JPH03188510A - Guide running method for moving robot - Google Patents

Abstract

PURPOSE:To perform guide control of high precision by detecting the distance between a moving robot and a sensor to detect the present position and comparing it with set running route information to operate the next movement direction and giving it to a moving robot driving device. CONSTITUTION:With respect to guide running control of a moving robot 1, an operator first operates a keyboard 402 and sets a guide running route while seeing the display on a display device 401 and starts the moving robot 1. Then, an ultrasonic pulse and an infrared pulse are emitted from the moving robot 1, and the personal computer of a guide running controller 4 detects the position of the moving robot 1 by the reception signal received by a receiver 3 and operates the next movement direction and sends the operated result to the moving robot 1 by a radio wave to guide and run the moving robot to a target position. Thus, guide control of high precision is possible.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a guided traveling method for a mobile robot and a separate ultrasonic distance measuring device.

[Prior art and its problems]

The conventional method for determining routes for mobile robots and vehicles has been to lay reflective tape or electromagnetic induction wires on the floor and use them as line guides.

However, these line guides cannot be installed in environments where it is not possible to spread them out on the floor, such as when the floor is uneven or when the guides themselves are severely damaged - for example, in offices, eaves, cafeterias, etc. , such a guide method is not realistic.

On the other hand, methods that do not use line guides include a method in which the mobile robot has two-dimensional floor map information and integrates the distance traveled by the legs (specifically, wheels) (relative position measurement), and a method in which the mobile robot is equipped with a gyro. There are also methods using laser positioning (absolute position measurement).

In the former method, since errors in differential measurement accumulate, it is necessary to recognize some kind of absolute position and reset the position count accordingly. Naturally, it is necessary to set a starting position, and changes in position due to unintentional movements of the robot or vehicle (for example, disturbances) pose a problem, which is not realistic.

On the other hand, the latter method is ideal because the absolute position is known, but due to the principle of measurement, it is extremely expensive and impractical in the practical stage (for example, in ordinary homes).

There is also a method of ultrasonic distance measurement based on the presence of an obstacle (for example, a wall), but this method is far from practical due to the influence of the material and height of the wall.

[Problem to be solved by the invention]

The present invention is a method that does not use a line guide, and is capable of solving both the accumulation of errors in relative position measurement and the high cost of absolute position measurement as in the past, and a guided movement method for a mobile robot. The objective is to realize a distance measuring device suitable for implementing the method.

[Means to solve the problem]

The present invention was made to solve the above problems,
The first invention is to transmit a timing pulse converted into an infrared pulse from a timing pulse generator mounted on a mobile robot, and transmit an ultrasonic signal of a specific frequency from an ultrasonic transmitter, and to combine the timing pulse and the ultrasonic wave. The signal is received by a plurality of receivers installed in the travel area of the mobile robot, and the received signal is sent to a guided travel controller equipped with map information, and this guided travel control device combines the timing pulse received by the receiver with the received signal. The current position is detected by detecting the distance between the mobile robot and the sensor from the ultrasonic wave signal, and the next movement direction is calculated by comparing the detected information with the set travel route information stored in the guidance travel control device. This method is characterized in that the calculation result is wirelessly given to a drive device mounted on the mobile robot to guide the mobile robot.

Further, the second invention is a separate type ultrasonic distance measuring device that measures the distance between 82 points A and 82 by placing an ultrasonic transmitter at point A and an ultrasonic receiver at point B. An infrared pulse transmitter that converts a timing pulse synchronized with the transmitted ultrasonic signal into an infrared pulse and sends it out is installed at a point, and an infrared pulse receiver is installed at a point B, and from these two received signals, A, 82 points are installed. This is a separate type ultrasonic distance measuring device that measures the distance between

[Effect]

According to the first invention described above, it is possible to provide a guided travel control device for a mobile robot at a low cost that can perform highly accurate guided travel control.

Further, according to the second invention, it is possible to provide a distance measuring device useful in cases where wireless and highly accurate distance measurement is required, such as in position control of a mobile robot.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

1 and 2 are a plan view and a side view of an embodiment in which a mobile robot (1) is guided and controlled in a square room 2, and 3 is a receiver installed at the top of the four corners of the room 2; is a guided travel control device equipped with map information located outside room 2.

