JP3721939B2

JP3721939B2 - Mobile work robot

Info

Publication number: JP3721939B2
Application number: JP2000142825A
Authority: JP
Inventors: 秀隆藪内; 剛羽田野; 幹保野
Original assignee: Panasonic Corp; Matsushita Electric Industrial Co Ltd
Current assignee: Panasonic Corp; Panasonic Holdings Corp
Priority date: 2000-05-16
Filing date: 2000-05-16
Publication date: 2005-11-30
Anticipated expiration: 2020-05-16
Also published as: JP2001325023A

Description

【０００１】
【発明の属する技術分野】
本発明は、走行機能を有し移動しながら作業を行なう自走式掃除機や無人搬送車等の移動作業ロボットに関するものである。
【０００２】
【従来の技術】
従来より作業機器に走行駆動手段やセンサ類および走行制御手段を付加して、自動的に作業を行な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込みノズルやブラシなどを備え、移動機能として駆動および操舵手段と、走行時に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とを備え、この障害物検知手段によって清掃場所の周囲壁に沿って移動しつつ、位置認識手段によって清掃領域を認識し、その清掃領域内を移動して清掃領域全体を清掃するものである。
【０００３】
【発明が解決しようとする課題】
しかしながら、このような従来の移動作業ロボットでは、位置認識手段にジャイロセンサや走行距離センサなどの内界センサを用いた相対位置認識を行なっているため、広い移動作業領域では位置計測誤差の累積が大きくなり移動経路がずれたり、スタート点を見失うことがあった。したがって、例えばスタート点に本体部の待機基地を設け、自動的に本体を基地に誘導して待機させることは位置精度上かなり難しかった。
【０００４】
そこで本発明は、広い移動作業領域を移動する場合でも正確な位置認識が可能となり移動経路のずれが少なく、本体部を自動的に基地に誘導して待機させることができ、自動充電や自動スタートが可能な実用的な移動作業ロボットを提供することを目的としている。
【０００５】
【課題を解決するための手段】
本発明は、走行手段および操舵手段を有するとともに作業要素を設けた本体部と、本体部の移動を外部から監視する監視部と、本体部が作業しないときに待機する基地部を備え、この本体部には信号を外部に発信する発信手段を設け、監視部はこの発信手段の信号より本体部の位置を認識する位置認識手段と、この位置認識手段からの位置関連情報を本体部に送信する送信手段を有し、本体部はこの送信手段からの信号を受信する受信手段を有し、この受信手段からの位置関連情報に応じて本体部を基地部に戻すように制御することで、広い移動領域を移動しても確実に基地部に戻って待機することができる移動作業ロボットが実現できる。
【０００６】
【発明の実施の形態】
請求項１に記載した発明は、走行手段と操舵手段と走行制御手段と本体発光手段と作業要素を設けた本体部と、前記本体部の移動を外部から監視する監視部と、基地発光手段を有し前記本体部が走行前に待機する基地部を備え、前記監視部には、前記本体部の移動領域および前記基地部の画像を入力する画像入力手段と、この画像入力手段が入力した画像から前記本体発光手段および前記基地発光手段の位置を認識する位置認識手段と、前記本体発光手段および前記基地発光手段を点灯または消灯させる信号と前記位置認識手段からの位置関連情報を前記本体部に送信する送信手段とを有し、前記本体部には前記送信手段からの信号を受信する本体受信手段と前記本体発光手段を制御する本体発光制御手段とを有し、前記基地部には前記送信手段からの信号を受信する基地受信手段と前記基地発光手段を制御する基地発光制御手段とを有し、この前記本体発光制御手段および前記基地発光制御手段は共に、各々の前記本体受信手段および基地受信手段が前記送信手段から受信した信号を受けて各々の前記本体発光手段および前記基地発光手段の点灯と消灯を制御するとともに、前記送信手段による前記信号の送信動作に前記本体部発光手段および前記基地発光手段の点灯または消灯動作と前記監視部の画像入力手段の動作とが同期し、前記画像入力手段は前記本体部発光手段および前記基地発光手段がそれぞれ点灯している画像と消灯している画像の２つの画像データを入力し、前記位置認識手段がこの２つの画像データの差分をとって前記本体部発光手段および前記基地発光手段の画像面に対する位置をそれぞれ検出し、この検出した前記本体部発光手段および前記基地発光手段のそれぞれの位置に基いた前記位置関連情報を前記送信手段により前記本体受信手段に送信し、前記走行制御手段は前記本体受信手段からの前記位置関連情報をもとに前記走行手段と前記操舵手段の制御を行い、前記本体部を前記基地部に移動させることで、監視部は本体発光手段および基地発光手段の両方の発光をとらえ位置認識手段がこの両者の位置を認識するから、本体部は確実に基地部に戻って待機することができる。
【０００７】
請求項２に記載した発明は、本体発光制御手段および基地発光制御手段は、本体受信手段と基地受信手段のそれぞれが監視部の送信手段から信号を受信する毎に本体発光手段と基地発光手段のいずれか１つの点灯とすべての消灯を交互に行なうように制御することで本体発光手段だけが点灯しているときと基地発光手段だけが点灯しているときの２つの画像が得られるので位置認識手段はこれを比較することにより両者の発光手段の位置を正確に認識できる。
【０００８】
請求項３に記載した発明は、走行手段と操舵手段と走行制御手段と本体発光手段と作業要素を設けた本体部と、前記本体部の移動を外部から監視する監視部と、前記本体部が走行前に待機する基地部を備え、前記監視部には、前記本体部の移動領域の画像を入力する画像入力手段と、この画像入力手段が入力した画像から前記本体発光手段の位置を認識する位置認識手段と、前記本体発光手段を点灯または消灯させる信号と前記位置認識手段からの位置関連情報を前記本体部に送信する送信手段とを有し、前記本体部には前記送信手段からの信号を受信する本体受信手段と前記本体発光手段を制御する本体発光制御手段と、走行前の位置情報を記憶する位置記憶手段を有し、この前記本体発光制御手段は、前記本体受信手段が前記送信手段から受信した信号を受けて前記本体発光手段の点灯と消灯を制御するとともに、前記送信手段による前記信号の送信動作に前記本体部発光手段の点灯または消灯動作と前記監視部の画像入力手段の動作とが同期し、前記画像入力手段は前記本体部発光手段が点灯している画像と消灯している画像の２つの画像データを入力し、前記位置認識手段がこの２つの画像データの差分をとって前記本体部発光手段の画像面に対する位置を検出し、前記本体走行前の前記基地部に待機した状態の基準位置を前記本体の位置記憶手段に記憶させ、この記憶した基準位置と前記本体部発光手段の位置との比較に基いた前記位置関連情報を前記送信手段により前記本体受信手段に送信し、前記走行制御手段は前記本体受信手段からの前記位置関連情報をもとに前記走行手段と前記操舵手段の制御を行い、前記本体部を前記基地部に移動させるもので、監視部は本体発光手段の発光をとらえ位置認識手段が本体部の位置を認識し、本体部の現在位置と基地部の位置とを比較して走行制御することにより本体部は確実に基地部に戻って待機することができる。
【０００９】
請求項４に記載した発明は、本体発光制御手段は、本体受信手段が監視部の送信手段から信号を受信する毎に本体発光手段の点灯と消灯を交互に行なうように制御することで、画像入力手段は前記本体発光手段が点灯している画像と消灯している画像の２つの画像データが得られるので、位置認識手段がこの２つの画像データの差分をとって前記本体発光手段の画像面に対する位置を確実に検出できる。
【００１０】
請求項５に記載した発明は、監視部と基地部を一体的に設けたもので、監視部の設置が容易になるとともに、部品点数が削減でき価格的にも安価に製造できる。
【００１１】
請求項６に記載した発明は、本体部は、少なくとも走行手段および操舵手段に電力を供給する電池を有し、基地部には前記電池を充電する充電器を有し、前記本体部が前記基地部に待機しているときに前記電池と前記充電器とが接続して充電を行なうもので、本体部が基地部で待機している間に自動的に充電ができる。
【００１２】
請求項７に記載した発明は、基地部にタイマー設定手段を有し、このタイマー設定手段で設定された時間に運転を開始するもので、決められた時刻に自動的に運転を開始させることができる。
【００１３】
請求項８に記載した発明は、作業要素を、塵埃を吸引する電動送風機と、前記電動送風機の吸引作用を受ける吸込具としたもので、移動しながら床面の塵埃を吸引して清掃が行なえる。
【００１４】
請求項９に記載した発明は、作業要素を、塵埃を吸引する電動送風機と、前記電動送風機の吸引作用を受ける吸込具と、吸込具に設けた塵埃掻き上げ用の回転ブラシとしたもので、移動しながら床面の塵埃を掻き上げつつ吸引して清掃が行なえる。
【００１５】
【実施例】
（実施例１）
以下、本発明の実施例を自走式掃除機に応用した場合を例にとって、図１〜５に基づいて説明する。
【００１６】
図１に本実施例の全体外観構成を示す。１は移動しながら清掃を行なう本体部で、清掃領域の床面Ａ上を移動する。２は本体部１および基地部３を監視する監視部で、清掃領域の天井部に設置され床面Ａ全体を監視するようになっている。
【００１７】
本体部１の構成を図２に示す。４，５は左右の駆動モータで、それぞれの出力軸は左右の減速機６，７を介して左右の走行輪８，９を駆動する。この左駆動モータ４と右駆動モータ５を独立に回転制御することにより本体部１を移動させるもので、走行手段および操舵手段を兼ねている。１０は各種入力に応じて左右の駆動モータ４，５を制御し本体部１の走行制御を行なう走行制御手段で、マイクロコンピュータおよびその他制御回路からなる。１１は本体部１の上面に取付けたランプやＬＥＤ等からなる本体発光手段で、回路基板１２の本体発光制御手段１２ａにより点滅制御される。本体発光手段１１には赤外光を発光するものを使用している。この本体発光手段１１は本体部１の左右中央の走行輪８，９から離れた位置に設けている。１３，１４は障害物検知センサで、本体部１の前方および側方の障害物までの距離を光により検知するようになっている。１５は床面を掃除する清掃ノズルで、吸込具を構成しこの吸込み口には回転ブラシなどからなるアジテータ１６が設けられ、電動送風機からなるファンモータ１７で発生させた真空圧によりゴミを吸引する。前記アジテータ１６はノズルモータ１８により伝動ベルト１９を介して回転駆動される。２０は電池などからなる電源で、本体部１内に電力を供給する。
【００１８】
基地部３は本体部１が作業しないときに待機するステーションで、清掃領域の隅部等に設置され、本体部１の作業終了時などに本体部１の電源２０の充電を行なう。２１は充電端子で、待機中に本体部１の受電端子２２と接続して基地部３の充電器から本体部１の電源２０に電力を供給する。２３はタイマー設定手段で、内蔵されたタイマーの予約や時刻設定を行なう。２４は基地発光手段で、本体発光手段１１と同様のものからなり監視部２に対して光を出す。基地発光手段２４は、図３のシステム構成図に示すように、基地受信手段２５が受信した情報信号に応じて基地発光制御手段２６により点滅制御される。
【００１９】
監視部２は、ＣＣＤやＣＭＯＳセンサ等の撮像素子とレンズなどからなる画像入力手段３１が設けられ、本体発光手段１１、基地発光手段２４を含む床面Ａ全体の画像を入力する。画像入力手段３１のレンズ部には赤外光だけをよく通すフィルタが設けられ、本体発光手段１１、基地発光手段２４以外から入力される光をできるだけ遮断して、照明や太陽光などの影響を受けにくくしている。この画像入力手段３１の画像データは位置認識手段３２で演算処理され、その結果を送信手段３３により本体部１および基地部３に送信する。この送信データは本体部１では回路基板１２の本体受信手段１２ｂで、基地部３では基地受信手段２５により受信される。本実施例では、この監視部２と本体部１および基地部３との通信には電波を用いた無線方式にしている。
【００２０】
次に、監視部２が本体部１および基地部３の位置を検出する動作について説明する。
【００２１】
前述したように、監視部２は清掃領域の天井部などの床面Ａ全体を見渡す位置に設置され、画像入力手段３１により本体発光手段１１および基地発光手段２４を含む床面Ａ全体の画像を入力する。したがって、例えば本体部１が停止した状態で本体発光手段１１のみが点灯している場合は、画像入力手段３１には本体発光手段１１が点灯している本体部１と基地発光手段２４が消灯している基地部３および床面Ａやその周辺の画像が入力される。本実施例では、本体発光手段１１が点灯している画像と本体発光手段１１が消灯している画像の２つの画像データから、位置認識手段３２がこの両データの差分をとって本体発光手段１１の画像を抽出し、画像面に対する位置座標を検出する。同様に基地発光手段２４が点灯している画像と基地発光手段２４が消灯している画像の２つの画像データから基地発光手段２４の画像を抽出し画像面に対する位置座標を検出する。そして、この検出位置に基いた情報を送信手段３３により本体受信手段１２ｂおよび基地受信手段２５に同じ信号を同時に送信する。
【００２２】
図４は、本体部１および基地部３において、それぞれ本体発光制御手段１２ａが本体発光手段１１を、基地発光制御手段２６が基地発光手段２４を点滅させるタイミングを示すものである。まず送信手段３３から送信された情報信号４０を本体受信手段１２ｂが受信すると本体発光制御手段１２ａは本体発光手段１１を点灯状態４１にする。同時に、これを基地受信手段２５が受信すると基地発光制御手段２６は基地発光手段２４を消灯状態４２にする。監視部２の画像入力手段３１は、送信手段３３が送信動作を行なう毎に画像を入力するようになっており、このとき本体発光手段１１のみが点灯している画像を入力する。次に情報信号４３を本体受信手段１２ｂが受信すると本体発光制御手段１２ａは本体発光手段１１を消灯状態４４にする。このとき画像入力手段３１は本体発光手段１１と基地発光手段２４の両方が消灯している画像を入力する。上記２つの画像データから本体発光手段１１の位置が検出できる。同様に、情報信号４５を受信すると本体発光制御手段１２ａは本体発光手段１１を消灯状態４４のままにし、同時に基地受信手段２５がこれを受信すると基地発光制御手段２６は基地発光手段２４を点灯状態４６にする。次に情報信号４７を受信すると本体発光制御手段１２ａは本体発光手段１１を消灯状態４４のままにし、基地受信手段２５がこれを受信すると基地発光制御手段２６は基地発光手段２４を消灯状態４８にする。このそれぞれの状態の画像データから基地発光手段２４の位置が検出できる。このような動作を数１０ｍｓｅｃ毎に繰り返すことにより、本体部１が走行中であっても本体発光手段１１と基地発光手段２４の両方の位置が検出できるものである。
【００２３】
送信手段２３は、本体発光手段１１と基地発光手段２４の２つの位置座標を情報信号として送信するようになっている。
【００２４】
なお、本体発光手段１１は本体部１の左右中央の走行輪８，９から離れた位置に設けているのは本体部１の方向変化により本体発光手段１１の位置座標変化を大きくするためであり、本体発光手段１１の位置座標を逐次処理することにより本体部１の向いている方向も分かる。
【００２５】
以上のような構成において、本実施例の全体動作について説明する。
【００２６】
図５に示すように、基地部３に本体部１を待機させた状態で運転を開始させる。本体部１は障害物検知センサ１３，１４で周囲の障害物を検知し、走行制御手段１０が左右の駆動モータ４，５を回転制御して移動を始める。同時に清掃ノズル１５のノズルモータ１８およびファンモータ１７が作動し、アジテータ１６で床面のゴミを掻き上げながら吸引して清掃を行なう。本体部１は、障害物検知センサ１３，１４で前方および左右の壁までの距離を測定しながら、移動経路ａに示すように清掃領域全体の清掃作業を行なう。このとき、走行制御手段の内部では監視部２から送信される本体発光手段１１の位置座標データを移動マップとして記憶し、未清掃部分があるかどうかを判断して移動制御を行なう。このようにして、移動マップ上で未清掃箇所がなくなった地点（ｂ点）で本体部１は停止し、清掃作業を終了する。この清掃動作モードが終わると、次は移動経路ｃのように基地部３に戻るためのリターン動作モードに切り替わる。
【００２７】
この動作モードでは、走行制御手段１０は監視部２から送信される本体発光手段１１と基地発光手段２４の２つの位置座標を比較し本体部１が基地部３に戻るように制御する。すなわち、監視部２から情報信号が送信される毎に本体部１の現在地から基地部３までの距離と方向を計算し、障害物検知センサ１３，１４からの入力を処理しながらこの方向に本体部１が向き、かつ距離が小さくなるように走行制御を行なう。このようにして、本体部１が基地部３の一定距離以内に近づくと走行制御手段１０は本体部１の方向を反転させて受電端子２２が基地部３の充電端子２１と接続するように基地部３とドッキングさせる。
【００２８】
本体部１と基地部３がドッキングすると本体部１は待機モードとなり電源２０から給電される電源回路は切れる。そして、電源２０は基地部３の充電器から電力が供給され充電が開始する。このように作業が終了すれば自動的に電源２０の充電が行なわれるので、面倒な充電操作が不要になりいつでも清掃作業が再開できるものである。
【００２９】
