JPH05250032A - Mobile work robot - Google Patents
Mobile work robotInfo
- Publication number
- JPH05250032A JPH05250032A JP4048188A JP4818892A JPH05250032A JP H05250032 A JPH05250032 A JP H05250032A JP 4048188 A JP4048188 A JP 4048188A JP 4818892 A JP4818892 A JP 4818892A JP H05250032 A JPH05250032 A JP H05250032A
- Authority
- JP
- Japan
- Prior art keywords
- main body
- traveling
- distance
- measuring
- straight
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Electric Suction Cleaners (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
(57)【要約】
【目的】 本発明は本体車輪の滑りを自動的に検出し、
実際の移動距離を認識することができる移動作業ロボッ
トを提供することを目的としている。
【構成】 本体１１を移動させる駆動手段と、本体の方
向を計測する方向計測手段３０と、本体周囲の物体まで
の距離を計測する測距手段３１と、前記駆動手段を制御
し本体１１の走行を制御する走行制御手段３２と、本体
１１の走行距離を計測する走行距離検出手段と、清掃等
の作業を行う作業手段を備え、前記走行制御手段３２
は、方向計測手段３０の出力に基づいて本体１１を所定
の目標方向に直進走行させる直進手段４０と、走行距離
検出手段と測距手段３１の本体直進開始時と終了時の情
報から本体車輪の滑りを求める演算手段３８とを有する
ものである。
(57) [Abstract] [Objective] The present invention automatically detects slippage of a main body wheel,
It is an object of the present invention to provide a mobile work robot capable of recognizing an actual moving distance. [Structure] Driving means for moving the main body 11, direction measuring means 30 for measuring the direction of the main body, distance measuring means 31 for measuring a distance to an object around the main body, and traveling of the main body 11 by controlling the driving means. The traveling control means 32 for controlling the vehicle, the traveling distance detecting means for measuring the traveling distance of the main body 11, and the working means for performing work such as cleaning are provided.
Is based on the output of the direction measuring means 30, the straight traveling means 40 for causing the main body 11 to travel straight in a predetermined target direction, and the traveling distance detecting means and the distance measuring means 31 based on the information at the start and end of the straight traveling of the main body. The calculation means 38 for determining slippage is provided.
Description
【０００１】[0001]
【産業上の利用分野】本発明は自動床面掃除機・自動床
面仕上げ装置等のように往復運動を繰り返しながら自動
的に作業を行う移動作業ロボットに関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile work robot such as an automatic floor cleaner, an automatic floor finishing device, etc., which automatically performs work while repeating reciprocating motion.
【０００２】[0002]
【従来の技術】近年、作業機器に走行駆動装置・センサ
類および走行制御手段等を付加して、自動的に作業を行
う各種の移動作業ロボットが開発されている。例えば自
走式掃除機は、清掃機能として本体底部に吸い込みノズ
ルやブラシ等を備え、移動機能として駆動手段と、走行
時の障害物を検知する障害物検知手段と、位置を認識す
る位置認識手段を備え、この障害物検知手段によって清
掃場所の周囲の壁等に沿って移動しつつ、位置認識手段
によって清掃区域を認識し、この清掃区域内を移動して
清掃区域全体を清掃するものである。2. Description of the Related Art In recent years, various types of mobile work robots have been developed, which are equipped with a traveling drive device, sensors, traveling control means, etc., to a work machine to automatically perform work. For example, a self-propelled vacuum cleaner has a suction nozzle, a brush, etc. at the bottom of the main body as a cleaning function, a drive means as a moving function, an obstacle detection means for detecting an obstacle during traveling, and a position recognition means for recognizing a position. With this obstacle detecting means, the position recognizing means recognizes the cleaning area while moving along the wall around the cleaning area, and moves in the cleaning area to clean the entire cleaning area. ..
