JPH09269812A - Operation instruction compiling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently control a moving body by synthesizing procedures when continuous procedures in the stored operation instruction is the continuous procedures having mutual connection. SOLUTION: When teaching data stored on a memory in optimized, the instruction of a #201 address is an advance instruction and it can be synthesized. Thus, synthesis is started. Since the instruction in a #202 address is a receding instruction, the distance of the instruction is subtracted from the distance of the advance instruction which is previously stored. The instruction of a #203 address is similarly subtracted. The distance is added in the instruction of a #204 address. Since the instruction of a #205 address is a rotation instruction, a straight advance system terminates here, and a synthesis result is stored in a #x address. The results which are sequentially scanned to the last of the stored instruction are stored in the memory. Thus, a precise and efficient operation can be obtained as a teaching result.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation instruction editing apparatus, and more particularly to an operation instruction editing apparatus capable of efficiently editing an operation instruction including a series of procedures for a mobile unit to perform a continuous operation.

[0002]

[Prior art]

(1) First Prior Art Japanese Patent Application Laid-Open No. 6-214645 discloses a control method and apparatus for a mobile robot. This publication discloses a learning mode for teaching a robot a work.
In the learning mode, the user can input an operation such as forward, backward, or rotation by operating the controller.

(2) Second Prior Art In a self-propelled work vehicle that travels and works in a predetermined area, a work area is provided so that an operator can easily specify an operation. When a vertical length and a horizontal length are set, a zigzag running command for automatically calculating the turnaround moving distance (pitch length of U-turn) and running is prepared. Here, the zigzag traveling command is a command for traveling all over the designated area by reciprocating at a prescribed interval within the designated area.

[0004]

[Problems to be Solved by the Invention]

(1) Problem of the first conventional technology In the learning mode of the first conventional technology, when the operator instructs the robot to perform an operation, the operation instruction may not be in time for the traveling speed of the robot. Then, the instruction of each operation may be delayed, and the vehicle may pass by at the desired position, or the stopped position may be shorter than the desired stop position. Therefore, the operator needs to perform forward and backward movements such as forward and backward to make adjustments so that the robot is accurately positioned at the stop position. Also, if a person crosses the front of the robot during learning, the robot may make an emergency stop.In such a case, the operator needs to send another command to advance the robot to the desired position. There is.

As a result, although the original purpose was to store one operation command as a learning result, all the operations are stored as they are by performing the above-described adjustment in the learning mode. Therefore, the adjustment operation is reproduced even when the data is reproduced.

Storing all the operations in this manner leads to a waste of time and a battery when reproducing data, and a waste of storage capacity.

(2) Problem of Second Conventional Technique In the second conventional technique, when the region to be worked is not only one rectangular region but also a combination of a plurality of rectangular regions, the operation is performed. In order to connect the zigzag running in each area, the person uses a forward command, a rotation command, etc. to perform self-propelled work from the end position of the first zigzag running command to the start position of the second zigzag running to be executed later. I had to move the car.

[0008] During the movement, there are cases where the parts that have been worked by the first zigzag running command are overlapped and run. In this case, it has led to ruining the part where the work has been done, and to doubly apply the solvent used for the work.

[0009]

The present invention has been made to solve the above-mentioned problems, and an object thereof is to efficiently control a moving body.

Another object of the present invention is to provide an operation command editing device capable of efficiently editing an operation command.

Still another object of the present invention is to efficiently perform zigzag traveling of a moving body.

In order to achieve the above object, the motion command editing apparatus according to a first aspect of the invention has a storage means for storing a motion command consisting of a series of procedures for the mobile unit to carry out continuous motions, and a memory means for storing the motion command. Judgment means for judging whether or not at least two consecutive procedures in the operation command are mutually related procedures, and based on the determination result of the judgment means, the consecutive procedures having mutual relation are integrated. And an integration means for doing so.

According to the first aspect of the present invention, it is determined whether or not at least two consecutive procedures in the stored operation instructions are mutually related procedures, and based on the determination result. A series of interrelated steps are integrated.

As a result, a series of procedures forming the operation command becomes efficient with respect to the operation of the mobile unit, and the mobile unit can be efficiently controlled.

According to the invention of claim 2, claim 1
The determination means of the device determines whether or not each of the continuous procedures is a procedure of moving the moving body in the same direction or the opposite direction.

According to the second aspect of the present invention, it is determined whether or not each of the successive procedures is a procedure for moving the moving body in the same direction or in the opposite direction.

As a result, the movements in the same direction or in the opposite direction are integrated, so that the movement command can be edited appropriately.

According to the invention of claim 3, claim 1
At least one procedure of the continuous procedures described in 1 is a procedure related to zigzag traveling of a mobile body.

According to the third aspect of the present invention, it is determined whether at least one of the continuous steps, which is a step relating to the zigzag running of the moving body, is a step having mutual relation, and based on the result of the decision. A series of interrelated steps are integrated.

As a result, it becomes possible to edit an operation command that can efficiently perform zigzag running.

According to the invention of claim 4, claim 1
The moving body described in 1 has a working unit for performing work on an object, and the operation command is an operation command for the working unit.

According to the fourth aspect of the present invention, it is judged whether or not the operation command for the working unit is a mutually related procedure, and based on the result of the judgment, the continuously related continuous procedures are integrated. Therefore, it is possible to appropriately edit the operation command for the working unit.

[0023]

BEST MODE FOR CARRYING OUT THE INVENTION Next, preferred embodiments of the present invention will be described in detail with reference to the drawings. The same reference numerals in the drawings indicate the same or corresponding parts.

(First Embodiment) FIG. 1 shows a first embodiment of the present invention.
FIG. 3 is a perspective view showing appearances of self-propelled cleaning robot 1 and its controller 2 in the embodiment.

Referring to the drawing, the cleaning robot 1 measures the distance between a contact sensor 7 for detecting contact with a wall and the like, and realizes traveling following the wall. The scanning sensors 8a to 8d, and a cleaning work unit 31 for cleaning the floor surface by rotating the nonwoven fabric,
The display unit 18 for displaying operation guidance and error messages to the user, and a work start button 90 for starting work are provided. In addition, the memory card 13
By inserting into the cleaning robot 1, the cleaning robot 1 can execute the stored command.

The cleaning robot 1 is composed of a traveling section having drive wheels and a vehicle body section. The traveling portion and the vehicle body portion are configured to be relatively rotatable. The cleaning work part 31 is attached to the vehicle body part.

