JPH09167016A - Control method for unmanned traveling vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically correct the position of main body after inverting action into a target position and further to unnecessitate any new control table (data), etc., for that correction, with respect to an unmanned traveling vehicle for which the left and right driving wheels of main body are positioned at the rear part of main body. SOLUTION: Left and right driving wheels 7 and 8 of main body are provided at the rear part of this main body, ultrasonic sensor parts 10 for detecting the side wall surface of traveling area are provided on both the side surfaces of main body, and traveling is possible, while keeping the distance to the side wall surface at the target position. When the main body is inverted (or turned), a main control part 14 detects the side wall surface of this traveling area and judges whether the distance to this detected side wall surface is settled at a position setting value (target position) or not. When this distance between the detected side wall surface and a main body 6 does not correspond to the target position, the quantity of that deviation is calculated and according to this calculated deviation quantity, the setting value of main body is corrected. According to this correction of setting value, the position of main body is automatically corrected.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a floor cleaning robot for cleaning a floor of a building, a traveling control technique for an unmanned vehicle such as a conveyor for conveying an object, and more particularly, to a center of left and right driving wheels of a main body. The present invention relates to a control method for an unmanned vehicle that enables traveling at an appropriate position after traveling of the body even if the center of the body shape is different.

[0002]

2. Description of the Related Art As an unmanned vehicle of this type, there is one having a shape shown in FIGS. 8 and 9, for example. In the case of the unmanned vehicle shown in FIG. 8, the main body 1 has a substantially square shape.
The centers of the left and right drive wheels 2 and 3 and the center of the main body 1 are the same in a plane. Therefore, auxiliary wheels 4 and 5 are provided on the front surface of the bottom surface and the rear surface of the bottom surface of the main body 1, respectively.

In the reversing operation of the unmanned vehicle, the left and right driving wheels 2 and 3 are controlled in a predetermined manner, for example, the main body 1 is moved to the left by 1
When reversing by 80 degrees and approaching the left side surface in parallel with the front running row, the main body 1 is swung 90 degrees to the left, and the main body 1 travels straight to the left side wall surface and stops.

After that, when the main body 1 is swung 90 degrees to the left again, the main body 1 is at a desired distance a from the left wall surface,
And it becomes parallel. That is, the main body 1 can be brought closer to the left side wall surface by the 180-degree reversing operation of the main body 1.

[0005]

By the way, in the case of the conventional unmanned vehicle shown in FIG. 9, the body 6 of the unmanned vehicle has a rectangular shape, and the left and right drive wheels 7 and 8 of the body 6 are at the center. The center of the body 6 is different from the plane. For example, since a floor cleaning robot requires cleaning means (brush, squeegee, etc.), the left and right drive wheels 7, 8 are inevitably arranged at the rear of the main body 6. An auxiliary wheel 9 is provided at the front part of the bottom surface of the main body 6.

Therefore, if the same reversing operation as in the unmanned vehicle shown in FIG. 8 is performed, the distance b (> a) between the main body 6 and the left side wall surface.
Does not reach the desired value a, and the main body 6 cannot be brought close to the left wall surface (see FIG. 9). That is, if the position setting value of the main body 6 is set to an unreasonable value, the main body 6 collides with the front wall surface (left side wall surface) during the reversing operation.

Further, as shown in FIG. 10, when the main body 6 is transferred from the first passage (region) to the second passage (region) in a predetermined area, after the main body 6 is stopped in front of the front wall surface of the first passage. ,
Turn the body 6 180 degrees to the right.

Thereafter, when the main body 6 is retracted by a predetermined distance and stopped, and the main body 6 is swung 90 degrees to the left, the main body 6 can be moved from the first passage to the second passage, and further, the second passage can be moved. The distance between the main body 6 and the side wall surface can be set to a desired value when the passage is moved to the passage.

However, since the operation of retracting the main body 6 is required, an unexpected situation (squeezing the squeegee) may occur in a squeegee, for example, in the case of a floor cleaning robot, which is not preferable.

Further, since the transition to the second passage is performed not on the inner wall surface (right side surface) but on the outer wall surface (left wall surface), an extra operation such as retreat of the main body 6 is required. There is also a problem that a table (data) for setting is separately required due to an extra operation, and the data amount increases accordingly.