また、タイマー設定手段２３で清掃作業の開始時刻をあらかじめ予約設定しておけば、内蔵されたタイマーにより自動的に作業を開始させることができる。したがって、一度タイマーを設定しておけば、全く人手をかけることなく、毎日同じ時刻に清掃を開始し、清掃後充電を行なうという動作パターンを自動で行なうことができるものである。
【００３０】
なお、本実施例では本体発光手段１１と基地発光手段２４を点滅させるタイミングを図４に示すものにしているが、要は本体発光手段１１のみを点灯状態、基地発光手段２４のみを点灯状態、両方の発光手段を消灯状態が交互に組み合わせられたパターンであれば良く、これに限定されるものではない。
【００３１】
また、本実施例では監視部２を固定にしているが、本発明によれば数１０ｍｓｅｃ毎に本体発光手段１１と基地発光手段２４の両方の位置が検出できるものであるから、例えば監視部の監視角度を可変にして視野を変えたとしても、基地発光手段２４の位置は不変であるからこれを基準にして座標変換することにより、上記と同様の動作が可能である。
【００３２】
（実施例２）
図６〜８に基づき第２の実施例について説明する。
【００３３】
図６は本実施例の全体外観構成を示す。１は移動しながら清掃を行なう本体部で実施例１と全く同様の構成である。２は監視部で基地部３と接続線５０により電気的に接続し、清掃領域の壁部に設置され床面Ａ全体を監視するようになっている。基地部３には発光手段がないことが実施例１と異なり、本体部１が作業しないときに待機するステーションで、清掃領域の隅部等に設置され、本体部１の作業終了時などに本体部１の電源２０の充電を行なう。２１は充電端子で、待機中に本体部１の受電端子２２と接続して基地部３の充電器から本体部１の電源２０に電力を供給する。２３はタイマー設定手段で、内蔵されたタイマーの予約や時刻設定を行なう。
【００３４】
図７はシステム構成図で、監視部２には画像入力手段３１が設けられ本体発光手段１１を含む床面Ａ全体の画像を入力する。この画像入力手段３１の画像データは位置認識手段３２で演算処理され、その結果を送信手段３３により本体部１に送信する。この送信データは本体部１では回路基板１２の本体受信手段１２ｂにより受信される。また、本体部１には本体受信手段１２ｂで受信された発光手段１１の位置情報を記憶する位置記憶手段５１を設けている。
【００３５】
以下、実施例１と同様の部品については同じ名称を記すとともに同じ符号を付して説明を省略する。
【００３６】
監視部２が本体部１の位置を検出する動作について説明する。
【００３７】
図８に本体部１において発光制御手段１２ａが発光手段１１を点滅させるタイミングを示す。まず監視部２の送信手段３３から送信された情報信号５２を受信手段１２ｂが受信すると発光制御手段１２ａは発光手段１１を点灯状態５３にする。画像入力手段３１は、送信手段３３が送信動作を行なう毎に画像を入力するようになっており、このとき発光手段１１が点灯している画像を入力する。次に情報信号５４を受信手段１２ｂが受信すると発光制御手段１２ａは発光手段１１を消灯状態５５にする。このとき画像入力手段３１は発光手段１１が消灯している画像を入力する。位置認識手段３２が上記２つの画像データの差分をとって発光手段１１の画像を抽出し、画像面に対する位置座標を検出するものであり、この検出した位置座標を送信手段３３から本体部１の受信手段１２ｂへ送信する。
【００３８】
以上のような構成において、本実施例の全体動作について説明する。
【００３９】
図には示していないが、実施例１と同様に基地部３に本体部１を待機させた状態で運転を開始させる。運転を開始すると上述したように監視部２から発光手段１１の位置データが情報信号として送信され、走行制御手段１０はまずこの走行前の位置情報を位置記憶手段５１に入れて記憶する。すなわち、これが作業終了後に本体部１が基地部３に戻るための基準位置になる。
【００４０】
そして本体部１は走行を始め、実施例１と同様に清掃動作モードに入りると障害物検知センサ１３，１４で前方および左右の壁までの距離を測定しながら、清掃領域全体の清掃作業を行ない、監視部２から送信される本体発光手段１１の位置座標データを移動マップとして記憶し、未清掃部分があるかどうかを判断して移動制御を行なう。移動マップ上で未清掃箇所がなくなった地点で本体部１は停止し、清掃作業を終了する。清掃動作モードが終わると、基地部３に戻るためのリターン動作モードに切り替わる。この動作モードでは、走行制御手段１０は監視部２から送信される本体発光手段１１の位置と、運転開始時に位置記憶手段５１で記憶した基準位置との２つの位置座標を比較し本体部１が基地部３に戻るように制御する。このようにして、本体部１が基地部３の一定距離以内に近づくと走行制御手段１０は本体部１の方向を反転させて受電端子２２が基地部３の充電端子２１と接続するように基地部３とドッキングさせる。
【００４１】
本体部１と基地部３がドッキングすると本体部１は待機モードとなり電源２０から給電される電源回路は切れる。そして、電源２０は基地部３の充電器から電力が供給され充電が開始する。このように作業が終了すれば自動的に電源２０の充電が行なわれるので、面倒な充電操作が不要になりいつでも清掃作業が再開できるものである。なお、監視部２の電源は接続線５０により基地部３から供給される。
【００４２】
なお、本実施例では監視部２は清掃領域の壁部に設置されているが、床面Ａ全体を見渡す位置であれば良い。
【００４３】
（実施例３）
図９に示すように本実施例は、監視部２と基地部３を１つの筐体に入れて一体にしたものである。基本的な動作は実施例２と同様であるが、監視部２と基地部３とを機械的に一体に設けることにより設置が容易になり価格的にも安価に製造できるとともに、使用する場所を容易に移動できるという効果がある。
【００４４】
【発明の効果】
請求項１に記載した発明は、走行手段と操舵手段と走行制御手段と本体発光手段と作業要素を設けた本体部と、前記本体部の移動を外部から監視する監視部と、基地発光手段を有し前記本体部が走行前に待機する基地部を備え、前記監視部には、前記本体部の移動領域および前記基地部の画像を入力する画像入力手段と、この画像入力手段が入力した画像から前記本体発光手段および前記基地発光手段の位置を認識する位置認識手段と、前記本体発光手段および前記基地発光手段を点灯または消灯させる信号と前記位置認識手段からの位置関連情報を前記本体部に送信する送信手段とを有し、前記本体部には前記送信手段からの信号を受信する本体受信手段と前記本体発光手段を制御する本体発光制御手段とを有し、前記基地部には前記送信手段からの信号を受信する基地受信手段と前記基地発光手段を制御する基地発光制御手段とを有し、この前記本体発光制御手段および前記基地発光制御手段は共に、各々の前記本体受信手段および基地受信手段が前記送信手段から受信した信号を受けて各々の前記本体発光手段および前記基地発光手段の点灯と消灯を制御するとともに、前記送信手段による前記信号の送信動作に前記本体部発光手段および前記基地発光手段の点灯または消灯動作と前記監視部の画像入力手段の動作とが同期し、前記画像入力手段は前記本体部発光手段および前記基地発光手段がそれぞれ点灯している画像と消灯している画像の２つの画像データを入力し、前記位置認識手段がこの２つの画像データの差分をとって前記本体部発光手段および前記基地発光手段の画像面に対する位置をそれぞれ検出し、この検出した前記本体部発光手段および前記基地発光手段のそれぞれの位置に基いた前記位置関連情報を前記送信手段により前記本体受信手段に送信し、前記走行制御手段は前記本体受信手段からの前記位置関連情報をもとに前記走行手段と前記操舵手段の制御を行い、前記本体部を前記基地部に移動させることで、監視部は本体発光手段および基地発光手段の両方の発光をとらえ位置認識手段がこの両者の位置を認識するから、本体部は確実に基地部に戻って待機することができる移動作業ロボットが実現できるものである。
【００４５】
請求項２に記載した発明は、本体発光制御手段および基地発光制御手段は、本体受信手段と基地受信手段のそれぞれが監視部の送信手段から信号を受信する毎に本体発光手段と基地発光手段のいずれか１つの点灯とすべての消灯を交互に行なうように制御することで本体発光手段だけが点灯しているときと基地発光手段だけが点灯しているときの２つの画像が得られるので位置認識手段はこれを比較することにより両者の発光手段の位置を正確に認識できる移動作業ロボットが実現できるものである。
【００４６】
請求項３に記載した発明は、走行手段と操舵手段と走行制御手段と本体発光手段と作業要素を設けた本体部と、前記本体部の移動を外部から監視する監視部と、前記本体部が走行前に待機する基地部を備え、前記監視部には、前記本体部の移動領域の画像を入力する画像入力手段と、この画像入力手段が入力した画像から前記本体発光手段の位置を認識する位置認識手段と、前記本体発光手段を点灯または消灯させる信号と前記位置認識手段からの位置関連情報を前記本体部に送信する送信手段とを有し、前記本体部には前記送信手段からの信号を受信する本体受信手段と前記本体発光手段を制御する本体発光制御手段と、走行前の位置情報を記憶する位置記憶手段を有し、この前記本体発光制御手段は、前記本体受信手段が前記送信手段から受信した信号を受けて前記本体発光手段の点灯と消灯を制御するとともに、前記送信手段による前記信号の送信動作に前記本体部発光手段の点灯または消灯動作と前記監視部の画像入力手段の動作とが同期し、前記画像入力手段は前記本体部発光手段が点灯している画像と消灯している画像の２つの画像データを入力し、前記位置認識手段がこの２つの画像データの差分をとって前記本体部発光手段の画像面に対する位置を検出し、前記本体走行前の前記基地部に待機した状態の基準位置を前記本体の位置記憶手段に記憶させ、この記憶した基準位置と前記本体部発光手段の位置との比較に基いた前記位置関連情報を前記送信手段により前記本体受信手段に送信し、前記走行制御手段は前記本体受信手段からの前記位置関連情報をもとに前記走行手段と前記操舵手段の制御を行い、前記本体部を前記基地部に移動させるもので、監視部は本体発光手段の発光をとらえ位置認識手段が本体部の位置を認識し、本体部の現在位置と基地部の位置とを比較して走行制御することにより本体部は確実に基地部に戻って待機することができる移動作業ロボットが実現できるものである。
【００４７】
請求項４に記載した発明は、本体発光制御手段は、本体受信手段が監視部の送信手段から信号を受信する毎に本体発光手段の点灯と消灯を交互に行なうように制御することで、画像入力手段は前記本体発光手段が点灯している画像と消灯している画像の２つの画像データが得られるので、位置認識手段がこの２つの画像データの差分をとって前記本体発光手段の画像面に対する位置を確実に検出できる移動作業ロボットが実現できるものである。
【００４８】
請求項５に記載した発明は、監視部と基地部を一体的に設けたもので、監視部の設置が容易になるとともに、部品点数が削減でき価格的にも安価に製造できる移動作業ロボットが実現できるものである。
【００４９】
請求項６に記載した発明は、本体部は、少なくとも走行手段および操舵手段に電力を供給する電池を有し、基地部には前記電池を充電する充電器を有し、前記本体部が前記基地部に待機しているときに前記電池と前記充電器とが接続して充電を行なうもので、本体部が基地部で待機している間に自動的に充電ができる移動作業ロボットが実現できるものである。
【００５０】
請求項７に記載した発明は、基地部にタイマー設定手段を有し、このタイマー設定手段で設定された時間に運転を開始するもので、決められた時刻に自動的に運転を開始させることができる移動作業ロボットが実現できるものである。
【００５１】
請求項８に記載した発明は、作業要素を、塵埃を吸引する電動送風機と、前記電動送風機の吸引作用を受ける吸込具としたもので、移動しながら床面の塵埃を吸引して清掃が行なえる移動作業ロボットが実現できるものである。
【００５２】
請求項９に記載した発明は、作業要素を、塵埃を吸引する電動送風機と、前記電動送風機の吸引作用を受ける吸込具と、吸込具に設けた塵埃掻き上げ用の回転ブラシとしたもので、移動しながら床面の塵埃を掻き上げつつ吸引して清掃が行なえる移動作業ロボットが実現できるものである。
【図面の簡単な説明】
【図１】本発明の第１の実施例である自走式掃除機の外観斜視図
【図２】同本体部の内部を透視した斜視図
【図３】同システム構成を示すブロック図
【図４】同本体部の発光手段の動作を示すタイミングチャート
【図５】同清掃動作を示す動作説明図
【図６】本発明の第２の実施例である自走式掃除機の外観斜視図
【図７】同システム構成を示すブロック図
【図８】同本体部の発光手段の動作を示すタイミングチャート
【図９】本発明の第３の実施例である自走式掃除機の外観斜視図
【符号の説明】
１本体部
２監視部
３基地部
４，５駆動モータ
８，９走行輪
１０走行制御手段
１１本体発光手段
１２ａ本体発光制御手段
１２ｂ本体受信手段
２１充電端子
２２受電端子
２３タイマー設定手段
２４基地発光手段
２５基地受信手段
２６基地発光制御手段
３１画像入力手段
３２位置認識手段
３３送信手段
５１位置記憶手段[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to a mobile work robot such as a self-propelled cleaner or an automated guided vehicle that has a running function and performs work while moving.
[0002]
[Prior art]
  2. Description of the Related Art Conventionally, various mobile work robots that automatically perform work by adding travel drive means, sensors, and travel control means to work equipment have been developed. For example, a self-propelled cleaner has a suction nozzle, a brush, etc. at the bottom of the main body as a cleaning function, a driving and steering means as a moving function, an obstacle detecting means for detecting an obstacle during traveling, and a position recognition that recognizes the position Means for recognizing the cleaning area by the position recognizing means while moving along the peripheral wall of the cleaning place by the obstacle detecting means, and moving within the cleaning area to clean the entire cleaning area. .
[0003]
[Problems to be solved by the invention]
  However, in such a conventional mobile work robot, relative position recognition is performed using an internal sensor such as a gyro sensor or a travel distance sensor as the position recognition means, and therefore, position measurement errors are accumulated in a wide mobile work area. It became large and the movement route shifted and sometimes the start point was lost. Therefore, for example, it is quite difficult in terms of positional accuracy to provide a standby base for the main body at the start point and automatically guide the main body to the base for standby.
[0004]
  Therefore, the present invention enables accurate position recognition even when moving in a wide moving work area, and there is little shift in the movement path, and the main body can be automatically guided to the base to be on standby, and can be automatically charged or automatically started. It aims to provide a practical mobile work robot that can be used.
[0005]
[Means for Solving the Problems]