FIG. 2 is a plan view of the controller 2. Referring to the figure, controller 2 is used to remotely control cleaning robot 1 and to teach traveling and work. The operation shift button group 40 as an input unit of the controller
A cross-shaped cursor button 35 for designating a direction, a mode switching button 36 for switching modes, a start button 37 for instructing to start the operation of the cleaning robot,
A stop button 38 for instructing to stop the operation, a stop button 39 for temporarily stopping the operation, a cancel button 52 for canceling the setting, and a setting button 53 for setting the input data. , And a power switch 46. The operation shift button group 40 includes a traveling portion rotation button 41 that rotates the traveling portion only left and right without changing the orientation of the vehicle body portion, a vehicle body rotation button 42 that simultaneously rotates the vehicle body portion and the traveling portion, and a cleaning work portion. Cleaning work part slide button 43 for moving 31 to the left and right with respect to the vehicle body part, U-turn button 4 for designating a U-turn operation
4. Zigzag button 45 for specifying zigzag running
including. By using these buttons in combination, operations such as remote operation of the cleaning robot, teaching of work, and editing are performed.

Further, the controller 2 has a display section 49 composed of a liquid crystal display device. The display unit 49 displays a zigzag traveling setting menu and the like. The user can input data by using the cross cursor button 35, the setting button 53, and the like while looking at the display unit 49.

In the conventional controller, a method is used in which specific operations such as right rotation and left rotation are linked to one corresponding button. Therefore, as the operation of the robot becomes complicated, the number of buttons of the controller increases, the controller becomes large, and it becomes difficult for the operator to find a necessary button. However, with the controller in this embodiment,
Since the operation shift button group and the cross cursor button are distributed to the left and right of the controller, the operator selects the work content with the left hand operation shift button group while supporting the controller with both hands, and the right hand cross button. It became possible to use it by selecting the operation method with the cursor button.

By adopting the arrangement of the buttons of the controller as described above, it becomes possible to instruct a complicated motion of the robot by a maneuvering method that can be easily understood by a sense. In addition, it is possible to reduce the number of buttons on the controller, which reduces the cost of the controller and allows the user to input commands while gazing at the robot to be worked.

The controller is also an input section (various buttons)
It is equipped with a communication unit that sends commands specified by the system to the main unit and receives internal and peripheral conditions of the main unit from the main unit. As the communication method from the main body to the controller,
Infrared rays, radio waves, wires, etc. can be considered, but it is possible to select the most suitable method depending on the environment where the main body and the controller are placed. In the present embodiment, infrared communication is adopted so as not to cause malfunction of other devices due to generation of electromagnetic waves.

The display section 49 of the controller is composed of a liquid crystal display. The display 49 displays input guidance,
It is possible to display information necessary for the user such as a command transmitted to the main body side, a result of the main body executing the command, various error messages, and the like. Further, the controller has an external interface in addition to the communication unit, and is configured to be directly or indirectly connectable to an external device such as a personal computer or a printer. The input unit, the communication unit, and the display unit are connected to and controlled by the controller control unit. Further, the controller has a controller control unit internal memory or external memory,
The command transmitted from the controller and the operation command group returned from the main body can be stored.

Data generated in the teaching mode may be used as the traveling and work data used in automatic traveling or the like, or although it is not described in the present embodiment, it is actually used by using an editing device such as a personal computer. Input movements such as forward, backward, rotation, etc. on the display screen without running, and input the information of the working range, and based on that, go straight distance or U-turn pitch on the editing device, The travel and work data obtained by automatically generating the movement of the work unit may be used.

FIG. 3 is a plan view showing the structure of the cleaning robot body 1 shown in FIG. Referring to the drawing, the cleaning robot includes a traveling unit, a vehicle body, and a cleaning unit. In the running part,
Driving wheels 3a, 3b for driving the robot, distance detectors (encoders) 79a, 79b connected to the driving wheels for detecting the moving distance of the robot, and driven wheels 4a for balancing the robot. , 4b.

The vehicle body portion includes the above-mentioned contact sensor 7, scanning sensors 8a to 8d, and distance measuring sensors 6a to 6c for detecting distances to obstacles in front of and left and right of the robot.

The cleaning work section 31 is connected to the vehicle body section.
The cleaning unit 31 includes rotors 9a to 9d for rotating each of them to apply a detergent or the like.

4 and 5 are plan views showing a specific structure of the traveling unit. Referring to the drawing, traveling unit 30 includes two drive wheels 3a and 3b and drive wheel drive motors 60a and 60b for driving the drive wheels. An encoder 79 (not shown) reads the number of rotations of the drive wheels and measures the distance traveled by the cleaning robot. Two driven wheels 4 in the running part
a, 4b are provided. The driven wheel bears the weight of the cleaning robot together with the drive wheel. 2 as shown
The two driven wheels 4a, 4b have a vertical line Y- of the center line X-X '.
They are arranged symmetrically from the center line on the extension line of Y '. At least one of the driven wheels is provided with a suspension mechanism (not shown). Even when driving on a floor surface where the suspension mechanism has irregularities, the drive wheels must be installed on the floor surface to prevent slipping and idling of the drive wheels, stable driving and reducing the detection error of the encoder. Have

When driving straight ahead, the two drive motors rotate in the same direction. As a result, the robot can move in the direction of arrow "A" in FIG.

When performing the rotating operation, the two drive motors are rotated in opposite directions. This allows
The robot body can rotate in the direction indicated by arrow "B" in FIG. During the rotating operation, the driven wheels 4a and 4b change their directions in a direction orthogonal to the vertical line Y-Y 'so as to adapt to the rotating operation, as shown in FIG.

Further, by controlling the drive ratio of the drive wheels, it is possible to carry out curve traveling.

FIG. 6 is a view showing the construction of a vehicle body rotation mechanism for relatively rotating the traveling portion and the vehicle body portion.

As shown in the figure, the traveling frame 66 is fixed to the bearing inner ring 61 by a bearing inner ring holder 67. Further, a vehicle body rotation driving gear 63 is fixed to the bearing outer ring 62 by a bearing outer ring holder 64. Further, a vehicle body frame 65 is fixed to the bearing outer ring holder 64.

Further, a vehicle body rotation motor 68 is mounted on the traveling section frame 66. The motor 68 drives the vehicle body rotation drive gear 63 via the gear. further,
A potentiometer (not shown) is attached to the vehicle body rotation drive gear 63 via the gear, and the rotation angle of the vehicle body with respect to the traveling portion can be accurately detected.