【０００３】ここで絨毯目の影響について図８を参照し
ながら説明する。作業区域の床面が毛足の長いカットパ
イルカーペット等のように絨毯目の強い絨毯である場
合、走行中に本体が徐々に絨毯目の方向に流されるとい
う現象が起きる。図８（ａ）は、絨毯のない平坦なベア
フロア上を直進した場合の本体１１の移動軌跡を示して
いる。この場合は絨毯が無いため絨毯目の影響を受ける
ことはなく、本体１１は直進手段によって直進する。従
って移動距離Ｌsaは、本体車輪の回転数から走行距離を
計測する走行距離検出手段が計測した走行距離Ｌeと一
致する。図８（ｂ）は、床面が絨毯であって絨毯目の方
向が下から上の方向、つまり本体１１の進行方向と一致
している場合を示している。この場合は前記走行距離検
出手段が計測した走行距離が前記と同様Ｌeであったと
しても、実際の本体１１の移動距離はこれより長いＬsb
となる。このとき絨毯目による本体１１の流され度合い
を示す（Ｌsb−Ｌe）／Ｌeは、絨毯によってほぼ固有で
ある。そしてこの現象は、車輪がロック状態で床面を滑
るという車輪の滑りに置き換えて考えることもできる。
図８（ｃ）は、絨毯目が下から上方向、つまり本体１１
の進行方向とは逆方向である場合を示している。この場
合は、走行距離検出手段の検出距離がＬeであった場
合、実際の本体１１の移動距離はこれより短いＬscとな
る。この場合の絨毯目による流され度合い（Ｌｓｃ−Ｌ
ｅ）／Ｌｅは、（ｂ）で説明したものとほぼ正負逆の関
係となり、車輪が床面に対して空回りするという車輪の
滑りに置き換えて考えることができる。Here, the influence of the carpet pattern will be described with reference to FIG. When the floor surface of the work area is a carpet having a strong carpet, such as a cut pile carpet having a long hair, a phenomenon occurs in which the main body is gradually washed toward the carpet during traveling. FIG. 8 (a) shows the movement trajectory of the main body 11 when going straight on a flat bare floor without a carpet. In this case, since there is no carpet, there is no influence of the carpet eyes, and the main body 11 goes straight by the straight moving means. Therefore, the moving distance L sa matches the running distance L e measured by the running distance detecting unit that measures the running distance from the rotation speed of the main body wheel. FIG. 8B shows a case where the floor surface is a carpet and the direction of the carpet is from the bottom to the top, that is, the traveling direction of the main body 11. In this case, even if the traveling distance measured by the traveling distance detecting means is L e as described above, the actual movement distance of the main body 11 is longer than L sb.
Becomes At this time, (L sb −L e ) / L e , which indicates the degree of flow of the main body 11 by the carpet, is almost unique to each carpet. This phenomenon can also be considered by replacing it with the slip of the wheel in which the wheel slides on the floor surface in the locked state.
In FIG. 8C, the carpet is in the downward direction, that is, the main body 11
The case is opposite to the traveling direction of the. In this case, if the detection distance of the traveling distance detection means is L e , the actual movement distance of the main body 11 is L sc , which is shorter than this. In this case, the degree of shedding by the carpet pattern (Lsc-L
e) / Le has a relationship of approximately positive and negative opposite to that described in (b), and can be considered by replacing it with the slip of the wheel in which the wheel idles with respect to the floor surface.
【０００４】[0004]
【発明が解決しようとする課題】前記した従来の移動作
業ロボットでは、絨毯目の影響等によって生ずる車輪の
滑りがある場合、本体車輪の回転数によって計測する走
行距離検出手段では実際の移動距離を認識することはで
きないものである。In the above-mentioned conventional mobile work robot, when there is a wheel slip caused by the influence of the stitches of the carpet, the actual distance traveled is detected by the travel distance detection means which measures the rotation speed of the main body wheel. It cannot be recognized.
【０００５】本発明はこのような従来の構成が有してい
る課題を解決しようとするものであって、本体車輪の滑
りを自動的に検出し、実際の移動距離を認識することが
できる移動作業ロボットを提供することを第一の目的と
している。The present invention is intended to solve the problem of such a conventional structure, and it is possible to automatically detect the slip of the main body wheel and recognize the actual moving distance. The first purpose is to provide a work robot.
【０００６】また、実際の移動距離をより正確に認識す
ることができる移動作業ロボットを提供することを第二
の目的としている。A second object is to provide a mobile work robot capable of recognizing an actual moving distance more accurately.
【０００７】[0007]
【課題を解決するための手段】第一の目的を達成するた
めの本発明の第一の手段は、本体を移動させる駆動手段
と、本体の方向を計測する方向計測手段と、本体周囲の
物体までの距離を計測する測距手段と、前記駆動手段を
制御し本体の走行を制御する走行制御手段と、本体の走
行距離を計測する走行距離検出手段と、清掃等の作業を
行う作業手段を備え、前記走行制御手段は、方向計測手
段の出力に基づいて本体を所定の目標方向に直進走行さ
せる直進手段と、走行距離検出手段と測距手段の本体直
進開始時と終了時の情報から本体車輪の滑りを求める演
算手段とを有する移動作業ロボットとするものである。The first means of the present invention for achieving the first object is a driving means for moving the main body, a direction measuring means for measuring the direction of the main body, and an object around the main body. A distance measuring means for measuring the distance to the vehicle, a traveling control means for controlling the traveling of the main body by controlling the driving means, a traveling distance detecting means for measuring the traveling distance of the main body, and a working means for performing work such as cleaning. The traveling control means includes a straight traveling means for causing the main body to travel straight in a predetermined target direction based on the output of the direction measuring means, and a main body of the traveling distance detecting means and the distance measuring means based on information at the start and end of the straight traveling of the main body. A mobile work robot having a calculation means for determining wheel slippage.
【０００８】また第二の目的を達成するための本発明の
第二の手段は、演算手段が、走行距離検出手段と測距手
段の本体直進中の逐次情報から本体車輪の滑りを求める
移動作業ロボットとするものである。The second means of the present invention for achieving the second object is a moving work in which the calculating means obtains the slip of the main body wheel from the sequential information of the traveling distance detecting means and the distance measuring means while the main body is moving straight. It is a robot.
