JPS62293320A - Self-traveling robot - Google Patents

Abstract

PURPOSE:To contrive construction of a site of a complicated form by having previously the input of the lateral width and the depth of a robot traveling range to an arithmetic controller and securing the self-traveling of a robot along an indicated traveling path while evading an obstacle if detected by a bumper sensor. CONSTITUTION:A bumper sensor 14 is set at the front part of a truck 1 and has a semicircular arc-shaped sensor body 14a which is symmetrical centering on the center line of the truck 1. The sensor 14 is attached to the truck 1 via a support bar 14b. The body 14q is divided into five sensor parts I-V and the center angle of the part III is set at 60 deg. with those of other sensor parts set at 30 deg. respectively. An arithmetic controller 10 calculates the input signals received from a direction sensor 12 and a traveled distance sensor 13 and then to calculate the total position of the truck 1 via a program. In addition to this program, the controller 10 contains a control program which drives the truck 1 within a prescribed range after input of the lateral width and the depth of said range and a control program which evades the obstacles by the input signals received from the sensor 14.

Description

[Detailed Description of the Invention] 3. Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a self-propelled robot that has the ability to travel straight and change directions, and more particularly, to The present invention relates to a self-propelled robot that can be equipped with a device for performing work on a positioned object, such as a finisher for concrete 1/floor finishing, a lawn mower, a floor cleaning tool, etc.

[Conventional technology] For example, the monolith construction method is currently the mainstream for concrete 1/floor finishing, but with this T method, concrete
The work environment is not necessarily good as the floor finishing is done in parallel with the assimilation of 1~, which often requires late night work and overtime work in low temperatures. A finisher was desired. In addition, due to increased labor costs, there is a desire for robots that can move all over the lawn or floor and automatically mow the lawn, floor cleaning robots, etc. Therefore, the present applicant proposed a traveling trolley equipped with an independent navigation device (Japanese Patent Application No. 132029/1982).

Generally, the principle of running control of a running bogie is as shown in FIG. Zunawara traveling trolley 1 is at origin P at time t=0
The thing that was in the position is Δ between 1: = i-4 and i time.
Steering and moving in the traveling direction φi by Qi, 8 at t=n
When the position is reached, the position (x, y) of the traveling trolley can be determined using the following equation.

nφ1) This current position is calculated and the result is compared with a stored designated travel route (travel position) to control travel.

[Problems to be solved by the invention] Incidentally, in actual sites, columns, reinforcing bars for walls, etc. are often arranged in a complicated manner, and in order to avoid this, it is necessary to input their position information. This is time-consuming and troublesome.

OBJECT 1 OF THE INVENTION Accordingly, an object of the present invention is to provide a self-propelled robot that can perform construction work on sites with complex shapes by simply inputting information about the work range.

[Means for Achieving the Object] In order to achieve the above object, the present invention controls the position of a self-propelled robot using the following algorithm (a command that determines the order in which a series of calculations are performed). In other words, for example, in the work area S shown in Fig. 1, when the self-propelled robot [1] steers the zigzag traveling route RO as shown in the figure, the width W, which has been input in advance, is determined by the value of Assume that an obstacle J is detected within a defined work area S by a bumper sensor having a semicircular arc-shaped detection body.

Therefore, robot 1 avoids the obstacles, but
Since the vehicle travels in a zigzag pattern, the direction in which it will turn next is determined, so the objects detected by the bumper sensor are divided into the left side and the right side, and the processing is performed by classifying them into the following cases.

(Case 1) If the vehicle is detected on the right side and you are planning to turn 90 degrees to the right, back up sharply to avoid the obstacle.
= Later, turn right.

(Case 2) If the vehicle is detected on the left side and is planning to turn 90 degrees to the left, it backs up to avoid an obstacle and then turns to the left.

(Case 3) If the vehicle is detected on the right side and is planning to turn left by 90 degrees, it will turn left on the spot.

(Case 4) If the vehicle is detected on the left side and is planning to turn 90 degrees to the right, it will turn right on the spot.

[Structure of the Invention] According to the present invention, in a self-propelled robot comprising a traveling trolley, a plurality of sensors, and an arithmetic control device, the traveling trolley is equipped with a device that performs work on an object located on a plane. The plurality of sensors include a direction sensor for detecting the traveling direction of the traveling bogie, and a mechanism capable of controlling the self-propelled speed and the self-propelled direction, and a control device for controlling the mechanism. , consisting of a travel distance sensor that detects the travel distance of the traveling trolley, and a bumper sensor that detects the relative position of the traveling trolley and the obstacle based on the area of the sensing body that detects the obstacle by placing an arc-shaped sensing body on the right side. The arithmetic and control device inputs a calculation program that calculates the cumulative position of the traveling bogie by calculating input signals from the direction sensor and the mileage sensor, and the width and depth of the traveling range, and travels within the range. The vehicle includes a control program and a control program for avoiding obstacles based on input signals from the bumper sensor 1.

