JPH09274517A - Device and method for detecting obstacle for self-traveling robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an obstacle detector with which a self-traveling robot is prevented from erroneously detecting objects existent around a course as obstacles. SOLUTION: A storage means correspondently storing positions on the course to travel the self-traveling robot and the sensitivity of a sensor for obstacle detection store the sensitivity for the sensor not to detect the objects around the course as the sensitivity corresponding to the erroneous detecting position where the sensor erroneously detects the objects around the course as obstacles and when the self-traveling robot travels on the course, corresponding to the position on the course, an adjusting means adjusts the sensor to the sensitivity stored in the storage means.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the technical field of allowing a self-propelled robot to detect obstacles on a course, and in particular, to prevent erroneous detection of an object existing around the course as an obstacle. Regarding what you did.

[0002]

2. Description of the Related Art Self-propelled robots, which automatically travel on a preset course to carry out work such as transporting articles on the course, have been adopted in various fields in place of human hands. Has reached the end. If an obstacle (person or thing) intrudes on the traveling course of such a self-propelled robot, if the robot continues traveling as it is, there is a possibility that an accident or failure may occur due to collision with the obstacle. .

Therefore, a self-propelled robot is generally equipped with an anti-personnel / objective sensor for detecting the presence / absence of an obstacle on the course, and when the sensor detects an obstacle, the control for immediately stopping the traveling is carried out. There is a safety measure in place. As an example of such an interpersonal / objective sensor,
A non-contact type sensor such as an optical sensor is used.

[0004]

By the way, in many cases, various objects such as machines and equipment are originally present around the place where the traveling course of the self-propelled robot is set. Since these objects do not exist on the course, they do not hinder the running of the self-propelled robot. However, when a self-propelled robot equipped with an optical sensor as an interpersonal / objective sensor is run on such a course, an object around the course (for example, an object existing on the extension line of the course) becomes an obstacle. The robot sometimes stopped due to false detection.

As described above, erroneously detecting that an obstacle is present and stopping the robot even though no obstacle is actually present leads to a reduction in work efficiency. The present invention has been made in view of the above points, and it is an object of the present invention to provide an apparatus and method for preventing a self-propelled robot from erroneously detecting an object existing around a course as an obstacle.

[0006]

An obstacle detecting apparatus according to the present invention associates a sensor for detecting an obstacle, a position on a course on which a self-propelled robot should run, with the sensitivity of the sensor. As the sensitivity corresponding to the erroneously detected position in which the sensor erroneously detects an object around the course as an obstacle, a storage unit that stores the sensitivity at which the sensor does not detect the object around the course, According to the position of the self-propelled robot on the course, there is provided adjusting means for adjusting the sensor to the sensitivity stored in the storage means.

When a self-propelled robot equipped with this obstacle detecting device travels on a course, the adjusting means adjusts the sensor to the sensitivity stored in the storage means according to the position on the course. Then, with the sensitivity thus adjusted, the presence or absence of the obstacle on the course is detected by the sensor.
When the self-propelled robot reaches the erroneous detection position, the sensor is adjusted to a sensitivity that does not detect an object around the course, so that an object around the course is not erroneously detected as an obstacle.

Next, the obstacle detection method according to the present invention is
Running a self-propelled robot equipped with a sensor for detecting an obstacle on a course where the robot should run,
The first step of obtaining an erroneous detection position in which the sensor erroneously detects an object around the course as an obstacle, and the sensitivity of the sensor is changed at the erroneous detection position so that an object around the course is not detected. The second step of finding the sensitivity and running the self-propelled robot on the course,
When the robot reaches the erroneous detection position, a third step of adjusting the sensor to the sensitivity obtained in the second step is included.

As a pre-stage of running a self-propelled robot equipped with a sensor on the course, the self-propelled robot is tried on the course, and the sensor makes an obstacle around an object around the course at any position on the course. If it is erroneously detected as, the position is obtained as an erroneously detected position. Then, by changing the sensitivity of the sensor at the erroneous detection position, the sensitivity that does not detect an object around the course is obtained. After that, this self-propelled robot is finally operated on the course.At that time, when the self-propelled robot reaches the above-mentioned false detection position, a sensor is used to detect the object around the course (sensitivity stage (Sensitivity obtained in step 1). This prevents objects around the course from being erroneously detected as obstacles during operation.

In the above apparatus and method, the sensitivity of the sensor when the self-propelled robot reaches the erroneous detection position is set so that the obstacle on the course can be detected even at the erroneous detection position. It is desirable to adjust as high as possible within the range where surrounding objects are not detected.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. FIG. 1 is a diagram schematically showing an example of a course on which an automatic transfer robot to which the present invention is applied travels. This automatic transfer robot RB is a course C along the back side (the side opposite to the side where display devices and controls for users are provided) of a plurality of automated teller machines ATM installed in financial institutions. In order to convey banknotes by traveling (straight course between both ends e1 and e2), stop behind each automated teller machine ATM, and transfer the bills to and from the automated teller machine ATM. Used. In the vicinity of the end e2 on the extension line of the course C, there is a desk DSK which is arranged at that location before the automatic transfer robot RB is introduced.