【０００９】[0009]
【作用】本発明の第一の手段は、直進走行した場合に、
本体車輪の滑りを自動的に検出するように作用するもの
である。すなわち、絨毯目の影響等により生ずる本体車
輪の滑りの影響を受ける走行距離検出手段と、この影響
を受けない測距手段の本体直進開始時と終了時の情報か
ら、演算手段が本体車輪の滑りを自動的に検出するもの
である。The first means of the present invention is, when traveling straight ahead,
It acts so as to automatically detect the slippage of the wheels of the main body. That is, based on the traveling distance detection means that is affected by the slip of the main body wheels caused by the influence of the carpet stitches and the information when the main body of the distance measuring means that is not affected by the start and end of straight travel of the main body, Is automatically detected.
【００１０】本発明の第二の手段は、直進走行した場合
に、本体車輪の滑りをより正確に検出するよう作用する
ものである。すなわち、絨毯目の影響等によって生ずる
本体車輪の滑りの影響を受ける走行距離検出手段と、こ
の影響を受けない測距手段の本体直進中の逐次情報か
ら、演算手段が本体車輪の滑りをより詳細に検出するも
のである。The second means of the present invention acts to detect the slip of the main body wheel more accurately when the vehicle travels straight. In other words, the arithmetic unit determines the slip of the main body wheel from the traveling distance detection unit that is affected by the slip of the main body wheel caused by the influence of the carpet and the sequential information while the main body of the distance measuring unit that is not affected by the main body travels straight. Is to be detected by.
【００１１】[0011]
【実施例】以下、本発明の第一の手段の実施例である移
動作業ロボットを図１・図２・図３に基づいて説明す
る。１１は移動作業ロボットの本体（以下単に本体と称
する）、１２Ｌ・１２Ｒはそれぞれ本体１１の左右後方
に設けた駆動輪で、駆動モータ１３Ｌ・１３Ｒで左右独
立に駆動される。１４は本体１１の前方に回転自在に取
り付けた従輪である。以上、駆動輪１２Ｌ・１２Ｒ、駆
動モータ１３Ｌ・１３Ｒ、従輪１４は、本体１１を移動
させる駆動手段を構成している。また１３’Ｌ・１３’
Ｒはそれぞれ駆動モータ１３Ｌ・１３Ｒに接続されたロ
ータリーエンコーダ等からなる回転検出器で、走行距離
検出手段を構成している（以下単に走行距離検出手段１
３’と表示する）。すなわち走行距離検出手段１３’
は、駆動モータ１３Ｌ・１３Ｒの軸回転数を検出してい
る。１５は本体１１の側部から前部にかけて本体１１よ
り突出する左右２つの可動体で、周囲には弾性材からな
る緩衝体１６を取り付けている。この可動体１５は、本
体１１に保持部１７を介して取り付けられ、回動自在に
支持されている。１８は本体１１の後部に取り付けた緩
衝体である。１９は回転板２０の周囲に植毛したブラシ
で、可動体１５に設けたモータ２１によって床面と平行
に本体１１の内側方向に回転駆動され、床面上のゴミを
掃くようになっている。２２は電動送風機、２３は集塵
室で、２４・２５は集塵室２３に設けたフィルタであ
る。２６は本体１１の底部中央に設けた床ノズルで、接
続パイプ２７を介して集塵室２３と接続されている。以
上ブラシ１９・モータ２１・電動送風機２２・集塵室２
３・フィルタ２４・２５は、清掃等の作業を行う作業手
段を構成している。３０は本体１１の方向を計測する方
向計測手段で、本実施例ではレートジャイロおよびこの
出力を積分する積分器等からなっている。３１は本体１
１の前方・左右側方及び後方にある物体までの距離を測
定する測距手段で、本体１１の周囲に設けた超音波セン
サから構成している。３２は方向計測手段３０および測
距手段３１からの情報に基づいて駆動モータ１３Ｌ・１
３Ｒを制御し、本体１１の走行制御を行う走行制御手段
である。３３は全体に電力を供給する蓄電池等からなる
電源である。DESCRIPTION OF THE PREFERRED EMBODIMENTS A mobile work robot which is an embodiment of the first means of the present invention will be described below with reference to FIGS. Reference numeral 11 denotes a main body of the mobile work robot (hereinafter, simply referred to as a main body), and 12L and 12R are drive wheels respectively provided on the left and right rear sides of the main body 11, which are independently driven by drive motors 13L and 13R. Reference numeral 14 is a follower wheel rotatably attached to the front of the main body 11. As described above, the drive wheels 12L and 12R, the drive motors 13L and 13R, and the driven wheels 14 constitute drive means for moving the main body 11. Also 13'L 13 '
R is a rotation detector composed of a rotary encoder or the like connected to the drive motors 13L and 13R, respectively, and constitutes a traveling distance detecting means (hereinafter simply referred to as traveling distance detecting means 1
Displayed as 3 '). That is, the traveling distance detecting means 13 '
Detects the rotational speed of the drive motors 13L and 13R. Reference numeral 15 denotes two left and right movable bodies protruding from the main body 11 from the side portion to the front portion of the main body 11, and a cushioning body 16 made of an elastic material is attached to the periphery thereof. The movable body 15 is attached to the main body 11 via a holding portion 17 and is rotatably supported. Reference numeral 18 is a shock absorber attached to the rear portion of the main body 11. Reference numeral 19 is a brush that is planted around the rotary plate 20 and is driven to rotate inwardly of the main body 11 in parallel with the floor surface by a motor 21 provided on the movable body 15 to sweep dust on the floor surface. 22 is an electric blower, 23 is a dust collecting chamber, and 24 and 25 are filters provided in the dust collecting chamber 23. A floor nozzle 26 is provided in the center of the bottom of the main body 11, and is connected to the dust collecting chamber 23 via a connection pipe 27. Above brush 19, motor 21, electric blower 22, dust collection chamber 2
3. The filters 24 and 25 constitute working means for performing work such as cleaning. Reference numeral 30 denotes a direction measuring means for measuring the direction of the main body 11, and in the present embodiment, it comprises a rate gyro and an integrator for integrating the output. 31 is the main body 1
Distance measuring means for measuring distances to objects located in front of, to the left and right sides of, and to the rear of the body 1, and is composed of an ultrasonic sensor provided around the main body 11. 32 is a drive motor 13L-1 based on information from the direction measuring means 30 and the distance measuring means 31.
