JPS6052443B2 - Orientation device for equipment systems - Google Patents

Description

[Detailed description of the invention] 〔Technical field〕 The present invention relates to an apparatus for orienting equipment.

This device performs work on a predetermined plane within a certain space, and when doing so, it automatically recognizes this space defined by walls and obstacles as a planar geometric figure. It moves based on that information. The most obvious example of such equipment is a floor cleaner (such as a vacuum cleaner with a brush), which travels back and forth between offices and factories to perform cleaning tasks.

In view of the general trend towards automation, it is preferable that such equipment be automatically traversed during work and span not only one but several spaces (rooms).

Automatically means that the vehicle runs according to its purpose without constant human monitoring and control. In this case, it is preferable that the device does not collide with walls or obstacles existing in the space, or that even if it does collide, the kinetic energy at that time is reduced to such an extent that no damage occurs. It is also preferable for such equipment to run over the entire floor surface to be worked on, i.e. without leaving any corner or corner of the space to be cleaned unworked. . And, as much as possible, you should avoid running twice, that is, running over areas that have already been worked on or over and over again. [Prior Art] Various attempts have been made in this technical field to satisfy the above requirements.

For example, there is a method of installing conductive wires carrying alternating current on the floor surface on which the vehicle is to be driven.

The device is equipped with a sensor that detects the position of the conductive line, which allows it to run along the conductive line just as it would follow a rail. Therefore, this device has no knowledge of the shape of the space in which it is traveling. Instead of such ゜゜grasping゛, conductive lines are laid directly, which should run around all obstacles in place; ing. In this system, the layout of the equipment is grasped as information that recognizes the space geometrically, and is fixed on the floor or almost unchangeable depending on the line arrangement of the conductive wires. It means that it has been done.
With this well-known method, if the shape of the space changes, it would cost a huge amount of money to adapt to the change.
There is nothing we can do to deal with the obstacles that suddenly appear in the moving area of the equipment. Such shortcomings are due to the West German public release 20
In the device described in 20220, the problem is solved by not relying on guide rails when the equipment runs on the floor.

In other words, the device uses sensors such as microswitches to detect walls and obstacles in its travel range, and then changes its direction of travel to avoid them. However, in this case, the information grasped by the device relates to only a small part of the surrounding spatial form, and is only stored for a short period of time, making it difficult to grasp the overall route that should be taken. It is possible. The equipment described in this West German publication can respond to changes in spatial configuration, and can also respond to obstacles that temporarily appear in the driving range.

However, since this device is not aware of the spatial form of its surroundings, unless the direction in which it can travel is strongly restricted, it will be able to drive on a plane without a plan or purpose. For this reason, the device disclosed in West German Publication No. 2020220 mentioned above is only capable of moving forward, backward, left and right with respect to the main direction of travel. In order to eliminate this, there is one more thing to consider.

It must be ensured that the equipment runs over the floor as completely as possible without leaving any unworked surfaces. This is being attempted as a technique that uses a fixed behavior control, which can be called a driving plan (how the vehicle should travel). Behavioral control determines how a device should react to the information it receives. The above operation plan is, for example, when a device encounters a wall or obstacle on its course while traveling straight forward, it returns to its starting point on the straight course it was traveling on until it encounters the wall or obstacle. Depending on how many of the contacts placed in front of the device operate when the device is touched, it will move a predetermined width perpendicularly (laterally) to the straight line course, thereby returning to the previous straight line course. Moving forward on a new course parallel to the
It is something like this. With this operation plan, it is also possible to perform control such as driving in blind spots behind obstacles and working on the floor there.
2. This makes it possible to work on the entire floor surface, at least when the spatial configuration can be easily grasped. However, the equipment must pass through any location on the floor at least twice (back and forth). Among the many viable operation plans that can be obtained mathematically using topology (topology), as disclosed in West German Publication No. 202022, it is possible to completely cover the defined floor surface with a striped trajectory as much as possible. , and the fact that a less efficient schedule is selected and executed in order to cover as little partitioning as possible (creating a block area where trips are not continuous) is a very special case. technology), and only with that special technology can this known device be able to recognize its position in the space in which it is to travel, determine its direction (called composition), and travel. This is possible.

The running part of the equipment can only move in two mutually perpendicular directions. Since the "orientation device" can only be used to palpate and determine the width of obstacles in the forward direction of the device, it is difficult to plan the operation even in the case of complex spatial configurations. ,
It would be meaningless to try to do the familiar things like completely covering the surface to be worked on or having as few loops and intersections as possible in the travel route. In such known equipment, the travel control is a special mechanical type, so the operation plan, that is, the starting point of the work route is automatically (by the equipment itself) arbitrarily determined within the space where the equipment is located.
Or, if necessary, it is not possible to respond to a detailed plan such as traveling in a direction transverse to the current direction of travel. U.S. Pat. No. 3,128,845 discloses an instrument of the type originally described as a lawn mower (guided), which uses a combination of the two orientations or steering methods described above. In other words, conductive wires are embedded in the boundaries of the ground on which the vehicle is to run, and current is passed through the wires, which are detected by sensors installed in the equipment.
However, the equipment is connected to the conductive wire only at the beginning of its working journey, and goes around the perimeter of the ground to be worked on, cutting the marginal zone into a thin strip. Once this is done, the device moves away from the conductive line, at a completely random angle, and crosses the grass until the sensor detects the conductive line again.

