JPS59121402A - Mobile robot - Google Patents

Abstract

PURPOSE:To guide the traveling of a robot with high accuracy by providing a learning function to a robot itself for its traveling path and traveling region to ensure freely the unmanned traveling of the robot on the basis of said learning function and at the same time monitoring the traveling state of the robot through a display part. CONSTITUTION:The learning traveling of a robot is started in accordance with an expected course by means of a remote control transmitting and receiving devices 8 and 9. Then an arithmetic control part 4 calculates momentarily the present position (x, y) and the traveling direction theta of the robot on the two-dimentional coordinates on the basis of the signals sent from a distance sensor 1 and a direction sensor 2 respectively. The results of these calculations are held successively at a memory part 5. The robot is set at its start position S after the learning traveling is through with the robot. Then the devices 8 and 9 are switched to an unmanned mode by a control part 7, and the part 4 gives a driving command to make the robot have the copying traveling on an expected course C on the basis of the data stored in a memory part 5. Thus the robot is automatically driven.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a mobile robot that runs unmanned on a scheduled travel route.

Traditionally, this type of mobile robot has been designed to detect the magnetic field from an inductive cable placed along the planned travel path by a sensor, or by using an optical tape placed along the travel path. The robot runs unmanned according to a fixed travel pattern while detecting marks and markings using a sensor, and requires a separate guidance means for the robot, which requires setting, changing, and maintenance of the travel route. It has become complicated.

Furthermore, a device has been developed in which a programming device 7 is built into the robot itself and the robot is automatically operated according to the setting program, thereby controlling the robot's travel according to a fixed travel pattern. However, even with this, the program must be changed step by step each time the robot's travel route is changed, resulting in a lack of flexibility.

The present invention has been made with the above points in mind.The robot itself is provided with a learning function of the traveling route, and the computer system allows the robot to freely run unmanned according to the traveling route learned in advance. To provide a mobile robot in which a display unit is mounted on the robot so that its running state can be monitored.

Hereinafter, one embodiment of the present invention will be described in detail with reference to the attached drawing χ.

FIG. 1 shows the basic configuration of the control system of a mobile robot according to the present invention. , for example, the angular velocity Y in one direction
A direction sensor 2 that outputs a signal proportional to a change in the robot's movement direction, consisting of a rate-type gyroscope, a gas rate sensor, etc., and a pulse signal from a distance sensor 1 are counted to measure the robot's travel distance. At the same time, the moving direction of the robot is determined from the output of the direction sensor 2, and the current position on the two-dimensional coordinates for each unit traveling distance of the robot is calculated moment by moment, while controlling the traveling guidance of the robot and causing the drive unit 3Vc to travel. An arithmetic control unit 4 that gives commands as appropriate and performs centralized control of the entire device, and a storage unit that sequentially stores data on the current position and running direction obtained every moment by the arithmetic control unit 4 and holds it as continuous information. 5 and turn on the system main power.

Off, switching driving mode, setting start position.

An operating section 7 that can change the display format settings such as the display scale rate on the CRT display section 6 and adjust the sensitivity of the direction sensor 2 as appropriate, and a radio control etc. that can give priority to the driving section 3 of the robot to give priority to travel commands. Remote control transmission that allows you to approach the target and control it at will.

It is composed of a receiving unit 8.9.

In addition, in the drive unit 3 of the robot, for example, drive motors (DC servo motors or step motors) provided separately for the left and right drive wheels of the robot are independently controlled I' while feedback control Z of the amount of rotation is performed. Move CAK and steer
%) Now I can make them do it. Also,
All components except the remote control transmitting unit 8 will be mounted on the robot side.

The operation of the control system of the mobile robot according to the present invention constructed in this way will be explained below. do.

First, the system is set to learning driving mode using the operation unit 7, and remote control transmission is performed.

receiving unit) 8. For example, move the robot to the start position S on the planned travel course R shown in FIG.

yo) and the reference θay of the traveling direction are set by the arithmetic control unit 4. Next, when the remote control transmission/reception unit (8.99) is used to start the learning run of the robot following the scheduled course RIC, the arithmetic control unit 4 responds to the signals sent from the distance sensor l and the direction sensor 2. First, the robot's current position (xe y ) and traveling direction θ on the two-dimensional coordinates are calculated moment by moment, and the calculation results are sequentially sent to the storage unit 51C to be stored and retained. By performing a learning run on all the scheduled courses R, data relating to continuous positions on the two-dimensional coordinates of the scheduled courses will be stored and retained in the storage unit 5. In addition, in order to prevent collisions with obstacles due to operation errors when the robot runs by remote control, an obstacle detection sensor 10 such as an ultrasonic sensor is attached to the robot, and the obstacle is detected by the sensor lO. When the robot collides with an obstacle, the arithmetic control unit 4 is provided with a control means that prevents the robot from following a remote control command that would cause the robot to collide with an obstacle.

Next, after the learning run is completed, when the robot reaches the starting position SK and the system is switched to unmanned running mode using the operation unit 7r/c, the arithmetic control unit 4 will be transferred to the memory unit 5y. A traveling command is appropriately given to the drive unit 3 so that the robot travels along the planned course C based on the data, and the robot runs unmanned. At that time, the calculation control unit 4 controls the distance sensor l and the direction sensor 2.
While confirming the current position and direction of movement on the two-dimensional coordinates in response to signals from the robot, control of the robot's traveling guidance is performed so that the robot does not deviate from the planned course C70).

In addition, the arithmetic and control unit 4 learns the movement range of the robot through its learning run, and the range f′L7 is set in advance within that range.
'5 running pattern (the pattern data is
It is also possible to perform rc'' rather than having the robot beg to be guided.