[Operations and Effects of the Invention] Therefore, a self-propelled robot can travel along a designated traveling path in the same way as a conventional traveling trolley, and if the robot is equipped with a device that performs work on an object located on the traveling plane. , the planar body is processed unattended.

By the way, according to the present invention, the width and depth of the travel range are input in advance, and when the bumper sensor detects an obstacle, the robot avoids the obstacle and runs on its own along the supported travel path. be able to. Therefore, it is convenient to be able to perform construction work on sites with complex shapes by simply inputting travel range information.

[Preferred Embodiment] When carrying out the present invention, it is preferable to use a gyro compass or a compass as the direction sensor, and to use a measuring roller that calculates the distance traveled from the number of rotations as the distance sensor 1.

In carrying out the present invention, it is preferable that the bumper sensor is provided with a sensing body in the shape of a semicircular arc symmetrically with respect to the center line of the traveling truck at the front of the traveling truck, and that the sensing body is divided into a plurality of sensing sections. .

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

In Fig. 2, a running trolley 1 is equipped with a right running wheel 2.3, and a concrete tool T such as a concrete floor finisher, a lawn mower, a floor cleaning machine, etc. is connected to the rear. ing.

The traveling trolley 1 is equipped with an arithmetic and control device 10 composed of a microcomputer, and as will be described later, this device 10 calculates signals from various sensors and data related to the specified traveling progress, and performs calculations as shown in the figure. A control signal is output to a running wheel control device 11.11 that controls the free running speed and free running direction, which is composed of a motor that is not operated, and a drive unit for the motor.

The direction sensor 12 is composed of a gyro compass or a direction magnet, and is configured to detect the gyro angle in the direction 1 of the traveling vehicle 1 and output a detection signal to the arithmetic and control unit 10. The traveling distance sensor 13 detects the traveling distance from the rotational speed of the measuring roller and outputs a detection signal to the arithmetic and control device 10.

A bumper sensor 14, the details of which are shown in FIG. 2, is provided at the front of the traveling vehicle 1. This bumper sensor 14 includes a semicircular arc-shaped sensing body 14a symmetrical with respect to the center line of the traveling vehicle 1, and the sensing body 14a is attached (pushed) to the traveling vehicle 1 by a support bar 14b.

The center of this detection body 14a is located approximately at the center of the traveling side mt fascia 13, and its diameter is formed to be larger than the width of the working tool T, which is wider than the traveling carriage 1.

The detecting body 14a is provided with detecting parts (2) to (V) which are formed by dividing a semicircular arc into five parts, and in the illustrated example, the center angle of the detecting part (2) is 60 degrees, and the center angles of the other detecting parts are each 30 degrees. There is. Therefore, when the radius of the sensing body 14a is r,
The distance between the apex of the detection part ■ and the front and rear ends of the detection part ■ or ■ in the direction of the center line of the traveling bogie is 0.13r, respectively.
It is 0.5r.

The arithmetic and control unit 10 has a program that calculates the cumulative position of the traveling bogie 1 by calculating the input signals from the direction sensor 12 and the traveling distance sensor 13, and the width W and depth D (of the traveling range).
(Fig. 1)) and a control program to avoid obstacles using input signals from the bumper sensor 14. Their functions are shown in Fig. 5. ing. The operation of the control program for avoiding the obstacle after the bumper sensor 1/I detects the obstacle will be explained with reference to FIG. 3 J3 and FIG. 4.

(Front detection A) When the detection part ■ detects the obstacle K, (△-1), the amount of variation of (+3-2) described later is α
Then, it shifts by a small amount α+0.13 (A-2) and turns 90 degrees (A-3).

(Half-turning direction detection B) Next, when turning 90 degrees to the right, if the detection part ■ or ■ detects (B-1), a small amount α
(Turn (B-2) and turn right (B-3).

Next, when making a 90-degree turn, if the detection unit (① or V) detects it, the vehicle will back up by a small amount α and turn.

(Turning direction detection C) Next, when turning 90 degrees to the right,
If detection unit ■ or V detects, (C-1), large amount α+β, that is, if detection unit IV detects, α-1-0
, 5. If the detection unit V detects it, turn α + γ (C-2), turn to the right (C-3), then pass next to the obstacle (C-4), or further. Turn right 90 degrees (C
-5>. Next, when turning 90 degrees to the left, if the detection part (2) detects it, α→-0,5r, and if the detection part (2) detects it, α+r will be turned by 1 and the vehicle will turn left.