This is also tantamount to "hitting" the conductive line, and therefore, the direction of travel is determined entirely by chance, and the equipment travels away from the conductive line and onto the ground to be worked on. The haphazard zigzag movement continues until the entire lawn has been mowed.

In this case, too, the equipment only obtains very fragmentary information about the boundaries of the ground it is working on each time it collides with the boundaries, and it does not know the moment-by-moment geometry of the space it is traveling through. Equipment does not have the ability to grasp (recognize) things as a whole. The device is not particularly able to recognize sudden or moving obstacles, nor is it able to drive around such obstacles without colliding with them. Needless to say further, the arbitrary change in direction that occurs each time a conductive wire is encountered makes it possible to efficiently (without wasting time) even on surfaces with simple geometries. In other words, it is clear that it is not possible to travel the entire area with fewer crossings.

[Object of the present invention]

In view of the above, the present invention provides a behavior control program that allows the device itself to be freely and arbitrarily inputted without losing sight of its orientation (where it is currently located and in what direction it should move) within the space in which it should travel. The object is therefore an orientation device for moving equipment.

[Configuration of the present invention]

The structure for achieving the object is set out in its entirety in the features of claim 1.

Embodiments of the present invention are disclosed in claims 2 and below, the detailed description section, and the drawings. In the present invention, the solution is based on the following two premises, and is based on the following two premises: It is designed to enable efficient and economical work. (a) The device obtains information about the space surrounding it moment by moment, in geometrical form, as comprehensively as possible and as detailed recorded data.

(b) The device accurately recognizes its current position in the space obtained above each time.

By imposing condition (a) on the device, it is possible to grasp and take into account changes in the spatial form occurring at that time, not only immediately before the device is introduced into the space, but also while it is traveling in the space. This allows for flexibility on a case-by-case basis.

If condition (b) is met, the device can suitably modify its trajectory by means of its equipped control means when it encounters an obstacle.

According to this invention, the device does not have prior input of information about the space in which it is to travel, but suddenly enters the space and first performs an orientation process.

In this process, the floor surface or ground surface (hereinafter referred to as the base surface)
Rather than performing any work on the device, the device's long-distance measurement device randomly measures the current location of the device and points (measurement points) set on walls and obstacles in the surrounding space. Measure many distances. In this way, the device of the invention obtains the most recent and current situational information regarding the space to be worked on. Note that the long-distance measurement device has a photoelectric measurement device described in Swiss Patent No. 574115 as its core component. Photoelectric measuring devices operate so quickly and accurately that within a short period of time they measure a series of measurement points on each wall or obstacle surrounding the device.

These walls and obstacles will be briefly recognized as boundary surfaces in the next step. Distance measurements for measurement points on the boundary surface involve an angle, which angle is obtained, for example, with respect to a zero direction determined by a gyroscope installed in the device.

Coordinate values (polar coordinates) for a series of measurement points are written in a polar coordinate system with the origin at the instrument. These polar coordinate values can be converted into normal planar coordinate values if necessary. Using the coordinate values that represent individual measurement points, a computer can easily calculate the approximate straight line (a straight line that finds two points and connects them) that connects the measurement points that are located separately on the boundary surface.
create. Each boundary surface is represented by a series of approximate straight lines, which are mutually uniform in the case of a flat boundary surface, and approximate a portion of a polygon in the case of a curved boundary surface. Since photoelectric measuring instruments operate very quickly, the individual measuring points are very close together, and even if a polygonal approach is adopted, the accuracy of operating the instrument according to the invention will be limited. is sufficient. The device according to the invention uses the means described above to obtain a sufficiently accurate and realistic picture of the current situation, i.e. with respect to the part of the space in which it is to be driven that is directly visible from the device. . During the previous work process, the equipment traveled through the space in question, but after the work was completed, there was no reason for any new obstacles to appear or for the previous obstacles to disappear. No effect. Furthermore, it is also possible to capture objects and people that move spontaneously in space. These movements are perceived and determined by the device's rapid, continuous measurement behavior. The second condition mentioned above, namely that the device must know its position very accurately each time, is met with the orientation device according to the invention.

Since the device measures the distance to the boundary surfaces surrounding the device not only during the orientation process, but also in the work steps that follow this process, the device at that time measures at least two boundary surfaces that can be detected at that location. From the measured values, you can calculate your own position as you move, with extremely high accuracy, the same accuracy as when a distance measuring device operates.
The location of the equipment is determined. The computers installed in photoelectric measurement devices and instruments, which vary in price, are extremely fast, so the speed of the instruments themselves is not an issue. All the data determined by the coordinate calculation computer, such as the boundary surface, the position of the equipment, or the position of the base surface that has been worked on, is sent to the cognitive information memory, so that the equipment can use all the information arbitrarily when necessary. Make it. This information is used by a trip programming computer installed in the device to calculate a trip program consisting of sequentially ordered steps according to a trip plan that has been fixedly entered into a trip plan memory in advance. Then, the control unit creates control commands according to the operation program, and determines the motion (travel) of the equipment using the operation and control device. In this case, no single operation plan is selected as the one to be adopted. Operation planning is not the subject of this invention. Even if a particular travel plan is appropriate for a space with a specific form, i.e., connecting with a single line takes the shortest amount of time, it may not be appropriate for other specific forms. It is not necessarily suitable for spaces with large spaces. Other operation plans are required for these other specific spaces. Operation plans are unique in each case, and are perfected one by one by experts in the field without much effort, sometimes even after repeated trials. As mentioned above, the photoelectric measuring device forming the input section in the orientation device of the present invention is
Distances regarding a large number of measurement points on the boundary surface of the space can be measured extremely quickly.

