicle shown in FIG.

FIG. 4 is a schematic travel route diagram for explaining the operation of the control device for the unmanned vehicle shown in FIG.

5 is a schematic travel route diagram explaining the operation of the control device for the unmanned vehicle shown in FIG. 1. FIG.

FIG. 6 is a schematic travel route diagram for explaining the operation of the control device for the unmanned vehicle shown in FIG. 1.

FIG. 7 is a schematic front view of a conventional unmanned vehicle.

8 is a schematic passage diagram illustrating traveling control of the unmanned vehicle shown in FIG. 7.

9 is a schematic passage diagram illustrating traveling control of the unmanned vehicle shown in FIG. 7.

FIG. 10 is a schematic passage diagram illustrating traveling control of the unmanned vehicle shown in FIG. 7.

FIG. 11 is a schematic passage diagram illustrating traveling control of the unmanned vehicle shown in FIG. 7.

FIG. 12 is a schematic passage diagram illustrating traveling control of the unmanned vehicle shown in FIG. 7.

[Explanation of symbols]

 2, 3 Ultrasonic sensor (detection means) 10 Ultrasonic sensor section 11 Sub-control section 12, 13 Drive motor 14, 15 Rotary encoder 18 Main control section 21 Car body (of unmanned vehicle)

Claims (6)

[Claims] 1. A method for controlling an unmanned vehicle, comprising: running a vehicle straight for a predetermined distance, then reversing the vehicle to run straight; The distance to the right and left side wall surfaces (main and sub reference planes) of the area is detected by the detection means arranged in the area, and the vehicle body is inverted or the vehicle body is moved backward based on the detected distance. And a method for controlling an unmanned vehicle. 2. A method for controlling an unmanned vehicle, comprising: running a vehicle straight for a predetermined distance and then reversing the vehicle to run straight; The distance detecting means arranged on the surface detects the distance to the left and right side wall surfaces (main and sub reference planes) of the area, and when the distance to the left and right side wall surfaces is smaller than a predetermined value, the vehicle body is retracted to After retreating, the distance to the left and right side walls of the area is detected, and the first row inversion, U-turn or last row inversion is performed based on the detected distance. Control method. 3. When the side wall surface close to the vehicle body is used as a main reference plane at the start of traveling of the vehicle body, the first row is inverted when only the detection distance to the main reference plane is smaller than a predetermined value. The method for controlling an unmanned vehicle according to claim 1 or 2. 4. When the side wall surface close to the vehicle body is used as a main reference surface and the other side wall surface is used as a sub reference surface at the start of traveling of the vehicle body, and only the detection distance to the sub reference surface is smaller than a predetermined value. 2. The inversion of the last column is performed.
Alternatively, the method for controlling an unmanned vehicle described in 2. 5. The control method for an unmanned vehicle according to claim 1, wherein the U-turn is performed when a detection distance to the main reference surface and the sub reference surface is a predetermined value or more. 6. The control method for an unmanned traveling vehicle according to claim 1, 2, 3, 4, or 5, wherein the traveling vehicle is a floor cleaning robot.