JPS63163607A - Traveling device - Google Patents
Traveling deviceInfo
- Publication number
- JPS63163607A JPS63163607A JP61312091A JP31209186A JPS63163607A JP S63163607 A JPS63163607 A JP S63163607A JP 61312091 A JP61312091 A JP 61312091A JP 31209186 A JP31209186 A JP 31209186A JP S63163607 A JPS63163607 A JP S63163607A
- Authority
- JP
- Japan
- Prior art keywords
- pair
- magnetic field
- parallel conductors
- moving device
- plane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000004020 conductor Substances 0.000 claims abstract description 12
- 238000001514 detection method Methods 0.000 claims description 16
- 235000013290 Sagittaria latifolia Nutrition 0.000 abstract 1
- 235000015246 common arrowhead Nutrition 0.000 abstract 1
- 230000001186 cumulative effect Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 201000004569 Blindness Diseases 0.000 description 1
- 241000723353 Chrysanthemum Species 0.000 description 1
- 235000007516 Chrysanthemum Nutrition 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003734 kidney Anatomy 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は無経路空間で自らの位置を知りつつ移動する移
動装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION FIELD OF INDUSTRIAL APPLICATION The present invention relates to a mobile device that moves in a pathless space while knowing its position.
従来の技術
近年、室内床面の掃除、ホテル、レストランなどのサー
ビス作業などにおいて無経路で自由自在に移動可能な移
動装置が要求さつつある。この種の移動装置において重
要な技術の１つとして自らの位置、方向を正しく知るこ
とが要求される。BACKGROUND OF THE INVENTION In recent years, there has been a growing demand for mobile devices that can be moved freely without routes for cleaning indoor floors, service work in hotels, restaurants, and the like. One of the important techniques for this type of mobile device is that it is required to accurately know its own position and direction.
従来から位置、方向計測技術として各種提案されている
。Various position and direction measurement techniques have been proposed in the past.
代表的なものとして１つには、レートジャイロで刻々の
方位変化を求め、車にとりつけた回転メータで刻々の走
行距離を計測してマイコンによる演算で求めるもの、（
たとえば「計測と制御」Ｖｏ１２１ Ｎａ１ ｐ、
７２３〜７３０など）他の１つには経路周辺のパターン
、たとえば壁面などを利用するもので移動体からの超音
波センサー、レーザ光測距センサーなどによって壁面の
形状パターンを計測し、特徴化したデータをメモリに入
れ、その位置、方位を知ろうとするものである。One typical example is one that uses a rate gyro to measure changes in direction from time to time, measures the distance traveled from time to time with a tachometer attached to the car, and calculates it using a microcomputer.
For example, "Measurement and Control" Vo121 Na1 p,
723 to 730, etc.) The other method uses patterns around the route, such as walls, and the shape pattern of the wall is measured and characterized using an ultrasonic sensor from a moving object, a laser beam distance measurement sensor, etc. It stores data in memory and attempts to determine its location and orientation.
（たとえば第１回日本ロボット学会学術講演会誌ｐ、１
９９〜２０２など）
発明が解決しようとする問題点
しかしながら上記提案の前者ではセンサーの絶対誤差、
累積誤差処理が面倒、センサーコストが高いなど満足で
きない点が多い。(For example, Journal of the 1st Academic Conference of the Robotics Society of Japan, p. 1
99-202, etc.) Problems to be Solved by the Invention However, in the former of the above proposals, the absolute error of the sensor,
There are many unsatisfactory points such as cumulative error processing being troublesome and sensor cost being high.
また後者では壁面などのパターンが切れてなくなった時
、または最初から存在しない時は盲目的になる、センサ
ーデータが複雑で、特徴化が面倒、データ処理に時間を
要するなどから十分なものとは言い難い。In addition, in the latter case, when the pattern on a wall etc. is cut off or does not exist from the beginning, it becomes blind, the sensor data is complex, it is troublesome to characterize it, and data processing takes time, so it is not sufficient. It's hard to say.