It is a travel control means for controlling the 3R and controlling the travel of the main body 11. Reference numeral 33 is a power source including a storage battery or the like for supplying electric power to the whole.
【００１２】図３は本実施例の制御ブロック図で、以下
本実施例の制御構成について図３に基づいて説明する。
方向計測手段３０・測距手段３１・走行距離検出手段１
３’の情報は、走行制御手段３２に伝達される。走行制
御手段３２は、これらのデータを判断して駆動モータ１
３Ｌ・１３Ｒに制御信号を出力し、本体１１の移動方向
・走行距離を制御する。本実施例では走行制御手段３２
は、直進手段４０と演算手段３８を有している。直進手
段４０は、駆動モータ１３Ｌ・１３Ｒを制御し方向計測
手段３０の出力に基づいて本体１１を所定の目標方向に
直進走行させる。演算手段３８は、走行距離検出手段１
３’および測距手段３１の本体直進開始時と終了時の情
報から、絨毯目の影響等による駆動輪１２の滑りの度合
いを演算する。FIG. 3 is a control block diagram of this embodiment. The control configuration of this embodiment will be described below with reference to FIG.
Direction measuring means 30, distance measuring means 31, mileage detecting means 1
The information of 3'is transmitted to the traveling control means 32. The traveling control means 32 judges these data and determines the drive motor 1
A control signal is output to the 3L and 13R to control the moving direction and traveling distance of the main body 11. In this embodiment, the traveling control means 32
Has a straight traveling means 40 and a computing means 38. The straight advancing means 40 controls the drive motors 13L and 13R and causes the main body 11 to travel straight in a predetermined target direction based on the output of the direction measuring means 30. The calculating means 38 is the traveling distance detecting means 1
The degree of slippage of the drive wheels 12 due to the influence of the stitches of the carpet or the like is calculated from the information at the start and end of the straight traveling of the main body of 3'and the distance measuring means 31.
【００１３】以下本実施例の動作について説明する。図
４は本実施例の制御方法を示すフローチャートである。
走行制御手段３２は、まず測距手段３１のデータを初期
値として演算手段３８に送る。次いで直進手段４０が作
用して、駆動モータ１３Ｌ・１３Ｒに直進駆動を指令す
る。同時に走行距離検出手段１３’に走行距離の計測を
開始させる。最後に直進駆動を停止すると同時に、走行
距離検出手段１３’の計測を終了させこの時のデータ
と、停止直後の測距手段３１のデータとを最終値として
演算手段３８に送る。演算手段３８は、走行距離検出手
段１３’と測距手段３１のデータから絨毯目の影響等に
よる駆動輪１２の滑りの度合いを演算する。 次に図５
に基づいて、実際の動作について説明する。図５では、
床面は絨毯で絨毯目は本体１１の進行方向となっている
上向きであるとする。先ず本体１１の後面に設置した測
距手段３１が後方の壁面Ｗまでの距離Ｘ0を計測する。
次いで本体１１は直進手段４０が作用して、始点Ｓから
直進を開始する。同時に走行距離検出手段１３’は駆動
輪１２の回転数を基にして距離計測を開始する。本体１
１は、絨毯目の影響を受けて進行方向に流されながら直
進を行い、終点Ｆに到達して停止する。停止と同時に、
走行距離検出手段１３’は計測を終了し、測距手段３１
が壁面Ｗまでの距離ＸFを計測する。このとき測距手段
３１のデータによって求まるＬs（＝ＸF−Ｘ0）は、本
体１１の実際の移動距離を示し、走行距離検出手段１
３’の検出データＬeに比べて大きくなる。これは、直
進中に絨毯目の影響を受けて進行方向に流され、駆動輪
１２の回転以上に移動したためである。演算手段３８
は、この駆動輪１２の滑りの度合い（Ｌs−Ｌe）／Ｌe
を演算する。本実施例ではこのように、測距手段３１が
壁面Ｗを検知できる間はこの滑りの度合いのデータによ
って、実際の移動距離を求める。また測距手段３１が後
方の壁面Ｗを検知できない状況になった場合は、前記デ
ータによって駆動輪１２の滑りの度合いが分かっている
ため、走行距離検出手段１３’のデータだけから実際の
移動距離を求めている。また、床面がベアフロアの場合
や、駆動輪１２の外周が摩耗・変形した場合の影響につ
いても、前記と同様の動作によって検出することができ
るものである。The operation of this embodiment will be described below. FIG. 4 is a flowchart showing the control method of this embodiment.