  The present invention includes a main body portion having a traveling means and a steering means and provided with a working element, a monitoring portion for monitoring the movement of the main body portion from the outside, and a base portion for waiting when the main body portion does not work. The transmitter is provided with transmission means for transmitting a signal to the outside, and the monitoring section transmits position recognition means for recognizing the position of the main body from the signal of the transmission means and position related information from the position recognition means to the main body. It has a transmission means, and the main body section has a reception means for receiving a signal from the transmission means, and the main body section is controlled to return to the base section in accordance with the position related information from the reception means. A mobile work robot that can reliably return to the base unit and wait even if it moves in the moving area can be realized.
[0006]
DETAILED DESCRIPTION OF THE INVENTION
  The invention described in claim 1 is a traveling means.Steering means, travel control means, main body light emitting means,A main body provided with a working element, a monitoring unit for monitoring the movement of the main body from the outside,Having a base light emitting means before the main body travelsEquipped with a waiting base,The monitoring unit includes an image input unit that inputs an image of the moving region of the main body unit and the base unit, and a position that recognizes the positions of the main body light emitting unit and the base light emitting unit from the image input by the image input unit. Recognizing means, a signal for turning on or off the main body light emitting means and the base light emitting means, and a transmission means for transmitting position related information from the position recognizing means to the main body,In the body partA main body receiving means for receiving a signal from the transmitting means and a main body light emitting control means for controlling the main light emitting means; and a base receiving means for receiving a signal from the transmitting means and the base light emitting in the base unit Base light emission control means for controlling the means, and both the main body light emission control means and the base light emission control means receive the signals received by the main body reception means and the base reception means from the transmission means, respectively. The main body light emitting means and the base light emitting means are controlled to be turned on and off, and the signal transmitting operation by the transmitting means is performed to turn on and off the main body light emitting means and the base light emitting means and the image of the monitoring section. The operation of the input means is synchronized, and the image input means is an image in which the main body light emitting means and the base light emitting means are respectively turned on and off. Two pieces of image data are input, and the position recognizing means detects the position of the main body light emitting means and the base light emitting means with respect to the image plane by taking the difference between the two image data, and the detected main body light emission. And the base light emitting means transmit the position related information based on the respective positions of the base light emitting means to the main body receiving means by the transmitting means, and the travel control means based on the position related information from the main body receiving means. Control the traveling means and the steering means, and move the main body to the baseWith thatSince the monitoring unit captures the light emission of both the main body light emitting unit and the base light emitting unit, and the position recognition unit recognizes the position of both, the main body unit can reliably return to the base unit and stand by.
[0007]
  The invention described in claim 2The main body light emission control means and the base light emission control means each turn on or turn off any one of the main body light emission means and the base light emission means each time the main body reception means and the base reception means receive a signal from the transmission means of the monitoring unit. AlternatelyBy controlling so thatSince two images are obtained when only the main body light emitting means is lit and when only the base light emitting means is lit, the position recognizing means can accurately recognize the position of both light emitting means by comparing them. .
[0008]
  The invention described in claim 3A travel unit, a steering unit, a travel control unit, a main body unit provided with a main body light emitting unit and a working element, a monitoring unit for monitoring the movement of the main body unit from the outside, and a base unit on which the main body unit waits before traveling The monitoring unit includes an image input unit that inputs an image of a moving region of the main body unit, a position recognition unit that recognizes the position of the main body light emitting unit from an image input by the image input unit, and the main body light emitting unit. A main body receiving means for receiving a signal from the transmitting means and the main body. A main body light emission control means for controlling the light emission means; and a position storage means for storing position information before traveling. The main body light emission control means receives the signal received by the main body reception means from the transmission means, and The on / off operation of the body light emitting means is controlled, and the on / off operation of the main body light emitting means and the operation of the image input means of the monitoring unit are synchronized with the transmission operation of the signal by the transmitting means. The means inputs two image data of an image in which the main body light emitting means is turned on and an image in which the main body light emitting means is turned off, and the position recognizing means takes a difference between the two image data to obtain an image of the main body light emitting means. The position relative to the surface is detected, the reference position in a state of waiting in the base portion before the main body travels is stored in the position storage means of the main body, and the stored reference position is compared with the position of the main body light emitting means. Based on the position related information from the main body receiving means, the traveling control means transmits the position related information based on the position related information to the main body receiving means by the transmitting means. Your was carried out, to move the body portion to the base portionWithThe monitoring unit captures the light emission of the main body light emitting means, the position recognition means recognizes the position of the main body portion, and compares the current position of the main body portion with the position of the base portion to control the traveling, thereby ensuring that the main body portion becomes the base portion. You can go back and wait.
[0009]
  The invention described in claim 4The main body light emission control means alternately turns on and off the main body light emission means every time the main body reception means receives a signal from the transmission means of the monitoring unit.To controlThus, since the image input means can obtain two image data of the image in which the main body light emitting means is turned on and the image in which the main body light emitting means is turned off, the position recognition means takes the difference between the two image data and emits the main body light emission. The position of the means relative to the image plane can be reliably detected.