問題点を解決するための手段
上記問題点を解決するために本発明の移動装置は床面あ
るいは一定の高さの空間平面に設けた一対の平行導線と
、上記一対の平行導線に流れる電流により発生する磁界
を検出する磁界検出手段と、上記一対の平行導線に時分
割的に電流を流す電流供給手段と上記磁界検出手段の検
出出力から平行導線に挟まれた平面内の平行４線に直角
方向の絶対位置を知る演算手段という構成を備えたもの
である。Means for Solving the Problems In order to solve the above problems, the moving device of the present invention uses a pair of parallel conducting wires provided on the floor or a spatial plane at a certain height, and a current flowing through the pair of parallel conducting wires. A magnetic field detection means for detecting the generated magnetic field, a current supply means for time-divisionally passing current through the pair of parallel conducting wires, and a detection output of the magnetic field detecting means perpendicular to four parallel wires in a plane sandwiched by the parallel conducting wires. It is equipped with a calculation means for knowing the absolute position in the direction.
さらに上記一対の平行導線をＸ方向およびＹ方向に交差
して設け、二対の平行導線に囲まれた平面内のＸ、Ｙ位
置を知ることができるようにしたものである。Further, the pair of parallel conducting wires are provided to intersect in the X direction and the Y direction, so that the X and Y positions within the plane surrounded by the two pairs of parallel conducting wires can be determined.
さらに上記磁界検出手段を所定のスパンで平面的に少な
くとも２ヶ設けることにより移動装置の位置並びに進行
方向を知ることができるようにしたものである。Furthermore, by providing at least two magnetic field detection means in a plane with a predetermined span, the position and direction of movement of the moving device can be determined.
作用
本発明は上述のように比較的簡易な構成によって平行導
線に挟まれた平面内の平行導線に直角方向の絶対位置が
知ることができる。従って平行導線に沿って移動装置が
移動する際、従来のようなセンサーによる絶対誤差、累
積誤差が生じることもなく、あるいは壁面などのパター
ンが存在しなくても、または切れてなくなっていようと
も盲目的になることなく位置を知ることができる。Function: As described above, in the present invention, the absolute position in the direction perpendicular to the parallel conducting wires within a plane sandwiched between the parallel conducting wires can be determined using a relatively simple configuration. Therefore, when the moving device moves along the parallel conductors, there is no absolute error or cumulative error caused by conventional sensors, or there is no blindness even if there is no pattern such as a wall surface or even if it is cut off. You can know the location without becoming a target.
また上述のようにこの原理を発展させ一対の平行導線を
Ｘ方向およびＹ方向に交差して設ければその二対の平行
導線に囲まれた平面内のＸ、Ｙ位置が同様に知ることが
できる。Furthermore, as described above, if this principle is developed and a pair of parallel conducting wires are provided intersecting in the X and Y directions, the X and Y positions within the plane surrounded by the two pairs of parallel conducting wires can be similarly determined. can.
また２ケの磁界検出手段により位置並びに進行方向をも
容易に知ることができるものである。Furthermore, the position and direction of movement can be easily determined by the two magnetic field detection means.
実施例
以下本発明の一実施例の移動装置について図面を参照し
ながら説明する。Embodiment Hereinafter, a moving device according to an embodiment of the present invention will be described with reference to the drawings.
第１図は本発明の第１の実施例における移動装置を示す
もので、特に廊下のような一定の幅をもって一次元的に
長い床面を無経路で移動できる移動装置である。FIG. 1 shows a moving device according to a first embodiment of the present invention, which is particularly capable of moving along a one-dimensionally long floor surface with a constant width, such as a hallway, without using a route.
すなわち、１０は適当な駆動手段（図示せず）で車輪１
２を駆動しあらゆる方向へ移動自在な移動装置である。That is, 10 is a wheel 1 with a suitable drive means (not shown).
This is a moving device that can move freely in any direction by driving 2.
