JPH09198138A - Unmanned traveling vehicle control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To continue traveling by avoiding an obstacle at the time of invert-operating an unmanned traveling vehicle. SOLUTION: In order to enable the main body to reciprocate-travel in a prescribed area, after the main body 90 is made to swing by 90 angular degree just on this side of the anterior wall of the prescribed area, the main body 90 moves forward a prescribed distance and after then inverted again by 90 angular degree. When an obstacle is detected by an ultrasonic sensor at the side face of the main body among ultra-sonic wave sensors at the time of swinging by 90 angular degree and the obstacle is within a prescribed range from the main body, a main controller 10 temporarily stops this swinging by 90 angular degree and when the obstacle still remains within the prescribed range a prescribed time after this, the main controller 10 inverse-rotates the main body to return to an original state. After then, the main controller 10 controls the main body to move back by a prescribed distance to rotate by a prescribed angular degree in the direction of separating from the obstacle, to move forward by a prescribed distance in the state of rotating by a prescribed angular degree and to additionally inverse-rotate by a prescribed angular degree to face the same direction as that at the time of starting swinging by 90 angular degree to attain inverse of 180 angular degree without colliding with the obstacle.

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 such as a floor cleaning robot capable of reciprocating in a predetermined area for cleaning a floor surface of a building, and more particularly, to an appropriate reversing operation. The present invention relates to a control method for an unmanned vehicle that enables the vehicle to reciprocate in a predetermined area without interruption.

[0002]

2. Description of the Related Art This type of unmanned vehicle is equipped with a side sensor (for example, an ultrasonic sensor) for detecting the surroundings in order to travel while monitoring the surroundings of the main body. Drives automatically based on the situation.

For example, as shown in FIG. 12, ultrasonic sensors 2 and 3 are provided on the front surface and the left and right side surfaces of the main body 1, and the ultrasonic sensors 2 and 3 detect the object (including the wall surface) in the direction of the front surface or both side surfaces. ) Is detected, the distance to the wall surface is measured, and the position of the main body 1 is confirmed.

Further, driving motors 4 and 5 for driving the left and right wheels are provided, the driving motors 4 and 5 are driven to control the traveling of the main body 1, and the driving motors 4 and 5 are provided with rotary members. Encoders 6 and 7 are provided, and traveling control of the main body 1 is performed by encoder signals from the rotary encoders 6 and 7.

An auxiliary wheel 8 is provided at the front of the main body 1. Although not shown, when the unmanned vehicle is a floor cleaning robot, a brush necessary for cleaning the floor surface,
It is equipped with a cleaning means such as squeegee and a function to suck in dirty water.

The running operation of this unmanned vehicle will be described with reference to FIG. 13. First, the side wall surface is detected by the ultrasonic sensor 3 attached to the side surface of the main body 1, and the main body 1 is set as the reference surface (for example, the right wall surface). Drive straight along. Ultrasonic sensor 2
When the front wall surface is detected by, it stops before this wall surface and measures and stores the distance of the first row to the wall surface.

On the other hand, the distance to both side wall surfaces is measured, and the remaining width of the predetermined area is calculated based on the measured value. If there is a remaining width, the main body 1 is inverted (inverted 180 degrees). It is possible to travel back and forth in a predetermined area.

In the reversing operation of the main body 1, as shown by the broken line arrow in FIG. 13, the main body 1 is swung 90 degrees in front of the front wall surface (rotated 90 degrees to the left) at a predetermined distance (main body 1).
(The width of) and perform a 90-degree swinging motion to the left again, that is, the main body 1 is in the opposite direction to the front traveling row and is in a parallel translation form.

After that, when the main body 1 is made to travel straight again and the same distance as the front row (first row) is traveled, the main body 1 is moved.
To stop. By repeating the above-described operation, it is possible to reciprocate through a passage in a predetermined area and clean the floor surface without annoying human labor.

[0010]

By the way, in the traveling control method for the unmanned vehicle, as shown in FIG.
When there is an obstacle 9 on the side of the main body 1 when the main body 1 is rotated 90 degrees to turn it over, the ultrasonic sensor 3 on the side surface of the main body 1 detects the obstacle 9 to rotate the main body 1. To stop.