[0010]
  According to the fifth aspect of the present invention, the monitoring unit and the base unit are integrally provided, so that the monitoring unit can be easily installed, the number of parts can be reduced, and the manufacturing cost can be reduced.
[0011]
  According to a sixth aspect of the present invention, the main body portion includes a battery that supplies power to at least the traveling means and the steering means, the base portion includes a charger that charges the battery, and the main body portion includes the base. The battery and the charger are connected to perform charging while waiting at the base, and charging can be performed automatically while the main body is waiting at the base.
[0012]
  The invention described in claim 7 has a timer setting means in the base unit, and starts driving at a time set by the timer setting means, and can automatically start driving at a predetermined time. it can.
[0013]
  According to the eighth aspect of the present invention, the working elements are an electric blower that sucks dust and a suction tool that receives the suction action of the electric blower, and can be cleaned by sucking dust on the floor surface while moving. The
[0014]
  The invention described in claim 9 is a working element is an electric blower that sucks dust, a suction tool that receives the suction action of the electric blower, and a rotary brush for dust lifting provided in the suction tool, While moving, it can be cleaned by sucking up and sucking up dust on the floor.
[0015]
【Example】
  Example 1
  Hereinafter, the case where the embodiment of the present invention is applied to a self-propelled cleaner will be described with reference to FIGS.
[0016]
  FIG. 1 shows the overall external configuration of this embodiment. Reference numeral 1 denotes a main body that performs cleaning while moving, and moves on the floor surface A of the cleaning area. A monitoring unit 2 monitors the main body unit 1 and the base unit 3 and is installed on the ceiling of the cleaning area to monitor the entire floor surface A.
[0017]
  The structure of the main body 1 is shown in FIG. Reference numerals 4 and 5 denote left and right drive motors, and respective output shafts drive the left and right traveling wheels 8 and 9 via the left and right speed reducers 6 and 7. The left drive motor 4 and the right drive motor 5 are independently rotationally controlled to move the main body 1 and serve also as a traveling means and a steering means. Reference numeral 10 denotes a travel control means for controlling the left and right drive motors 4 and 5 according to various inputs to control the travel of the main body 1 and includes a microcomputer and other control circuits. Reference numeral 11 denotes a main body light emitting means comprising a lamp, an LED or the like attached to the upper surface of the main body portion 1 and is controlled to blink by the main body light emission control means 12a of the circuit board 12. As the main body light emitting means 11, one that emits infrared light is used. The main body light emitting means 11 is provided at a position away from the left and right running wheels 8 and 9 of the main body 1. Reference numerals 13 and 14 denote obstacle detection sensors that detect the distance to the front and side obstacles of the main body 1 with light. Reference numeral 15 denotes a cleaning nozzle for cleaning the floor, which constitutes a suction tool, and is provided with an agitator 16 made of a rotating brush or the like, and sucks dust by a vacuum pressure generated by a fan motor 17 made of an electric blower. . The agitator 16 is rotationally driven by a nozzle motor 18 via a transmission belt 19. Reference numeral 20 denotes a power source made of a battery or the like, which supplies power to the main body 1.
[0018]
  The base unit 3 is a station that stands by when the main unit 1 is not working, and is installed at a corner or the like of the cleaning area, and charges the power source 20 of the main unit 1 at the end of the operation of the main unit 1. Reference numeral 21 denotes a charging terminal, which is connected to the power receiving terminal 22 of the main unit 1 during standby and supplies power from the charger of the base unit 3 to the power source 20 of the main unit 1. Reference numeral 23 denotes a timer setting means for reserving a built-in timer and setting the time. Reference numeral 24 denotes a base light emitting means which is similar to the main body light emitting means 11 and emits light to the monitoring unit 2. The base light emission means 24 is controlled to blink by the base light emission control means 26 in accordance with the information signal received by the base reception means 25 as shown in the system configuration diagram of FIG.
[0019]
  The monitoring unit 2 is provided with an image input unit 31 including an imaging element such as a CCD or CMOS sensor and a lens, and inputs an image of the entire floor A including the main body light emitting unit 11 and the base light emitting unit 24. The lens portion of the image input means 31 is provided with a filter that allows only infrared light to pass therethrough so that light input from other than the main body light emitting means 11 and the base light emitting means 24 is blocked as much as possible to prevent the influence of illumination, sunlight, etc. It is hard to receive. The image data of the image input means 31 is subjected to arithmetic processing by the position recognition means 32, and the result is transmitted to the main unit 1 and the base part 3 by the transmission means 33. This transmission data is received by the main body receiving means 12b of the circuit board 12 in the main body section 1 and by the base receiving means 25 in the base section 3. In this embodiment, communication between the monitoring unit 2, the main unit 1, and the base unit 3 is a wireless system using radio waves.
[0020]
  Next, an operation in which the monitoring unit 2 detects the positions of the main body unit 1 and the base unit 3 will be described.
[0021]
  As described above, the monitoring unit 2 is installed at a position overlooking the entire floor surface A such as the ceiling of the cleaning area, and the image input unit 31 displays an image of the entire floor surface A including the main body light emitting unit 11 and the base light emitting unit 24. input. Therefore, for example, when only the main body light emitting means 11 is lit while the main body section 1 is stopped, the main body section 1 and the base light emitting means 24 in which the main body light emitting means 11 is lit are turned off in the image input means 31. An image of the base unit 3 and the floor surface A and its surroundings are input. In this embodiment, the position recognizing means 32 takes the difference between the two image data of the image in which the main body light emitting means 11 is turned on and the image in which the main body light emitting means 11 is turned off, and the main body light emitting means 11. Are extracted, and the position coordinates with respect to the image plane are detected. Similarly, the image of the base light emitting means 24 is extracted from two image data of the image in which the base light emitting means 24 is turned on and the image in which the base light emitting means 24 is turned off, and the position coordinates on the image plane are detected. Then, the same signal is simultaneously transmitted to the main body receiving unit 12b and the base receiving unit 25 by the transmitting unit 33 using the information based on the detected position.
[0022]
