JPS63172310A - Control method for operation of cleaning robot - Google Patents

Abstract

PURPOSE:To realize the automatic operation of a cleaning robot without requiring manual operation by teaching externally the cleaning subject information to a cleaning robot. CONSTITUTION:The cleaning form information on a cleaning drive pattern, the cleaning contents, the cleaning order, etc., the cleaning subject information on the largeness, shape and the form of a floor, etc., of the subject to be cleaned and the form information of a cleaning robot for obstacles when the robot runs are stored in a memory part 10b of a robot controller 10 via a teaching pendant 6a, a keyboard panel 6b and an external memory input device 6c of a teaching part 6. These stored information are carried out by an arithmetic processing part 10a. Accordingly, when the operation of the robot is started via an operating part 5, driving of a cleaning function part 2 and an operation driving part 3 are controlled based on the sensor information received from a sensor part 4 as well as said teaching information.

Description

[Detailed Description of the Invention] [Object of the Invention] (Field of Industrial Application) The present invention relates to a cleaning robot comprising at least a cleaning section mounted on a vehicle section for spraying cleaning liquid, brushing, collecting dirt, etc. Regarding the operation control method.

(Prior art) Conventionally, this type of cleaning robot has a structure in which a cleaning unit with functions such as spraying cleaning liquid, brushing, and collecting dirt is mounted on a vehicle unit such as an automatic guided vehicle. In terms of the electric circuit, the configuration is as shown in the third factor. In FIG. 3, a robot controller 1 includes an arithmetic processing section 1a, a storage section 1b, and an input/output boat section 1C, a cleaning function section 2, a traveling drive section 3 consisting of a traveling driver 3a, a steering driver 3b, and a gas rate gyro 4a.

Laser sensor 4b, ultrasonic sensor 4C, touch sensor 4
d, an operation section 5 consisting of an operation pendant 5a, and an operation panel 5b.

The block configuration shown in FIG. 3 operates as follows. That is, the cleaning function section 2 is controlled by the robot controller 1 to perform dry-wet cleaning and polishing work. The cleaning function section 2 and the travel drive section 3 are controlled via the robot controller 1 by giving the following information. On the other hand, the sensor section 4 detects the direction of travel using a gas rate gyro 4a for inertial travel, and detects the travel direction via the robot controller 1 through the travel driver 3a and steering driver 3b of the travel drive section 3.
is controlled. In addition, there is a laser sensor 4b for detecting obstacles while traveling.

It has an ultrasonic sensor 4G and a touch sensor 4d, and the laser sensor 4b is used not only for detecting obstacles but also for distance measurement.

Here, when the object to be cleaned is rectangular, traveling is performed as follows. That is, when the robot is placed on the wall at one end (the wall in front of you) and starts running from this position, the laser sensor 4b measures the distance between the left or right wall and the cleaning robot. , a constant interval is maintained, and straight-line traveling control is performed by the gas rate gyro 4a. When the robot approaches the wall on the other end side (the wall on the other side) while running, this wall surface is detected by the ultrasonic sensor 4C or the touch sensor 4d, and the robot stops at a predetermined distance from the wall. Next, it traverses along this wall by a predetermined width, and then runs in a straight line toward the wall at which it started. This running pattern is illustrated in Figure 4(a).
become that way.

If there is a protrusion of the bond as shown in FIG. 4(b) while driving, the vehicle should avoid the protrusion as shown in the figure.
If this protrusion is wider than the width of two laser sensors 4b, no avoidance action will be taken and an alarm will be issued and the system will stop. Therefore, in such a case, humans perform work to avoid the robot.

In general, in cleaning work using a cleaning robot, cleaning spaces with large or complex protrusions are cleaned as shown in Figure 4 (Fig. As shown in a) and (b), the space is divided by screens or the like so that the protrusion is not large and the space is a simple rectangular space. However, this requires tools such as a screen for cleaning and takes time and effort to set up, which detracts from its merits as an automatic cleaning device. Therefore, the cleaning work performed by this type of cleaning robot is not suitable for the lobbies and floors of general office buildings where there are large or complex obstacles.