The traveling control means 32 first sends the data of the distance measuring means 31 to the calculating means 38 as initial values. Next, the straight driving means 40 operates to instruct the drive motors 13L and 13R to drive straight. At the same time, the running distance detecting means 13 'is caused to start measuring the running distance. Finally, the straight-ahead drive is stopped, and at the same time, the measurement of the traveling distance detecting means 13 'is ended, and the data at this time and the data of the distance measuring means 31 immediately after the stop are sent to the calculating means 38 as final values. The computing means 38 computes the degree of slippage of the drive wheels 12 due to the influence of the carpet and the like from the data of the traveling distance detecting means 13 ′ and the distance measuring means 31. Next in FIG.
The actual operation will be described based on. In FIG.
It is assumed that the floor surface is a carpet and the carpet eyes are upward, which is the traveling direction of the main body 11. First, the distance measuring means 31 installed on the rear surface of the main body 11 measures the distance X 0 to the rear wall surface W.
Then, the straight moving means 40 acts on the main body 11 to start moving straight from the starting point S. At the same time, the traveling distance detecting means 13 'starts distance measurement based on the rotation speed of the drive wheels 12. Body 1
No. 1 goes straight while being swept in the traveling direction under the influence of the carpet pattern and reaches the end point F and stops. At the same time as the stop
The traveling distance detecting means 13 'finishes the measurement, and the distance measuring means 31
Measures the distance X F to the wall surface W. At this time, L s (= X F −X 0 ) obtained from the data of the distance measuring means 31 indicates the actual moving distance of the main body 11, and the traveling distance detecting means 1
It becomes larger than the detected data L e 3 '. This is because, while the vehicle is traveling straight ahead, it is moved in the traveling direction due to the influence of the carpet and moved more than the rotation of the drive wheels 12. Computing means 38
Is the degree of slippage of the drive wheel 12 (L s −L e ) / L e
Is calculated. In this embodiment, as described above, while the distance measuring means 31 can detect the wall surface W, the actual movement distance is obtained from the data of the degree of slippage. Further, when the distance measuring means 31 cannot detect the rear wall surface W, the degree of slippage of the drive wheels 12 is known from the data, and therefore the actual moving distance is obtained from only the data of the traveling distance detecting means 13 '. Are seeking. Further, even when the floor surface is a bare floor or the outer periphery of the drive wheel 12 is worn or deformed, the influence can be detected by the same operation as described above.
【００１４】このようにして実際の移動距離を認識する
ことができれば、走行しながらロボット内部に地図を作
ったり、走行軌跡を内部の地図と比較したりすることが
でき、非常に便利なものとなる。If the actual movement distance can be recognized in this way, it is possible to make a map inside the robot while traveling and to compare the traveling locus with the internal map, which is very convenient. Become.
【００１５】なお本実施例では、床面は絨毯面で目の方
向は本体の進行方向としたが、絨毯目の方向が進行方向
とは逆方向の場合は、滑りの度合の値の正負の符号が逆
転するだけで、その他は前記説明と同一となるものであ
る。また本実施例では、本体１１の後方に位置する壁面
Ｗまでの距離を測定するようにしたが、壁面Ｗの位置を
本体１１の前方としても差し仕えはない。更に、走行距
離検出手段１３’は駆動輪１２の回転数を基にして検出
するとしたが、直進走行性が安定していれば、従輪１４
等他の本体車輪であってもよい。In the present embodiment, the floor surface is the carpet surface and the eye direction is the advancing direction of the main body. However, when the carpet eye direction is opposite to the advancing direction, the value of the degree of slip is positive or negative. Only the signs are reversed, and the others are the same as those described above. In this embodiment, the distance to the wall surface W located behind the main body 11 is measured, but the position of the wall surface W may be in front of the main body 11. Further, the traveling distance detecting means 13 'is supposed to detect based on the number of rotations of the drive wheel 12, but if the straight running performance is stable, the driven wheel 14 is used.
Other body wheels may be used.