As shown in FIGS. 4 and 5, the mobile robot 1 includes a distance measurement signal generator 101 that sends out infrared pulses synchronized with ultrasonic signals and timing pulses, and receives command signals from the control device 4. Hour wheel W...
A driving device 102 that drives W is installed. Note that 103 is an omnidirectional transmitter that sends out the infrared pulses and ultrasonic waves, and 104 is a receiving antenna for command signals.

On the other hand, the guided travel control device 4 is similar to a navigation device, and as shown in FIGS. 1 and 3, it includes a display 401 and a keyboard 402 connected to a personal computer PC, and a receiver 3 as shown in FIG. A measuring device 404 equipped with four sets of measuring circuits 403 that measure the distance between the mobile robot 1 (point A) and the receiver 3 (point B) from the infrared pulses and ultrasonic signals received by the A transmitting circuit 405 that transmits the calculated command information to the mobile robot 1 is provided. Note that 406 is a transmitting antenna.

As shown in FIG. 5, the distance measurement signal generator 101 includes a timing pulse generator 105 and an ultrasonic pulse generator 106, and their outputs are sent to an ultrasonic pulse transmitter 108 via an AND gate 107. The light is applied to the light emitting LED 109 and is configured to be emitted to the outside.

On the other hand, the distance measurement circuit 403 is connected to the ultrasonic pulse transmitter 10B.
The ultrasonic pulse receiver 407 receives the ultrasonic pulses sent out from the LED 109, and the light receiving module 408 (receiver) receives the infrared pulses sent out from the light emitting LED 109. 40
9 and the detection circuit 410, the level comparator 4
given to 11.

The timing pulse received by the one-way light receiving module 408 (receiver) is sent to the integrating circuit (
level comparator 4 as a reset signal (not shown).
11 and is applied as a set signal to a flip-flop 412, and is also applied to a distance counter 414 via a differentiation circuit 413, thereby resetting the distance counter 414.

The level comparator 411 starts operating when a set signal is input, and when the input voltage reaches the comparator level, the level comparator 411 connects the flip-flop 4.
12, and the output signal is turned into a latch pulse by the differentiating circuit 415 to stop the counting of the distance counter.

The distance counter 414 counts the output pulses of the count pulse generator 416 input via the AND gate 417 from the input of the reset pulse ■ until the input of the latch pulse ■, and outputs the counting results to the personal computer P.
Output to C.

In this way, each of the four distance measuring circuits 403 is connected to the mobile robot) 1 (point A) and the four receivers 3 provided at the four corners of the room.
Distance between (point B) L*, I, +, Lx.

Measure L, respectively.

Note that the light receiving module 408 includes a light receiving diode 418. as shown in FIG. Amplifier 419. Limiter 420.
Bandpass filter 421. filler 422. It consists of an integrator 423 and a comparator 424, and has a known configuration.

The personal computer PC detects the position of the mobile robot 1 from the above-mentioned distance information, compares it with the set traveling route information, calculates a command signal to be given to the mobile robot, and carries the calculation result wirelessly into the mobile robot 1. The robot is guided to the drive device 102 to guide the mobile robot.

To control the guided travel of the mobile robot 1, first, use the keyboard 4.
02, set a guidance route while looking at the display 401, and start the mobile robot 1.

Then, the mobile robot 1 emits ultrasonic pulses and infrared pulses, and the personal computer PC detects the position of the mobile robot 1 based on the received signals received by the receiver 3, calculates the next direction of movement, and calculates the result of the calculation. is sent to the mobile robot) 1 by radio to guide the mobile robot to the target position.

If there is an obstacle such as a desk in room 2, that information is stored in the personal computer PC as map information, and the mobile robot is made to run in parallel at a safe distance from the border of the obstacle. If you program it,
It is possible to move to the target position by the shortest route.

In the ultrasonic distance measurement method shown in FIG. 5, the measurement sampling frequency is determined by the period Ts of the timing pulse 0, and the sending time of the ultrasonic carrier O is determined by the pulse width τ.