  FIG. 4 shows the timing at which the main body light emission control means 12a blinks the main body light emission means 11 and the base light emission control means 26 blinks the base light emission means 24 in the main body portion 1 and the base portion 3, respectively. First, when the main body reception means 12b receives the information signal 40 transmitted from the transmission means 33, the main body light emission control means 12a sets the main body light emission means 11 to the lighting state 41. At the same time, when the base reception means 25 receives this, the base light emission control means 26 puts the base light emission means 24 in the extinguished state 42. The image input means 31 of the monitoring unit 2 inputs an image every time the transmission means 33 performs a transmission operation. At this time, an image in which only the main body light emission means 11 is lit is input. Next, when the main body receiving means 12 b receives the information signal 43, the main body light emission control means 12 a puts the main body light emitting means 11 into the extinguished state 44. At this time, the image input means 31 inputs an image in which both the main body light emitting means 11 and the base light emitting means 24 are turned off. The position of the main body light emitting means 11 can be detected from the two image data. Similarly, when the information signal 45 is received, the main body light emission control means 12a keeps the main body light emission means 11 in the extinguished state 44. At the same time, when the base reception means 25 receives this, the base light emission control means 26 turns on the base light emission means 24. 46. Next, when the information signal 47 is received, the main body light emission control means 12a keeps the main body light emission means 11 in the extinguished state 44, and when the base receiving means 25 receives this, the base light emission control means 26 puts the base light emitting means 24 in the extinguished state 48. To do. The position of the base light emitting means 24 can be detected from the image data in each state. By repeating such an operation every several tens of msec, the positions of both the main body light emitting means 11 and the base light emitting means 24 can be detected even when the main body 1 is running.
[0023]
  The transmission means 23 transmits two position coordinates of the main body light emission means 11 and the base light emission means 24 as information signals.
[0024]
  The main body light emitting means 11 is provided at a position away from the left and right running wheels 8 and 9 of the main body 1 in order to increase the change in the position coordinates of the main body light emitting means 11 due to the change in direction of the main body 1. By sequentially processing the position coordinates of the main body light emitting means 11, the direction in which the main body 1 is facing can also be known.
[0025]
  With the above configuration, the overall operation of this embodiment will be described.
[0026]
  As shown in FIG. 5, the operation is started in a state where the base unit 3 is in the standby state of the main body unit 1. The main body 1 detects surrounding obstacles with the obstacle detection sensors 13 and 14, and the travel control means 10 controls the left and right drive motors 4 and 5 to start moving. At the same time, the nozzle motor 18 and the fan motor 17 of the cleaning nozzle 15 are operated, and the agitator 16 performs cleaning by sucking up dust on the floor surface. The main body 1 cleans the entire cleaning area as indicated by the movement path a while measuring the distances to the front and left and right walls with the obstacle detection sensors 13 and 14. At this time, the position control data of the main body light emitting means 11 transmitted from the monitoring unit 2 is stored as a movement map in the traveling control means, and the movement control is performed by determining whether there is an uncleaned portion. In this way, the main body 1 stops at the point (point b) where there is no uncleaned part on the movement map, and the cleaning operation is completed. When this cleaning operation mode ends, the next operation is switched to the return operation mode for returning to the base unit 3 as in the movement path c.
[0027]
  In this operation mode, the traveling control means 10 compares two position coordinates of the main body light emitting means 11 and the base light emitting means 24 transmitted from the monitoring unit 2 and controls so that the main body part 1 returns to the base part 3. That is, each time an information signal is transmitted from the monitoring unit 2, the distance and direction from the current location of the main unit 1 to the base unit 3 are calculated, and the main unit in this direction is processed while processing the input from the obstacle detection sensors 13 and 14. Travel control is performed so that the portion 1 is oriented and the distance is reduced. In this way, when the main unit 1 approaches within a certain distance of the base unit 3, the traveling control means 10 reverses the direction of the main unit 1 so that the power receiving terminal 22 is connected to the charging terminal 21 of the base unit 3. Dock with Part 3.
[0028]
  When the main body unit 1 and the base unit 3 are docked, the main body unit 1 enters a standby mode and the power supply circuit supplied with power from the power source 20 is cut off. Then, the power source 20 is supplied with power from the charger of the base unit 3 and charging starts. Since the power source 20 is automatically charged when the work is completed in this way, a troublesome charging operation is not necessary and the cleaning work can be resumed at any time.
[0029]
  Further, if the start time of the cleaning work is set in advance by the timer setting means 23, the work can be automatically started by the built-in timer. Therefore, once the timer is set, the operation pattern of starting cleaning at the same time every day and charging after cleaning can be automatically performed without any human intervention.
[0030]
  In this embodiment, the timing of blinking the main body light emitting means 11 and the base light emitting means 24 is as shown in FIG. 4, but in summary, only the main body light emitting means 11 is lit, only the base light emitting means 24 is lit, Any pattern may be used as long as both the light emitting means are alternately combined in the light-off state, and the present invention is not limited to this.
[0031]
  In this embodiment, the monitoring unit 2 is fixed. However, according to the present invention, the positions of both the main body light emitting unit 11 and the base light emitting unit 24 can be detected every several tens of msec. Even if the monitoring angle is changed and the field of view is changed, the position of the base light emitting means 24 is not changed, so that the same operation as described above is possible by performing coordinate conversion based on this.
[0032]
  (Example 2)
  A second embodiment will be described with reference to FIGS.
[0033]
  FIG. 6 shows the overall external configuration of this embodiment. Reference numeral 1 denotes a main body that performs cleaning while moving, and has the same configuration as that of the first embodiment. A monitoring unit 2 is electrically connected to the base unit 3 through a connection line 50 and is installed on the wall of the cleaning area to monitor the entire floor surface A. Unlike the first embodiment, the base unit 3 has no light emitting means, and is a station that stands by when the main unit 1 is not working, and is installed at the corner of the cleaning area or the like. The power supply 20 of the unit 1 is charged. Reference numeral 21 denotes a charging terminal, which is connected to the power receiving terminal 22 of the main unit 1 during standby and supplies power from the charger of the base unit 3 to the power source 20 of the main unit 1. Reference numeral 23 denotes a timer setting means for reserving a built-in timer and setting the time.
