JPH1165655A - Controller for mobile object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the work quality of a robot for coating wax. SOLUTION: A user inputs the environment (temperature and the concentration of wax or the like) of the surrounding of a robot via a controller before the start of a work by a robot 1 (S100). A longest time (drying time) T when quality can be prevented from being deteriorated at the time of over applying wax is identified, based on an inputted data (S101). A traveling path is generated based on the time T (S103-S106). Then, traveling is actually conducted, based on the calculated path (S107).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control apparatus for a moving body, and more particularly to a control apparatus for a moving body for performing a zigzag running of the moving body so that the moving body works over a designated area.

[0002]

2. Description of the Related Art A robot (a type of moving body) for working all over a designated area has been known. As a control method for such a robot, zigzag traveling is generally adopted. The zigzag travel is a travel that reciprocates in a designated area at predetermined intervals. The zigzag traveling is realized by combining a forward movement on a plane and a right and left U-turn movement. Robot operations include cleaning, wax application, and application of chemicals.

FIG. 19 is a diagram for explaining an example of a zigzag traveling route. The robot 1 departs from the point a, advances by a length L ₀ in the vertical direction of the work area A, turns 90 ° to the left, advances by the pitch p, and turns 90 ° to the left. Then, by advancing the length L _0, and reaches the point b. After that, 90 ° turn, pitch p advance,
By repeating the 90 ° turn and the forward movement of L ₀ , the work area A can be worked all over.

In such an operation, an error may occur in the traveling distance or the rotation angle of the robot 1, or the traveling distance may vary depending on the state of the floor surface on which the robot 1 travels. In such a case, the pitch p is determined so that the regions where the robot works during reciprocation overlap so that no work is left behind.

More specifically, referring to FIG. 20, if the width in which work is performed in one run of robot 1 is defined as work width Y, pitch p is made smaller than Y. As a result, a work margin (width W of overlapping work) is generated.

[0006]

For example, there is a case where the robot 1 performs an operation such as wax application. At this time, if the wax is applied to the portion after the applied wax dries, the applied wax in the portion becomes thick. As a result, a level difference occurs with other portions. In the example of FIG. 20, only the portion where the work overlaps (W in FIG. 20) has a striped pattern, and the quality of the work is degraded.

[0007] Therefore, it is necessary to apply the wax once before the wax applied for the first time is dried. Further, if the applied wax is semi-dried and the recoating is performed, the gloss is lost when the wax is completely dried.

In particular, the longest time when the wax is applied repeatedly is between the point a and the point b in FIG. Here, the robot 1 is L
_The time required to travel straight ahead at a distance of ₀ is represented by t _L0 , the time required for the robot 1 to rotate 90 ° is represented by tr,
The time required for the robot 1 to travel on the pitch p is t
Assuming p, the time required to reach point b from point a is represented by equation (0).

2 × t _L0 + tp + 2 × tr (0) The present invention has been made to solve the above problems, and has as its object to improve the quality of a moving object when performing work.

[0010]

According to one aspect of the present invention to achieve the above object, a control device for a moving object is a control device for a moving object that controls a moving object moving in a work area. Control means for controlling the moving body so that the moving body performs work in a first area in the work area and then performs work in a second area having a common area with the first area;
Input means for inputting information relating to factors affecting the result of the work of the moving body, and in a common area, the time from the time when the moving body first works to the time when the moving body works again, and the input information. It is characterized in that the moving route of the moving object is determined based on the moving route.

According to the present invention, the moving route of the moving body is determined based on the time until the work is performed again and information on factors affecting the result of the work of the moving body. Thereby, the quality of work can be improved.

According to a second aspect of the present invention, there is provided a sensor for detecting environmental information relating to a factor affecting the result of the work of the moving body, and a time period from the time when the moving body first works to the time when the moving body works again in a common area. And determining the moving route of the moving object based on the detected environment information.

According to the second aspect of the invention, the environment information can be detected even during the work, and the most appropriate traveling route corresponding to the environment information is created, so that the quality of the work can be further improved.

[0014]

Preferred embodiments of the present invention will be described below in detail with reference to the drawings. The same reference numerals in the drawings indicate the same or corresponding parts.