The present invention has been made in view of the above problems, and an object thereof is to automatically target the position of the main body after reversing operation of the main body even when the center of the left and right drive wheels of the main body is different from the center of the main body. It is an object of the present invention to provide a control method for an unmanned vehicle that can be corrected to a position and that does not require a new control table (data) for correcting the position, that is, does not need to increase the amount of data.

[0012]

In order to achieve the above object, the present invention has at least the left and right drive wheels of the main body at the rear part of the main body, and when the main body is running, the distance to the side wall surface of the running area is set. A method for controlling an unmanned vehicle capable of maintaining a position set value, wherein the side wall surface of the traveling area is detected after the body is turned over, and a distance between the detected side wall surface and the body is a predetermined value. It is determined whether or not there is, and when the distance between the detection side wall surface and the main body is not a predetermined value, the deviation amount is calculated, and the position of the main body is corrected according to the deviation amount. There is.

According to the present invention, at least the left and right drive wheels of the main body are provided at the rear portion of the main body, and the distance to the side wall surface of the traveling area can be maintained at the position set value when the main body is traveling, and the main body is A method of controlling an unmanned vehicle in which the main body is rotatable in order to shift to a region, wherein the main body is stopped in front of a front wall surface of the predetermined region, the main body is inverted, and then the side of the other region. A wall surface (left wall surface or right wall surface) is detected, and it is determined whether or not the distance between the detection side wall surface and the main body is a predetermined value. If the distance between the detection side wall surface is not the predetermined value, the amount of deviation is determined. Is calculated, the set value of the main body is corrected according to the shift amount, and the main body is brought closer to the outer wall surface of the other region by the corrected set value.

Further, in the control method for the unmanned vehicle according to the present invention, when the traveling is completed at the predetermined position in the predetermined area, the main body is caused to travel for a predetermined distance and stopped, and the main body is rotated, and then the other area. Side wall surface (right side wall surface or left side wall surface) is detected, and it is determined whether or not the distance between the detection side wall surface and the main body is a predetermined value. It is characterized in that a shift amount is calculated, a set value of the main body is corrected according to the calculated shift amount, and the main body is brought closer to the inner wall surface of the other region by changing the correction set value.

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to FIGS. In the figure, parts that are the same as or corresponding to those in FIG. 9 are given the same reference numerals, and repeated explanations are omitted.

1 to 3, the control device for an unmanned vehicle comprises an ultrasonic sensor (detection means) 10a arranged in front of the main body 6 and ultrasonic sensors (detection means) arranged on both sides of the main body 6. ) 10b, an ultrasonic sensor unit 10b, a sub-control unit (CPU board) 11 that detects a front wall surface, both side wall surfaces, and the like based on a detection signal from the ultrasonic sensor unit 10 and measures a distance, and the left and right drive wheels 7. , 8 rotary control encoders 12a, 13
Based on the operation of the drive motors 12 and 13 with a and an operation panel (not shown), the measurement result of the sub-control unit 11, encoder signals from the rotary encoders 12a and 13a, etc., traveling (speed), stop, and reverse ( Main control unit (CPU board) 14 that executes rotation control, and this main control unit 14
And a drive wheel control circuit 15 for outputting drive signals for the drive motors 12, 13 according to a control instruction from the drive circuit 1, and a drive circuit 1 for driving the drive motors 12, 13 by the drive signals.
6 is provided.

As is apparent from FIG. 3, the right drive wheels 7 and 8 are arranged in the rear portion of the main body 6, that is, the centers of the left and right drive wheels 7 and 8 are different from the center of the shape of the main body 6 in a plane. ing. This is because the unmanned vehicle is a floor cleaning robot and cleaning means (brush, squeegee, etc.) for cleaning the floor surface.
This is because the left and right drive wheels 7 and 8 are inevitably arranged rearward.

Next, the operation of the control device for the unmanned vehicle having the above structure will be described in detail with reference to the travel route diagrams of FIGS. 4, 6 and 7 and the flow chart of FIG.