[0034]
  FIG. 7 is a system configuration diagram. The monitoring unit 2 is provided with an image input unit 31 and inputs an image of the entire floor A including the main body light emitting unit 11. The image data of the image input means 31 is processed by the position recognition means 32, and the result is transmitted to the main body 1 by the transmission means 33. This transmission data is received by the main body receiving means 12 b of the circuit board 12 in the main body 1. Further, the main body 1 is provided with a position storage means 51 for storing position information of the light emitting means 11 received by the main body receiving means 12b.
[0035]
  Hereinafter, parts similar to those in the first embodiment are denoted by the same names and the same reference numerals, and description thereof is omitted.
[0036]
  An operation in which the monitoring unit 2 detects the position of the main body unit 1 will be described.
[0037]
  FIG. 8 shows the timing at which the light emission control means 12a causes the light emission means 11 to blink in the main body 1. First, when the receiving unit 12 b receives the information signal 52 transmitted from the transmitting unit 33 of the monitoring unit 2, the light emission control unit 12 a puts the light emitting unit 11 into the lighting state 53. The image input unit 31 inputs an image every time the transmission unit 33 performs a transmission operation, and inputs an image in which the light emitting unit 11 is lit at this time. Next, when the receiving means 12b receives the information signal 54, the light emission control means 12a puts the light emitting means 11 in the extinguished state 55. At this time, the image input means 31 inputs an image in which the light emitting means 11 is turned off. The position recognizing means 32 takes the difference between the two image data and extracts the image of the light emitting means 11 to detect the position coordinates with respect to the image plane. The detected position coordinates are sent from the transmitting means 33 to the main unit 1. It transmits to the receiving means 12b.
[0038]
  With the above configuration, the overall operation of this embodiment will be described.
[0039]
  Although not shown in the figure, the operation is started in a state where the base unit 3 is in the standby state as in the first embodiment. When the operation is started, the position data of the light emitting means 11 is transmitted as an information signal from the monitoring unit 2 as described above, and the traveling control means 10 first stores the position information before traveling in the position storing means 51. That is, this is a reference position for the main body 1 to return to the base 3 after the work is completed.
[0040]
  Then, the main body 1 starts running, and when the cleaning operation mode is entered as in the first embodiment, the obstacle detection sensors 13 and 14 measure the distances to the front and left and right walls while cleaning the entire cleaning area. The position coordinate data of the main body light emitting means 11 transmitted from the monitoring unit 2 is stored as a movement map, and movement control is performed by determining whether there is an uncleaned portion. The main body 1 stops at the point where there is no uncleaned part on the movement map, and the cleaning work is finished. When the cleaning operation mode ends, the mode is switched to the return operation mode for returning to the base unit 3. In this operation mode, the traveling control means 10 compares the position coordinates of the main body light emitting means 11 transmitted from the monitoring section 2 with the reference position stored in the position storage means 51 at the start of operation, and the main body section 1 Control is performed to return to the base unit 3. In this way, when the main unit 1 approaches within a certain distance of the base unit 3, the traveling control means 10 reverses the direction of the main unit 1 so that the power receiving terminal 22 is connected to the charging terminal 21 of the base unit 3. Dock with Part 3.
[0041]
  When the main body unit 1 and the base unit 3 are docked, the main body unit 1 enters a standby mode and the power supply circuit supplied with power from the power source 20 is cut off. Then, the power source 20 is supplied with power from the charger of the base unit 3 and charging starts. Since the power source 20 is automatically charged when the work is completed in this way, a troublesome charging operation is not necessary and the cleaning work can be resumed at any time. The power of the monitoring unit 2 is supplied from the base unit 3 through the connection line 50.
[0042]
  In the present embodiment, the monitoring unit 2 is installed on the wall portion of the cleaning area, but may be any position as long as the entire floor surface A is overlooked.
[0043]
  (Example 3)
  As shown in FIG. 9, in this embodiment, the monitoring unit 2 and the base unit 3 are integrated into one housing. Although the basic operation is the same as that of the second embodiment, the monitoring unit 2 and the base unit 3 are mechanically integrated so that the installation can be facilitated and can be manufactured at a low cost, and the place to use can be determined. There is an effect that it can be moved easily.
[0044]
【The invention's effect】
  The invention described in claim 1 is a traveling means.Steering means, travel control means, main body light emitting means,A main body provided with a working element, a monitoring unit for monitoring the movement of the main body from the outside,Having a base light emitting means before the main body travelsEquipped with a waiting base,The monitoring unit includes an image input unit that inputs an image of the moving region of the main body unit and the base unit, and a position that recognizes the positions of the main body light emitting unit and the base light emitting unit from the image input by the image input unit. Recognizing means, a signal for turning on or off the main body light emitting means and the base light emitting means, and a transmission means for transmitting position related information from the position recognizing means to the main body,In the body partA main body receiving means for receiving a signal from the transmitting means and a main body light emitting control means for controlling the main light emitting means; and a base receiving means for receiving a signal from the transmitting means and the base light emitting in the base unit Base light emission control means for controlling the means, and both the main body light emission control means and the base light emission control means receive the signals received by the main body reception means and the base reception means from the transmission means, respectively. The main body light emitting means and the base light emitting means are controlled to be turned on and off, and the signal transmitting operation by the transmitting means is performed to turn on and off the main body light emitting means and the base light emitting means and the image of the monitoring section. The operation of the input means is synchronized, and the image input means is an image in which the main body light emitting means and the base light emitting means are respectively turned on and off. Two pieces of image data are input, and the position recognizing means detects the position of the main body light emitting means and the base light emitting means with respect to the image plane by taking the difference between the two image data, and the detected main body light emission. And the base light emitting means transmit the position related information based on the respective positions of the base light emitting means to the main body receiving means by the transmitting means, and the travel control means based on the position related information from the main body receiving means. Control the traveling means and the steering means, and move the main body to the baseWith thatSince the monitoring unit captures the light emission of both the main body light emitting means and the base light emitting means, and the position recognition means recognizes the position of both, the main body portion can reliably return to the base portion and stand by.A mobile work robot can be realized.