[First Embodiment] FIG. 1 is a perspective view showing the appearance of a self-propelled robot 1 and its controller 2 according to a first embodiment of the present invention.

Referring to FIG. 1, a robot 1 measures a distance between a contact sensor 7 for detecting contact with a wall or the like and a wall or the like, and traces the vehicle to follow the wall or the like. By rotating the sensors 8a to 8d and the nonwoven fabric,
A work unit 31 for performing wax application work on the floor surface,
The display unit 18 includes a display unit 18 for displaying a message to the user, and a work start button 90 for starting work. Also, by inserting the memory card 13 into the robot 1, the robot 1 can execute the stored command.

The robot 1 includes a traveling unit having driving wheels,
And a vehicle body. The traveling portion and the vehicle body are relatively rotatable. The working unit 31 is attached to the vehicle body.

FIG. 2 is a plan view of the controller 2.
Referring to the figure, controller 2 is used to remotely control robot 1 and to teach running and work. An operation shift button group 40 as an input unit of the controller;
A cross cursor button 35 for specifying a direction, a mode switching button 36 for switching modes, a start button 37 for instructing start of operation of the robot, a stop button 38 for instructing stop of operation, A stop button 39 for temporarily stopping the operation, a cancel button 52 for canceling the setting, a setting button 53 for setting the input data, and a power switch 46 are provided.

The operation shift button group 40 includes a traveling section rotation button 41 for rotating the traveling section only left and right without changing the direction of the vehicle section, and a body section rotating button 42 for simultaneously rotating the vehicle section and the traveling section. And a work unit slide button 43 for moving the work unit 31 left and right with respect to the vehicle body.
And a U-turn button 44 for designating a U-turn operation, and a zig-zag button 45 for setting zig-zag traveling.

By using these buttons in combination, remote control of the robot, teaching of work, editing and setting are performed.

The controller 2 has a display unit 49 constituted by a liquid crystal display device.

The display section 49 displays a menu for setting a zigzag travel, as shown in FIG. The user can input data to the controller by operating the cross cursor button 35, the setting button 53, and the like while viewing the display unit 49.

FIG. 4 is a block diagram showing the configuration of the robot 1 shown in FIG. Referring to the figure, a robot 1 is mainly a travel control unit 32 for controlling the travel of the robot.
And an operation control unit 33 for controlling the wax application operation.

The traveling control unit 32 controls the traveling unit CPU 27 that controls the traveling unit, the driving control units 14a and 14b that control the driving of the left and right driving wheels 3a and 3b, and the vehicle body and the traveling unit. A vehicle body rotation control unit 69 that rotates a motor 68 for rotating the vehicle in a predetermined direction, and a travel control unit memory 28 that stores travel control procedures and the like.

The travel control unit 32 includes a distance detector 79 for detecting the travel distance of the robot from the rotation amounts of the left and right drive wheels.
a, 79b, a distance measuring sensor 6 for recognizing the environment around the robot, and a body part rotating motor 68 for relatively rotating the running part and the body part.

The work control unit 33 includes a work unit CPU 12 for controlling processing of the work unit, a display control unit 19 for controlling display on the display unit 18, an input control unit 17 for performing input control on the input unit 16, and , A memory card reading unit 77 for reading the memory card 13, a communication unit 11 for communicating with the controller, and a pump 2 for dropping wax.
2, a pump control unit 23 for controlling the rotor 9 for spreading the dripped wax on the floor surface and rubbing the floor surface, and a motor 25 for moving the working unit. Drive control unit 26 that drives
And a power supply circuit 21.

The work control unit 33 is connected to a liquid detection sensor 73 for detecting dripping of the wax, a contact sensor 7, a gyro sensor 78, a copying sensor 8, and a battery 20.

The working unit CPU 12 and the traveling unit CPU 27 are connected to each other. FIG. 5 is a block diagram showing the configuration of the controller 2.

Referring to the figure, the controller includes a controller control unit CPU 51 for controlling the controller,
A display control unit 81 for controlling the display unit 49, an input control unit 47 for controlling an input unit 80 including the above-described buttons and the like, a communication unit 48 for communicating with the robot 1, Communication control unit 82 for controlling the communication unit
, A battery 83, and an external interface 50.