First, when an operation of the operation unit of the unmanned vehicle, for example, a running operation is performed, the main control unit 14 drives the left and right drive wheels 7 and 8 to activate the main body 6 and accelerate it to a predetermined speed. . Further, the ultrasonic sensor unit 10 detects a front wall surface, both side wall surfaces, and the like, monitors the distance to the wall surface, and the like, and determines the distance to the left and right side wall surfaces (main and sub reference surfaces) of the main body 6 as a position set value ( Keep the distance to the side wall) and control the traveling.

When the main body 6 is traveling straight ahead by the above-mentioned traveling control, for example, when a front wall surface is detected, the main body 6 is stopped in front of the wall surface, and then the main body 6 is controlled to be inverted by 180 degrees. For example, as shown in FIG. 4, a predetermined area (passage)
When cleaning the main body 6, it is necessary to move the main body 6 back and forth.
Inversion control.

In this reversal control, the main body 6 is swung 90 degrees to the left, for example, and then the main body 6 travels straight ahead and swings 90 degrees to the left again. By this 180-degree reversal control, the main body 6 can be made parallel and opposite to the front running row, and the distance to the side wall surface can be set to a desired value.

By the way, as shown in FIG. 4, when the main body 6 is close to the left side wall surface, the main body 6 is swung 90 degrees, and the main body 6 is advanced to the side wall surface by running straight, and then 90 degrees later.
Even if the main body 6 is turned over 180 times by swinging, the distance between the main body 6 and the side wall surface cannot be made shorter than the predetermined value b. That is, in the 180-degree inversion control described above, the main body 6 cannot be moved to a desired value with respect to the side wall surface.

From the above, the routine shown in FIG. 5 is executed. First, the main controller 14 drives the left and right drive wheels 7 and 8 in a predetermined manner to invert the body 6 by 180 degrees (step ST
1) Before turning the main body 6 straight ahead after turning 180 degrees, it is determined whether or not the distance between the main body 6 and the side wall surface is a desired value a (step ST2).

If the distance between the main body 6 and the side wall surface has not reached the desired value (target position) due to the 180-degree inversion operation described above, the process proceeds to step ST3 to calculate the deviation to the target position.

In this deviation calculation, the difference (ba) between the distance b to the side wall surface obtained by the ultrasonic sensor 10b and the desired distance (target position of the main body 6) a to the side wall surface is calculated in advance. In order to correct the position of the main body 6 according to this calculated shift amount, the set value (value that determines the position of the main body 6) is corrected (step ST4).

Subsequently, the main body 6 starts running,
The body 6 is accelerated to a predetermined speed (step ST5), the position of the main body 6 is corrected by the correction setting value (step ST6), and the main body 6 is moved to the side wall surface according to the correction setting value while traveling.

As described above, since the floor cleaning robot is adapted to move while detecting the left and right side wall surfaces, if the set value is corrected according to the amount of deviation, the position can be automatically corrected. Therefore, it is not necessary to add a new control table or the like.

As the function of the floor cleaning robot,
If there is an S-shaped traveling that avoids an obstacle in front, the S traveling can be used, and a new traveling control program need not be added.

On the other hand, after the main body 6 is turned over 180 degrees,
When the position of the main body 6 is the target position (desired value) with respect to the side wall surface, the routine is ended and normal straight traveling,
That is, the distance to the side wall surface is maintained at a predetermined position set value.

The routine shown in FIG. 5 can be applied after the transition processing shown in FIGS. 6 and 7.

FIG. 6 illustrates a case where the floor surface of the first passage (region) is cleaned and then the second passage (region) is moved to.

In this case, based on the distance to the front wall surface of the first passage, the floor surface of the first passage is reciprocated for cleaning, and the main body 6 is stopped right before the front wall surface. To 9
Shake the neck 0 degrees (rotate the body 6 90 degrees).

As described above, the left and right drive wheels 7 of the main body 6,
Since the center of 8 and the center of the shape of the main body 6 are different,
In the degree rotation operation, the main body 6 is separated from the outer wall surface (left wall surface), that is, the position of the main body 6 does not become the target position.

Therefore, according to the routine of FIG. 5, after the main body 6 is rotated by 90 degrees, it is judged whether or not the position of the main body 6 is the target position, and when it is not the target position, the deviation amount is calculated.