【００１６】次に本発明の第二の手段の実施例について
説明する。本実施例の構成については、前記図１・図２
・図３と同様である。図６は本実施例の制御方法を示す
フローチャートである。以下本実施例の制御方法につい
て説明する。走行制御手段３２は、本体１１後面に設置
した測距手段３１のデータを初期値として演算手段３８
に送る。同時に直進手段４０が作用して、駆動モータ１
３Ｌ・１３Ｒに直進駆動を指令する。また、走行距離検
出手段１３’に計測を開始させる。こうして走行距離検
出手段１３’と測距手段３１は、この直進走行をしてい
る間、逐次、データを演算手段３８に送っている。演算
手段３８は、これらのデータから絨毯目の影響等による
駆動輪１２の滑りの度合を演算する。この演算は、直進
駆動が停止されるまでの間、逐次継続して続けられる。Next, an embodiment of the second means of the present invention will be described. The configuration of this embodiment is shown in FIG.
-Similar to FIG. FIG. 6 is a flowchart showing the control method of this embodiment. The control method of this embodiment will be described below. The traveling control means 32 uses the data of the distance measuring means 31 installed on the rear surface of the main body 11 as an initial value, and the calculating means 38.
Send to. At the same time, the straight-moving means 40 acts to drive the drive motor
Command 3L and 13R to drive straight. In addition, it causes the traveling distance detecting means 13 'to start the measurement. In this way, the traveling distance detecting means 13 'and the distance measuring means 31 successively send data to the computing means 38 during the straight traveling. The computing means 38 computes the degree of slippage of the drive wheels 12 due to the influence of the stitches of the carpet from these data. This calculation is continuously continued until the straight driving is stopped.
【００１７】次に図７に基づいて、本実施例の実際の動
作について説明する。前記した図５と同様の部分は説明
を省略する。図７では、床面は絨毯で構成されており、
絨毯目の方向は本体１１の進行方向と一致している上向
きとする。本体１１の後面に設けている測距手段３１
が、後方の壁面Ｗまでの距離Ｘ0を計測する。同時に直
進手段４０が作用して、本体１１は始点Ｓから直進を開
始する。走行距離検出手段１３’は、この直進開始と同
時に走行距離の計測を開始する。本体１１は、絨毯目の
影響で進行方向に流されながら直進する。このとき走行
距離検出手段１３’は、走行距離Ｌe（ｎ）（ｎ＝１，
２，３，・・・ｎmax）のデータを逐次演算手段３８に
伝達する。同様に測距手段３１もデータＸ（ｎ）（ｎ＝
１，２，３，・・・ｎmax）を逐次演算手段３８に伝達
する。演算手段３８は、この二つのデータのｎが等しい
ものは同一タイミングのデータとして処理する。すなわ
ち、Ｌs（ｎ）＝Ｘ（ｎ）−Ｘ（ｎ−１）と、滑りの度
合（Ｌs（ｎ）−Ｌe（ｎ））／Ｌe（ｎ）を演算する。
この演算を本体１１が終点Ｆに到達するまでの間、逐次
継続する。Next, the actual operation of the present embodiment will be described with reference to FIG. The description of the same parts as those in FIG. 5 is omitted. In FIG. 7, the floor is made of carpet,
The direction of the carpet pattern is upward, which is the same as the traveling direction of the main body 11. Distance measuring means 31 provided on the rear surface of the main body 11
Measures the distance X 0 to the rear wall surface W. At the same time, the straight-moving means 40 acts and the main body 11 starts moving straight from the starting point S. The traveling distance detecting means 13 'starts measuring the traveling distance at the same time when this straight traveling is started. The main body 11 goes straight while being swept in the traveling direction under the influence of the carpet pattern. At this time, the traveling distance detecting means 13 ′ has the traveling distance L e (n) (n = 1,
2, 3, ..., N max ) data is transmitted to the sequential calculation means 38. Similarly, the distance measuring means 31 also outputs the data X (n) (n =
1, 2, 3, ... N max ) is transmitted to the sequential calculation means 38. The computing means 38 processes the two data having the same n as data of the same timing. That is, L s (n) = X (n) −X (n−1) and the degree of slippage (L s (n) −L e (n)) / L e (n) are calculated.
This calculation is sequentially continued until the main body 11 reaches the end point F.
【００１８】このように本実施例では、詳細に滑りの度
合を求めているため、床面がベアフロアである場合を含
めて、本体１１の加減速時の非定常状態や、突発的な車
輪の空回りや、クロックを検出することができるため、
定速走行時の安定したデータだけを選択することができ
る。すなわちこの後、測距手段３１が後方の壁面Ｗを検
出できない状況になったとしても、走行距離検出手段１
３’のデータだけから実際の移動距離を正確に求めるこ
とができるものである。As described above, in this embodiment, since the degree of slippage is obtained in detail, the unsteady state of the main body 11 at the time of acceleration / deceleration and the sudden wheel movement are included, including the case where the floor surface is a bare floor. Since it can detect idle rotation and clock,
Only stable data when driving at constant speed can be selected. That is, after this, even if the distance measuring means 31 cannot detect the rear wall surface W, the traveling distance detecting means 1
The actual moving distance can be accurately obtained from only the 3'data.
