Mobile robot steering method and control device

• US 6,076,025 A
• Filed: 01/29/1998
• Issued: 06/13/2000
• Est. Priority Date: 01/29/1997
• 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: Ueno, Ichirou, Katou, Hironori
• Primary Examiner(s): Nguyen, Tan
• Assistant Examiner(s): Tran, Dalena
• Application Number:
  US09/015,312
• Time in Patent Office: 866 Days
• Field of Search: 701/23, 701/25, 701/26
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• 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 1/0255 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

A robot is provided to run so that a trace of the robot efficiently covers a given area according to the detection of a boundary of the area. A spiral pattern running, wherein a radius of the spiral is gradually increased, is started at a desired location in the area and is paused upon the detection of a boundary wall by sensors. Then, a random pattern running, which includes turning to depart from the wall and running forward, is conducted. After the turning has been repeated a predetermined number of times through simulations, the spiral pattern running is resumed at a location spaced from the last turning spot by a predetermined distance or a predetermined length of running time.

Claims

1. A mobile robot steering method in which a mobile robot, equipped with sensors on both sides of said robot for detecting a boundary of an given area to be covered, is controlled to run throughout said area, said method comprising the steps of:

conducting a spiral running motion which starts from any desired location in said area, wherein said spiral running motion has a radius which is gradually increased by a predetermined quantity;

when a distance between said robot and said boundary of said area, detected by said sensors, is smaller than a predetermined distance, discontinuing said spiral running motion, conducting a turning motion from a forward direction through a predetermined angle to part from said boundary of said area, and then conducting a forward running motion;

thereafter repeating, a similar turning and a similar forward running motion whenever detecting said boundary of said area; and

resuming said spiral running motion at a first location spaced by a predetermined distance of a last forward running from a second location where a last turning motion conducted, when said turning motion has been repeated a predetermined number of times.

2. The mobile robot steering method according to claim 1, wherein there are a number of said turning motions before resuming said spiral running motion and a distance of said forward running motion from said second location of said last turning motion to said first location where said running motion is resumed are determined based upon data of simulation models so that a time required for running throughout almost an entirety of said area is minimized.

3. The mobile robot steering method according to claim 1, wherein said angle of turning is substantially 135 degrees from said forward direction.

4. The mobile robot steering method according to claim 1, wherein said sensors of said mobile robot includes at least one pair of obstacle sensors mounted on left and right front sides, and said mobile robot is controlled, while running, to detect said boundary which comprises walls with said obstacle sensors.

5. The mobile robot steering method according to claim 1, wherein said spiral running motion is conducted with a radius of circling being gradually increased so that no gap is developed between any two adjacent running traces of said robot.

6. The mobile robot steering method according to claim 1, wherein a distance of forward movement just before resuming said spiral running motion is defined by a time duration of said robot straight running.

7. A control device for a mobile robot in which a direction of running is determined by a direction of rotation and a speed of rotation of both left and right wheels of said robot, said control device comprising:

at least one of right side obstacle sensors mounted on a right front of a main body of said robot;

at least one of left side obstacle sensors mounted on a left front of said main body;

means for calculating a distance from said robot to an obstacle sensed by each of said right side and left side obstacle sensors;

means for exclusively generating at least two sets of run parameters based upon at least two distances calculated according to sensor outputs from at least one of each right side and left side obstacle sensors, wherein said run parameters include speed of each wheel; and

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

8. The control device for a mobile robot according to claim 7, wherein said run parameters include at least said speed of rotation of each of said left and right wheels which is set to decrease in steps in proportion to a distance of said robot from said obstacle detected by said obstacle sensors.

9. The control device for a mobile robot according to claim 7, wherein said run parameters include said speed and said direction of rotation of said left and right wheels on an intra-side and a side opposite said intra-side of each of said obstacle sensor.

10. The control device for a mobile robot according to claim 9, wherein said run parameters further include a level of turning which represents a radius of circling.

11. The control device for a mobile robot according to claim 10, wherein a succeeding motion of said robot is determined by particular ones of said run parameters generated based upon detection outputs of said obstacle sensors on both left and right sides which provide a lower speed of rotation of each of said left and right wheels and a smaller radius of turning.

12. The control device for a mobile robot according to claim 7, wherein a priority is an order of, from highest, backward running, swivel turn, pivot turn, sharp turn, and slow turn.

13. The control device for a mobile robot according to claim 7, further comprising a contact sensor mounted on a front of said robot so that a pause control in response to an obstacle detection output of a contact sensor is implemented by timer interruption.

14. The control device for a mobile robot according to claim 7, where a succeeding motion of said robot is determined by a combination of said run parameters and said priority rule.

15. A mobile robot steering method in which a mobile robot equipped with sensors for detecting a boundary of a given area to be covered is controlled to run throughout substantially an entirety of said area, said method comprising the steps of:

conducting alternately spiral pattern running motions which start from at some locations in said area, wherein each radius of said spiral pattern running motions is gradually increased and random pattern running motions which are in response to a detection of said boundary of said area by said sensors, allow turning through a predetermined angle in a direction of departing from said boundary; and

then running forward, in which a shift from said spiral pattern running motions to said random pattern running motions is carried out when said sensors detect that said robot comes close to a first predetermined distance from said boundary during said spiral pattern running motions and a shift from said random pattern running motions to said spiral pattern running motions is carried out when said robot has run a second predetermined distance from a last turning after said random pattern running motions have been repeated a predetermined number of times.

16. The mobile robot steering method according to claim 15, wherein said second predetermined distance is defined by a time duration of said run of said robot.

17. The mobile robot steering method according to claim 15, wherein at least one of said predetermined number of times of said turning through said predetermined angle and said second predetermined distance is determined in advance from simulation models so that an amount of time required for running throughout almost said entirety of said given area is minimized.

18. A control device for a mobile robot in which a direction of running is determined by a direction of rotation and a speed of rotation of both left and right wheels of said robot, said control device comprising:

at least one of right side obstacle sensors mounted on a right front of a main body of said robot;

at least one of left side obstacle sensors mounted on a left front of said main body;

means for calculating a distance from said robot to an obstacle sensed by each of said right side and left side obstacle sensors;

means for generating at least two sets of run parameters based upon at least two distances calculated according to sensor outputs from at least one of each right side and left side obstacle sensors, wherein said run parameters include speed of each wheel; and

means for determining a direction and a speed of rotation of each of said left and right wheels based upon a run parameter selected from said at least two sets of run parameters according to a priority rule predetermined for preventing collision against said obstacle, said priority rule being a prioritization order from highest to lowest priority of different movement types of said mobile robot.

19. The control device for a mobile robot according to claim 18, wherein said priority rule is said prioritization order from highest to lowest priority for the movement types of backward running, swivel turn, pivot turn, sharp turn, and slow turn.