[0045]
  The invention described in claim 2The main body light emission control means and the base light emission control means Each time each of the stage and the base receiving means receives a signal from the transmitting means of the monitoring unit, one of the main body light emitting means and the base light emitting means is turned on alternately and all are turned offBy controlling so thatSince two images are obtained when only the main body light-emitting means is lit and when only the base light-emitting means is lit, the position recognition means recognizes the position of both light-emitting means accurately by comparing them.A mobile work robot can be realized.
[0046]
  The invention described in claim 3A travel unit, a steering unit, a travel control unit, a main body unit provided with a main body light emitting unit and a working element, a monitoring unit for monitoring the movement of the main body unit from the outside, and a base unit on which the main body unit waits before traveling The monitoring unit includes an image input unit that inputs an image of a moving region of the main body unit, a position recognition unit that recognizes the position of the main body light emitting unit from an image input by the image input unit, and the main body light emitting unit. A main body receiving means for receiving a signal from the transmitting means and the main body. A main body light emission control means for controlling the light emission means; and a position storage means for storing position information before traveling. The main body light emission control means receives the signal received by the main body reception means from the transmission means, and The on / off operation of the body light emitting means is controlled, and the on / off operation of the main body light emitting means and the operation of the image input means of the monitoring unit are synchronized with the transmission operation of the signal by the transmitting means. The means inputs two image data of an image in which the main body light emitting means is turned on and an image in which the main body light emitting means is turned off, and the position recognizing means takes a difference between the two image data to obtain an image of the main body light emitting means. The position relative to the surface is detected, the reference position in a state of waiting in the base portion before the main body travels is stored in the position storage means of the main body, and the stored reference position is compared with the position of the main body light emitting means. Based on the position related information from the main body receiving means, the traveling control means transmits the position related information based on the position related information to the main body receiving means by the transmitting means. Your was carried out, to move the body portion to the base portionWithThe monitoring unit captures the light emission of the main body light emitting means, the position recognition means recognizes the position of the main body portion, and compares the current position of the main body portion with the position of the base portion to control the traveling, thereby ensuring that the main body portion becomes the base portion. Can wait backA mobile work robot can be realized.
[0047]
  The invention described in claim 4The main body light emission control means alternately turns on and off the main body light emission means every time the main body reception means receives a signal from the transmission means of the monitoring unit.To controlThus, since the image input means can obtain two image data of the image in which the main body light emitting means is turned on and the image in which the main body light emitting means is turned off, the position recognition means takes the difference between the two image data and emits the main body light emission. Reliably detect the position of the means relative to the image planeA mobile work robot can be realized.
[0048]
  The invention described in claim 5 is a mobile work robot in which the monitoring unit and the base unit are integrally provided, the installation of the monitoring unit is facilitated, the number of parts can be reduced, and the manufacturing work robot can be manufactured at low cost. It can be realized.
[0049]
  According to a sixth aspect of the present invention, the main body portion includes a battery that supplies power to at least the traveling means and the steering means, the base portion includes a charger that charges the battery, and the main body portion includes the base. The battery and the charger are connected to perform charging while standing by at the base, and a mobile work robot that can automatically charge while the main body is waiting at the base can be realized. It is.
[0050]
  The invention described in claim 7 has a timer setting means in the base unit, and starts driving at a time set by the timer setting means, and can automatically start driving at a predetermined time. A mobile work robot can be realized.
[0051]
  According to the eighth aspect of the present invention, the working elements are an electric blower that sucks dust and a suction tool that receives the suction action of the electric blower, and can be cleaned by sucking dust on the floor surface while moving. A mobile work robot can be realized.
[0052]
  The invention described in claim 9 is a working element is an electric blower that sucks dust, a suction tool that receives the suction action of the electric blower, and a rotary brush for dust lifting provided in the suction tool, It is possible to realize a mobile robot that can be cleaned by sucking up dust on the floor surface while moving.
[Brief description of the drawings]
FIG. 1 is an external perspective view of a self-propelled cleaner according to a first embodiment of the present invention.
FIG. 2 is a perspective view of the inside of the main body seen through.
FIG. 3 is a block diagram showing the system configuration
FIG. 4 is a timing chart showing the operation of the light emitting means of the main body.
FIG. 5 is an operation explanatory diagram showing the cleaning operation.
FIG. 6 is an external perspective view of a self-propelled cleaner according to a second embodiment of the present invention.
FIG. 7 is a block diagram showing the system configuration
FIG. 8 is a timing chart showing the operation of the light emitting means of the main body.
FIG. 9 is an external perspective view of a self-propelled cleaner according to a third embodiment of the present invention.
[Explanation of symbols]
  1 Body
  2 monitoring unit
  3 base
  4,5 drive motor
  8,9 running wheel
  10 Travel control means
  11 Main body light emitting means
  12a Main body light emission control means
  12b Body receiving means
  21 Charging terminal
  22 Power receiving terminal
  23 Timer setting means
  24 Base light emitting means
  25 Base receiving means
  26 Base light emission control means
  31 Image input means
  32 Position recognition means
  33 Transmission means
  51 Position storage means