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

FIG. 6 shows a robot 1 according to the present embodiment.
It is a top view which shows an example of the work route of FIG.

It is assumed that the robot application area (work area) A of the robot 1 has a horizontal length Ly and a vertical length Lx. When the user inputs the horizontal length, the vertical length, and the like of the work area to the robot 1, the movement path of the robot 1 is automatically determined. The route is generated such that the zigzag travel performed by the robot 1 is divided into a plurality of blocks.

In the example shown in FIG. 6, the traveling route is divided into three blocks B1 to B3 in the vertical direction, and zigzag traveling is performed in each block. Here, the horizontal pitch of the zigzag travel is p, and the vertical length of the zigzag travel is L1.

The area where the block B1 and the block B2 and the area where the block B2 and the block B3 are in contact with each other is where wax is applied repeatedly, and is a common area for the previous operation and the next operation.

The reason why the zigzag travel is divided into a plurality of blocks as described above is to reduce the time between the application of wax to the floor surface and the subsequent application of wax. That is, in the route shown in FIG. 19, it takes the longest time from the application of the wax to the overcoating from the point a to the point b. On the other hand, in the present embodiment, the zigzag travel is divided into a plurality of blocks B1 to B3.
The points c1 and d1 in FIG. 6 correspond to the points a and b. Here, assuming that the time from when the wax is applied to when the wax becomes semi-dry is T, the robot 1
The travel route is determined so that the time from the point c1 to the point d1 is equal to or less than the time T. Therefore, the vertical length L1 is restricted, and the vertical length L1 is added to work up to the vertical length Lx of the work area.
That is, the zigzag travel is divided into a plurality of blocks for work.

Here, in the common area of the block B1 and the block B2, the time when the robot 1 first works is the time when the point c1 is applied in the block B1. It is time to apply the d1 point.

In the present embodiment, the time from the wax application at the point c1 to the recoating of the wax at the point d1 in FIG. 6 is the longest. The traveling route is determined so that this time is equal to or less than the time when the wax does not become semi-dry.

FIG. 7 is a flowchart showing the processing in the wax application operation of the robot 1.

Referring to the figure, in step S100, information on the environment affecting the result of the operation of robot 1 is input by the operation of controller 2 by the user. Specifically, an environmental condition setting menu is displayed on the display unit 49 of the controller 2, and is input by the user operating the cross cursor button 35 or the setting button 53. The information to be input is the concentration of wax (working fluid) [%], the outside air temperature [° C], and the temperature of the floor surface to be applied [° C].
And humidity [%], and presence or absence of wind near the floor. In addition,
The wax concentration may be directly input by the user, or a concentration conversion table for each product name may be stored in the apparatus in advance, and the user may input the wax concentration by selecting the product name. You may do so. The information input via the controller 2 is transmitted to the robot 1.

In step S101, based on the received information on the environment, the robot 1 takes the longest time T during which the quality of the work is not degraded when the wax is applied repeatedly.
Identify [minutes]. This identification is specifically performed by the table shown in FIG. That is, referring to FIG. 8, the table records the drying time of the wax corresponding to the environments 1 to n. Factors that affect the drying of the wax include the wax concentration [%] and the temperature [° C].
, The temperature of the floor surface [° C.], the humidity [%], and the presence or absence of wind are recorded. As a result, the time T required for drying the wax (that is, the longest time during which the quality does not deteriorate when the wax is repeatedly applied) T is identified based on the input information.

Next, in step S102, the display shown in FIG. Here, the user inputs the vertical length Lx and the horizontal length Ly of the work area A and the position where the work is to be finished. In step S103, the lateral movement pitch p and the number N of lanes are calculated based on the horizontal length Ly of the work area. In step S104, a time tp for traveling on the pitch p is obtained from the traveling speed of the robot 1.

In step S105, using the time tp for traveling the pitch p, the time tr required for the robot 1 to rotate 90 °, and the time T identified in step S101, the zigzag traveling of the zigzag traveling is calculated by the equation (1). The time t _L1 for traveling the length L1 in the vertical direction is obtained.

