JPS60201409A - Running system of mobile robot - Google Patents

Abstract

PURPOSE:To set a running path which has a durability, can change easily a running path without causing a contamination, and is beautiful in its external apperance, by laying a carpet body which has formed in advance the running path of a mobile robot on a floor. CONSTITUTION:A running path 31 of moving robots A, B is laid on a floor 10 of a restaurant so as to reach each table 13-28 from a standby station 12. The running path 31 forms one straight line path 33 along the center of the upper face of a slender carpet body 32 having a prescribed width, and this straight line path 33 is formed in advance by means of, for instance, interweaving, printing, etc. to the carpet body 32. Subsequently, a prescribed robot running path 31 is formed by laying the carpet body 32 on which the straight line path 33 has been formed in advance as mentioned above, on the floor 10, and the mobile robot A, B held in the standby station 12 can be made to run optionally to each table 13 28 along the running path 31.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a traveling method for a mobile robot that causes the mobile robot to travel along a predetermined traveling route.

[Prior Art and its Problems] Conventionally, self-propelled mobile robot systems have been considered in which articles are transported by mobile robots, for example, in offices, factories, and the like. In this kind of conventional mobile robot system, a tape made of metal oil or the like is pasted in advance along the robot's travel path, and the robot is made to travel along the tape.

However, when a tape made of metal oil or the like is pasted on the travel path of the robot i as described above, there is a problem with the durability of the tape and it easily peels off, causing malfunctions. Furthermore, when the tape is removed to change the route when changing the layout, dirt remains.

This is not so much of a problem in factories, etc., but if the robot is used in a place with a lot of people, such as an office, restaurant, or hotel, the cracks (due to route changes) will be very noticeable and cause discomfort to people. I'll give it away.

[Objective of the Invention] The present invention has been made in view of the above points, and it provides a durable running route for a mobile robot, allows the running route to be easily changed without getting dirty, and is aesthetically pleasing. The purpose of the present invention is to provide a running method for a mobile robot that can set a clean running route.

[Summary of the Invention] According to the present invention, a travel route for a mobile robot is formed in advance on a carpet body, and the carpet body is laid along the planned travel route for the mobile robot.

[Embodiment of the Invention] An embodiment of the present invention will be described below with reference to the drawings. 1st
The figure shows an example of implementation in a restaurant. In the figure, 10 is the restaurant/run floor, and on this floor 10 there is a kitchen 11, a mobile robot waiting station 12, tables 13 to 28, a cash register 29, a shop 3
0 etc. are placed. Then, the waiting station 12
Two mobile robots 1-A and B are always on standby. However, on the floor 10, there is a waiting station 1.
A running path 31 for the mobile robots l-A and B is laid out so as to reach each of the tables 13 to 28 from the robot L-2. The travel path 31 is basically a straight path 33 formed along the center of the upper surface of an elongated carpet body 32 having a predetermined width, as shown in FIG. This straight path 33
is formed in advance on the carpet body 32 by, for example, weaving or printing. In this case, the straight path 33 may be of a different color from the carpet body 32 and can be detected by optical means or the like. Then, the carpeller i/body 32 with the linear path 33 formed in advance as described above is laid on the floor 10 as shown in FIG. 1 to form a predetermined robot travel path 31. When forming this traveling route 31, at the T-junction, the third
As shown in Figure (a), a part of the force-petsu 1 unit 32 is cut out to connect the linear paths 33 to each other. In addition, in the case of a crossroads, each straightway path 33 can be reliably connected by preparing in advance a square carpet body 32a in which a cross-shaped straightway path 33 is formed as shown in FIG. 3(b). Can be done. In addition, the carpet body 32 is placed on the floor 1.
When laying the carpet on Carbella 1, it is preferable to secure both sides of the carpet with metal fittings, bottles, etc., but if you use a carpet that has a certain degree of weight on Carbella 1, there is no need to use metal fittings, bottles, etc. Or, even if used, only the starting end of the carpet needs to be fastened with metal fittings, bottles, etc. By forming the travel path 31 as described above, the mobile robots A and B waiting at the standby station 12 can be arbitrarily moved along the travel path 31 to each of the tables 13 to 28. , 4 novices for each table 13-28 can be quickly and reliably performed.

The carpet body 32 is made of so-called natural fibers or synthetic fibers.
In addition to ordinary carpets using 1iM, materials that have a certain thickness and can be handled like carpets, such as vinyl chloride sheets, polyethylene sheets, etc., may also be used.

Further, in the above embodiment, the straight path 3 is attached to the carpet body 32.
3 has been described, however, for example, a combination of a straight line and a mark may be used, or a mark alone may be used.

[Effects of the Invention] As detailed above, according to the present invention, a travel path for a mobile robot is formed in advance on a carpet body, and the carpet body is laid along the planned travel route for the mobile robot. Therefore, the driving route can be easily changed without getting dirty.

In addition, since it is durable as a travel route for the mobile robot and there is no fear of it peeling off, the travel of the mobile robot can be accurately controlled at any time. Furthermore, by changing the color of the carpet, it is possible to change the atmosphere of an office, restaurant, etc., and it is also possible to set an aesthetically pleasing driving route.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention; FIG. 1 shows the state of laying the running route, FIG. 2 shows the basic structure of the carpet body, and FIGS. It is an explanatory view in the case of forming a T-junction and a crossroads on a travel route. 10...Floor, 11...Cooking area, 12...Waiting station, 13-28...Table, 29...
Cash register, 30...Shop, 31...Driving route, 32.3
2a... Carpet body, 33... Straight path. Applicant's agent Patent attorney Takehiko Suzue 6- Figure 2 Figure 3 (a) (b)

Claims (1)

[Claims] A mobile robot in which a travel path is pre-prepared on the floor to serve as a guide for the mobile robot] In the traveling method of ~, a carpet body on which a travel path for the mobile robot is pre-formed is laid on the floor. Characteristic mobile robot running method.