Therefore, not only in the orientation process but also in the work process,
Processing all the information that is collected one by one would be a huge technological waste. Therefore, the orientation device of the present invention constantly selects and selects data. In other words,
Compare new measurement results with existing data to see whether they contain new information, and whether, for example, newly measured points are within the accuracy of a known straight line. The data is selected based on the judgment. Measurement results of this type are not used to enrich or modify the already memorized spatial configuration, are not considered, and are not stored. In this way, the orientation device alleviates the torrent of data that it has to process. The coordinate values of the parts are immediately stored directly in the cognitive information memory as data that geometrically represents the space surrounding the device, so when the device moves, the coordinate system that places the origin on the device is Since the coordinate values are constantly changing, it is necessary to constantly and fluidly modify the coordinate values.

Therefore, in the present invention, as soon as sufficient measurement values are obtained during the orientation process and the approximate straight line of the boundary surface and associated cutting points and corners are calculated, A point in space is selected as the origin of a coordinate system whose origin is located in space according to predetermined criteria, and all measured values and approximate straight lines and corners of boundary surfaces are placed in the coordinate system of this selected origin. Modify (convert) based on. The coordinate values obtained in this way based on the coordinate system with the origin in the space are referred to as the current ゜゛specific coordinate values゛ (meaning a value specifying the current surrounding situation surrounding the device). When such conversion is performed, the situation of the space in which the device is running in the cognitive information memory is completed and corrected one by one, and various values are used for the device to move. This has the advantage of avoiding a situation where the system must be constantly revised.

Also, at this time, the moment-to-moment position of the device is simply expressed by two coordinate values in a coordinate system with the origin in space, but since these coordinate values change as the device moves, ゜゜coordinates related to movement This will be referred to as a value.

At all steps (first turning, second turning, etc.) while the equipment travels while working on the base surface, the coordinate values ゛ related to the above ゜゜ movement are stored in the orientation device. , this is used to form the coordinate values ゛ related to the ゜゜ processing.

This recognizes which areas of the base have been processed and which areas have not, and allows the device to reach a point where multiple routes can be selected according to a fixed input operation plan. This is to decide which area to move into. DESCRIPTION OF EMBODIMENTS The construction and operation of the present invention will be described based on a specific embodiment of a device 10 for working on a substrate, such as a vacuum cleaner with a brush or a lawn mower.

As shown in FIG. 1, the alignment device receives measurement result data into the measurement section E1.

This measuring section E1 is a window 12 for information from the outside world. Further, the above-mentioned data is necessary when the equipment travels on a base surface according to a certain plan. In Fig. 1, the measuring section E is shown as a schematic diagram.
1 is equipped with a plurality of unit devices, all of which are built into the device, but their positions can be taken at various locations as appropriate. The measuring section E1 includes a photoelectric measuring device that functions in a far area, a measuring device that functions in a close area, a contactor that functions in a contact area, and in some cases, a gyroscope or a gyroscope that is necessary for angle measurement. It includes a distance measuring wheel that rotates the running surface to measure the distance. The core of the measuring section E1 is based on German patent No. 2235318.
A photoelectric measuring device operating on the order of nanoseconds, which is described in the specification, is extremely expensive and
It is possible to randomly measure distances regarding a large number of measurement points in a short time and with accuracy that is not affected by the measurement area.

These measurement points are located on the walls defining the space to be traveled or on the surfaces of obstacles existing in this space. Since this distance measurement is a scalar quantity, in order to determine each time the angle at which this distance measurement was obtained,
A gyroscope built into the device can be used. The pair of values consisting of the distance measurement value and the associated measurement angle thus each represents the polar coordinate value of the corresponding measurement point on the boundary surface. These polar coordinate values have the current position of the device as the origin, and the zero direction is determined by a gyro. The coordinate values regarding this measurement point are transmitted to the coordinate calculation computer E2.

This computer E2 sets an approximate straight line passing through the measurement point, so that the boundary surface where the ring part is a straight line will be exactly as it is, and the boundary surface where the ring part is curved will be made into a polygon that approximates this. Built-in type (fixed memory type) for displaying
It has a program of. Coordinate calculation computer 1E
2 uses this program to create a limbal diagram of the area that can be measured by the photoelectric far-field measuring device in the space surrounding the device from the coordinate values of the measurement points mentioned above. Initially, the current position of the device is calculated. Create it mathematically as a standard. However, before this mathematical diagram is entered into the cognitive information memory E3 and stored there until the device leaves the space, the coordinate calculation computer E2 calculates the spatial Convert to a coordinate system with the origin at .