(Problems to be Solved by the Invention) In this way, the conventional technology relies on its own equipped sensor to control travel, and is therefore unsuitable for cleaning objects with complex shapes. It was insufficient as a cleaning robot.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a cleaning robot that can automatically clean even complex-shaped objects to be cleaned, and that can perform satisfactorily as a cleaning robot.

[Structure of the Invention] (Means for Solving the Problems) The present invention is characterized by taking the following measures in order to solve the above problems and achieve the object. That is, the present invention provides at least the spraying of a cleaning liquid onto a vehicle part;
In a method for controlling the operation of a cleaning robot equipped with a cleaning unit that performs brushing, dirt collection, etc., cleaning mode information such as a cleaning travel pattern, cleaning content, cleaning order, etc. is stored in advance, and the size of the object to be cleaned, By teaching and storing cleaning target information such as shape and floor configuration, and cleaning robot configuration information such as traveling obstacles related to the cleaning robot using a program or external means such as a teaching pendant, and by playing back this stored information, at least The present invention is characterized in that the operation of the vehicle section and the cleaning section is controlled.

(Function) By taking such measures, even if the object to be cleaned has a complicated shape, the information on the object to be cleaned according to the object to be cleaned is taught from the outside, so that the user can use this information to perform the driving. Operation control information is generated and automatic cleaning can be performed.

(Example) An example of the operation control method for a cleaning robot according to the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of a cleaning robot to which the method of this embodiment is applied, and the same parts as in FIG. 3 are given the same reference numerals, and their explanation will be omitted.

In this embodiment, the robot controller 10 has basically the same configuration as that shown in FIG.
has an expanded storage capacity than the one shown in FIG.
It is configured with 0G. It also includes a teaching section 6 consisting of a teaching pendant 6a, a keyboard panel 6b, and an external storage input device 6C. Note that, as in FIG. 3, operation control is also performed by the sensor section 4.

Next, the operation in the above configuration will be explained.

That is, the cleaning travel pattern and cleaning details are inputted using the teaching pendant 6a of the teaching section 6, the keyboard panel 6b, and the external storage input device 6C.

Cleaning type information such as cleaning order, size of cleaning target.

Information about the object to be cleaned, such as shape and floor form, as well as cleaning robot form information, such as running obstacles related to the cleaning robot, are stored in the storage unit 10b of the robot controller 10 by instruction, and these stored information are executed by the arithmetic processing unit 10a. As a result of this execution, when the operation of the vehicle is started by operating the operating section 5, the driving of the cleaning a function section 2 and the traveling drive section 3 is controlled based on the sensor information from the sensor section 4 and the above-mentioned teaching information.

Here, each piece of information taught above will be explained.

In other words, for pill floors, etc., conditions such as a cleaning start position, a cleaning end position, and one priority cleaning area may be required.
For this purpose, cleaning travel patterns, cleaning orders, etc. are set. Also, depending on the level of dirt on the floor surface, differences in finish, etc., cleaning liquid may be sprayed.

Conditions for cleaning content such as brushing, polishing, etc. may be required, and cleaning content is set for this purpose. Also,
Information about the object to be cleaned is set, such as the size of the object to be cleaned, the presence or absence of protrusions and their shape, and the type of floor such as a concrete floor or a plastic panel floor. Furthermore, robot form information related to the external shape of the robot itself that becomes an obstacle when the cleaning robot moves is set.

Next, the hole cleaning shown in FIG. 2 will be explained as a specific cleaning operation. First, the positions, sizes, etc. of the protruding part A in the hall, the central circular decoration 81, the staircase opening part C1, the telephone booth D, etc. are programmed based on the layout diagram in the hall. The cleaning can be divided into three compartments as shown by the two-dot chain line in Figure 2, or two compartments as shown by the three-dot chain line in Figure 2, but the method with a large number of compartments is common. Therefore, the method of dividing into the three sections mentioned above will be explained here.