The control procedure that satisfies the functions shown in FIG. 5 (well, since it is shown in the flowchart of FIG. 6), the operation of this embodiment will be explained next with reference to FIGS. 5 and 6.

In FIG. 6, first, the width W and depth of the [Sh]-1 method are input (step 81). Next, it is determined whether it is the end point (step S2), and if it is not the end point, it is determined whether the traveling trolley 1 is at the turning point (step S3).
If it is the turning point, it turns (step 810) and returns to step S2.

If it is not the turning point, it is determined whether or not an obstacle is hitting the bumper sensor 14 (Step 84)) If it is not hitting the bumper sensor 14, the travel distance IIIt? The running distance signal from the engine 'v13 is input (step S5), and the running direction signal from the direction sensor 12 is input (step 86). Next, the traveling distance of the traveling trolley 1 is converted into orthogonal coordinates using the direction signal and the traveling distance signal (Step S1), and compared with the target position (Step S8), to control the traveling direction and speed of the traveling trolley 1. 9), return to step S2. Then, when the end point is reached (step S2 is YES), the control ends.

If YES in step S4, that is, if an obstacle is hitting the bumper sensor 14, the bumper sensor 14
In the case of YFS, it is determined whether the vehicle is turning right next (Step 512). When turning to the right, turn back significantly, that is, when it hits the detection part ■, go back by α + γ, and when it hits the detection part V, go back by α + γ (Step 513), then turn to the right. (Step 814), returning to step S2. If NO in step S12, that is, when turning left next time,
Back small, that is, step 51
5), turn to the left (step 816), and step S2
Return to If NO in step 811, it is determined whether the vehicle has hit the detection portion T or ■ on the left side of the bumper sensor 14 (step 817); if YES, it is determined whether to turn left next (step 818).

When turning to the left, move back a lot, that is, when it hits the detection part ■, go back by α + γ, and when it hits the detection part ■, go back by α + γ (step 519), then turn to the left (step 519). Step 520), return to step S2.

If NO in step S12, that is, when turning to the right next time, the vehicle backs up a little, that is, by α (step 521), turns to the right (step 522), and returns to step S2.

If step 317 is No, the detection part in the center of Zunawara■
If the vehicle hits an obstacle, it is determined whether to turn to the right next (step 323), and if it is to turn to the right, it is back slightly by α10°13γ (step 824), Turn to the right (step 525), return to step S2, and turn to the left by turning α→
The vehicle moves backward by −0,13r (step 826), turns left (step 527), and returns to step S2.

[Summary] As explained above, according to the present invention, the width and depth of the travel range are input into the arithmetic and control device in advance, and
When the bumper sensor detects an obstacle, the robot 1~ will avoid the obstacle and run on its own along the designated travel path. Therefore, by inputting simple travel range information, it will be able to construct a site with a complex shape. be able to.

[Brief explanation of drawings]

Fig. 1 is a schematic diagram for explaining the algorithm applied to the present invention, Fig. 2 is a plan view showing one embodiment of a self-propelled robot implementing the present invention, and Fig. 3 shows details of the bumper sensor. FIG. 4 is a diagram explaining the operation after the bumper sensor detects an obstacle, FIG. 5 is a functional block diagram showing the functions of the arithmetic and control device of the present invention, and FIG. 6 shows the control procedure. The flow chart diagram, FIG. 7, is a schematic diagram illustrating a conventional method for calculating the position of a self-propelled robot. 1... Traveling trolley 10... Arithmetic control device 11...
・Running wheel control device H12...Direction sensor 13...
Mileage sensor 14... Bumper sensor 14
a...Detection weight or V...Detection part 111 heat -+ Figure 4 A Front detection B Anti-turning direction detection B-+ detection B-2 Back (small) c-7 detection
C-2 bank (dog) Pass C-4 C-
5 turns A-3 turns ◇

Claims (1)

[Claims] A self-propelled robot consisting of a traveling trolley, a plurality of sensors, and an arithmetic and control unit. The plurality of sensors include a mechanism that can control speed and self-propelled direction, and a control device that controls the mechanism, and the plurality of sensors include a direction sensor that detects the traveling direction of the traveling truck, and a travel distance sensor that detects the traveling distance of the traveling truck. It is composed of a sensor and a bumper sensor that has an arc-shaped sensing body and detects the relative position of the traveling trolley and the obstacle based on the area of the sensing body that detects the obstacle, and the arithmetic and control unit is configured to detect the direction sensor and the traveling distance. A calculation program that calculates the cumulative position of the traveling trolley by calculating input signals from the sensor; a control program that inputs the width and depth of the traveling range and travels within that range; and an input signal from the bumper sensor. A self-propelled robot characterized by comprising a control program for avoiding obstacles.