In this case, a point in the arbitrarily selected space becomes the origin of a coordinate system with the origin in the space. Coordinate values based on a coordinate system with the origin placed in space are referred to as "specific coordinate values," and the limbal diagram of the space to be traveled, obtained from these coordinate values and stored in the cognitive information memory E3, is It has the advantage that it is not affected by movement of the device.Therefore, in a coordinate system with the origin in such a space, the movement of the device can be expressed extremely accurately by coordinate values related to movement.

This is because a photoelectric measuring instrument can, for example, measure a wall whose position is already known in a coordinate system with its origin in space.
This is because once the current distance has been measured, at that point the time is ripe to determine the ``゜movement coordinate values'' that represent the current position of the equipment from moment to moment.This point will be discussed below. A more detailed explanation will be given with reference to Fig. 5.Here, the above-mentioned configuration simply shows that the current position of the device at any time can be determined with absolute accuracy by means of a photoelectric distance measuring device that operates extremely precisely at all times. Let us confirm only what has been determined.

For example, the orientation device of the present invention does not cause the accumulation of measurement errors that occurs in tracking-type measurement means using only a ranging wheel or a gyroscope. Whenever the equipment works on the base along a predetermined route, the coordinate values related to the movement are inputted to the cognitive information memory E3 as so-called processing-related coordinate values under the control of the cognitive information calculation computer E4. It will be done.

This allows the current status of work to be grasped each time. For this purpose, the cognitive information memory provides information to the subsequent driving programming computer E5, that is, an accurate record of the surrounding space, the moment-by-moment current position of the equipment in this space, and information about the base that has already been worked on. Enter the area display etc. accurately and as needed. Such information is necessary in order to follow the trip plan, to create a driving program that records the route to be taken, and to make the correct and objective decisions at the turning points in the route. The operation plan is fixedly programmed in the attached operation plan memory. The driving situation set in this way will be described in more detail later with reference to FIG. 6 as an example.

The travel programming computer E5 creates a travel program consisting of successive steps as relative target coordinate values, that is, coordinate values recording the next control point on the base surface, and controls this. Convey to control department E6.

The control unit E6 converts these coordinate values into control signals for the drive circuit E7, operates the drive and steering device, and causes the equipment to operate as required. As the power source, various similar sources such as a secondary battery, a fuel cell, a wiring power source, etc. can be used.

The drive and steering device is equipped with a sensor for measuring the steering angle E, and a signal corresponding to the steering angle ε is transmitted to the travel programming computer E5 to prompt a correction of the route. The steering angle ε is the angle formed between the rotational direction' of the steering wheel and an axis predetermined in the device. The structure of the drive and steering device will be explained in more detail with reference to FIGS. 7 and 8. Each of the subsystems E1 to E8 in the device is equipped with a decision signal transmitter that generates a certain type of signal.

This signal has a function of characterizing the operating status of each of these partial systems, and is input to the automatic control device E9. In the automatic control device E9, this signal is determined by a comparison circuit in order to monitor whether the operating status of the partial system is normal. For example, when the operating status of the power source is being controlled (monitored), when necessary, j is
Triggers processing actions such as requests for inspection, automatic charging or refueling, and other similar actions. Regarding automatic charging, for example, a situation can be considered in which a device drives to a charging point and automatically connects to a power supply there.
Before explaining in more detail the functions and importance of the cognitive information calculation computer E4 shown in Fig. 1, it is necessary to discuss the particularly excellent configuration of the measuring section E1 using Figs. 2 to 4. There is.

In these figures, the corner of the space 40 in which the device 10 travels is schematically illustrated as a ring.

Device 10 has a substantially rectangular annulus. As shown in FIG. 2, the device 10 is equipped with two input/output devices on each side thereof. These are built into the photoelectric measuring device of the instrument. These input/output devices are
Even if the device 10 does not change its position by running or rotating, the distance S regarding the eight measurement points on the boundary surface can be calculated.
1 to S8 can be measured as scalar quantities. In FIG. 2, only six measurement points are shown. This measuring mechanism has the function of grasping a distant region and drawing the space or spatial region 40 surrounding the device 10 as a geometric limbus diagram in the form of specific coordinate values. 6 shown in Figure 2
Although one to eight measuring points do not provide a satisfactory geometrical limbal diagram, especially in the case of spaces 40 with complex shapes, it is possible to orient the instrument to look around the surroundings. I can do it.

In the example of FIG. 2, this means 1'4 rotations, so that each measurement direction scans 90 degrees. 4
Since the two measurement directions are perpendicular to each other, a large number of measurements are taken over the entire 3600 peripheral area surrounding the instrument.

For 114 rotations, only the measuring device needs to rotate, even if the device itself does not rotate.

On the other hand, if the measuring device is fixed to the main body of the device,
The equipment needs to travel in place or along a curved path. The fundamental deviation that occurs here can be ascertained using, for example, a built-in gyro or ranging wheel, and the necessary conversion and adjustment are performed by the coordinate calculation computer E2. Measurements are made using a gyro or ranging wheel, and since these measuring instruments are extremely accurate for short-term or short-distance measurements, these measurement methods can maintain sufficient accuracy. Only when the time becomes longer does the risk arise that the zero direction of the gyro will shift or that the slip of the ranging wheel will become too large to be ignored. The instrument includes a third
As shown in FIG.
0.