After that, when the obstacle 9 is detected within a predetermined range even after a lapse of a predetermined time, for example, the obstacle 9 is removed, or if the obstacle 9 is a moving body, the same moving body is used. The main body 1 is not stopped and the main body 1 is stopped as long as does not move out of the predetermined range.

Therefore, the main body 1 does not collide with the obstacle 9 and the safety is high, but when the obstacle 9 is immovable (for example, a pillar or the like), the traveling remains stopped. (It is impossible to continue running). If the unmanned vehicle is a floor cleaning robot, there is a problem that cleaning is left suspended.

Further, in order to eliminate the interrupted state,
It is sufficient to turn off the main power source of the main body 1 and move it, and then restart the main body 1, but there is a problem that it is troublesome not only relying on human hands.

The present invention has been made in view of the above problems, and an object thereof is to avoid the obstacle and continue the reversing operation even if an obstacle is detected during the reversing operation of the main body so that the traveling can be continued as a result. In the case of a floor cleaning robot, it is an object of the present invention to provide a control method for an unmanned vehicle capable of cleaning a predetermined area without interruption.

[0015]

In order to achieve the above object, the present invention reverses the main body so that the main body can reciprocate in at least a predetermined region and shifts to a row parallel to the front traveling row. In the method for controlling an unmanned vehicle, the detecting means on the side surface of the main body detects the detected body when the main body is turned over, and when the detected body is within a predetermined range, the rotation of the main body is stopped, and When the detected object is within the predetermined range even after a lapse of time, the main body is reversely rotated by the rotation angle of the main body to return the main body to the rotation start state, and thereafter, the main body is retracted by a predetermined distance and stopped. After the stop, the main body is rotated by a predetermined angle in a direction away from the detected object to move forward by a predetermined distance, and after the predetermined distance is advanced, the main body is reversely rotated by the predetermined angle and the main body starts rotating. the same Kitoshi, is characterized in that the reversible and without colliding with the body the detection object.

According to the present invention, the main body can be reciprocated at least in a predetermined area, so that the main body is swung 90 degrees and then moved forward for a predetermined distance. In a method of controlling an unmanned vehicle that shifts to a row parallel to a front traveling row by a reversing operation of a degree, when a body is swung by 90 degrees, a detection means on a side surface of the body detects a detected body and When the detection object is within the predetermined range from the main body, the 90-degree swinging is stopped, and when the detection target is within the predetermined range even after a predetermined time elapses, it is rotated backward by the rotation angle of the main body. The main body is returned to the rotation start state, and thereafter, the main body is stopped by retreating for a predetermined distance, and after the stop, the main body is rotated by a predetermined angle in a direction away from the detected body and is moved forward by a predetermined distance, The body after advancing a predetermined distance and the predetermined angle reverse rotation to the same direction as at the start of the rotation of the same body, is characterized in that the body was reversible and without colliding with the detection object.

According to the control method of the unmanned vehicle of the present invention, the main body is provided with the cleaning means for cleaning the floor surface of the predetermined area, and the floor surface is cleaned by traveling back and forth in the predetermined area.

According to the control method of the unmanned traveling vehicle of the present invention, the unmanned traveling vehicle has a function of avoiding a front obstacle.
When the body to be detected is detected when the body is turned over, the obstacle avoidance function is applied.

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to FIGS. 1 to 3, a main control unit (CPU board) 10 of a control device for an unmanned vehicle according to the present invention reverses a main body 11 (180
(Reversing the degree) and making the opposite direction in a row parallel to the front traveling row, when the detection object (obstacle) is detected within a predetermined range by the detection signal from the ultrasonic sensor (detection means) 12c on the side surface, the main body 11 is temporarily stopped, and when the detected object is detected even after a lapse of a predetermined time, the avoiding operation for avoiding the detected object is executed, and the reversing operation of the main body 11 is enabled.