With this structure, the vehicle body can rotate independently of the traveling unit.

In this embodiment, a stepping motor is used as the vehicle body rotation motor. However, a servo motor may be used instead of the stepping motor.

With this vehicle body rotating mechanism, the vehicle body portion can be rotated by about -90 ° to + 90 ° with respect to the YY 'axis of the traveling portion.

Further, a gyro sensor is mounted near the center of rotation of the traveling section to detect the rotation angle of the traveling section,
It is used to control straight running. A drive wheel drive motor, a vehicle body rotation drive motor, a gyro sensor, etc. of the traveling unit include a power source unit (not shown) and a traveling unit CP in the vehicle body
U controls. The drive motor, the vehicle body rotation drive motor, the gyro sensor, and the power supply lines and control lines of the traveling unit CPU are passed through the center of a ring-shaped vehicle body rotation bearing that connects the traveling unit and the vehicle body unit to each other. It is possible to prevent the wiring from being greatly twisted or dragged due to the rotation of the vehicle body.

The outer case of the vehicle body portion is shaped so as to cover the traveling portion. A copying sensor used for the cleaning robot to travel near a wall is attached to the vehicle body outer case, and the copying sensor is also used as a sensor for recognizing the presence of an obstacle or a wall.

The body part has infrared measurement for recognizing the surrounding environment of the work robot, such as the space around the work part on the side and front and back, the presence of an object, the distance to the object, the presence of a wall, and the change of the floor surface. Distance sensor 4 and contact sensor 7 are attached.

Although an infrared sensor is used in this embodiment, any sensor that can recognize the environment can be used as the sensor. For example, an ultrasonic sensor, a television camera or the like can be used. Further, the entire body cover is a bumper sensor, which can detect that the cleaning robot has contacted an obstacle or a wall.

FIG. 7 is a plan view showing the structure of the cleaning work section. The cleaning work part is a part for performing a cleaning work.
Tube 7 in which the cleaning liquid is drawn from the cleaning liquid tank 85
2 through the dropping ports 71a to 71d. When the rotors 9a to 9d driven by the motor rotate, the cleaning liquid is spread and the floor surface is rubbed, whereby cleaning is performed. A pump 22 is used to stably supply a fixed amount of the cleaning liquid.

The cleaning work unit is provided with a plurality of rotors 9a to 9d. The operation result of the pump 22 is determined by using the detection result of the rotor rotation sensor 74 arranged in at least one of them. This makes it possible to drop the cleaning liquid so that the cleaning liquid does not directly contact the rotor.

Furthermore, a liquid detection sensor 73 is provided near the drip port so that it is possible to detect the derivation status of the cleaning liquid.

FIG. 8 is a diagram for explaining the operation principle of the liquid detection sensor 73. The liquid detection sensor includes a light projecting unit 75 configured by a light emitting diode or the like, a light receiving unit 76 configured by a photodiode or the like, and a transparent resin block 77 having a high refractive index. The tube 72 is transparent, and its refractive index is substantially equal to that of the transparent resin block 77, and the tube 72 and the transparent resin block 77 are in close contact with each other. By detecting the light emitted from the light projecting unit 75 by the light receiving unit 76, it is detected whether or not the cleaning liquid is in the tube.

As shown in FIG. 8A, if the cleaning liquid does not exist in the tube 72, the light emitted from the light projecting portion 75 is totally reflected by the inner wall surface of the tube 72. On the other hand, referring to FIG. 8B, when the cleaning liquid is filled in the tube 72, the refractive index of the cleaning liquid is close to the refractive index of the tube 72, so that the light is emitted from the light projecting unit 75. The generated light passes through the tube 72. Thereby, it is detected whether or not the cleaning liquid is in the tube.

Since the sensor thus constructed is small in size, it can be arranged without obstructing the rotor and the drip port.

As the sensor for detecting the liquid, it is possible to use a sensor that uses a sound wave, a sensor that transmits light and detects the amount of light, or the like.

The entire cleaning work unit can be moved left and right with respect to the vehicle body by a cleaning unit moving motor.

FIG. 9 is a block diagram showing the circuit configuration of the cleaning robot 1 shown in FIG. Referring to the drawings, the cleaning robot 1 is roughly comprised of a traveling control unit 32 for controlling the traveling of the robot and a cleaning work control unit 3 for controlling the cleaning work.
And 3.

The traveling control unit 32 relatively controls the traveling unit CPU 27 that controls the processing of the traveling unit, the drive control units 14a and 14b that control the driving of the left and right drive wheels 3a and 3b, and the vehicle body unit and the traveling unit. A rotation control unit 69 for rotating the
It is composed of a travel control unit memory 28 that stores a travel control procedure and the like.

The traveling control unit 32 includes distance detectors (encoders) 79a and 79b for detecting the traveling distance of the cleaning robot from the rotation amounts of the left and right driving wheels, and a distance measuring device for recognizing the environment around the cleaning robot. The sensor 6 and a rotary motor 68 for relatively rotating the traveling portion and the vehicle body portion are connected to each other.

The cleaning work control unit 33 includes a work unit CPU 12 that controls the processing of the cleaning work unit, a display control unit 19 that controls the display on the display unit 18, the start and stop of the work of the main body, and the turning on of the power. The input control unit 17 for controlling the input by the input unit 16 for performing the operation, the memory card reading unit 77 for reading the memory card 13, the communication unit 11 for communicating with the controller, and the detergent are dropped. A pump control unit 23 for controlling the pump 22, a rotor control unit 15 for controlling the rotor 9, a cleaning unit movement control unit 26 for driving a motor 25 for moving the cleaning work unit, and a power supply circuit 21. Prepare

Further, the cleaning work control section 33 is connected to a liquid detection sensor 73 for detecting the dropping of detergent, a contact sensor 7, a gyro sensor 78, a scanning sensor 8 and a battery 20.

The working unit CPU 12 and the traveling unit CPU 27 are connected to each other. The traveling work unit memory 28 also stores the transmitted command and the external environment. Such a memory may be a built-in one in the work unit CPU, or a removable one such as a memory card.

FIG. 10 is a block diagram showing the circuit configuration of the controller 2. Referring to the figure, the controller is a controller control unit CPU5 for controlling the controller.
1, a display control unit 81 that controls the display unit 49, an input control unit 47 that controls the input unit 80 including the above-described buttons, and communication for communicating with the cleaning robot 1. Unit 48, communication control unit 82 that controls the communication unit, battery 83, and external interface 5
0.