The distance measuring device 17 can be configured as a photoelectric type or an electro-acoustic type, and the contact measuring device 60 can be configured as an electro-mechanical type such as a limit switch. The measuring section E1 is composed of all of these measuring devices and sensors, and serves as an input point and a data supply point for the orientation device according to the present invention.

This point is to be strictly distinguished from similar devices in this type of technology. While conventional equipment blindly detects the space in which the vehicle should travel, the present invention uses various measuring systems (partial systems) that have different degrees of functionality and different distances. It is used. When a device faces a wall or object in close proximity, the risk of collision is extremely high if the measurement results from the three measurement systems are independent and unrelated to each other.

In such a case, in the present invention, the above three systems are ranked flexibly. That is, when a flexible measurement result occurs, priority is given to the sensor in the nearby area over the measuring device in the far area, and the result by the contactor is given priority over the sensor in the nearby area. Evaluating the measurement results from various measurement systems (whether they are necessary information), comparing them (whether they are within a predetermined accuracy), or specifying priorities (as described above) is the cognitive information calculation in Figure 1. This is one of the substantial tasks of the computer E4. In both the orientation process and the subsequent work process, this computer E4 uses the initially obtained geometric limbus diagram of the space surrounding the equipment and the movement coordinates that record the current position of the equipment. Constantly checks values for completeness and consistency. The geometrical limb diagram is formed from coordinate values relating to the degree identification of walls, corners, protrusions or obstacles.
The cognitive information calculation computer E4 simultaneously calculates a spatial area that has newly entered the field of view of the far area measuring device as an approximate straight line corresponding to its boundary surface, and performs operations such as connecting it to an already recognized spatial area. We also do Also, for example, the device 10 may encounter an obstacle that the photoelectric far-field measuring device and the acoustic close-range sensor cannot accurately capture for some reason, and which the travel programming computer E5 has not focused on. When it recognizes from the signal from the contactor 60 that the computer
4 can interrupt the driving program of the computer E5 by means of its fixedly programmed superordinate orientation plan.

The cognitive information calculation computer E4 can also transmit a new or modified origin (for a coordinate system with the origin in space) to the coordinate calculation computer E2 as necessary.
This is the job of

FIG. 5 shows another section of the loop with respect to the space 40 in which the device 10 travels.

In this figure, the device 10 is first in the position 51, in the process of orientation, and measures the distances with measuring beams S1 to S4 to a series of measuring points set on a wall defining a space. The coordinate calculation computer E2 uses the measured values obtained as a result.
An approximate straight line is obtained through the process described above. However, this approximate straight line is based on a coordinate system with the origin at the device, that is, the origin is at position 51. This coordinate system is
For example, in Figure 5, the wall extending from left to right at the top is expressed by the following equation, and extends in the same direction, but in the middle "
The line segment of the wall displaced by b is expressed by the following equation, and the wall connected to the right end and extending from above to below is expressed by the following equation {3)
x=x1, and a wall extending in the same direction, but displaced to the left by a, is expressed by:

Even if this formula is stored in the cognitive information memory E3,
It is of such a nature that whenever the equipment is moved from position 51 it must be corrected.

In order to eliminate such technical and operational waste, the orientation device of the present invention displays the coordinate values of a specific location at a temporary point outside the space, but at a fixed point with respect to the space. 50 is selected as the new origin.

As a result, the above equation is simple and does not depend on the motion of the equipment 10: Does the equipment 10 travel during work? When it reaches position 52, its "coordinate value regarding movement", that is, the coordinate value J..X2 in the coordinate system with the origin in space, is
It can be easily obtained by setting the distance to the wall recorded in the above equations (2), (2'), (4), and (4'').

That is, the measured values X''2, y''2 are obtained to obtain the coordinate values related to the movement.

The accuracy of these values is not only the accuracy of distance measurement, but also the accuracy of tracking types such as distance measuring wheels and gyroscopes.
It is also affected by the length of the path and the time required to get from the position 51 to the position 52. In FIG. 6, a very schematic ring of a further space 40 to be driven is represented by substantially curved solid and dashed lines. What kind of travel route the device 10 takes depends on what kind of simple travel plan is fixedly programmed into the travel plan memory. This trip plan presents the trip programming computer E5 with a straight line of points from which to make various decisions regarding the next route travel. In Figure 6, we can find a few such decision points, represented by small squares in which the numbers 1 to S are written, which in themselves are only implied. It merely represents one of the possibilities that can be considered based on the operation plan, which is limited to a certain level, and the selection or confirmation, if necessary, is left to experts. The purpose of the present invention is not to provide such a travel plan itself, but to provide a technology for utilizing such a travel plan in a way that is more suitable for the purpose than conventional equipment, by using a special configuration of an orientation device. The purpose is to provide a basic premise. Therefore, it is obvious that if the behavior control of equipment that deviates from the operation plan as described below is programmed into the operation plan memory, the travel route of the equipment 10 will deviate from the illustrated travel route. The space 40 shown in FIG. 6 has an entrance 45 and a series of obstacles 41, 42 and 43 of various configurations.