This control device includes an ultrasonic sensor section 12 having a front sensor (ultrasonic sensor) 12a on the front surface of the main body 11 and side surface sensors (ultrasonic sensors) 12b and 12c on both side surfaces thereof, and the ultrasonic sensor section. A sub-control unit (CPU board) 13 that detects the front wall surface and both side wall surfaces (obstacles, etc.) by a detection signal from 12, and measures the distance thereof;
Rotary encoder 1 for driving left and right drive wheels 14, 15
Drive motors 18 and 19 with 6 and 17 are provided, and a drive wheel control circuit 20 and a drive circuit 21 that drive the drive motors 18 and 19.

The main control unit 10 travels (speed), stops or reverses (rotation angle) based on the operation of an operation panel (not shown), the measurement result of the sub control unit 13, encoder signals from the rotary encoders 16 and 17, and the like. , Including the rotation direction). The drive wheel control circuit 20 includes the main control unit 10.
The drive signals of the drive motors 18 and 19 are output according to the control instruction from the drive circuit 21, and the drive circuit 21 drives the drive motors 18 and 19 by the drive signal.

The main body 11 is provided with auxiliary wheels 22, and in the case of a floor cleaning robot, cleaning means such as brushes and squeegees are provided at predetermined portions of the main body 11.

Next, the operation of the control device for the unmanned vehicle having the above-mentioned structure will be described with reference to the operation explanatory diagrams of FIGS. 4 to 11. First, when the main body 11 is traveling straight ahead in a predetermined region, the front wall surface is shown. Is detected and the main unit 1 is in front of this front wall surface.
It is assumed that 1 is stopped and the 180-degree inversion operation is started.

At this time, the main control unit 10 has the sub control unit 13
It is determined whether or not the detected object (obstacle) is detected by the ultrasonic sensor 12c on the side surface of the main body 11 based on the measurement result of 1. and whether or not the obstacle is within a predetermined range. To judge.

For example, as shown in FIG.
While swinging 0 degrees to the left (at rotation angle a),
When the obstacle 23 is detected and it is determined that the obstacle 23 is within the predetermined range, the main body 11 is temporarily stopped (see the chain double-dashed line in the figure).

After that, when the obstacle 23 is within the predetermined range even after the predetermined time has elapsed, the main body 11 is being rotated 90 degrees (a degree) as shown by the broken line arrow in FIG. From the rotated state) to the original state. That is,
The left and right drive motors 18 and 19 are driven in a predetermined manner to drive the main body 11
Is reversely rotated by an angle a.

Then, after the main body 11 is retracted by a predetermined distance and stopped (see the chain double-dashed line in FIG. 5), the main body 11 is moved to a position where it can be inverted by 180 degrees without colliding with the obstacle 23 ( (See the dotted arrow in FIG. 6).

A method for moving the main body 11 will be described with reference to FIGS. 7 and 8. First, the left-right drive motor 1 is first described.
8 and 19 are driven in a predetermined manner to rotate the main body 11 away from the obstacle 23 by a predetermined angle and move forward by a predetermined distance (see a chain double-dashed line in FIG. 7). Thereafter, the left and right drive motors 18 and 19 are driven in a predetermined manner to reversely rotate the main body 11 by the predetermined angle (for example, 12 degrees) so that the main body 11 is oriented in the same direction as when the rotation is started (two-dot chain line in FIG. 8). reference).

By the way, some unmanned vehicles (floor cleaning robots, etc.) are provided with a function of avoiding obstacles in front of them. This forward obstacle avoidance operation is performed by stopping the main body in front of the obstacle and then retreating for a predetermined distance to separate from the obstacle at a predetermined angle (for example, 12
Rotation, a predetermined angle (for example, 1 m) is advanced in a state of being rotated by a predetermined angle, and thereafter, a reverse rotation is performed by a predetermined angle (for example, 12 degrees), and the direction is the same as that of a state in which it is stopped before the obstacle. As a result, the main body is separated from the obstacle, so that the main body can be made to travel (forward) again, that is, the obstacle can be avoided and the traveling can be continued.

The avoidance function is nothing but the operation shown in FIGS. 7 and 8, and therefore the avoidance function may be used. By using this avoidance function, it is not necessary to create a new program. Further, as the method of shifting the main body 11 shown in FIG. 6, not only the avoidance operation for the front obstacle but also S-shaped traveling may be used, and another method may be used.