FIG. 2 is a block diagram showing an example of a portion related to the present invention in the hardware configuration of the automatic transfer robot RB of FIG. This automatic transfer robot RB
Is entirely controlled by the CPU 1, and the storage device 2 (main storage device such as ROM and RAM, auxiliary storage device such as porcelain disk device) and the register 3 are CP.
In addition to being connected to U1, the person / objective sensor 4 and the position sensor 5 are connected to the CPU 1 via the interface 6. In addition to the above, the CPU 1 has a drive mechanism for running the robot RB by rotating tires attached to the lower portion of the robot RB, a mechanism for loading and delivering banknotes to and from the automatic teller machine ATM, and the like. Are also connected, but they are not directly related to the present invention, and therefore are not shown.

The person / objective sensor 4 is a sensor for detecting the presence or absence of an obstacle on the course C, and is composed of an optical sensor as an example. The position sensor 5 is a sensor for detecting the current position of the robot RB on the course C of FIG.

As shown in FIG. 3, each position p1, p2, ..., Pn on the course C in FIG. 1 is stored in the storage device 2 (the total extension of the course is predetermined from the end e1 to the end e2). Interval Δ
Addresses AD1 and AD respectively corresponding to n units (each unit is divided into n units, where n is a natural number)
The storage areas AR of 2, ..., ADn are secured. Each of the storage areas AR has a corresponding position p on the course C.
This is an area for storing data relating to the sensitivity of the person / objective sensor 4 at 1, p2, ..., Pn. As an example, for all addresses AD1, AD2, ..., ADn,
Data indicating the same sensitivity, which is set as the sensitivity suitable for causing the person / objective sensor 4 to detect the presence or absence of an obstacle on the course C, is stored in advance. The sensitivity of the person / objective sensor 4 is adjusted by the sensitivity adjusting circuit 7 according to this sensitivity data by the sensitivity adjusting circuit 7 taking out the sensitivity data read by the CPU 1 from the storage area of FIG. 3 and sent to the register 3.

Next, an example of an obstacle detection method in the robot RB will be described with reference to FIGS. FIG. 4 is a flowchart executed by the CPU 1 when the robot RB is trial-run on the course C as a preliminary step before the robot RB is officially operated on the course C. It should be noted that this test run is performed in a state where there is no obstacle on the course C.

In FIG. 4, in the first step S1,
The robot RB travels on the course C from the end portion e1 toward the end portion e2 by the distance Δp, and the course C
The sensitivity data of the address corresponding to the position of the robot RB above is read from the storage area AR (FIG. 3) in the storage device 2 and sent to the register 3. As a result, the presence / absence of an obstacle on the course C is detected by the person / objective sensor 4 with a preset sensitivity before the test run.

In a succeeding step S2, it is determined whether or not the person / objective sensor 4 has detected that there is an obstacle. Course C
Since there is no obstacle on the upper side, it is normal that the answer is NO, and in that case, the process proceeds to step S7. On the other hand, when the result is Yes (that is, when the object around the course C is erroneously detected as an obstacle), step S3
After stopping the traveling of the robot RB by proceeding to step S4, the process proceeds to step S4. In course C, as shown in FIG.
Since the desk DSK exists near the desk D, when the robot RB reaches a position near the end e2 to some extent, the desk DSK
There is a possibility that SK may be erroneously detected as an obstacle and become YES in step S2.

In step S4, data showing sensitivity lower than the sensitivity data already sent to the register 3 by a certain degree is sent to the register 3. As a result, the sensitivity of the person / objective sensor 4 becomes lower than the preset sensitivity before the trial run by the above-mentioned certain amount. In a succeeding step S5, it is determined whether or not the person / objective sensor 4 no longer detects that there is an obstacle. If no, the process returns to step S4 and the processes of steps S4 to S5 are repeated. As a result, the sensitivity of the interpersonal / objective sensor 4 is gradually reduced by the above-mentioned certain degree. If YES in step S5, the process proceeds to step S6.

In step S6, of the sensitivity data in the storage area AR, the sensitivity data of the address read in step S1 is rewritten with the data finally sent to the register 3 in step S4. As a result, the sensitivity data corresponding to the position at which the object around the course C is erroneously detected as an obstacle becomes as high as possible within the range where such erroneous detection is not performed. When step S6 ends, the process proceeds to step S7.

In step S7, it is determined whether or not the robot RB has reached the end e2 of the course C. If no, the process returns to step S1 to repeat the processing of step S1 and the subsequent steps. On the other hand, if yes, the process proceeds to step S8 to stop the traveling of the robot RB and then returns.