【００１９】なお走行距離検出手段１３’のデータＬe
（ｎ）（ｎ＝１，２，３，・・・）または、測距手段３
１のデータＸ（ｎ）（ｎ＝１，２，３，・・・）のサン
プリングタイムは任意である。Data L e of the traveling distance detecting means 13 '
(N) (n = 1, 2, 3, ...) Or distance measuring means 3
The sampling time of the data X (n) of 1 (n = 1, 2, 3, ...) Is arbitrary.
【００２０】[0020]
【発明の効果】以上のように本発明の第一の手段によれ
ば、本体を移動させる駆動手段と、本体の方向を計測す
る方向計測手段と、本体周囲の物体までの距離を計測す
る測距手段と、前記駆動手段を制御し本体の走行を制御
する走行制御手段と、本体の走行距離を計測する走行距
離検出手段と、清掃等の作業を行う作業手段を備え、前
記走行制御手段は、方向計測手段の出力に基づいて本体
を所定の目標方向に直進走行させる直進手段と、走行距
離検出手段と測距手段の本体直進開始時と終了時の情報
から本体車輪の滑りを求める演算手段とを有する構成と
して、本体車輪の滑りを自動的に検出し、実際の移動距
離を認識することができる移動作業ロボットを実現する
ものである。As described above, according to the first means of the present invention, the driving means for moving the main body, the direction measuring means for measuring the direction of the main body, and the measuring means for measuring the distance to the object around the main body. The travel control means includes a distance means, a travel control means for controlling the travel of the main body by controlling the drive means, a travel distance detecting means for measuring the travel distance of the main body, and a working means for performing work such as cleaning. A straight moving means for moving the main body straight in a predetermined target direction based on the output of the direction measuring means, and a calculating means for obtaining the slip of the main body wheel from the information of the running distance detecting means and the distance measuring means at the start and end of the straight movement of the main body. As a configuration having the above, the present invention realizes a mobile work robot capable of automatically detecting a slip of a main body wheel and recognizing an actual moving distance.
【００２１】また本発明の第二の手段によれば、演算手
段が、走行距離検出手段と測距手段の本体直進中の逐次
情報から本体車輪の滑りを求める構成として、実際の移
動距離をより正確に認識することができる移動作業ロボ
ットを実現するものである。According to the second means of the present invention, the arithmetic means obtains the slip of the main body wheel from the sequential information of the traveling distance detecting means and the distance measuring means during straight traveling of the main body. It is intended to realize a mobile work robot that can be accurately recognized.
【図１】本発明の実施例である移動作業ロボットの縦断
面図FIG. 1 is a vertical sectional view of a mobile work robot according to an embodiment of the present invention.
【図２】同移動作業ロボットの横断面図FIG. 2 is a cross-sectional view of the mobile work robot.
【図３】第一の手段の実施例である移動作業ロボットの
走行制御手段の制御ブロック図FIG. 3 is a control block diagram of travel control means of the mobile work robot, which is an embodiment of the first means.
【図４】同走行制御手段の制御方法を示すフローチャー
トFIG. 4 is a flowchart showing a control method of the traveling control means.
【図５】同移動作業ロボットの動作を説明する説明図FIG. 5 is an explanatory diagram for explaining the operation of the mobile work robot.
【図６】第二の手段の実施例である移動作業ロボットの
走行制御手段の制御方法を示すフローチャートFIG. 6 is a flowchart showing a control method of the traveling control means of the mobile work robot, which is an embodiment of the second means.
【図７】同動作を説明する説明図FIG. 7 is an explanatory diagram explaining the same operation.
【図８】従来の移動作業ロボットが絨毯上を直進走行す
る場合の絨毯目の影響を説明する図FIG. 8 is a diagram for explaining the influence of the carpet mesh when the conventional mobile work robot travels straight on the carpet.
１１ 本体 １２ 駆動輪 １３ 駆動モータ １４ 従輪 １９ ブラシ ２２ 電動送風機 ２３ 集塵室 ２６ 床ノズル ３０ 方向計測手段 ３２ 走行制御手段 ３８ 演算手段 ４０ 直進手段 11 Main Body 12 Drive Wheel 13 Drive Motor 14 Follower Wheel 19 Brush 22 Electric Blower 23 Dust Collection Chamber 26 Floor Nozzle 30 Direction Measuring Means 32 Travel Control Means 38 Computing Means 40 Straight-Ahead Means
───────────────────────────────────────────────────── フロントページの続き (72)発明者 江口 修 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 (72)発明者 乾 弘文 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 (72)発明者 小川 光康 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Osamu Eguchi 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Hirofumi Inui 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. 72) Inventor Mitsuyasu Ogawa 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd.