After the main body 11 is brought into the two-dot chain line state of FIG. 8 by the above operation, the 180-degree reversal operation shown in FIGS. 9 to 11 is performed. First, as shown in FIG. 9, the main body 11 is swung 90 degrees to the left, but since the position of the main body 11 is away from the obstacle 23 at this time, the main body 11 does not collide with the obstacle 23 and the main body 11 does not collide. 11 can be rotated 90 degrees.

Then, as in the prior art, the main body 11 travels (forwards) by a predetermined distance (for example, the width of the main body 11) and stops (see the chain double-dashed line in FIG. 10).
It rotates once (see the chain double-dashed line in FIG. 11).

As a result, the main body 11 is inverted 180 degrees,
Moreover, it is possible to shift to a row parallel to the preceding traveling row at a predetermined distance, and the reversing operation of the main body 11 is completed.

As described above, when the main body 11 is turned over, even if there is an obstacle 23 on the side surface of the main body 11, the turning operation is performed after the main body 11 is positioned away from the obstacle 23. The reversing operation can be performed without colliding with the object 23.

Particularly, it is useful when the obstacle cannot be removed (for example, when it is a pillar or the like).
You can drive without interruption. Further, when the main body 11 is a floor cleaning robot, it is not necessary to suspend the cleaning (while the cleaning is suspended), and it is possible to reciprocate in the predetermined area and clean the entire floor in the predetermined area.

After the obstacle 23 is detected and the rotation operation of the main body 11 is temporarily stopped (after being stopped in the state of the angle a), when the predetermined time elapses, the obstacle 23 is at least predetermined from the main body 11. If it is not within the range, the reverse operation is performed as usual. That is, the main body 11 may be swung by the remaining angle (90 degrees-a).

Further, it is apparent that the above-described embodiment can be applied to a reversing operation in the middle of a reciprocating traveling in a predetermined area or a reversing operation to the last row.

[0038]

As described above, according to claim 1 of the method for controlling an unmanned vehicle according to the present invention, the main body is detected when the body to be detected is detected by the detecting means on the side surface of the main body when the main body is turned over. Then, the main body is returned to the rotation start state by rotating the main body in the reverse direction by the rotation angle, and then the main body is retracted by a predetermined distance and rotated by a predetermined angle in the direction away from the object to be detected, and in this state, it moves forward by the predetermined distance. After traveling and advancing for a predetermined distance, the main body is rotated in the opposite direction by a predetermined angle so that the main body is in the same orientation as before, and the main body can be inverted without colliding with the detected object. Without removing the obstacle, it is possible to safely continue the reversing operation while avoiding obstacles, and as a result, it is possible to continue traveling, which is particularly useful when obstacles cannot be eliminated (for example, pillars). .

According to claim 2 of the present invention,
In the control method for an unmanned vehicle in which the vehicle travels forward for a predetermined distance after swinging forward, swings 90 degrees again after traveling forward for a predetermined distance, and shifts to a row parallel to the preceding traveling row by a 180-degree reversing operation, At the time of swinging, when the detection object on the side surface of the main body detects the detected object, the swinging is stopped by 90 degrees, the main body is rotated in the reverse direction to return the main body to the rotation start state, and then the main body is retracted by a predetermined distance. As a result, it rotates a predetermined angle away from the object to be detected, travels forward a predetermined distance in this state, and after moving forward a predetermined distance, reversely rotates the main body by a predetermined angle to make it the same direction as the original body, Since it can be inverted without colliding with the detected object, it is possible to safely continue the inversion operation while avoiding obstacles without removing obstacles on the detected object, resulting in reciprocating traveling in a predetermined area. You can continue There is an effect that is useful when you can not eliminate an obstacle (for example, a pillar, etc.).

According to the third aspect of the present invention, the main body of the first or second aspect is provided with the cleaning means for cleaning the floor surface to form the floor cleaning robot. Therefore, in addition to the effect of the first or second aspect, the predetermined area is provided. There is an effect that the floor surface of the predetermined area can be cleaned without interruption while traveling back and forth.