The controller 2 can be connected to an external device such as a personal computer or a printer via the external interface 50.

Next, the control method of the cleaning robot will be described. The cleaning robot can be used together with the controller to remotely control the cleaning robot from the controller,
There are a usage method 2 for teaching and editing work and a usage method 1 for using the cleaning work robot alone without using the controller and reproducing the work input to the external memory card inserted in the cleaning work robot. Have both.

For normal cleaning work, the normal controller 2
Is not necessary, and the robot is used in Usage 1.

In usage 1, the operator moves the robot to a place where he / she wants to clean, sets a memory card that stores the cleaning of the work place, and when the operator presses the work start button on the robot body, the cleaning work robot Sequentially reproduces the operation commands stored in the memory card and created in the teaching mode or the editing device. This performs exactly the same work as previously taught. The robot automatically stops after the work instructions recorded in the memory card are completed.

In the card, the amount of the detergent liquid dropped (application thickness) is stored together with the contents of the work when teaching the work to be described later. At the time of regeneration, the work is performed while dropping the cleaning liquid with the dropping amount stored in the card.

Except when a dry wipe is stored,
When reproducing the contents of the card, it is confirmed by the liquid detection sensor that the cleaning liquid has been pushed up to the dropping port before the work is started. After that, the cleaning liquid is automatically discharged for a certain period. At this time, the rotor rotates, so that the cleaning pad of the rotor is impregnated with the insufficient cleaning liquid before the work.

In the conventional work robot, the traveling was started without the cleaning liquid permeating the pad in advance. Therefore, the application of the cleaning liquid at the start of running was thin or faint. In the present embodiment, the cleaning liquid is soaked into the cleaning pad by a certain amount before performing the work, so that the cleaning liquid can be evenly applied from the start to the end of the work.

Although the liquid detection sensor is used to confirm the dropping in the present embodiment, the same effect can be obtained by starting the work after a certain period from the start of the pump. However, such a method is not a reliable method because it is not confirmed whether the liquid really reaches the drip port even if the pump is operating.

Apart from such a normal card reproducing method, without using the coating thickness stored in the card at the time of teaching,
There is also a work method (forced dry wiping mode) for forcibly performing work with a dry wipe.

The operator operates the start button 9 of the cleaning robot.
When the liquid discharge button is pressed while pressing 0, the cleaning robot runs the stored route without dropping the cleaning liquid regardless of the coating thickness stored in the card.

In this forced dry wiping mode, if a wiping cloth for dry wiping is used as the cleaning pad, the cleaning effect is improved. In the prior art, since there is no forced dry wiping mode, it is necessary to prepare two cards depending on whether the cleaning solution is used for the same work content or the case of dry wiping. However, by preparing the forced dry wiping mode in this way, if the application thickness when cleaning with a cleaning liquid is stored in the card, the card can be used even when performing dry wiping. . As a result, it is possible to perform both dry wiping and cleaning using a cleaning liquid by creating one card.

The usage 2 of the cleaning robot is provided with three types of modes: (1) control mode, (2) teaching mode, and (3) editing mode. The operation in each mode will be described below.

(1) Steering Mode FIG. 11 is a flowchart showing the processing in the steering mode.

Referring to the figure, in step # 102, the operator inputs the content of the operation using the controller. As a result, the cleaning robot is remotely controlled. The user mainly uses the cross cursor button 3 located on the right side of the controller.
5 and operation shift button group 4 located on the left side of the controller
With a combination of 0, operation instructions are given to the robot.
Cleaning work in the control mode
It is set by the liquid volume dial included in the controller.

In step # 103, the controller sends a command to the cleaning robot using the communication section 48.

In step # 104, the robot receives the command. The robot analyzes the command in step # 105, and executes the command analyzed in step # 106.

The operation from step # 102 is repeated until the operation mode is completed. For example, when moving forward or backward, the operator does not use the operation shift button group, but inputs the traveling direction of the robot with the cross cursor button. The cleaning robot starts traveling when the button is pressed.

At this time, when the cleaning robot receives the operation instruction from the controller, it judges the environment in which it is currently placed by the sensor and selects the most appropriate forward or backward method from among several operation methods. Then run.

The operation when a forward command is output from the controller will be described with reference to the flowchart of FIG.

If the forward command is input in step # 401, it is determined in step # 402 whether any of the left and right scanning sensors is in contact with the wall. If YES at step # 402, copying travel is executed at step 406.

If NO in step # 402, it is determined in step # 403 whether the distance to the left and right walls can be measured by the distance measuring sensor 6. Step # 403
If YES is determined in step # 405, the distance-measuring and advancing operation is performed in which the distance-measuring sensor measures the distance and advances.
In the distance measurement forward, when the distance between the left and right walls can be measured, the distance is measured while measuring the distance to the left and right walls. When only one wall can be used for distance measurement, the vehicle is moved forward while measuring only one wall.

If NO at step # 403, the sensors 79 are not used, and the encoder 79 executes the normal forward movement for traveling so that the rotation speed of the wheels is constant on the left and right.

That is, four methods are prepared in order to maintain the straightness at the time of forward or backward movement (FIG. 1).
3 to FIG. 17).

A method of running so that the scanning sensor in contact with the wall does not separate (FIGS. 13 and 14), and a method of running so that the ratio of the distances to the walls on both sides of the vehicle body is kept constant (FIG. 15). And a method of traveling so that the distance to one wall is kept constant (FIG. 16), and a method of traveling so that the rotational speeds of the wheels are the same on the left and right sides (FIG. 17).

By the processing in the flowchart shown in FIG. 12, first, when the scanning sensor 8 is in contact, the scanning traveling along the wall shown in FIGS. 13 and 14 is selected. If there is no contact of the scanning sensor 8 and the distance to the wall can be measured on both the left and right sides by the infrared distance measuring sensor 6, the distance to the wall is regularly measured during forward movement as shown in FIG. Driving is carried out so that the ratio of distances to is kept constant.

When the distance on one wall can be measured, the method of controlling the distance measurement result to be constant as shown in FIG. 16 is selected. When the distance cannot be measured by the infrared distance measuring sensor, the method shown in FIG. The traveling is performed so that the rotation speed of the wheels is constant without using the sensors of.