Figure 3 shows an example of a running pattern when a robot is equipped with a floor cleaning unit using a set of sweepers to perform indoor cleaning work. The travel path Li follows a pattern in which the arithmetic and control unit 4 learns the movement range A' through a learning run when the sweeper makes one lap, and the floor surface within the range A can be sequentially cleaned by the sweeper. It is created using a predetermined calculation procedure, and the data of the position on the two-dimensional coordinates of the travel route is stored in the storage unit 5 as guidance data during unmanned travel of the robot.

In addition, as shown in FIG. 4, for example, the data obtained from the learning run when the robot was run by remote control along the wall of the passage. It becomes possible to determine a running route and easily control running guidance such that two robots run unmanned on the running route.

Furthermore, in the mobile robot according to the present invention, when the robot learns the travel path and the range of movement through learning runs, instead of having the robot perform two learning runs by remote control as described above, By using the installed obstacle detection sensor as the robot's eyes, for example, as shown in FIG. 5, the robot'l! r:
By making the robot run on its own along a wall, it is also possible to make the robot perform two learning runs on its own.

In other words, the 10th sensor sl is placed in the front of the robot) H, the 2nd sensor S2 is placed in front of the side of the robot, and the 3rd sensor is placed in the rear of the same side.
The sensor 83 Y is provided with a sensor 83 so that each sensor 81 to S3 can detect obstacles in front and on the side at a certain distance (approximately 20 cm). While the arithmetic and control unit 4 reads the detection state, the sensor 82 , on the condition that the wall surface is not detected by the sensor 81 in the section a-b in FIG.
83 K guides the robot R so that both walls are detected, and when the front wall is detected by the sensor 81 K at 5 points, the robot R is steered to the right, and at the 0 point, the robot R is guided to the right.
By steering the robot R to the left on the condition that the wall surface is detected only by the robot R, the robot R is controlled to run on its own along the wall surface.

In view of such mobile robots, in particular, the present invention is equipped with a display unit including a CRT, an LCD, etc., which can monitor the running status of the robot, as shown in FIG. 1. It is characterized by the fact that

That is, during the learning run of the robot, under the control of the arithmetic and control unit 4, the display unit 6 is updated every moment to display the robot's running trajectory and current direction of travel based on the data held in the storage unit 5. You will be able to check the course you are planning to run.

Furthermore, the output sensitivity of the direction sensor 2 can be adjusted using a rate formula based on the travel locus displayed on the display section 6 when the robot is run on a test run.

In other words, when the robot (robot) Y is made to perform 7 test runs in which the robot goes around a suitable place and returns to the starting point by remote control, if the output sensitivity of the gas rate sensor 2 is not optimal, a message will be displayed on the screen of the display unit 6. Figure 6(a)
, as shown in (b)') A travel locus in which the vC1 start point and return point do not match will be displayed. In that case, the output sensitivity of the direction sensor 2 is adjusted appropriately using the sensitivity adjustment switch in the operation unit 7 according to the difference between the start point and the return point, and the output sensitivity is adjusted between the start point and the return point as shown in FIG. Correct it so that it always matches. In addition, the 6th
The figure (,) shows the traveling trajectory when the output sensitivity of the direction sensor 2 is small. In this case, it is necessary to adjust the output sensitivity using the sensitivity adjustment switch.
Further, FIG. 2B shows the running trajectory 7 when the output sensitivity of the direction sensor 2 is high, and in this case, the VC needs to be adjusted to adjust its output sensitivity. It should be noted that the content of the adjustment made by the sensitivity adjustment switch is taken care of by the arithmetic control unit 4, so that the output sensitivity of the direction sensor 2 cannot be adjusted appropriately.

In this way, the robot's test run (may be done during a learning run) (K, therefore, the robot), and the robot's sensitivity adjustment switch is adjusted according to the difference between the start point and the return point on the travel route display at that time. The output sensitivity of the direction sensor 2 can be adjusted with high precision by simply operating the direction sensor 2 as appropriate.
It becomes possible to easily correct the horizontal error during installation and the output error due to its change over time.

Furthermore, by using the display unit 6 mounted on the robot, it is possible to make the robot perform one course study of the planned travel route by inputting a light ben. In that case, the arithmetic and control unit 4 writes TiC data on the screen of the display unit 6 using the light ben and stores the data of the position of the planned driving route in the storage unit 5, and after learning the course, the data is stored in the storage unit 5rIC. Based on this data, the robot's travel guidance will be controlled. By taking these five measures, there is no need to make the robot perform the learning run described above.

As described above, in the mobile robot according to the present invention, the robot itself can be provided with a learning function for the traveling route or the traveling area, and the robot can freely carry out unmanned regular movement according to the learning content. SaT
It has the advantage that the running state of the robot can be monitored on the display section, and the running guidance of the robot can be easily controlled with high precision.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of a mobile robot control device according to the present invention, FIG. 2 is a diagram showing the state of the robot's learning run, and FIGS. 3 and 4 are diagrams showing the state of the robot's learning run. Fig. 5 is a diagram showing an example of the robot's running pattern during self-propelled learning, and Figs. 6(a)-(b)
) e (c) is a diagram showing in detail the display contents of the display unit according to the output sensitivity state of the direction sensor during a test run of the robot. DESCRIPTION OF SYMBOLS 1... Distance sensor 2... Direction sensor 3... Drive part 4... Arithmetic control part 5... Storage part 6...
Display section 7...Operation section 8...Remote control m4g yt 9...Remote control receiving unit lO...Void detection sensor applicant's representative Kiyoshi Torii Figure 2 r 7 1 1 Figure 3 Figure 5 Figure 3 Figure 6 (o) (b) (c)

Claims (1)

[Claims] In a mobile robot that runs unmanned on a set track, what is the robot's running state? A mobile robot characterized by being equipped with a display unit that can be monitored.