2 × n × t _L1 + 2 × n × tp + 4 × n × tr = T (1) where n = (number of lanes N) −1 in equation (1).

Next, in step S106, the vertical length L1 of the zigzag travel is obtained from the value of t _L1 and the speed of the robot.

In step S107, the robot 1 shown in FIG. 6 travels based on the variables L1, p, and N.

FIG. 9 is a flowchart showing the process of calculating the lateral movement pitch p and the number of lanes N performed in step S103 of FIG.

Referring to the figure, in step S201, the work width Y of the robot 1 is calculated based on the input horizontal width Ly of the work area.
Is calculated as the reference traveling width W0. Here, the work width Y refers to a width Y in which the robot 1 can work in one straight traveling with reference to FIG. Thereby, referring to FIG. 6, the reference traveling width W0 obtained by subtracting the working width Y from the horizontal length Ly of the working area is:
It indicates the width between the lane in which the robot 1 runs immediately after starting the work and the lane in which the robot 1 runs at the end of the work.

Referring again to FIG. 9, step S202
Then, the value obtained by subtracting the minimum work margin W3 from the work width Y is
It is calculated as the maximum running pitch P1. Here, the minimum work margin W3 refers to the minimum value of the work width superimposed by the reciprocating motion when the robot 1 performs zigzag traveling with reference to FIG. This minimum value is determined based on an error relating to the traveling of the robot 1. The maximum traveling pitch P1 is a horizontal pitch p of the zigzag traveling, and indicates a maximum value that can be taken.

In step S203, the minimum number of lanes N capable of traveling with the reference traveling width W0 at the maximum traveling pitch P1 or less is obtained. Next, in step S204, the value of W0 / (N-1) is substituted for the value of the pitch p of the zigzag travel.

By performing such control, FIG.
In the above, the wax does not become semi-dry or completely dry during the time from when the robot 1 reaches the point c1 to the point d1. As a result, it is possible to prevent unevenness from occurring on the wax-applied surface and loss of gloss on the floor surface after the wax application.

The drying time of the wax varies depending on the working environment of the robot 1, such as the concentration of the wax, the temperature, the temperature of the floor surface, the humidity, and the presence or absence of the wind. The table shown in FIG. Thus, the robot can be controlled in response to these environmental changes.

[Second Embodiment] FIG. 11 is a plan view showing a moving path of a robot 1 according to a second embodiment. Note that the hardware configuration of this robot 1 is the same as that of the first embodiment, and the description will not be repeated.

In this embodiment, when the robot 1 completes the zigzag travel in one block, it moves laterally and returns to the starting lane (point d2). Then, zigzag running of the next block is performed. Thereby, the time from the point c2 to the point d2 (the time corresponding to the point c1 to the point d1 in FIG. 6) can be shortened. Thereby, the distance L2 in the vertical direction of the zigzag traveling can be made longer, and the whole operation can be performed more quickly. In the wax application operation, higher quality can be obtained when the wax is applied at a distance as long as possible, so that the operation quality can be improved as compared with the first embodiment. Specifically, the time t for traveling the distance L2
_L2 is obtained by equation (2).

N × t _L2 + 2 × n × tp + 2 × n × tr = T (2) where n = (the number of lanes N) −1, tp is a time for traveling on the pitch p, and tr Is a robot 90
° Time required to rotate.

Therefore, assuming that the type of wax to be applied is the same and T is equal, as compared with the first embodiment,
From the equations (1) and (2), nxt _L2 + 2xnxtp + 2xnxtr = _2xnxL1
+ 2 × n × tp + 4 × n × tr, and t _L2 = 2 × t _L1 + 2 × tr (3)

Since the time required for the robot to go straight is proportional to the distance, the straight traveling distance L2 of the zigzag travel in the second embodiment is more than twice as long as the distance L1 in the first embodiment.

In this embodiment, similarly to the flowchart shown in FIG. 7, the environment around the robot is input from the controller 2 and the wax drying time T is reduced by using the table shown in FIG. The straight traveling distance L2 of the zigzag travel is calculated by the equation (2) based on the obtained value of T.