Thereafter, by the same processing as described above, the set value of the main body 6 is corrected according to the amount of deviation and the position of the main body 6 is corrected to the target position (position closer to the left side wall), after which normal traveling is performed. By performing the control, the floor surface of the second passage can be cleaned.

In the case of a T-shaped road, the main body 6 can be rotated 90 degrees to the left and moved. In this case, the distance between the outer wall surface (right wall surface) and the main body 6 may be measured, and the set value of the main body 6 may be corrected using the difference between the measured value and the target position as the deviation amount.

FIG. 7 illustrates a case where, for example, the dummy wall surface A is used to perform reciprocating cleaning traveling in the third passage (region) and then to the fourth passage (region).

In this case, based on the distance to the dummy wall surface A, the floor surface of the third passage is reciprocated for cleaning, and the main body 6 is stopped in front of the dummy wall surface. The body 6 is swung 90 degrees to the right (the body 6
Rotate 0 degrees).

Thereafter, the distance between the main body 6 and the inner wall surface (right wall surface) of the fourth passage is measured using the ultrasonic sensor 3, and the position of the main body 6 is set at the target position (position near the right wall surface).
Or not.

The center of the left and right drive wheels 7, 8 of the body 6 and the body 6
Since the center of the shape is different, the main body 6 and the right wall surface are separated from each other in the reversing operation, that is, the position of the main body 6 is different from the target position.

Then, after rotating the main body 6 by 90 degrees, the
According to the routine of (3), it is determined whether or not the position of the main body 6 is the target position, and when it is not the target position, the deviation amount is calculated.

Thereafter, by the same processing as described above, the set value of the main body 6 is corrected, the position of the main body 6 is corrected to the target position (position closer to the right wall surface), and then the normal traveling control is performed. The floor of the second passage can be cleaned.

Although the position of the main body 6 is not corrected in FIG. 7, when the main body 6 travels a predetermined distance after stopping after cleaning the third passage, the main body 6 is considered in consideration of an error. Is often advanced over a predetermined distance, and when the main body 6 is rotated 90 degrees, the distance to the right side wall does not reach a predetermined value (it does not reach the target position). In this case, the main body 6 can be moved to the right side wall surface up to the target position (desired value) by executing the above-described processing.

Further, since FIG. 7 shows a cross road, the main body 6 can be moved to the left. In this case, the distance between the inner wall surface (left wall surface) and the main body 6 may be measured, the difference between the measured value and the target position may be used as the deviation amount, and the set value of the main body 6 may be corrected according to the deviation amount.

As described above, after the main body 6 is turned over (or rotated), the distance between the main body 6 and the side wall surface of the predetermined region is measured, and when the position of the main body 6 is different from the target position, the routine shown in FIG. Run.

Therefore, the unmanned vehicle (for example, floor cleaning robot) has a rectangular shape, and the left and right drive wheels 7 and 8 are used.
Since the center of the main body 6 and the center of the shape of the main body 6 are different from each other, the main body 6 can be automatically corrected to the target position even if the position after the reversal (or rotation) of the main body 6 is not the target position. .

Further, since it is not necessary to retract the main body 1, for example, an unexpected situation (squeegee is caught, etc.) does not occur in the cleaning means, and the S-shaped traveling which is the function of the unmanned vehicle can be applied. For example, it is not necessary to add a new control program, that is, the control table (data) does not increase.

[0048]

As described above, according to claim 1 of the method for controlling an unmanned vehicle of the present invention, after the main body is inverted, the side wall surface of the traveling area is detected and the detected side wall surface is detected. If the distance between the detection side wall surface and the main body is not a predetermined value, the set value of the main body can be corrected to correct the position of the main body. When the center of the drive wheel and the center of the main body are different on the plane, especially when the left and right drive wheels of the main body are at the rear of the main body, the position of the main body should be automatically corrected to the target position after the reversing operation of the main body. That is, the main body can be automatically brought close to the side wall surface, and a new control table (data) or the like is not required for the correction, that is, there is an effect that the amount of data is not increased. There is no need to retract the body From, it is possible to prevent unforeseen circumstances.