Claims

A main body portion provided with travel means , steering means, travel control means, main body light emitting means and working elements, a monitoring section for monitoring the movement of the main body section from the outside, and a base light emitting means, and the main body section before traveling A standby base unit, and the monitoring unit includes an image input unit for inputting a moving area of the main unit and an image of the base unit, and the main unit light emitting unit and the base light emission from an image input by the image input unit. A position recognition means for recognizing the position of the means, a signal for turning on or off the main body light emitting means and the base light emitting means, and a transmission means for transmitting position related information from the position recognition means to the main body section, and a main body light emitting control means for controlling the main body light emitting unit and the main body receiving means for receiving a signal from said transmitting means to said main body portion, the said base portion group that receives a signal from said transmitting means Receiving means and base light emission control means for controlling the base light emission means. The main body light emission control means and the base light emission control means are both received by the main body reception means and the base reception means from the transmission means. The main body light emitting means and the base light emitting means are controlled to be turned on and off in response to the received signal, and the main body light emitting means and the base light emitting means are turned on or off in the transmission operation of the signal by the transmitting means. And the operation of the image input means of the monitoring unit are synchronized, and the image input means inputs two image data of an image in which the main body light emitting means and the base light emitting means are respectively lit and unlit. The position recognizing means takes the difference between the two image data to determine the positions of the main body light emitting means and the base light emitting means relative to the image plane. The position related information based on the detected positions of the main body light emitting means and the base light emitting means is transmitted to the main body receiving means by the transmitting means, and the travel control means is the main body receiving means. A mobile work robot that controls the traveling means and the steering means on the basis of the position-related information from and moves the main body to the base .

The main body light emission control means and the base light emission control means each turn on or turn off any one of the main body light emission means and the base light emission means each time the main body reception means and the base reception means receive a signal from the transmission means of the monitoring unit. The mobile work robot according to claim 1, wherein the mobile work robot is controlled to perform alternately .

A travel unit, a steering unit, a travel control unit, a main body unit provided with a main body light emitting unit and a working element, a monitoring unit for monitoring the movement of the main body unit from the outside, and a base unit on which the main body unit waits before traveling The monitoring unit includes an image input unit that inputs an image of a moving region of the main body unit, a position recognition unit that recognizes the position of the main body light emitting unit from an image input by the image input unit, and the main body light emitting unit. A main body receiving means for receiving a signal from the transmitting means and the main body. A main body light emission control means for controlling the light emission means; and a position storage means for storing position information before traveling. The main body light emission control means receives the signal received by the main body reception means from the transmission means, and The on / off operation of the body light emitting means is controlled, and the on / off operation of the main body light emitting means and the operation of the image input means of the monitoring unit are synchronized with the transmission operation of the signal by the transmitting means. The means inputs two image data of an image in which the main body light emitting means is turned on and an image in which the main body light emitting means is turned off, and the position recognizing means takes a difference between the two image data to obtain an image of the main body light emitting means. The position relative to the surface is detected, the reference position in a state of waiting in the base portion before the main body travels is stored in the position storage means of the main body, and the stored reference position is compared with the position of the main body light emitting means. Based on the position related information from the main body receiving means, the traveling control means transmits the position related information based on the position related information to the main body receiving means by the transmitting means. Your was carried out, the mobile work robot for moving the main body portion to the base portion.

4. The mobile work robot according to claim 3 , wherein the main body light emission control means performs control so that the main body light emission means is alternately turned on and off every time the main body reception means receives a signal from the transmission means of the monitoring unit .

The mobile work robot according to claim 3 or 4, wherein the monitoring unit and the base unit are integrally provided.

The main body has a battery for supplying power to at least the traveling means and the steering means, the base has a charger for charging the battery, and when the main body is waiting on the base The mobile work robot according to claim 1, wherein a battery and the charger are connected to perform charging.

The mobile work robot according to any one of claims 1 to 6, wherein the base unit has timer setting means and starts driving at a time set by the timer setting means.

The mobile work robot according to any one of claims 1 to 7, wherein the work element is an electric blower that sucks dust and a suction tool that receives a suction action of the electric blower.

The working element is an electric blower that sucks dust, a suction tool that receives the suction action of the electric blower, and a rotary brush for dust lifting provided on the suction tool. Mobile work robot.