According to claim 4 of the present invention,
In 2 or 3, the unmanned vehicle has a function of avoiding a front obstacle, and the obstacle avoidance function is applied when the body to be detected is detected when the body is turned over. Alternatively, in addition to the effect of 3, there is an effect that a new program is not required and the cost does not increase.

[Brief description of 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 operation diagram illustrating a method for controlling an unmanned vehicle according to the present invention.

FIG. 5 is a schematic operation diagram illustrating a method for controlling an unmanned vehicle according to the present invention.

FIG. 6 is a schematic operation diagram illustrating a method for controlling an unmanned vehicle according to the present invention.

FIG. 7 is a schematic operation diagram illustrating a control method for an unmanned vehicle according to the present invention.

FIG. 8 is a schematic operation diagram illustrating a method for controlling an unmanned vehicle according to the present invention.

FIG. 9 is a schematic operation diagram illustrating a method for controlling an unmanned vehicle according to the present invention.

FIG. 10 is a schematic operation diagram illustrating a method for controlling an unmanned vehicle according to the present invention.

FIG. 11 is a schematic operation diagram illustrating a control method for an unmanned vehicle according to the present invention.

FIG. 12 is a schematic front view of a conventional unmanned vehicle.

FIG. 13 is a diagram for explaining the operation of the unmanned vehicle shown in FIG.

FIG. 14 is a diagram for explaining the operation of the unmanned vehicle shown in FIG.

[Explanation of symbols]

 10 main control unit (CPU board) 11 main body (for unmanned vehicle) 12 ultrasonic sensor unit 12a ultrasonic sensor (front sensor) 12b ultrasonic sensor (side sensor) 12c ultrasonic sensor (side sensor; detecting means) 14, 15 Drive Wheels 16 and 17 Rotary Encoder 18 and 19 Drive Motor 20 Drive Wheel Control Circuit 21 Drive Circuit 22 Auxiliary Wheel 23 Obstacle (Detected Object)

Claims (4)

[Claims] 1. A control method for an unmanned vehicle in which the main body is reciprocated in at least a predetermined region so that the main body is inverted to shift to a row parallel to a front traveling row. Detects the object to be detected by the detection means on the side surface, and stops the rotation of the main body when the object is within a predetermined range, and the object is within the predetermined range even after a predetermined time elapses. Occasionally, the main body is reversely rotated by an angle of rotation to return the main body to a rotation start state, and then the main body is stopped by retreating by a predetermined distance, and after the stop, the main body is moved by a predetermined angle in a direction away from the detected body. Rotate to travel forward for a predetermined distance, and after moving forward for a predetermined distance, reversely rotate the main body by the predetermined angle so that the main body has the same orientation as at the start of rotation, and the main body does not collide with the detected object. Anti Possible and to a control method of an unmanned vehicle, characterized in that the. 2. In order to enable the main body to reciprocate in at least a predetermined area, the main body is swung 90 degrees and then moved forward for a predetermined distance, and after moving forward a predetermined distance, it is swung 90 degrees again to rotate the main body at 180 degrees. In a method of controlling an unmanned vehicle that shifts to a row parallel to a front traveling row by a reversing operation, when a body is swung by 90 degrees, a detection means on a side surface of the body detects the detected body, and the detected body Is within a predetermined range from the main body, the 90-degree swinging is stopped, and when the detected object is within a predetermined range even after a predetermined time has elapsed, the main body is reversely rotated by an angle of rotation of the main body. To a rotation start state, and then the main body is stopped by retreating for a predetermined distance, and after the stop, the main body is rotated by a predetermined angle in a direction away from the object to be moved forward by a predetermined distance, and the predetermined distance is reached. The advance after said body and said predetermined angle reverse rotation to the same direction as at the start of rotation of the same body,
A method for controlling an unmanned vehicle, characterized in that the main body can be inverted without colliding with the detected object. 3. The control of the unmanned vehicle according to claim 1, wherein the main body has a cleaning means for cleaning a floor surface of the predetermined area, and the floor surface is cleaned by traveling back and forth in the predetermined area. Method. 4. The unmanned vehicle has a function of avoiding a front obstacle, and the obstacle avoidance function is applied when a detected object is detected when the body is turned over. Alternatively, the control method for the unmanned traveling vehicle according to 3 above.