１４ａ、１４ｂはＤなる幅を有した一対の平行導線で、
たとえば廊下の両隅に沿って設置されるものである。１
６は上記一対の平行導線１４に時分割的に電流ｉ、、ｉ
２を供給する電流供給手段で高周波交流信号の搬送波に
１）．１２を振幅変調で乗せている。１８ｃ、１８ｄは
移動装置に一体で所定のスパンＧを有して設けられたコ
イルからなる磁界検出手段で、上記一対の平行導線１４
に電ｆｉｔ、、＋２が流れる時に導線のまわりに発生す
る磁界を誘導的に検出し、Ｖｃ、、Ｖｃ２゜Ｖｄ、、Ｖ
ｄ２なる電圧として出力信号を取り出すようにしたもの
である。２２は上記磁界検出手段１８ｃ、１８ｄの出力
電圧Ｖｃ、、Ｖｃ２゜Ｖｄ、、Ｖｄ２を入力信号とし、
上記磁界検出手段１８ｃ、１８ｄの平行導！１４に直角
な方向の一方の平行導線１４ａからの絶対位置Ｘｃ、Ｘ
ｄを演算するようにした演算手段である。14a and 14b are a pair of parallel conducting wires having a width D,
For example, they are installed along both corners of a hallway. 1
6 time-divisionally applies currents i, , i to the pair of parallel conducting wires 14.
2) to the carrier wave of the high frequency AC signal using the current supply means that supplies 1). 12 is carried by amplitude modulation. Reference numerals 18c and 18d denote magnetic field detection means consisting of a coil integrally provided with the moving device and having a predetermined span G.
The magnetic field generated around the conductor wire is inductively detected when electric current fit,,+2 flows through it, and Vc,,Vc2°Vd,,V
The output signal is taken out as a voltage d2. 22 uses the output voltages Vc, Vc2°Vd, Vd2 of the magnetic field detection means 18c and 18d as input signals,
Parallel conduction of the magnetic field detection means 18c and 18d! Absolute position Xc, X from one parallel conducting wire 14a in the direction perpendicular to 14
This is a calculation means designed to calculate d.
上記絶対位置Ｘｃは
なる関係式より求めることができる。Ｘｄも同様に求め
る。The above absolute position Xc can be determined from the following relational expression. Xd is found in the same way.
以上の構成において第１図に示す移動装置１０が一対の
平行導線１４に挟まれた平面内で矢印Ａ方向に姿勢を向
けて移動する時、上記電流供給手段１６により時分割的
に電流ｊｌ、Ｆを流してやれば、移動装置１４に設けら
れた磁界検出手段１８ｃ、１８ｄは、それぞれ（１）式
の関係から定められる出力電圧Ｖｃ、、Ｖｃ２．Ｖｄ、
、Ｖｄ２を出力し、上記演算手段２２に１３号を人力す
る。In the above configuration, when the moving device 10 shown in FIG. 1 moves in the direction of the arrow A within a plane sandwiched between the pair of parallel conducting wires 14, the current supply means 16 supplies the current jl, When F is applied, the magnetic field detection means 18c and 18d provided in the moving device 14 output voltages Vc, Vc2, ., Vc2, . Vd,
, Vd2, and manually input No. 13 to the calculation means 22.
演算手段２２はこれらの入力信号から２ケの磁界検出手
段１８．２０の平行導線１４ａからの直角位置Ｘｃ、、
Ｘｄを即座に演算することにより、この移動装置２２の
位置および姿勢を含めた進行方向を判明することができ
る。From these input signals, the calculation means 22 calculates the perpendicular positions Xc, .
By immediately calculating Xd, the traveling direction including the position and attitude of the moving device 22 can be determined.
第２図は本発明の第２の実施例における移動装置を示す
ものであり、特にオフィス、ホテルのフロント、レスト
ランなど２次元的な四角いフロア平面を無経路で移動す
る移動装置である。FIG. 2 shows a moving device according to a second embodiment of the present invention, and is particularly a moving device that moves along a two-dimensional square floor plane such as an office, a hotel reception, a restaurant, etc. without a path.
すなわち１０は第１の実施例で示したと同じ移動装置で
ある。２４はＤｌなる幅を有した一対の平行導線、２６
はＤ２なる幅を有した一対の平行導線で、２４と２６は
Ｘ方向およびＹ方向に交差して設けられている。したが
って、移動装置１０はり、ＸＤ２なる上記２対の平行導
線２４．２６によって囲まれる平面内に位置している。That is, 10 is the same mobile device as shown in the first embodiment. 24 is a pair of parallel conducting wires having a width of Dl; 26
are a pair of parallel conducting wires having a width of D2, and 24 and 26 are provided to intersect in the X direction and the Y direction. Therefore, the moving device 10 is located in a plane surrounded by the two pairs of parallel conducting wires 24, 26, XD2.
