Mobile robot control device

• US 5,942,869 A
• Filed: 02/10/1998
• Issued: 08/24/1999
• Est. Priority Date: 02/13/1997
• Status: Expired due to Term

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Katou, Hironori, Ueno, Ichirou
• Primary Examiner(s): Shoop, Jr., William M.
• Assistant Examiner(s): Duda, Rina I.
• Application Number:
  US09/021,411
• Time in Patent Office: 560 Days
• Field of Search: 318/568.11, 318/568.12, 318/568.16, 318/580, 318/587, 901/1, 901/47, 395/90, 395/93, 701/23, 701/27
• US Class Current: 318/568.12
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

When a difference between sums of distance measurements detected by the left and right side sensors of a robot 1 is greater than a reference value, the turn is performed to avoid an obstacle ahead. If the direction of the current turn is opposite to that of the previous turn, since the angle of turning in the current turn is decreased, the robot 1 prevents redundant turn and can thus run through between obstacles. If the (swivel) turn has been repeated a given number of times in a zigzag movement, an escape motion from the deadlock state is commenced which includes a backward running of a predetermined distance and a (swivel) turn following the backward running.

Claims

1. A control device for a mobile robot in which a direction of turn and an angle of turn are determined by directions of rotation and speeds of rotation of both left and right wheels of the robot, comprising:

a right side obstacle sensor mounted on the right front of a main body of the robot;

a left side obstacle sensor mounted on the left front of the main body;

means for generating at least two set of run parameters, each set of parameters including at least the direction of the turn, a speed of an intra-side wheel, and a speed of an opposite side wheel, in accordance with a distance to an obstacle detected by each obstacle sensor; and

means for determining the direction of rotation and the speed of rotation for each of the left and right wheels on the basis of a run parameter selected from said at least two sets of the run parameters for preventing collision against the obstacle according to a predetermined priority rule,

wherein when both the left and right side sensors detect obstacles at an interval of time which is shorter than a reference valve, their measurements of distance to the obstacles are compared with each other to determine the speeds of rotation of the left and right wheels for turning towards the obstacle to which the distance is longer and when a current turn which is to be conducted upon detecting obstacles by the left and right side sensors at the short interval of time is opposite in the direction to the previous turn, a turning angle of the current turn is set smaller than that of the previous turn.

2. A control device for a mobile robot according to claim 1, wherein the left and right side obstacle sensors consist of a same number of sensor elements, respectvely and each distance to the obstacle detected by the sensor is a sum of measurements detected by the sensor elements.

3. A control device for a mobile robot according to claim 2, wherein in calculation of the sum of the measurements detected by the sensor elements, the distance from a sensor element which detects no obstacle is defined as a predetermined maximum detecting range of the sensor element.

4. A control device for a mobile robot according to claim 1, wherein at least one of the left and right side obstacle sensors consists of a plurality of sensor elements and each distance to the obstacle detected by the sensor is an average of measurements detected by the sensor elements.

5. A control device for a mobile robot according to claim 4, wherein in calculation of the average of the measurements detected by the sensor elements, the distance from a sensor element which detects no obstacle is defined as a predetermined maximum detecting range of the sensor element.

6. A control device for a mobile robot according to claim 1, further comprising means for inhibiting the turn when a difference between the distances measured by the left and right side obstacle sensors is smaller than a predetermined reference value.

7. A control device for a mobile robot according to claim 1, wherein the speed of rotation of each of the left and right wheels which is one of the run parameters is set at a lower rate when the distance to the obstacle on intra-side is shorter.

8. A control device for a mobile robot in which a direction of turn and an angle of turn are determined by directions of rotation and speeds of rotation of both left and right wheels of the robot, comprising:

a right side obstacle sensor mounted on the right front of a main body of the robot;

a left side obstacle sensor mounted on the left front of the main body;

means for generating at least two set of run parameters, each set of parameters including at least the direction of the turn, a speed of an intra-side wheel, and a speed of an opposite side wheel, in accordance with a distance to an obstacle detected by each obstacle sensor; and

means for determining the direction of rotation and the speed of rotation for each of the left and right wheels on the basis of a run parameter selected from said at least two sets of the run parameters for preventing collision against the obstacle according to a predetermined priority rule,

means for inhibiting the turn when a difference between the distances measured by the left and right side obstacle sensors is smaller than a predetermined reference value,

wherein when both the left and right side sensors detect obstacles at an interval of time which is shorter than a reference valve, their measurements of distance to the obstacles are compared with each other to determine the speeds of rotation of the left and right wheels for turning towards the obstacle to which the distance is longer.

9. A control device for a mobile robot according to claim 8, wherein the left and right side obstacle sensors consist of a same number of sensor elements, respectively and each distance to the obstacle detected by the sensor is a sum of measurements detected by the sensor elements.

10. A control device for a mobile robot according to claim 9, wherein in calculation of the sum of the measurements detected by the sensor elements, the distance from a sensor element which detects no obstacle is defined as a predetermined maximum detecting range of the sensor element.

11. A control device for a mobile robot according to claim 8, wherein at least one of the left and right side obstacle sensors consists of a plurality of sensor elements and each distance to the obstacle detected by the sensor is an average of measurements detected by the sensor elements.

12. A control device for a mobile robot according to claim 11, wherein in calculation of the average of the measurements detected by the sensor elements, the distance from a sensor element which detects no obstacle is defined as a predetermined maximum detecting range of the sensor element.

13. A control device for a mobile robot according to claim 8, wherein the speed of rotation of each of the left and right wheels which is one of the run parameters is set at a lower rate when the distance to the obstacle on intra-side is shorter.

14. A control device for a mobile robot in which a direction of turn and an angle of turn are determined by directions of rotation and speeds of rotation of both left and right wheels of the robot, comprising:

a right side obstacle sensor mounted on the right front of a main body of the robot;

a left side obstacle sensor mounted on the left front of the main body;

means for generating at least two set of runn parameters, each set of parameters including at least the direction of the turn, a speed of an intra-side wheel, and a speed of an opposite side wheel, in accordance with a distance to an obstacle detected by each obstacle sensor; and

means for determining the direction of rotation and the speed of rotation for each of the left and right wheels on the basis of a run parameter selected from said at least two sets of the run parameters for preventing collision against the obstacle according to a predetermined priority rule,

means for judging a deadlock state of the robot when a current turn which is different in the direction from the preceding turn has been repeated a predetermined number of times, wherein the robot is caused, in response to the judgement of the deadlock state, to perform a backward running by a predetermined distance and then a turn to escape its deadlock state.

15. A control device for a mobile robot according to claim 14, wherein the speed of rotation of each of the left and right wheels which is one of the run parameters is set at a lower rate when the distance to the obstacle on intra-side is shorter.

16. A control device for a mobile robot according to claim 14, wherein the turn is one of a pivot turn when the distance to the obstacle detected by the obstacle sensor is smaller and a swivel turn when the distance to the obstacle detected by the obstacle sensor is much smaller.

17. A control device for a mobile robot according to claim 14, wherein the turn is only a swivel turn when the distance to the obstacle detected by the sensor is much smaller.