JPS61180885U

JPS61180885U -

Info

Publication number: JPS61180885U
Application number: JP1985065719U
Authority: JP
Priority date: 1985-05-01
Filing date: 1985-05-01
Publication date: 1986-11-11
Also published as: JPH0228152Y2

Description

[Brief explanation of drawings]

第１図はこの考案の制御手段を示すブロツク図
、第２図はロボツト本体及びアームの動作凡例図
、第３図Ａ，Ｂはこの考案に使用されるロボツト
本体の要部の具体的な構成を示し、第３図Ａは平
面図、第３図Ｂは第３図Ａ―Ａ線一部断面正面図
、第４図はロボツト本体の制御部のブロツク図、
第５図は障害物の例を示す断面図、第６図から第
８図は動作を説明する制御フローチヤートである
。１……基本姿勢作成手段、２……登板姿勢作成
手段、３……降坂姿勢作成手段、４……終段姿勢
作成手段、１１……段差部、１２……ロボツト本
体、１２ａ……前アーム、１２ｂ……後アーム。 Figure 1 is a block diagram showing the control means of this invention, Figure 2 is a legend of the operation of the robot body and arm, and Figures 3A and B are the specific configurations of the main parts of the robot body used in this invention. 3A is a plan view, FIG. 3B is a partially sectional front view taken along the line AA in FIG. 3, and FIG. 4 is a block diagram of the control section of the robot main body.
FIG. 5 is a sectional view showing an example of an obstacle, and FIGS. 6 to 8 are control flowcharts explaining the operation. DESCRIPTION OF SYMBOLS 1...Basic posture creation means, 2...Uphill posture creation means, 3...Descent posture creation means, 4...Final posture creation means, 11...Step portion, 12...Robot body, 12a...Front Arm, 12b...rear arm.

Claims

[Scope of utility model registration request]

A robot body is provided with an arm that can freely rotate back and forth, a tilt angle sensor is provided on the robot body and detects the front and rear tilt angles and left and right tilt angles of the body, and a tilt angle sensor is provided on the arm and the arm is Equipped with a step detection sensor that operates when it hits an obstacle consisting of a step such as a weir or a step board, and a horizontal detection sensor that is installed on the robot body and detects the horizontal state of the robot body, and inputs signals from each sensor. In a mobile robot that calculates by using the calculation output and controls the movement of the robot body,
A base posture in which the front arm is formed to have an angle θ ₂ with respect to the floor surface, the rear arm is formed to have an angle θ ₃ with respect to the floor surface, and the posture of the robot body is created such that θ ₂ ≧ θ ₃ . a slope-climbing posture generating means that detects a stepped portion and travels while rotating the front and rear arms downward; and a slope-climbing posture generating device that detects a stepped portion and travels while rotating the front and rear arms downward; A downhill posture creating means rotates the front and rear arms upward when the front and rear arms are rotated upward, and a final stage posture creating means where the front and rear arms reach a substantially horizontal position, completes the downhill, stops, and returns to the basic posture. Automatic obstacle overcoming device for a traveling robot.