According to the second aspect of the present invention, the main body is stopped in front of the front wall surface of the predetermined area to move from the predetermined area to the other area, and after the main body is rotated, the side wall surface (left side) of the other area is left. (The wall surface or the right wall surface) is detected, and it is determined whether or not the distance between the detected side wall surface and the main body is a predetermined value, and if the distance between the detected side wall surface is not the predetermined value, the set value of the main body is corrected. Since it is possible to correct the position of the main body, it can be applied when the main body is moved from one passage to another passage in an L-shaped passage (T-shaped passage), that is, the main body is outside the other passage. It can be automatically moved to the wall surface, and has the same effect as that of claim 1.

According to the third aspect of the present invention, the main body is stopped at a predetermined position in the predetermined area in order to move from the predetermined area to the other area, and after the main body is rotated, the side wall surface (the right side wall surface) in the other area. (Or the left wall surface) is detected, and it is determined whether or not the distance between the detection side wall surface and the main body is a predetermined value. If the distance between the detection side wall surface is not the predetermined value, the set value of the main body is corrected. Since the position of the main body can be corrected, it can be applied when the main body is moved from one passage to another passage in a crossroads, that is, the main body can be automatically brought close to the inner wall surface of the other passage. It is possible and, moreover, the same effect as claim 1 is achieved.

[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 side view of the unmanned traveling vehicle according to the present invention.

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 flow chart for explaining the operation of the control device for the unmanned vehicle shown in 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 travel route diagram explaining the operation of the control device for the unmanned vehicle shown in FIG. 1.

FIG. 8 is a schematic travel route diagram illustrating a travel operation of a conventional unmanned vehicle.

FIG. 9 is a schematic travel route diagram illustrating a travel operation of a conventional unmanned vehicle.

FIG. 10 is a schematic travel route diagram illustrating a travel operation of a conventional unmanned vehicle.

[Explanation of symbols]

 6 Main body (of unmanned vehicle) 7 Left drive wheel 8 Right drive wheel 9 Auxiliary wheel 10a, 10b Ultrasonic sensor (detection means) 11 Sub control unit 12, 13 Drive motor 12a, 13a Rotary encoder 14 Main control unit 15 Drive Wheel control circuit 16 Drive circuit

Claims (3)

[Claims] 1. A control method for an unmanned vehicle having at least left and right drive wheels of a main body at a rear portion of the main body, and capable of maintaining a distance to a side wall surface of the traveling area at a position set value when the main body travels. Then, after reversing the main body, the side wall surface of the traveling region is detected, and it is determined whether or not the distance between the detection side wall surface and the main body is a predetermined value. When the distance between the vehicle and the vehicle is not a predetermined value, the amount of deviation is calculated, and the position of the main body is corrected according to the amount of deviation. 2. At least the left and right drive wheels of the main body are provided at the rear portion of the main body so that the distance to the side wall surface of the traveling area can be maintained at a position set value when the main body travels, and the main body is in another area. A method for controlling an unmanned vehicle in which the main body is rotatable in order to shift to, wherein the main body is stopped in front of a front wall surface of the predetermined area, and after the main body is rotated, a side wall surface of the other area. (Whether the left wall surface or the right wall surface) is detected, it is determined whether or not the distance between the detection side wall surface and the main body is a predetermined value. If the distance between the detection side wall surface is not the predetermined value, the deviation amount is determined. A method for controlling an unmanned vehicle, comprising: calculating and correcting a set value of the main body in accordance with the amount of deviation, and causing the main body to approach an outer wall surface of the other area by the corrected set value. 3. At least the left and right drive wheels of the main body are provided at the rear part of the main body so that the distance to the side wall surface of the traveling area can be maintained at a position set value when the main body travels, and the main body is in another area. A method of controlling an unmanned vehicle in which the main body is rotatable so as to move to, when the traveling ends at a predetermined position in the predetermined area, the main body is caused to travel for a predetermined distance and stopped, and the main body is rotated. After that, the side wall surface (the right side wall surface or the left side wall surface) of the other area is detected, and it is determined whether or not the distance between the detection side wall surface and the main body is a predetermined value, and the distance between the side wall surface and the detection side wall surface is detected. When is not a predetermined value, the shift amount is calculated, the set value of the main body is corrected according to the calculated shift amount, and the main body is brought closer to the inner wall surface of the other region by changing the correction set value. Unmanned running characterized by How to control a train.