Next, a specific operation of the robot 1 will be described. Referring to FIG. 12, robot 1 is used for performing an operation in an area between left and right walls. The user inputs information about the environment around the robot via the controller. Here, the concentration of the working liquid is 20
%, The outside temperature is 25 ° C., the temperature of the floor surface to be applied is 25 ° C., the humidity is 70%, and there is no wind near the floor surface.

At this time, referring to the table of FIG. 8, since the environment of No. 15 corresponds to the actual environment, it is identified that the wax drying time T is 8 minutes.

Further, the user is required to set the vertical length Lx of the area to 900.
The value of cm and the value of the horizontal length Ly = 350 cm are input from the controller 2. Further, it is input that the position where the robot 1 ends the work is the start side (point e) of the work of the robot 1.

The robot 1 calculates the pitch p of the zigzag travel, the length L2 of the zigzag travel in the vertical direction, and the number N of lanes based on the wax drying time T as described above, and determines the movement route. I do. The movement is performed based on the movement route.

At this time, the length L in the vertical direction of the zigzag traveling is
2 is calculated to be 300 cm.

The straight-line operation from the movement start point a is performed by following the right wall using the right-side copying sensors 8c and 8d. When the robot advances by the length L2 in the vertical direction of the zigzag travel, the robot 1 temporarily stops. Next, in order to proceed in the left direction, a U-turn is performed by performing left rotation, going straight at a pitch p, and left rotation. After the U-turn operation is completed, the robot 1 advances again by the distance L2 and travels on the second lane. In the second lane, the vehicle travels using the distance measurement sensor 6 so as to keep the distance to the left and right walls constant. When traveling by the distance L2, the robot 1 makes a right U-turn.
Thereafter, zigzag traveling is performed by repeating this reciprocating operation. In the last lane of the zigzag traveling to the point b, the left-side scanning sensors 8a and 8b are used.

At the point b, the robot 1 moves 90 degrees to the right.
° rotate. Note that the 90 ° rotation here has a wall on the left side, so it is necessary to rotate the robot 1 once after speaking from the wall. Therefore, the 90 ° rotation is performed by the steps shown in FIG.

Referring to FIG. 13, if the robot 1 has reached the last point (point b) of the zigzag travel (A), the directions of the drive wheels 3a and 3b are shifted rightward as indicated by arrows. (B). Next, by rotating the drive wheels, the robot 1 separates from the left wall (C). At this time, the position of the work unit 31 is the robot 1
Is shifted to the right with respect to the center of
Is moved to the left, and the position of the working unit 31 is set at the center (C). In this state, the body of the robot 1 rotates 90 ° clockwise (D). Next, in order to prevent the remaining work from occurring, the robot 1 retreats until it contacts the wall (E).

Returning to FIG. 12, the robot 1 moves forward from point b until it contacts the wall. If you touched the wall,
The robot 1 rotates 90 ° to the left and then moves forward a little to move to the start position of the next zigzag travel block. Thereafter, by repeating the zigzag travel in the same manner, the work is completed at the point e.

In FIG. 12, the end position (point e) of the work is set to the start side of the work of the robot 1, but the end position of the work is opposite to the start direction of the work of the robot 1 according to the setting of the user. (Point d).

FIG. 14 shows a case where the user works in the same place as in FIG. 12, the user sets the concentration of the working liquid to 30%, the outside air temperature to 25 ° C., the temperature of the floor surface to be applied to 25 ° C., and the humidity to 70%.
It is a figure which shows the path | route when% and the wind near a floor surface are set to none.

In this case, it is identified that the 16th environment corresponds in the table of FIG. 8, and the value of the wax drying time T is 5.3 minutes. Thus, a value of, for example, 200 cm, which is a shorter value than the example in FIG. 12, is calculated as the value of the length L2 in the vertical direction of the zigzag travel. Note that the last block of the zigzag travel is L2 = 2
When the vehicle travels at 00 cm, the work area protrudes. Therefore, L2 = 100c according to the remaining amount of the work area.
The travel is performed as m. Then, the work ends at point d or point e according to the input from the user.

FIG. 15 shows that in the same place as in FIG. 12, the user sets the concentration of the working liquid to 30%, the outside air temperature to 20 ° C., the temperature of the floor to be applied to 20 ° C., the humidity to 80%, and the wind near the floor. It is a figure which shows the driving | running | working route when input is done.