Claims (2)
向を計測する方向計測手段と、本体周囲の物体までの距
離を計測する測距手段と、前記駆動手段を制御し本体の
走行を制御する走行制御手段と、本体の走行距離を計測
する走行距離検出手段と、清掃等の作業を行う作業手段
を備え、前記走行制御手段は、方向計測手段の出力に基
づいて本体を所定の目標方向に直進走行させる直進手段
と、走行距離検出手段と測距手段の本体直進開始時と終
了時の情報から本体車輪の滑りを求める演算手段とを有
する移動作業ロボット。1. A drive means for moving a main body, a direction measuring means for measuring a direction of the main body, a distance measuring means for measuring a distance to an object around the main body, and a driving means for controlling traveling of the main body. The traveling control means, the traveling distance detecting means for measuring the traveling distance of the main body, and the working means for performing work such as cleaning. The traveling control means directs the main body to a predetermined target direction based on the output of the direction measuring means. A mobile work robot having straight traveling means for traveling straight ahead, traveling means for detecting traveling distance, and arithmetic means for determining slippage of a main body wheel from information at the start and end of straight traveling of the main body of the distance measuring means.
向を計測する方向計測手段と、本体周囲の物体までの距
離を計測する測距手段と、前記駆動手段を制御し本体の
走行を制御する走行制御手段と、本体の走行距離を計測
する走行距離検出手段と、清掃等の作業を行う作業手段
を備え、前記走行制御手段は、方向計測手段の出力に基
づいて本体を所定の目標方向に直進走行させる直進手段
と、走行距離検出手段と測距手段の本体直進中の逐次情
報から本体車輪の滑りを求める演算手段とを有する移動
作業ロボット。2. A driving means for moving the main body, a direction measuring means for measuring the direction of the main body, a distance measuring means for measuring a distance to an object around the main body, and a driving means for controlling traveling of the main body. The traveling control means, the traveling distance detecting means for measuring the traveling distance of the main body, and the working means for performing work such as cleaning. The traveling control means directs the main body to a predetermined target direction based on the output of the direction measuring means. A mobile work robot having straight-moving means for causing straight-ahead traveling, and calculating means for determining slippage of a main-body wheel from sequential information of the traveling-distance detecting means and the distance-measuring means during straight-moving main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP04818892A JP3227758B2 (en) | 1992-03-05 | 1992-03-05 | Mobile work robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP04818892A JP3227758B2 (en) | 1992-03-05 | 1992-03-05 | Mobile work robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05250032A true JPH05250032A (en) | 1993-09-28 |
| JP3227758B2 JP3227758B2 (en) | 2001-11-12 |
Family
ID=12796416
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP04818892A Expired - Fee Related JP3227758B2 (en) | 1992-03-05 | 1992-03-05 | Mobile work robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3227758B2 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6841963B2 (en) * | 2001-08-07 | 2005-01-11 | Samsung Gwangju Electronics Co., Ltd. | Robot cleaner, system thereof and method for controlling same |
| JP2007513660A (en) * | 2003-12-10 | 2007-05-31 | フォルヴェルク・ウント・ツェーオー、インターホールディング・ゲーエムベーハー | Floor vacuum cleaner |
| US7389166B2 (en) * | 2005-06-28 | 2008-06-17 | S.C. Johnson & Son, Inc. | Methods to prevent wheel slip in an autonomous floor cleaner |
| JP2009070315A (en) * | 2007-09-18 | 2009-04-02 | Yaskawa Electric Corp | Mobile robot controller |
| CN103565348A (en) * | 2012-07-27 | 2014-02-12 | 科沃斯机器人科技(苏州)有限公司 | Intelligent cleaning system |
| CN113670277A (en) * | 2021-08-25 | 2021-11-19 | 广东博智林机器人有限公司 | Ground decoration installation surveying and mapping method and device and surveying and mapping trolley |
-
1992
- 1992-03-05 JP JP04818892A patent/JP3227758B2/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6841963B2 (en) * | 2001-08-07 | 2005-01-11 | Samsung Gwangju Electronics Co., Ltd. | Robot cleaner, system thereof and method for controlling same |
| JP2007513660A (en) * | 2003-12-10 | 2007-05-31 | フォルヴェルク・ウント・ツェーオー、インターホールディング・ゲーエムベーハー | Floor vacuum cleaner |
| DE10357635B4 (en) * | 2003-12-10 | 2013-10-31 | Vorwerk & Co. Interholding Gmbh | Floor cleaning device |
| US7389166B2 (en) * | 2005-06-28 | 2008-06-17 | S.C. Johnson & Son, Inc. | Methods to prevent wheel slip in an autonomous floor cleaner |
| US7832048B2 (en) | 2005-06-28 | 2010-11-16 | S.C. Johnson & Son, Inc. | Methods to prevent wheel slip in an autonomous floor cleaner |
| JP2009070315A (en) * | 2007-09-18 | 2009-04-02 | Yaskawa Electric Corp | Mobile robot controller |
| CN103565348A (en) * | 2012-07-27 | 2014-02-12 | 科沃斯机器人科技(苏州)有限公司 | Intelligent cleaning system |
| CN103565348B (en) * | 2012-07-27 | 2016-05-04 | 科沃斯机器人有限公司 | Intelligent cleaning system |
| CN113670277A (en) * | 2021-08-25 | 2021-11-19 | 广东博智林机器人有限公司 | Ground decoration installation surveying and mapping method and device and surveying and mapping trolley |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3227758B2 (en) | 2001-11-12 |
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