The device 10 first moves through the space 40 to the decision point 1, where it randomly measures the distances to the surrounding boundary surfaces as an orientation process. After setting the necessary approximate straight line and selecting a fixed origin in space for the coordinate values for the particular, the device automatically determines the starting point from which to start working. Examples of rules for the above case are: ゜゜go to the corner that is longest, visible, and where the two walls are orthogonal, and make the direction of travel parallel to the longer of the two walls. Let it be. It is. Therefore, in the case of FIG. 6, the equipment travels from decision point 1 to decision point 2. The equipment starts from decision point 2.
In Fig. 6, it runs parallel to the wall extending upward from left to right, with a distance from this wall corresponding to half the working width, and meets the existing lateral wall at the end of this wall. do.

The device is now displaced downwards by one of its working widths and returns parallel along a similarly drawn straight path, as shown in the figure. In this way, the device advances to decision point 3 shown in FIG. Then, the travel programming computer E5 is forced to decide whether to move the device straight ahead, to the right, or to the left.

The orientation device according to the present invention has information on which base area has been worked on and which area has not been worked on based on the above-mentioned "work-related coordinate values", so it can implement the following operation planning rules. It can be used: ``If both the left base area and the right base area are unworked, first work on the area near the starting point (decision point 2 in FIG. 6)''.

This almost eliminates the possibility of having to move it around (carrying it to a place where work is not being done). The same rules can be applied to decision points 6 and 8.

In FIG. 6, at decision point 4 after traveling from right to left and parallel displacement from top to bottom, travel programming computer E5 directs the device in a line-of-sight direction, as seen in FIG. First, you are forced to decide whether to move to the right or to the left.

The above rule cannot be used in this case since both unworked areas are at equal distances from the starting point. In this case, a different rule is used: ``Proceed parallel to the previous path in the direction with the shortest distance to the boundary surface.''

Therefore, in the above case, the vehicle travels to the right when viewed from here in FIG. At the same time, the device stores one piece of information at decision point 4.

This information indicates that at the end of rightward travel, the device is displaced downward and parallel by a certain width;
This is necessary in order to achieve the minimum required width when driving under the wall of the obstacle 44 extending from left to right. Without going into details, when creating the necessary rules, experts who create schedule programs try to minimize the number of routes that overlap, that is, to avoid creating loops. pay attention.

If there is a diagonal wall, it is best to first run parallel to the wall. At that time, the path is inclined to the coordinate axis in a coordinate system with the origin in space. By making a suitable selection by means of a decision circuit which has been set in a fixed manner in advance, the device 10 can travel through the current space optimally, that is to say in the shortest possible path and time. The orientation device of the present invention successively completes information regarding the overall shape of the space 40 while the device is moving through the space. When entering the space 40, the corner of the decision point 2 is calculated, and the orientation device runs from the decision point 1 to 9a for other specific coordinate values, such as the corner marked in the figure. obtained in between. 6th
From the figure, for example, between decision points 1 and 2, between 2 and 3, and 3
It is possible to know which corner specific coordinate values can be calculated when the device runs between and 4 and 5 and 6. Thereby, even if there is an entrance or an opening 45, it can be treated as a single closed space and work can be carried out. While constantly calculating coordinate values for new specifics,
By discarding information that has been stored but is no longer needed, the orientation device of the invention can be operated in very large spaces with minimal storage capacity. FIG. 7 shows an embodiment of a device for controlling and driving equipment according to the present invention.

The traveling and operating mechanisms of the devices 21 and 22 will be explained for each device in comparison with well-known equipment. The device of FIG. 7 has double wheels 23, 24, which are driven independently and directly, for example, by a digitally controlled stepper motor. A frame supporting shafts 25 of the double wheels 23 and 24 is rotatably supported by a shaft 27 perpendicular to a machine frame 26 of the equipment. This shaft 27 is designed so that its rotation can be blocked by a snap-in engagement device 28 in case the device travels in a fixed direction for a relatively long period of time. In short, the running and operation of the equipment is performed by controlling the drive motors of the double wheels 23 and 24, and when traveling straight, these motors are driven synchronously, and all the double wheels 23 and 2
4 are arranged in parallel. When changing direction or taking a curve, the individual wheels of a double wheel are driven at different speeds or in different directions. For this reason, the double wheels are placed at precisely defined positions on the machine frame 26. FIG. 8 shows another embodiment of the steering/driving device, which is driven by a single wheel 29.

The single wheel 29 is eccentrically supported to one side and is similarly rotatably attached to the machine frame 26 via a vertical shaft 27. This is also provided with a snap-in engagement device 28. Again, driving and maneuvering are performed by controlling the drive motors of the wheels. The above two embodiments have the operability of freely traveling on a flat surface, and the overall number of power transmission parts and the space required to accommodate the motor are small.