On the receiving side, on the other hand, the timing pulse serves as a reference signal for creating a start point for distance counting and a reset pulse for that count.

The frequency of the ultrasonic pulse carrier is approximately 20 to 50 KH3, and in order to perform measurements with sufficient resolution, measurement response time, and safety without flickering, the timing pulse specifications are T, = = 20 to 20. 80m5ec, r=
It must be in the range of 0.2-0.8 m5ec.

The infrared pulse travels through the atmosphere and reaches the light receiving module 40B with only a delay in the speed of light. Of course, this delay in the speed of light has little effect on ultrasonic distance measurement.

〔Effect of the invention〕

According to the guided traveling method according to the present invention, guided traveling control of a mobile robot can be performed within a range (within 20 points) with practical accuracy (5CII Max) without a line guide.

The device can be provided at relatively low cost.

Furthermore, according to the ultrasonic distance measuring device according to the present invention, distance measurement with the above-mentioned practical accuracy can be performed wirelessly.
It is particularly suitable for controlling mobile robots.

[Brief explanation of drawings]

FIG. 1 is a schematic plan view of an embodiment of the present invention, FIG. 2 is a side view thereof, FIG. 3 is a schematic configuration diagram of the entire control system, FIG. 4 is a schematic configuration diagram of a mobile robot, and FIG. FIG. 6 is a block diagram of the acoustic distance measuring device, FIG. 6 is a block diagram of the light receiving module, and FIG. 7 is a signal waveform diagram of each part of FIG. 5. 1... Mobile robot 2... Room 3... Receiver 4... Guidance travel control device 101... Distance measurement signal generator 102... Drive device 103... Transmitter 104...・Reception antenna 105...timing pulse generator 106 ・ ・ 107 ・ ・ 108 ・ ・ 109 ・ ・ 401 ・ ・ 402 ・ ・ 403 ・ ・ 404 ・ ・ 405 ・ ・ 406 ・ ・ 407 ・ ・ 408 ・ ・ 409 ・ ・410 ・ ・ 411 ・ ・ 412 ・ ・ 413 ・ ・ 414 ・ ・ 415 ・ ・ 416 ・ ・ ・Ultrasonic pulse generator・AND gate・Ultrasonic pulse transmitter・Light emitting LED・Display・Keyboard・Distance measurement circuit・Distance measurement Equipment, transmitting circuit, transmitting antenna, ultrasonic pulse receiver, light receiving module, filter circuit, detection circuit, level comparator, flip-flop, differentiating circuit, distance counter, differentiating circuit, count pulse generator 17 18 19 20 21 22 23 24 ・AND gate・Photodetector diode・Amplifier・Limiter・Bant pass filter・Demodulator・Integrator・Converter l...Mobile robot 2...Room 3...Receiver 4...Induction ff control VIW1103 ...
Transmitter 104...Reception antenna 401...Display 402...Keyboard 406...Transmission antenna Figure 7 Procedure amendment (method) Display of case Relationship to Heisei Adult Patent Application No. 326151 case

Claims (2)

[Claims] (1) A timing pulse generator mounted on a mobile robot transmits a timing pulse converted into an infrared pulse, and an ultrasonic wave transmitter transmits an ultrasonic signal of a specific frequency, and the timing pulse and ultrasonic signal are The received signals are received by multiple receivers installed in the moving area of the mobile robot, and the received signals are sent to a guided travel control device equipped with map information. From the sound and sound signals, the distance between the mobile robot and the sensor is detected to detect the current position, and the detected information is compared with the set travel route information stored in the guidance travel control device to calculate the next direction of movement. A guided traveling method for a mobile robot, characterized in that the calculation result is wirelessly given to a drive device mounted on the mobile robot to cause the mobile robot to travel guidedly. (2) In a separate type ultrasonic distance measuring device that measures the distance between points A and B by placing an ultrasonic transmitter at point A and an ultrasonic receiver at point B, an ultrasonic wave is transmitted at point A. An infrared pulse transmitter that converts a timing pulse synchronized with the signal into an infrared pulse and sends it out is provided, and an infrared pulse receiver is provided at point B, and from these two received signals A and B2 are provided.
A separate type ultrasonic distance measuring device that measures the distance between points.