Therefore, the traveling method is selected in the order of the profile traveling, the distance measuring traveling on both sides, the distance measuring traveling on one side, and the traveling detecting the rotational speed of the wheels. This order of selection is for selecting a traveling method having a high straightness, that is, a traveling method having the highest reliability.

The selection is performed on the cleaning robot side, and the operator only has to instruct the forward / backward movement, so that the operation can be easily instructed.

When the sensor is not used, the left or right curve is started by pressing the left or right direction of the cross cursor button.

The curve is executed by changing the rotation speed and the rotation direction of the left and right motors. When the left or right direction button is released, the curve operation ends, and the straight traveling operation continues.

In each run, in order to stop the forward or backward movement, the operation is stopped by pressing the center button located at the center of the cross cursor button.

(2) Teaching Mode In the teaching mode, the user remotely operates the cleaning robot using the controller, as in the control mode. As a result, the cleaning work and the actual running of the travel route are performed, and the command and the result are stored in the memory.

In the teaching mode, the operator moves forward, backward, right curve, left curve, left rotation, right rotation, left U-turn, right U-turn, left lateral movement, right lateral movement, cleaning operation section left movement, cleaning. It is possible to input commands for right movement of the work unit, right zigzag traveling, and left zigzag traveling.

In addition to these commands, a temporary stop command for stopping the robot for a designated period is prepared. When inputting the stop command,
The screen shown in is displayed on the display unit 49. It is possible to specify the stop time in seconds with the stop command once. For example, when the robot goes out from a narrow road to a wide road, the cleaning robot may be temporarily stopped just before the robot goes out to the wide road, so that people around the robot can be alerted.

As the stop time of the temporary stop command,
If "0" is specified, the stop is not actually performed.
When "0" is specified, composition before and after an instruction described later can be prohibited.

The memory for storing the instruction and the result is on the side of the work robot body, and the memory card may be used as the memory or the built-in memory may be used.

The command group stored in the memory can be reproduced from the cleaning robot body or by a start command from the controller. The stored operation can be reliably repeated in the same manner many times by the start command.

At the start of teaching, the operator guides the cleaning robot main body to the work start position in order to travel the same course as the actual cleaning. This guidance may be carried out by remote control of the controller or may be carried and installed. At the time of teaching, the cleaning liquid may be dropped and the rotor may be rotated as in the case of actual cleaning. However, at the time of teaching, it is possible to travel along the travel route or temporarily perform the work operation without performing work. Good.

FIG. 18 is a flow chart showing the processing in the teaching mode. The operator runs the robot by operating the controller in the same manner as in the control mode (step # 202 in FIG. 18).

The command transmitted from the controller is received by the cleaning robot main body. The cleaning robot body measures the current surrounding conditions, and selects and executes an appropriate operation in order to execute the operation requested by the controller. The operation command group, which is the result executed at that time, is returned as a result to the controller side and stored in the memory on the controller (step # 203).

The teaching is finished (YE at step # 204).
S) and the memory on the controller store the operation command group as a result of the teaching. After the teaching is completed, the controller optimizes the teaching instruction (step # 20).
5). The optimization will be described later.

After the optimization of the teaching command is completed, the controller transmits the command prepared to the robot body side again (step # 206), and the body memory stores it (step # 207).

When the usage 1 is reproduced, the stored instruction group is reproduced. This allows the desired work to be executed without fail as many times as desired.

The coating thickness of the cleaning liquid at the time of teaching is set by the liquid amount dial of the controller as in the operation mode.

When reproducing this memory card,
For example, when playing back the forward motion, if the stored command is “wall-following running”, but there is no contact with the sensor at the relevant location due to obstacles or walls before playback, a playback error will occur. Is displayed on the remote control and a warning sound is emitted. This allows the operator to know that the memory card does not correspond to the working area.

Next, the teaching is optimized (step # 2 in FIG. 18).
The contents of 05) will be described. For example, when the operator teaches the robot to advance an appropriate distance while visually observing the robot, first, an advance command is transmitted to advance the robot. The operator sends a stop command to stop the robot at a desired position. However, the stop operation may be delayed or too early, and the robot may overshoot the target position or may stop before reaching the target position. In such a case, the operator needs to finely adjust the forward and backward commands to make fine adjustments. For example, referring to FIG. 20, it is originally desired to teach one command for advancing the cleaning robot from the start position of the work to the target position, but as a result, as shown in FIG. 21, the command is stopped before the target position is reached. In some cases, the target position may be exceeded as shown in FIG. If such teaching contents are stored and reproduced as it is, the vehicle can travel from the start position to the target position, but the fine adjustment made at the time of teaching is also reproduced.

In order to solve such a problem, the cleaning robot according to the present embodiment optimizes a combination of continuous linear movement commands and converts them into one linear movement command. This makes it possible to store a command that one really wants to teach.

As described above, the operation performed by the robot in accordance with the instruction output by the operator in the teaching mode is as follows.
It is once stored in the memory on the controller (step # 203 in FIG. 18). When the operator presses the teaching end button, the controller starts composition.

When the operation command recorded in the memory is scanned from the beginning and a continuous linear command is found, the traveling distance is further scanned for forward travel and subtracted for backward travel, and further scanned. Can be continued. When the series of straight-ahead commands is completed, the above synthesis is completed, and the sum of the traveling distances is integrated into one instruction that matches the traveling distance.
What is stored as a teaching result is a command to travel the integrated distance. Of course, when the mileage becomes negative as a result of the combination, the forward command is replaced with the backward command.

27 and 28 are flow charts showing the synthesis processing of the taught instruction. Referring to the figure, in step # 502, one of the operation instructions stored in the memory
A memory pointer that points to one is set at the start of storage.

At step # 503, the instruction stored at the position indicated by the memory pointer is read.

At step # 504, it is determined whether or not the instruction can be optimized.

If YES at step # 504, the traveling distance is stored at step # 505.

The instruction read in step # 506 is temporarily stored. In step # 507, the memory pointer is advanced by 1.

At step # 508, it is determined whether the instruction stored at the position indicated by the memory pointer is of the same series as the instruction once stored at step # 506. If YES at step # 508, step # 5
At 15, it is determined whether the directions of the instructions are the same.

If YES at step # 505, the traveling distance is added at step # 517, and then step # 515.
If NO at step # 516, the travel distance is subtracted at step # 516.

After the processing in step # 516 or # 517, the processing from step # 507 is repeated.

If NO at step # 508, it is determined at step # 509 whether or not the stored parameter (running distance) is a positive value.