２８は上記２対の平行導線２４．２６に交互に時分割電
流＋１．１２．Ｆ、１４を供給する電流供給手段で高周
波交流信号の搬送波に１．。28 alternately applies a time-shared current +1.12 . F, 14 to the carrier wave of the high frequency alternating current signal by the current supply means. .
ｉ、、ｔ、、１４を振幅変調で乗せる。i,,t,,14 is applied by amplitude modulation.
以上の構成において第２図に示す移動装置ｌＯが、矢印
Ｂ方向に姿勢を向けて移動する時、上記電流供給手段２
日にて、まずＸ方向の一対の平行導線２４に時分割的に
電流ｉｌ、＋２を、次にＹ方向の一対の平行導線２６に
時分割的に電流ｆ３゜ｉ４を流してやれば、移動装置１
０に設けられた磁界検出手段１８ｃ、１８ｄは、出力電
圧Ｖ ｃ 、。In the above configuration, when the moving device lO shown in FIG.
At first, if a current il, +2 is applied in a time-sharing manner to a pair of parallel conducting wires 24 in the X direction, and then a current f3°i4 is applied in a time-sharing manner to a pair of parallel conducting wires 26 in a Y direction, the moving device 1
The magnetic field detection means 18c and 18d provided at 0 have an output voltage V c .
Ｖｃ Ｖｄ 、Ｖｄ２ 、Ｖｃ、 、Ｖｃ、 。Vc, Vd, Vd2, Vc, Vc,.
２ ｌ １
Ｖｄ、、Ｖｄ４を出力し、上記演算手段２２に信号を入
力する。上記演算手段２２はこれらの入力信号から（１
）式にしたがって２ケの磁界検出手段１８ｃ、１８ｄの
Ｘ方向の平行導線２４ａからの直角位置Ｘｃ、Ｘｄおよ
びＹ方向の平行導線２６ａからの直角位置Ｙｃ、Ｙｄを
即座に演算する。2 l 1 Vd, , Vd4 are output, and the signals are input to the calculation means 22. The calculation means 22 calculates (1) from these input signals.
), the perpendicular positions Xc and Xd of the two magnetic field detection means 18c and 18d from the parallel conducting wire 24a in the X direction and the perpendicular positions Yc and Yd from the parallel conducting wire 26a in the Y direction are immediately calculated.
すなわち、２対の平行導線に囲まれた平面内に位置する
移動装置１０のＸ、Ｙ位置および姿勢を含めた進行方向
を判明することができる。That is, it is possible to determine the traveling direction including the X and Y positions and posture of the moving device 10 located within a plane surrounded by two pairs of parallel conducting wires.
以上のような本発明の移動装置においてあらかじめ移動
位置座標が入力されてあれば、移動装置が自らの位置、
姿勢、進行方向を計測しながら移動ができるものである
。If the movement position coordinates are input in advance in the mobile device of the present invention as described above, the mobile device can determine its own position,
It allows you to move while measuring your posture and direction of travel.
発明の効果
以上のように本発明は、床面あるいは一定の高さの空間
平面に一対の平行導線を設け、かつ簡易な構成からなる
磁界検出手段を移動装置に設け、演算手段でその検出出
力にしたがって演算し、自らの位置、姿勢、進行方向が
時々刻々計測できるものである。したがって従来のよう
な累積的なセンサー誤差に悩まされることもなく、また
経路周辺の壁面などのパターンが存在していなくても自
在に無経路で移動できるものである。一対の平行導線の
設ける位置は移動装置が移動したい平面の外、すなわち
廊下の隅、フロア−の隅に設ければよく、実用上差しつ
かえることもないものと言える。Effects of the Invention As described above, the present invention provides a pair of parallel conductive wires on a floor surface or a spatial plane at a certain height, provides a magnetic field detection means with a simple configuration in a moving device, and calculates the detected output by a calculation means. It calculates its own position, attitude, and direction of travel from moment to moment. Therefore, it does not suffer from cumulative sensor errors as in the past, and can move freely without a route even if there are no patterns such as walls around the route. The pair of parallel conducting wires may be provided at a position outside the plane in which the moving device wants to move, that is, at a corner of a hallway or a corner of a floor, and there is no practical problem.
