JPS6111818A - Robot roller - Google Patents

Abstract

PURPOSE:To make an unmanned automatic travelling truck treavel on a fixed course and to reduce labor by forming an independent steering device and a position correcting device on the automatic travelling truck. CONSTITUTION:The automatic travelling truck A is provided with a moungint board 1, a roller-shaped driving wheel 2 and a steering control wheel 3 to be steered and the independent steering device B and the position correcting device C are also mounted. The independent steerinf device B consists of gyroscope and a measuring roller for measuring a travelling distance to measure a current position from the original point of a start position and execute straight advancement or the llke on the basis of the position correcting operation of itself. The position correcting devide C consists of a sensor head 4 and a position correcting dog 6i which are planted on the mounting board 1 and right and left sensors 7L, 7R are projected from both the sides of the head 4. A clearance S is formed on the base end of each dog and an objective point P for guide is formed on the intermediate point of the clearance S. Consequenlty, the sensor head 4 passes the guiding objective point P and goes straight on, so that an error in the x direction as for the position measured by the device B can be corrected.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a robot roller that is a compaction roller for maintaining tennis courts, exercise grounds, etc.

[Prior Art] Daily use of compaction rollers for maintenance of tennis courts, exercise grounds, etc. requires a lot of labor, but such a method has not yet been provided.

[Object of the invention].

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a robot roller that is a compaction roller for maintaining tennis courts, exercise grounds, and the like.

[Structure, operation and effect of the invention] According to the present invention, there is provided a self-propelled trolley having roller-shaped running wheels and a power source necessary for self-propelling, and a self-propelled trolley having roller-shaped running wheels and a power source necessary for self-propelling; It is equipped with a self-contained navigation device that can measure its own position without information, and a position correction device that corrects errors in the position measured by the self-contained navigation device due to instrument accuracy.

Therefore, by traveling unmanned on a predetermined course such as a tennis court using an independent navigation device and a position correction device, compaction rollers can be performed using roller-shaped running wheels, and labor can be completely reduced. can. Note that the present invention can also be implemented in concrete finishing machines, automatic lawn mowers for golf courses, vacuum cleaners, and the like.

[Example] The present invention will be described in detail below with reference to the drawings.

In FIG. 1, the self-propelled trolley A is made up of a pedestal 1 and running wheels', that is, a roller-shaped drive wheel 2 and a steerable steering wheel 3 provided on the pedestal 1 and equipped with a power source (not shown). .

The self-contained navigation device B includes a gyro (not shown), such as a gyro compass or a compass, which is housed inside the frame 1 of the self-propelled vehicle A, and a measuring roller or a tachometer for the driving wheels 2 that measures the travel distance. . Then, as shown in Figure 2, the starting point 4 is set to orthogonal dust s (゛), y
>, the origin is 0, and the y-axis direction is the traveling target direction, the current position x, y of the traveling platform A is, Δg = reading of the measuring roller at a fixed time interval ψ: Δg, the gyro direction when traveling, .

Since ΔX−Δrisinφ Δy=−Δ6 cosφ, it can be measured as ×=ΣΔx y=ΣΔy. And traveling trolley A
Based on the above measurement results, the robot can move straight or diagonally for a certain distance while correcting its own position.

The position correction device C is connected to the sensor head 4 installed upright on the frame 1 of the traveling trolley A in FIG. A large number of docks 61 for position correction are arranged parallel to the side 5s (however: a15., °., d --,
"-@means)'!"1"°1-6・Hereinafter, the direction of the short side 5S is the X direction, and the direction of the long side 52 is the X direction.
The sensor head 4 has a left sensor 7L and a right sensor 7 on both sides.
R is provided protrudingly, and both sensors 7L and 7R are connected to the traveling bogie A.
are arranged in a straight line in the X direction when they are centered in the X direction.

As shown in FIG. 4, the dock 61 consists of a left dock 6L and a right dock 6R, which are tall enough to receive sensors 7L and 7R that are open on the short side 5a at an angle α with respect to the X direction. A sensor head 4 is installed at the base end of each dock.
A rearance S is formed to allow the passage of
A guidance target point P is provided at the midpoint of the clearance S.

If D is a distance slightly narrower than the width of the wider driving wheel 2 or steering wheel 3, then in Fig. 3, the starting point O is moved from the long side 5Q by a distance of 111tD/2 in the X direction. a first dock 6a on the side opposite thereto, and a second dock 611 . Next, from the first dock 6a, a third dock 5c, a fifth dock 6e, at a pitch of 2D in the X direction, a fourth dock 6d, etc., from the second dock 6b, at a pitch of 2D in the X direction, etc.・is set up.

Note that it is desirable that the distance and angle α of the docks 61 in the X direction be set to distances and angles that require position correction in view of the accuracy of the autonomous navigation device B. Then, as shown in FIG. 4, when the sensor head 4 is at position I, the left sensor 7
When L- contacts the left dock 6L and is turned on, the traveling bogie A
curves to the right, the sensor head 4 moves to position 3, and further reaches position am, when the left and right sensors 7L and 7R contact the left and right docks 6L16R and are turned on, the sensor head 4
passes through the guidance target point P and goes straight, and errors due to instrument accuracy in the X direction of the position measured by the autonomous navigation system [8] are corrected.

The dock is a dock 81 of iron products buried in the ground as shown in FIG.
It may be 0m or 10R.

Next, the effect will be explained.

゛At the starting point O, the traveling trolley △ is centered on the dock 6a and starts traveling, and at regular intervals along the way, the current position size, that is, the traveling distance 11ty = = ΣΔy and the error in the X direction with respect to the guidance target point P °X - ΣΔX is measured, and based on the information, the controller automatically turns the steering wheel and moves while correcting the position.゛Then, at the dock 6a, the instrument error in the
The vehicle temporarily stops at point P1. Next, traveling trolley A
moves obliquely backward by a distance R'2 at an angle β with respect to the y direction, and
At point P'2, the vehicle is steered in the y direction and heads toward the dock 6b. Travel a distance R2 in the y direction from point P'''zz,
On the way, the instrument error in the x direction was corrected at dock 6b, and the point P
Stop at 2 for a while. In this way, the traveling trolley A repeatedly travels back and forth parallel to the long side of the tennis court 5, and the roller-like driving wheels 2 and steering wheels 3 of the traveling trolley A perform a compaction roller. At this time, traveling trolley A during reciprocation
The pitch of the course is set to a distance tWO, that is, a distance that is slightly narrower than the width of the wider of the driving wheels 2 and steering wheels 3, so the compaction widths by the wheels overlap each other, and therefore, It is well compacted and rolled.
As explained above, according to the present invention, it is equipped with a self-propelled cart, an independent navigation device, and a position correction device. By doing so, compaction rollers can be performed with roller-shaped wheels, and as a result,
Labor can be completely reduced.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing one embodiment of the present invention, Fig. 2 is an explanatory diagram of measurement of an autonomous navigation device, Fig. 3 is an explanatory diagram of application of the invention to a tennis court, and Fig. 4 is an illustration of a position correction device. The modification explanatory diagram, FIG. 5, is a side sectional view showing another embodiment of the position correction device. A... Traveling trolley B... Independent navigation device C... Position correction device 2... Drive wheel 3... Steering wheel 61
...Dock 7L17R...Sensor Figure 1 Figure 3 Figure 4 ◇A Figure 5

Claims (1)

[Claims] A self-propelled cart with roller-shaped running wheels and a power source necessary for self-propulsion, an autonomous navigation device that can measure its own position without external information when it is self-propelled, and its independence. A robot roller comprising: a position correction device for correcting cumulative errors in position measured by a navigation device.