In this case, the seventeenth environment in FIG. 8 is identified, and it is determined that the wax drying time T is 6 minutes. Then, a value of 225 cm is calculated as the value of the length L2 in the vertical direction of the zigzag travel. Thus, as shown in FIG. 15, the work range is divided into four blocks, and zigzag travel is executed in each block. Note that this figure shows an example in which the user sets the work end position of the robot 1 in a direction opposite to the work start side, and the robot 1 has finished work at point d.

As described above, in the present embodiment, since the traveling route is calculated according to the environment in which the robot 1 performs the work, high-quality work can be performed.

In the present embodiment, the drying time of the wax is determined by using the table. However, the drying time may be directly calculated from the input numerical value of the environment by a mathematical expression.

The table also shows the wax concentration and the like.
Although two environments are stored, the travel route may be calculated based on one or more environments.

In addition, the finish of the application operation of the paint or the adhesive differs depending on the environment, and therefore, the present invention can be implemented.

The environment may be input by a sensor or the like. Third Embodiment FIG. 16 is a block diagram showing a circuit configuration of a robot according to a third embodiment of the present invention.

The robot according to this embodiment includes an environment sensor 74 for identifying the surrounding environment in addition to the circuit configuration of the robot according to the first embodiment. The value related to the environment identified by the environment sensor 74 is
It is input to U12 and used for calculating the travel route.

FIG. 17 is a flowchart showing a process performed by the robot 1 in the present embodiment.

Referring to the figure, in step S 300, the user inputs, via controller 2, the vertical length Lx and the horizontal length Ly of the work area and the position where the work is to be completed. In addition, the user simultaneously inputs the concentration of the wax to be used.

In step S301, the environment sensor 7
From 4, numerical values relating to the environment around the robot 1 are input. The numerical values input here are the outside air temperature, the temperature and humidity of the floor on which the wax is sprayed, and the presence or absence of wind near the floor.

In step S302, the vertical length (block length) L2 of the zigzag travel is calculated based on the input numerical value.
Is calculated. In step S303, a traveling pattern is generated based on the calculated vertical length L2 of the zigzag traveling.

The work is performed based on the running pattern generated in step S304. Step S305
It is determined whether the operation of one block is completed.
If YES, it is determined in step S306 whether work in all areas has been completed, and if YES, the work is finished.

On the other hand, if “NO” in the step S306, a numerical value is input again from the environment sensor 74 in a step S307. The vertical length L2 of the zigzag travel is recalculated based on the numerical value input in step S308. In step S309, it is determined whether the vertical length L2 of the zigzag travel has been changed from the previous value. If YES, a travel pattern is generated again in step S310, and the processing from step S304 is performed.

If NO in step S305 or NO in step S309, the processing from step S304 is repeatedly executed.

FIG. 18 is a plan view showing a specific example of a route along which the robot 1 travels in the present embodiment.

Referring to the figure, the user inputs the vertical length Lx and the horizontal length Ly of the work area, the work end position (point e), and the wax concentration via the controller. Here, the concentration of the wax is set to 20%. The left and right sides of the work area are sandwiched between walls, and windows are provided on the walls. At the work start point (point a), the light from the window does not directly hit the floor.

Next, numerical values relating to the external environment are input by the environment sensor 37 provided in the robot 1. At the beginning of the work, it is assumed that the outside air temperature is 20 ° C., the temperature of the floor surface to be applied is 20 ° C., the humidity is 80%, and there is no wind near the floor surface. The robot 1 calculates the wax drying time T corresponding to the environment with reference to the table shown in FIG. 8, and calculates the vertical length L2 of the zigzag travel from the drying time T. It is assumed that the value of L2 as a result of the calculation is 400 cm.

Then, the zigzag lateral movement pitch p and the number of reciprocations N are calculated from the vertical length Lx and the horizontal length Ly of the work area and the calculated vertical length L2 of the zigzag travel. You.

Then, the robot 1 actually starts zigzag traveling using the calculated lateral movement pitch p and the like.