In the process of FIG. 4, the robot RB is moved to the end e.
Although the vehicle is made to travel from 1 to the end e2, the robot RB may be made to travel in the opposite direction from the end e2 to the end e1 and the same processing may be performed in addition to this processing.

Next, FIG. 5 shows the robot RB that has completed the trial run.
9 is a flowchart showing an example of a process relating to control of traveling of the robot RB, among the processes executed by the CPU 1 when the vehicle is officially operated on the course C. First step S
At 11, the robot RB travels from the predetermined home position on the course C toward a predetermined target position (behind one of the automated teller machines ATM) by the distance Δp, and at the same time, the robot RB on the course C. Data of the address corresponding to the position of the storage area A in the storage device 2
Read from R (FIG. 3) and send the data to register 3. As a result, at the position where an object around the course C is erroneously detected as an obstacle during the trial run, the person / objective sensor 4 is adjusted to the sensitivity stored in the storage area AR in step S6 of FIG.

In a succeeding step S12, it is determined whether or not the person / objective sensor 4 has detected that there is an obstacle. Interpersonal
Since the object sensor 4 is adjusted as described above, objects around the course C are not erroneously detected as obstacles. If yes, the obstacles actually exist on the course C. Should be, in that case, step S
Proceed to 13 to stop the traveling of the robot RB. In a succeeding step S14, it is determined whether or not the person / objective sensor 4 no longer detects that there is an obstacle. If NO, the process of step S14 is repeated, and if YES is determined (that is, if the obstacle is removed from the course C), the process proceeds to step S15. On the other hand, step S1
If the answer is NO in step 2, the process jumps from step S12 to step S15.

In step S15, it is determined whether or not the robot RB has reached the target position. If no, the process returns to step S11 to repeat the processing from step S11 onward. On the other hand, if the answer is yes, the process proceeds to step S16 to stop the traveling of the robot RB. Subsequent step S
At 17, the banknotes are exchanged with the automatic teller machine ATM (this process is not directly related to the present invention, and therefore detailed description thereof is omitted). When the transfer of banknotes is completed,
In step S18, the robot RB runs on the course C toward the home position by the distance Δp, and the sensitivity data of the address corresponding to the position of the robot RB on the course C is stored in the storage device 2. The data is read from the area AR and the data is sent to the register 3.

In subsequent steps S19 to S21, the same processing as steps S12 to S14 is performed. In a succeeding step S22, it is determined whether or not the robot RB has returned to the home position. If NO, the process returns to step S19 and the processes of steps S19 to S21 are repeated. On the other hand, if YES in step S22, step S
After proceeding to 23 and stopping the traveling of the robot RB, the process returns. As described above, the robot RB can be operated without erroneously detecting an object around the course C as an obstacle.

In this embodiment, the present invention is applied to an automatic transfer robot using an optical sensor as an interpersonal / objective sensor. However, the invention is applied to an automatic transfer robot using a sensor other than the optical sensor as an interpersonal / objective sensor. Of course, this invention may be applied. Further, although the present invention is applied to the automatic transfer robot in this embodiment, it is needless to say that the present invention may be applied to a self-propelled robot other than the automatic transfer robot.

[0027]

As described above, according to the present invention, it is possible to prevent the self-propelled robot from erroneously detecting an object existing around the course as an obstacle, so that the work efficiency of the self-propelled robot is improved. It has an excellent effect that it can contribute to the improvement of

[Brief description of drawings]

FIG. 1 is a diagram showing an example of a course in which an automatic transfer robot is self-propelled.

FIG. 2 is a block diagram showing an example of a hardware configuration of an automatic transfer robot.

FIG. 3 is a diagram showing an example of a storage area in the storage device of FIG.

4 is a flowchart showing an example of processing executed by the CPU of FIG.

FIG. 5 is a flowchart showing an example of processing executed by the CPU of FIG.

[Explanation of symbols]

 1 CPU 2 Storage device 3 Register 4 Interpersonal / objective sensor 5 Position sensor 6 Interface 7 Sensitivity adjustment circuit

Claims (2)

[Claims] 1. A sensor for detecting an obstacle, a position on a course where a self-propelled robot is to travel, and a sensitivity of the sensor are stored in association with each other, and the sensor stores an object around the course. As the sensitivity corresponding to the erroneously detected position that is erroneously detected as an obstacle, the sensor stores the sensitivity that does not detect an object around the course, and the position of the self-propelled robot on the course. An obstacle detecting device in a self-propelled robot, comprising: an adjusting unit that adjusts the sensor to the sensitivity stored in a storage unit. 2. An error in which a self-propelled robot equipped with a sensor for detecting an obstacle is tried on a course on which the robot should run, and the sensor erroneously detects an object around the course as an obstacle. A first step of obtaining a detection position; a second step of obtaining a sensitivity at which the sensor does not detect an object around the course at the erroneous detection position; and a step of operating the self-propelled robot on the course. And a third step of adjusting the sensor to the sensitivity obtained in the second step when reaches the erroneously detected position.