If NO at step # 509, the traveling direction of the instruction once stored at step # 510 is changed to the reverse rotation instruction, and the distance is converted into an absolute value.

In step # 511, it is determined whether or not the parameter exceeds the operation limit, and if YES, the instruction is divided into two or more instructions so that the limit value is not exceeded in step # 512.

At step # 513, the instruction is stored in the memory as teaching data together with the parameter.

In step # 514, it is determined whether or not the position indicated by the memory pointer is the end of the memory, and Y
If it is ES, the optimization of the teaching data is completed.

If NO at step # 514, the memory pointer is incremented by 1 at step # 518,
The process from step # 503 is repeated.

If NO at step # 504, the process from step # 513 is performed.

If YES at step # 509,
The processing from step # 511 is performed.

If NO at step # 511, the processes from step # 513 are performed.

As described above, by inserting a temporary stop command with a stop time of "0" between straight-ahead instructions, it is possible to easily set prohibition of synthesis. This can be effectively used in a place where the robot performs cleaning work or the like and performs the work carefully in the same place while repeating forward and backward movements. In addition to linear commands such as forward and backward, if the commands are continuous in the rotation operation of the main body, as in the case of combining when moving straight, the rotation angle can be added or subtracted into one command. . For example, referring to FIG. 23, when it is desired to rotate the cleaning robot from the start position to the target position, the target robot may pass the target position (FIG. 24) or the rotation may end before the target position (FIG. 25). There is a case. In such a case, even when the commands of the same system are consecutive as in the case of the straight-line combination, the rotation angles can be added / subtracted to be combined into one rotation command. That is, as in the case of the straight-ahead instructions, the rotation angle is added or subtracted depending on the rotation direction, and the result is replaced with a single instruction.

In many cases, the rotation command or the like limits the angle at which the cleaning robot can rotate at one time. When the angle generated by the synthesis exceeds the limit angle that the cleaning robot can execute, it is divided into a command of an angle at which the cleaning robot can rotate and replaced with a plurality of commands, and the command is stored.

For example, if the cleaning robot can only rotate up to 90 degrees at a time and the result of synthesis is 100 degrees, in this case a rotation command of 90 degrees and 1
It is divided into a 0 degree rotation command and stored.

In addition to the above commands, for example, in the cleaning robot according to the present embodiment, the cleaning work unit can move to the left and right. However, with respect to the motion commands having such forward and reverse directions, the commands are similarly synthesized. It is possible to simplify the operation. That is, the rightward movement of the cleaning work unit shown in FIG. 26 (A) and the leftward movement shown in FIG. 26 (B) are combined into one command as shown in FIG. 26 (C). To synthesize.

In this embodiment, the instruction composition is
This is done by scanning the memory of the controller, which stores the result executed by the cleaning robot, with a memory pointer. In this embodiment, the controller side synthesizes the teaching data, but the teaching data may be synthesized on the robot body side after the teaching is completed.

Next, a specific example of combining the teaching results will be described. Assume that the instructions from address # 201 to address # 206 are stored in the memory as shown in FIG. When the teaching data is optimized, the scan is started from the head address. When the scan is performed up to the address # 201, the instruction at the address # 201 is the forward instruction and the instruction that can be combined, so that the combination is started. The instruction at address # 202 where the scan is advanced next is a backward instruction, and although it is a synthesizable instruction but in the opposite direction, the distance of this instruction is subtracted from the previously stored distance (120). . The instruction at address # 203 is also a backward instruction, so the distance is subtracted. Since the instruction at address # 204 is a forward instruction, the distance is added. Since the instruction at address # 205 is a rotation instruction, and the straight advance instruction ends here, the synthesis result is stored at address #x and the synthesis of the straight advance instruction ends.

Although the rotation instruction at address # 205 is a command that can be combined, it cannot be combined at address # 206 because it is followed by a linear instruction.

As a result of the sequential scanning up to the end of the instructions thus stored, the contents shown in FIG. 29B are stored in the memory. Referring to the figure, at #x, the result of addition / subtraction of the contents from # 201 to # 204 of FIG. 29A is recorded.

Further, referring to FIG. 30A, # 202
If a stop command of "0" seconds is written in the address # 205, the commands before and after the stop command are not combined.

As a result, the data after synthesis is shown in FIG.
As shown in (B), even if the same series of instructions continue, those instructions are not integrated.

(3) Edit Mode FIG. 31 is a flowchart showing the flow of processing in the edit mode.

Referring to the figure, in step # 302, the motion stored in the memory of the robot is reproduced. Playback is performed for each instruction, and step # 30
In FIG. 3, the content to be reproduced is displayed on the display unit as shown in FIG. 32, and the user selects whether to delete or execute the stored content thereafter. If deletion is selected (YES in step # 303), step #
At 304, the user inputs whether to add a new teaching.

If YES at step # 304, a process similar to the teaching mode shown in FIG. 18 is performed at step # 305, and new teaching contents are added.

At step # 306, the original operation content and the newly added content are linked. The linked contents are transmitted to the robot in step # 307, and stored in the memory in step # 308.

If NO at step # 303, the processes from step # 302 are performed, and step # 30.
If NO in step 4, the processing from step # 307 is performed.

Next, the specific operation contents in the edit mode will be described. The edit mode is a mode for deleting, changing or adding the operation content already created in the teaching mode using the controller. Similar to the method of teaching,
Editing is performed while operating the robot.

First, the operator inserts the card to be edited into the robot and guides the robot to the operation start position. As with the teaching, the guidance may be performed by remote control of the controller or may be carried and installed. Further, at this time, the rotor may be rotated to perform the work as in the actual cleaning, but as in the case of the teaching, the work may be tentatively traveled or the work operation may be temporarily performed without performing the work. .

When entering the edit mode, data is read from the memory card of the main body to the controller. The read data is sequentially executed, and the work of the robot is advanced to the place to be changed.

In the edit mode as in the menu screen of the controller shown in FIG. 32, the next command to be executed is displayed, and it is possible to select either further execution or deletion of the subsequent command group. Has become. The user can select by using the left and right keys of the cross cursor button and setting the setting button. When the execution is selected, the work is performed, and the similar confirmation screen is displayed for the next operation.

When the deletion is selectively executed, the subsequent instruction group stored in the memory card is deleted and a new work can be added.