The operation is performed from the point a toward the point b. When the robot 1 reaches the point b, the robot 1 makes a right turn 90 °, moves forward by a distance Ly, and then makes a left turn. Then, the vehicle travels a short distance to reach the point a '.

In this state, since the robot 1 has completed the operation of one block, the robot 1 again uses the environment sensor 74 to measure a numerical value corresponding to the external environment. Here, if there is no change in the environment, the second block travels in the same manner as the first block, and the same operation is performed.

After the work of several blocks is completed, it is assumed that the outside air temperature, the floor temperature, the humidity, and the like have changed at the point c due to the sunlight incident from the window. Then
At the start point (point a ″) of the next block, when the external environment is measured by the environment sensor 74, the vertical length L2 of the zigzag travel is changed.
In subsequent blocks, work corresponding to the changed environment is performed.

For example, at the point a ″, the outside air temperature is 25
If it is measured that the temperature changes in ° C., the temperature of the floor surface to be applied changes to 25 ° C., and the humidity changes to 70%, the control is performed so that the vertical length L2 in the zigzag direction changes to, for example, 300 cm.

If the remaining vertical length of the work area at the point a ″ is 400 cm and the recalculated vertical length L2 of the zigzag travel is 300 cm,
The vertical length L2 of the zigzag travel is 300 cm and 100
Since it is more efficient to divide the work into two runs of 200 cm than to work separately, the travel route may be created with L2 = 200 cm.

As described above, in this embodiment, every time the work of each block is performed, the surrounding environment is automatically sensed by using the environment sensor 74, and the most appropriate traveling route corresponding to the sensing is determined. Since it is created, the quality of work can be further improved.

[Brief description of the drawings]

FIG. 1 is a perspective view of a robot according to a first embodiment of the present invention.

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

FIG. 3 is a view showing a screen displayed on a display unit 18 of the controller 2;

FIG. 4 is a block diagram showing a circuit configuration of the robot 1.

FIG. 5 is a block diagram showing a circuit configuration of the controller 2.

FIG. 6 is a plan view of a movement path determined by the robot 1.

FIG. 7 is a flowchart showing a traveling process of the robot 1.

8 is a diagram showing a table for calculating a time T in FIG. 7;

FIG. 9 is a flowchart of a routine (S103) for calculating the lateral movement pitch p and the number of lanes N in FIG. 7;

FIG. 10 is a plan view for explaining a work width of the robot 1 and an overlap region of the work.

FIG. 11 is a plan view of a movement path of the robot 1 according to the second embodiment.

FIG. 12 is a plan view showing a movement path of the robot 1 in the first environment.

FIG. 13 is a plan view for explaining the operation of the robot 1 at a point b in FIG.

FIG. 14 is a plan view showing a movement path of the robot 1 in a second environment.

FIG. 15 is a plan view showing a movement path of the robot 1 in a third environment.

FIG. 16 is a block diagram illustrating a circuit configuration of a robot 1 according to a third embodiment.

FIG. 17 is a flowchart illustrating a control process of the robot 1 according to the third embodiment.

FIG. 18 is a plan view showing a traveling route of the robot 1 according to the third embodiment.

FIG. 19 is a plan view for explaining an example of zigzag traveling.

FIG. 20: Pitch z of zigzag travel and overlap width W of work
It is a figure for explaining the relation with.

[Explanation of symbols]

 1 robot 74 environment sensor

Claims (2)

[Claims] 1. A control device for a moving body that controls a moving body that moves in a work area, wherein the moving body performs work in a first area in the work area, and then controls the first body. Control means for controlling the moving body so as to perform work in a second area having a common area with an area; and input means for inputting information on a factor affecting a result of the work of the moving body, In the common area, based on the time from when the moving body first works to the time when the moving body works again and the input information, the moving path of the moving body is determined. Body control device. 2. A control device for a moving body for controlling a moving body moving in a work area, wherein the moving body performs a work in a first area in the work area, and then controls the first body. A control unit configured to control the moving body so as to perform a work in a second area having a common area with the area; and a sensor configured to detect environmental information related to a factor affecting a result of the work performed by the moving body. In the control device, in the common area, a moving path of the moving body is determined based on the time from when the moving body first works to the time when the moving body works again and the detected environment information. A moving body control device characterized by the following.