Also, the energy required for maneuvering can be considered as part of the energy required for driving. FIG. 9 again represents the device 10 as a schematic limbus diagram, in this embodiment the limbus of the device 10 is rectangular with two photoelectric input/output points 11 on each side.
, 12, which are connected cyclically one after the other to a single measuring device 13. This input/output point is equipped with a lens system, which allows the light diffusion angle δ to be changed as appropriate, so that when measuring a distant region, the diffusion is small, and when a close region is measured, the diffusion is large. FIG. 10 shows a concentric arrangement of lenses at input and output points 11 and 12, which is necessary to block unnecessary light.

11 and 12 show another embodiment of the device 10, in which the photoelectric input/output devices 11, 12 are not fixed to the sides, but are mounted on a rotary tube 16 arranged on the top surface of the device 10. It is located.

With this, there are only six input/output points, and of course it is necessary to take other rotation angles at random in order to make sufficient measurements. Due to the structural arrangement of the input/output points 11 and 12, each measurement direction is defined within a predetermined angular range.

11 and 12 further show that electro-acoustic transmitters 19 and receivers 20 are arranged near the base surface of the outer edge of the device, that is, for example, at the four corners 18 on the base surface side. Recognize.

This transmitter/receiver works in close proximity and protects equipment, especially from bumps. The devices described above may include the following well-known or commercially available devices.

E1: Disclosed in German Patent No. 2235318 as a photoelectric measuring device for distant areas. Apparatus ○ As an ultrasonic distance measuring device for the far and near areas of the laser radar LDl5l of Euming: ○ For the contact area of the 4'ZOllmeterl device of Keuth. Microswitches E2 to E6 and E9 of arbitrary structure: Microcomputer with programming and operating memory, such as Intel's System 8008 or E7: Digitally controlling the drive and power source. Output circuit for.

Product E8 from AEG, BBC or EBE: As a step motor or reluctance motor, Berger, Llhr or Charet,
From Paris.

Or Kolbe &CO's disc motor. The steering angle is determined by Dr. This can be done with the angle indicator ROD5OO from JOhannes Heidenhain.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of the orientation device in the device. FIG. 2 shows the operating status j of the measuring device in the instrument, and schematically shows the far region of FIG. FIG. 3 shows the operating status of the measuring device in the instrument, and shows the state of operation of the measuring device in the apparatus, and shows what is related to the proximal area of FIG. Fourth
The diagram shows the operating status of the measuring device in the equipment.
2 shows the contact area of FIG. 1; Figure 5 shows the first
FIG. 3 is a diagram for schematically explaining coordinate value calculation and coordinate value conversion executed by the orientation device of the device in the figure. Figure 6 schematically shows the running situation within a predetermined space, and is based on a specific orientation plan, operation plan, or processing plan that the equipment shown in Figure 1 should follow. . FIG. 7 is a schematic diagram of a symmetrical dual drive wheel in the device. FIG. 8 is a schematic sectional view of a cantilevered single drive wheel in the device. FIG. 9 is a plan view showing an embodiment of a device equipped with a photoelectric measuring device. FIG. 10 shows an example of a lens configuration of a photoelectric measuring device in an instrument. 11th
The figure is a plan view of an embodiment for schematically explaining a system for acoustically measuring the input/output points of a photoelectric measuring device in a device. FIG. 12 is a side view of the embodiment shown in FIG. 9, schematically illustrating the arrangement of the transmitter and receiver of the acoustic measurement system. E1: Measuring section, E2: Coordinate value calculation computer 1, E3: Cognitive information memory, E4: Cognitive information calculation computer 1, E5: Driving programming computer 1, E6: Control section, E7: Output circuit, E8:
Drive and control device, 10: Equipment, 11, 12: Input/output points, 13: Measuring instrument, 16: Rotating cylinder, 18, 19: Feeding/
Receiver, 17: Distance measuring device, 21, 22: Control/drive device, 23, 24: Double wheels, 25: Axis, 26: Machine frame, 27
: vertical axis, 28: engagement device by fitting, 29: single wheel, 40: space, 50: origin of coordinate system with origin in space,
51: Current position of the device (origin of a coordinate system with the origin at the device), 52: Example of moving point of the device, 60: Contact measuring device.

Claims (1)