When a new work is added after the work of the robot has been advanced to the position to be changed, the operation command group is created by actually remote-controlling the robot as in the above-mentioned teaching method. In the case of editing as well as in the case of teaching, the instruction group is temporarily stored in the memory of the controller, and the instruction group that is not deleted and the newly added instruction group can be combined to create a command Synthesis is performed. After that, the combined command is transmitted to the robot side and stored again in the memory of the robot body or an external memory card.

As described above, in the present embodiment, when actually performing operations such as forward movement, backward movement, and rotation to teach and edit to the robot, operations having forward and reverse directions such as left / right rotation and forward / backward movement are performed. Regarding the instructions, when a plurality of operation instructions in the same system are consecutive, the respective instructions can be integrated and the instructions can be combined. As a result, it is possible to acquire an accurate and efficient operation as a teaching result.
In addition, it is possible to prohibit the combination if necessary.

(Second Embodiment) Since the configurations of the cleaning robot and the controller in the second embodiment of the present invention are the same as those in the first embodiment, the description thereof will not be repeated here.

The cleaning robot according to the present embodiment is characterized in that, in optimization after the end of teaching, the instructions are integrated so that the overlapping portions of the traveling route of the previous command and the traveling route of the next command are eliminated. .

33 and 34 are flowcharts showing the instruction optimizing process performed by the cleaning robot in the present embodiment.

Referring to the figure, an instruction is scanned in step # 602, and it is determined whether or not the instruction is an instruction related to the end of zigzag running.

If YES at step # 602, it is determined at step # 603 whether or not the next command is a command for turning 180 degrees.

If YES at step # 603, it is determined at step # 604 whether or not the next command is a forward command.

If YES in step # 604, it is determined in step # 605 whether or not the forward distance of the forward command is the same as the length of the zigzag running in the vertical direction.

If YES in step # 605, the zigzag end position is changed in step # 606, and the U-turn pitch for zigzag traveling is recalculated.

If NO in step # 604, it is determined in step # 607 whether the next instruction is a zigzag instruction.

If YES in step # 607, in step # 608, the pitch of U-turns for zigzag traveling between the start position of the first zigzag command and the end position of the next zigzag command is recalculated. Ends the process in.

If NO at step # 603 or # 607, the process here is terminated. If NO at step # 605, it is determined at step # 609 whether or not the forward distance is longer.

If YES at step # 609, at step # 610, the U-turn position of the last lane of zigzag traveling is set as the end position of the zigzag command, and the pitch of U-turns during zigzag traveling is recalculated. Next step #
At 611, the start position of the forward movement is changed to the end position of the zigzag traveling, the instruction to travel the remaining distance of the forward movement is stored, and the processing here is terminated. If NO at step # 609, the process here ends.

If NO at step # 602, it is determined at step # 613 whether or not the read instruction is a forward end instruction.

If YES in step # 613, it is determined in step # 614 whether or not the next instruction is a 180-degree direction change instruction.

If YES in step # 614, it is determined in step # 615 whether or not the next command is a command related to zigzag running.

If YES at step # 615, it is determined at step # 616 whether or not the forward distance is the same as the length of the zigzag running in the vertical direction. If YES, the forward command is deleted and at step # 617. The start position of the zigzag traveling is changed to the forward start position, the pitch of the U-turn of the zigzag traveling is recalculated, and the processing here is ended.

If NO at step # 616, it is determined at step # 618 whether the forward travel distance is longer or not.
If it is S, the end position of the forward command is changed to the U-turn position in the first lane of the zigzag running in step # 619. Next, in step # 620, the zigzag running start position is
The position is changed to the end position of the forward command after the change in step # 619, and the zigzag traveling pitch is recalculated.

Steps # 613, # 614, # 61
If NO at 5 or # 618, the process here is terminated.

A specific operation example of the processing described in the above flowchart will be described with reference to the drawings. With reference to FIG. 35, the user inputs the vertical length L and the horizontal length d of the region to be worked, so that the U-turn pitch P of zigzag traveling for traveling all over the range is set. It is calculated.
At this time, when the zigzag traveling and the straight traveling are combined as follows, the instructions are combined so as not to travel at the same place, and if necessary,
Recalculation of the U-turn pitch P is performed.

For example, after the zigzag traveling command shown in FIG. 36, the direction is changed by 180 °, and as shown in FIG. When the forward command to travel a distance is stored, as shown in FIG. 38, the end position of the zigzag travel command is changed to the opposite side of FIG. 36,
The pitch is recalculated and stored as the teaching result.

That is, as a result of combining the eight-reciprocal zigzag traveling shown in FIG. 36, the 180 ° direction change, and the forward traveling shown in FIG. 37, the seven reciprocating zigzag traveling as shown in FIG. It is stored in memory.

Next, referring to FIG. 39, after the forward traveling command, the direction is changed by 180 ° and starts in the direction opposite to the direction of the forward traveling shown in FIG. 40, and is equal to the forward traveling distance. When the zigzag traveling command for performing the forward traveling continues, the forward instruction is deleted, the end position of the forward traveling is changed to the start position of the zigzag traveling command, and then the pitch is recalculated and stored as the teaching result. As a result, FIG.
The forward movement shown in FIG. 9 and the eight reciprocating zigzag runs shown in FIG. 40 are combined, and the seven reciprocating and half zigzag runs shown in FIG. 41 are stored in the memory.

Next, referring to FIG. 42, after a zigzag travel command is issued, the direction is changed by 180 ° and the direction is opposite to the direction of the last forward travel of the zigzag travel. If there is a longer forward command, the end position of the zigzag travel command is set as the final U-turn end position of the zigzag travel of FIG. 42, and then the pitch P is recalculated. After that, the end position of the zigzag traveling is the start position, and the forward movement command for advancing the distance of (the forward movement distance before the change)-(the vertical length of the zigzag traveling) is stored.

As a result, the command in which the zigzag running and the straight running shown in FIG. 42 are continuous is replaced with the command to move forward from the end position of the zigzag running shown in FIG. Further, since the result of the zigzag traveling is returned as the operation command group as described above, the forward movement in the final lane of the zigzag traveling and the forward movement from the end position are combined.

Referring to FIG. 44, after the forward running command, 1
When a zigzag travel command continues to turn 80 °, starts in the direction opposite to the direction of the forward travel command, and performs a forward travel shorter than the forward travel distance, the end position of the forward travel is the first zigzag travel command before the change. It is set at the starting position of the U-turn on 1 lane. The distance for forward traveling is (forward distance)-(vertical length for zigzag traveling). further,
The start position of the zigzag running is set to the end position of the forward running, the pitch is recalculated, and stored as the teaching result.