In the illustrated area (a), the lower left corner (S
), the stairway entrance on the left is based on the position data taught in advance, and the one on the right is the cleaning range and circular device based on the robot's own calculations. Based on the size of iB and the center position, it calculates how close it can get to the obstacle and approaches the obstacle as much as possible. Here, the sensor section 4 is in an operating state to prevent a collision from occurring due to an error or the like.
This sensor information, together with the teaching information, is the basis for operation control. Next, the circular decoration B is shifted diagonally by the cleaning width, and the next bus is cleaned. This operation is repeated to complete the cleaning of the area (A), and the cleaning end position is the upper left corner of the illustrated area (A).

Next, the vehicle moves to area (b) and cleans while traveling in the same manner as in area (a). In this case, area (a) (
In the vicinity of the dividing line in b), the program shall be made so that there is no cleaning residue by wrapping both areas with an appropriate width.

Next, move on to cleaning area (c). Here, in consideration of cleaning efficiency etc., unlike the area (c), the upper left corner F in the vertical direction is
Starting at the upper left corner E, avoiding the protrusion A.

In the above operation, operation control information is obtained from sensor information and teaching information during operation.
may be set, and this reference point (plane) may be compared with the operation control information while the robot is moving. That is,
When the robot makes a 90 degree turn at point F in Figure 2,
If the various components of the vehicle are severely worn, the vehicle may not be parallel to the right side wall. In such a case, an attitude control program is installed that uses the right side wall as a reference and corrects the control information so that the control information is correctly parallel by comparing this reference plane with the control information.

Further, when traveling on the circular arc portion, the traveling position of the circular arc portion may be calculated by a sequential interpolation method and used as operation control information.

As described above, according to this embodiment, even if the object to be cleaned has a complex shape, the robot can be taught the shape information indicating the shape in advance, so that the robot can use the sensor information and the teaching information while moving. This makes it possible to travel in accordance with the shape, making it possible to perform efficient cleaning.

This solves the conventional problem that in the case of a complex shape, it is necessary to provide a partition with a screen or the like in order to make the shape simple.

In addition, by setting reference points (planes) at important points and correcting the operation information at these reference points (planes), the accuracy of the information can be improved and the accuracy of the information can be improved, such as overlapping allowances, cleaning residue, etc. Wasted parts are suppressed.

In the above embodiment, sensor information and teaching information are used together, but operation control is performed using only teaching information, and the sensor section is provided with a simple sensor capable of preventing collisions. You can also use it as

[Effects of the Invention] As described above, according to the method for controlling the operation of a cleaning robot according to the present invention, even if the object to be cleaned has a complicated shape, cleaning object information corresponding to the object to be cleaned can be taught from the outside. As a result, operation control information for running the vehicle is generated using this information, and automatic cleaning can be performed with versatility without requiring human labor.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing the configuration of a cleaning robot that can carry out the method of an embodiment of the present invention, Fig. 2 is a schematic diagram of operation and cleaning to explain the operation of the embodiment, and Fig. 3 is a conventional example. FIG. 4 is a schematic diagram showing an example of conventional operation and cleaning. DESCRIPTION OF SYMBOLS 10... Robot controller, 10a... Arithmetic processing section, 10b... Storage section, 10c... Input/output boat section, 2... Cleaning function section, 3... Travel drive section, 4...
-Sensor section, 5...operation section, 6...teaching section. Applicant's agent Patent attorney Takehiko Suzue Figure 1

Claims (2)

[Claims] (1) In a method for controlling the operation of a cleaning robot in which at least a cleaning section is mounted on the vehicle section for spraying cleaning liquid, brushing, collecting dirt, etc., a cleaning traveling pattern is determined in advance;
In addition to storing cleaning type information such as cleaning content and cleaning order, it also programs and teaches cleaning target information such as the size, shape, and floor type of the cleaning target, as well as cleaning robot type information such as obstacles to the cleaning robot. A method for controlling the operation of a cleaning robot, characterized in that the operation of at least the vehicle section and the cleaning section is controlled by teaching and storing information using an external means such as a pendant and playing back the stored information. (2) Operation control of the cleaning robot according to claim 1, characterized in that during operation, errors are corrected by comparing a reference surface or a reference signal with the stored information at a predetermined point. Method.