第１図は本発明の第１の実施例の一次元移動装置の外観
図、第２図は本発明の第２の実施例の二次元移動装置の
外観図である。
１０・・・・・・移動装置、１４・・・・・・一対の平
行導線、１６・・・・・・電流供給手段、１８ｃ、１８
ｄ・・・・・・磁界検出手段、２２・・・・・・演算手
段、２４・・・・・・一対の平行導線（Ｘ方向）、２６
・・・・・・一対の平行導″ｇＡ（Ｙ方向）、２°８・
・・・・・電流供給手段。
代理人の氏名 弁理士 中尾敏男 はか１名１０−一秒
！芹し腎
ノコ−−−一タゴの干ｊゴ瀉郊灸
第２図FIG. 1 is an external view of a one-dimensional moving device according to a first embodiment of the present invention, and FIG. 2 is an external view of a two-dimensional moving device according to a second embodiment of the present invention. 10...Moving device, 14...Pair of parallel conducting wires, 16...Current supply means, 18c, 18
d...Magnetic field detection means, 22...Calculation means, 24...Pair of parallel conducting wires (X direction), 26
・・・・・・Pair of parallel conductors ``gA (Y direction), 2°8・
... Current supply means. Agent's name: Patent attorney Toshio Nakao 1 person 10-1 seconds! Chrysanthemum Kidney Noko---Ichitago's Dried Moxibustion Diagram 2
Claims (3)
一対の平行導線に挟まれた平面内で自在に移動可能な移
動装置で、上記一対の平行導線に流れる電流により発生
する磁界を検出する磁界検出手段と、上記一対の平行導
線に時分割的に電流を流す電流供給手段と、上記磁界検
出手段の検出出力から平行導線に挟まれた平面内の平行
導線に直角方向の絶対位置を知る演算手段とを有したこ
とを特徴とする移動装置。(1) A moving device that can move freely within a plane sandwiched between a pair of parallel conductive wires installed on the floor or a spatial plane at a certain height, and that generates a magnetic field generated by the current flowing through the pair of parallel conductive wires. A magnetic field detection means for detecting, a current supply means for time-divisionally passing a current through the pair of parallel conductors, and an absolute position in a direction perpendicular to the parallel conductors in a plane sandwiched by the parallel conductors from the detection output of the magnetic field detection means. A mobile device characterized in that it has a calculation means for knowing the.
設け、Ｘ方向、Ｙ方向交互に上記一対の平行導線に時分
割的に電流を流して二対の平行導線に囲まれた平面内の
Ｘ、Ｙ位置を知るようにした特許請求の範囲第（１）項
記載の移動装置。(2) A pair of parallel conductors are provided to cross in the X and Y directions, and a current is applied to the pair of parallel conductors in a time-sharing manner alternately in the X and Y directions to form a plane surrounded by the two pairs of parallel conductors. The moving device according to claim 1, wherein the moving device is configured to know the X and Y positions within the vehicle.
も２ヶ設け位置および進行方向を知るようにした特許請
求の範囲第（１）項または第（２）項のいずれかに記載
の移動装置。(3) The moving device according to claim 1 or 2, wherein at least two magnetic field detection means are provided in a plane with a predetermined span so that the position and direction of movement can be determined. .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61312091A JPS63163607A (en) | 1986-12-26 | 1986-12-26 | Traveling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61312091A JPS63163607A (en) | 1986-12-26 | 1986-12-26 | Traveling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63163607A true JPS63163607A (en) | 1988-07-07 |
Family
ID=18025124
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61312091A Pending JPS63163607A (en) | 1986-12-26 | 1986-12-26 | Traveling device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63163607A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08286748A (en) * | 1995-04-17 | 1996-11-01 | Kubota Corp | Guide controller for moving vehicle |
| JP2001282354A (en) * | 2000-03-30 | 2001-10-12 | Kanazawa Inst Of Technology | Method and device for route guidance of autonomic moving vehicle and autonomic moving vehicle equipped with the same device |
-
1986
- 1986-12-26 JP JP61312091A patent/JPS63163607A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08286748A (en) * | 1995-04-17 | 1996-11-01 | Kubota Corp | Guide controller for moving vehicle |
| JP2001282354A (en) * | 2000-03-30 | 2001-10-12 | Kanazawa Inst Of Technology | Method and device for route guidance of autonomic moving vehicle and autonomic moving vehicle equipped with the same device |
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