As a result, the forward command shown in FIG. 44 and the zigzag running command after performing the U-turn are replaced with the forward command shown in FIG. 45 and the zigzag running command from the position where the forward command is finished. . Further, since the result of the zigzag traveling is returned as the operation command group as described above, the forward movement and the forward movement in the start lane of the zigzag traveling are combined.

Further, referring to FIG. 46, after the user sets the first zigzag running command, the user makes a 180 ° direction change or makes a U-turn to change the 180 ° direction and further moves, and then FIG. When a portion for performing the second zigzag traveling is added as shown in Fig. 2, the start position of the zigzag traveling is the start position of the first zigzag traveling command and the end position is the end of the second zigzag traveling command. The position, the pitch of the zigzag run, is recalculated.

As a result, the command consisting of the two zigzag running commands shown in FIG. 47 is integrated into one zigzag running command shown in FIG.

By eliminating the overlap of paths as described above, it is possible to reduce the working time, save the solvent to be applied, and make the working results uniform over the entire area. In the present embodiment, the cleaning robot is given as an example of the moving object, but the present invention can be applied to any moving object.

The device for editing the operation command may be provided in the moving body or in the controller.

[Brief description of drawings]

FIG. 1 is a perspective view showing appearances of a cleaning robot and a controller according to a first embodiment of the present invention.

2 is a plan view of the controller of FIG. 1. FIG.

FIG. 3 is a plan view showing the configuration of the cleaning robot of FIG.

FIG. 4 is a diagram for explaining an operation of a traveling unit in straight traveling.

FIG. 5 is a diagram for explaining the operation of the traveling unit during the rotating operation.

FIG. 6 is a diagram for explaining a mechanism that rotates a traveling unit and a vehicle body unit.

FIG. 7 is a plan view showing a configuration of a cleaning work unit.

8 is a diagram for explaining the operation principle of the liquid detection sensor 73 of FIG.

FIG. 9 is a block diagram showing a circuit configuration of a cleaning robot.

FIG. 10 is a block diagram showing a circuit configuration of a controller.

FIG. 11 is a flowchart showing a process in a steering mode.

FIG. 12 is a flowchart showing a process when a forward command is output in the steering mode.

FIG. 13 is a diagram showing left contour travel.

FIG. 14 is a diagram showing right copying travel.

FIG. 15 is a diagram showing a method of moving forward by measuring the distance between the left and right walls.

FIG. 16 is a diagram for explaining an operation of going straight by measuring the distance to the right wall.

FIG. 17 is a diagram for explaining an operation of going straight by detecting the rotational speeds of the left and right driving wheels.

FIG. 18 is a diagram for explaining the operation in the teaching mode.

FIG. 19 is a diagram showing a display on a display unit for setting a stop time in a teaching mode.

FIG. 20 is a diagram for explaining an operation of moving the robot from the start position to the target position.

FIG. 21 is a diagram showing a state in which the cleaning robot has not reached the target position.

FIG. 22 is a diagram for explaining a state in which the cleaning robot has passed the target position.

FIG. 23 is a diagram for explaining the operation of rotating the cleaning robot from the start position to the target position.

FIG. 24 is a diagram showing a state in which the cleaning robot has passed the target position and rotated.

FIG. 25 is a diagram showing a state in which the cleaning robot has not rotated to the target position.

FIG. 26 is a diagram for explaining movement of the cleaning work unit.

FIG. 27 is a flowchart showing a teaching data combining process.

28 is a flowchart following FIG. 27. FIG.

FIG. 29 is a diagram showing a result of work data combination processing according to the first embodiment;

[Fig. 30] Fig. 30 is a diagram for describing a compositing process when an instruction with a stop time "0" is included.

FIG. 31 is a flowchart illustrating a process in an edit mode.

FIG. 32 is a diagram showing display contents on the display unit in the edit mode.

FIG. 33 is a flowchart showing instruction optimization processing according to the second embodiment.

FIG. 34 is a flowchart following the flowchart of FIG. 33.

FIG. 35 is a diagram for explaining the basics of zigzag running.

FIG. 36 is a diagram for explaining eight reciprocating zigzag runs.

37 is a diagram showing a forward movement process performed after the process shown in FIG. 36. FIG.

38 is a diagram showing a result of combining the work instructions of FIGS. 36 and 37. FIG.

FIG. 39 is a diagram for explaining a forward command.

FIG. 40 is a diagram showing a zigzag running command for eight round trips following the forward command shown in FIG. 39;

FIG. 41 is a diagram showing the result of the instructions shown in FIGS. 39 and 40 being constructed.

FIG. 42 is a diagram for explaining a state in which an instruction to move forward in the reverse direction is input after the zigzag running.

43 is a diagram for describing an instruction after the instruction has been optimized in the state of FIG. 42. FIG.

FIG. 44 is a diagram for explaining a state in which a forward command and a zigzag running command subsequent to the forward command are input.

45 is a diagram showing a state after instruction optimization is performed in the state of FIG. 44;

FIG. 46 is a diagram for explaining a zigzag traveling command.

47 is a diagram showing a state after the additional portion is input as a zigzag running command in the state shown in FIG. 46. FIG.

48 is a diagram showing a state after instruction optimization is performed from the state of FIG. 47. FIG.

[Explanation of symbols]

 1 Cleaning robot main body 2 Controller 13 Memory card 28 Memory 30 Travel section

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Yasuhisa Kanto 2-3-13 Azuchi-cho, Chuo-ku, Osaka, Osaka International Building Minolta Co., Ltd. Chome 3-13 Osaka International Building Minolta Co., Ltd.

Claims (4)

[Claims] 1. A mobile unit for performing continuous operation,
A storage unit that stores an operation command including a series of procedures; a determination unit that determines whether or not at least two consecutive procedures in the stored operation command are mutually related procedures; An operation instruction editing apparatus, comprising: an integration unit that integrates continuous procedures that are related to each other based on the determination result of the determination unit. 2. The operation command according to claim 1, wherein the determination means determines whether or not each of the continuous procedures is a procedure for moving the moving body in the same direction or in the opposite direction. Editing device. 3. At least one procedure of the continuous procedure is a procedure relating to zigzag running of the mobile body,
The operation command editing device according to claim 1. 4. The motion command editing apparatus according to claim 1, wherein the moving body has a working unit for working on an object, and the motion command is a motion command for the working unit.