[Scope of Claims] 1. An orientation device in equipment that travels through a space defined by walls and/or obstacles based on geometrically recorded data by surveying this space, and The device 10 is equipped with an orientation device which, at least during the initial orientation process, determines the distance between the device 10 and the measurement point on the wall and/or obstacle. A distance measuring device E1 that measures directly and around the surroundings as a scalar quantity, - A coordinate calculation computer E2 that calculates the above measurement results into data that records the space geometrically through mathematical processing, - this Cognitive information memory E3 for storing data on the geometrical recording of space for the next work process - During the working process, the data on the geometrical recording of space and the measurement results are transferred to the travel plan memory Based on the programmed driving plan,
Travel consisting of mutually successive steps in order to travel and work on the base surface as long as possible and in as short a time as possible, by preferentially working on the work surface closest to its starting point. a travel programming computer E5 configured to program; and-
An orientation device characterized by comprising a control section E6 that issues control commands to equipment operation and control devices E7 and E8 based on a formed travel program. 2. An orientation device in equipment that travels through a space defined by walls and/or obstacles based on data recorded geometrically by surveying this space, and moves over the entire surface of a predetermined base surface. The orientation device of this device 10 at least - at least in the initial orientation process directly determines the distance between the device 10 and the measurement point on the wall and/or obstacle as a scalar quantity. , and a distance measuring device E1 that measures the surroundings in one go - The distance measurement results described above are spatial data based on a coordinate system with the origin at the device. “Specific coordinate values” that indicate the positions of corners, walls, and obstacles based on a coordinate system with the origin at a point in a space selected according to a fixed orientation plan, that is, a geometric record of the space. A coordinate calculating computer E2 that calculates the coordinates based on the data that has been created, - a cognitive information memory E3 that stores the data that records this space geometrically for the next work process, - a computer that records the space geometrically during the work process; Based on the travel plan programmed into the travel plan memory from the recorded data and the measurement results, the work surface is worked on the base surface with priority given to the work surface closest to the starting point, thereby making the unit route as long as possible and overall. a travel programming computer E5 which forms a program consisting of mutually successive steps for traveling and working in the shortest possible time; and - based on the created travel program, controls the equipment handling and control devices E7, E8. An orientation device characterized by comprising a control section E6 that issues commands. 3 An orientation device in equipment that travels through a space defined by walls and/or obstacles based on the data recorded geometrically by surveying this space, and moves over the entire surface of a predetermined base surface. The orientation device of this device 10 at least - at least in the initial orientation process directly determines the distance between the device 10 and the measurement point on the wall and/or obstacle as a scalar quantity. , and a distance measuring device E1, which measures the surrounding area in one go.
The above-mentioned distance measurement results are spatial data based on a coordinate system with the origin at the device, but this can be processed mathematically,
The orientation device uses a coordinate system with the origin set at a point in the space selected according to a fixed orientation plan, and uses "specific coordinate values" that indicate the positions of corners, walls, and obstacles, that is, the geometric coordinates of the space. Using the distance measurement results obtained continuously during the work process, the current position of the equipment was selected as the origin for "specific coordinate values". A coordinate calculation computer E2 that calculates "coordinate values related to movement" determined based on one point in space - These "coordinate values related to identification" and "coordinate values related to movement" are data that records the space geometrically, respectively. , Cognitive information memory E3, which stores data regarding the movement of equipment for the next work process - During the work process, data that records the space geometrically and data regarding the movement of equipment are transferred to the travel plan memory. Based on the programmed travel plan, by prioritizing the work surface closest to the starting point of the base surface, the reciprocal system can be used to travel and work on the longest unit route and in the shortest possible time overall. - a driving programming computer E5 that forms a driving program consisting of successive steps; and a control unit E6 that issues control commands to equipment operation and control devices E7 and E8 based on the formed driving program. orientation device. 4 An orientation device in equipment that travels through a space defined by walls and/or obstacles based on data recorded geometrically by surveying this space, and directs the device toward a predetermined base surface. the alignment device of the device 10 at least - at least in the initial alignment process directly determines the distance between the device 10 and the measurement point on the wall and/or obstacle as a scalar quantity; , a distance measuring device E1 that measures the surroundings once, - a coordinate calculation computer E2 that calculates the above measurement results into data that records the space geometrically through mathematical processing, - a coordinate calculation computer E2 that records the space geometrically Cognitive information memory E3, which stores data for the next work process - the data obtained during the orientation process, which stores the space geometrically, can be constantly obtained new during the work process. Cognitive information calculation computer E4 constantly monitored, corrected and completed by distance measurements of scalar quantities - during the working process, programming from the data of the geometrical recording of space and the said measurement results into the trip planning memory. Based on the travel plan that has been determined, by working on the base surface with priority given to the work surface that is closest to the starting point, it is possible to create mutually continuous routes in order to travel and work in the longest possible unit route and in the shortest possible time as a whole. - a driving programming computer E5 that forms a driving program consisting of steps; and a control unit E6 that issues control commands to equipment operation and control devices E7 and E8 based on the formed driving program. Orientation device. 5 An orientation device in a device that travels through a space defined by walls and/or obstacles based on data recorded geometrically by surveying this space, and moves over the entire surface of a predetermined base surface. The orientation device of this device 10 at least - at least in the initial orientation process directly determines the distance between the device 10 and the measurement point on the wall and/or obstacle as a scalar quantity. , and a distance measuring device E1 that measures the surroundings once, - a coordinate calculation computer E2 that calculates the above measurement results into data that records the space geometrically by mathematical processing, - a coordinate calculation computer E2 that calculates the data that records the space geometrically. The cognitive information memory E3, which stores the recorded data for the next work process, - equipment 10 looks back and confirms the route it has already traveled from time to time, and detects the path and angle values of the route it has already traveled. constantly monitoring the data geometrically storing said space by means of the detection results of said device and distance measurements of scalar quantities constantly obtained anew during the working process; Cognitive information calculation computer E4, which is modified and completed - during the working process, based on the data of the geometrical recording of the space and the travel plan programmed into the travel plan memory from the said measurement results, the said base is updated as much as possible. a travel programming computer E5 for forming a travel program consisting of mutually successive steps for traveling and working on long unit paths or in as short a time as possible;
An orientation device characterized by comprising a control section E6 that issues control commands to equipment operation and control devices E7 and E8 based on a formed travel program.