JP6542003B2 - Self-propelled work robot - Google Patents

Description

  The present invention relates to a self-propelled work robot that autonomously travels on a work target surface to perform work such as weeding, and more particularly to a self-propelled work robot configured by connecting a plurality of aircraft.

  For example, as a mowing machine used for mowing grass and grass, such as grass and weeds, a main wheel side communication unit that transmits and receives control signals between a drive wheel driven by a traveling motor, a rotary blade motor connected to a rotary blade, And a control unit that controls at least the traveling motor and the rotary blade motor based on the input control signal, so that the burden on the operator can be reduced and maintenance such as lawn can be performed easily. It is considered that work efficiency is optimized by cooperatively operating a self-propelled mower or a plurality of autonomous robots (see, for example, Patent Document 2). ).

JP, 2015-15922, A JP, 2009-199359, A

  However, in the former configuration, if the size of the mowing machine itself is increased in order to increase the mowing work range (the mowing width) to enhance the working efficiency, for example, the basis of the weeding work range is the solar power plant site. In places where there are many obstacles such as blocks and piles, it is difficult to introduce a mower and it is necessary to perform weeding work while avoiding many obstacles.

  It is also effective to work multiple mowers cooperatively when weeding all over the range of weeding work, but when working multiple autonomous robots independently, weeding of overlapping parts is The problem is how to control the weeding of this redundant area so that it will increase.

  Usually, weeds that grow spontaneously on the weeding work area grow on one side, so when weeds growing on one side should be below a certain length, such as weeding work on a solar power plant site, It is possible to weed the range of the weeding work efficiently and in a short time by arranging plural weed mowers and carrying out weeding rather than independently running and carrying out weeding type mowers.

  The present invention has been made in view of such circumstances, and can cope with work from a narrow place to a wider work range, and can suppress a reduction in work efficiency even if the size of the work target surface changes. The main object is to provide a self-propelled working robot.

  In order to achieve the above problems, a self-propelled working robot according to the present invention is a self-propelled working robot that travels by autonomously traveling on a work target surface, and a working tool is mounted on the lower surface And a plurality of airframes having a pair of drive wheels on both sides, wherein the plurality of airframes are connected in series by the connecting member, and adjacent airframes are connected to each other by the connecting member. And a drive unit for driving each drive wheel, a control unit for controlling the drive unit, and a plurality of obstacle detection sensors provided on the outer peripheral surface of each body. When each obstacle is detected in front of the traveling direction by the obstacle detection sensor, each of the aircraft is predicted on the movement trajectory or the movement of another aircraft which does not detect the obstacle in front of the traveling direction. On the track It is characterized in that is moving.

  Therefore, since the work robot is configured by connecting a plurality of airframes in series by the connection member, the work target surface of various sizes compared to the work robot formed of one large airframe. As it becomes possible to cope with each other and also it becomes possible to weed while avoiding the obstacle ahead in the traveling direction while being connected by the connecting member and running in alignment, the work target surface is efficient and It becomes possible to weed in a short time.

  In addition, since a plurality of airframes are linked and cooperated by the connecting member, even when some airframes reach a recess in the work target surface, they move with the other airframe while being held by the other airframes. It is possible to avoid the inconvenience that it becomes impossible to move by fitting in the recess.

  Furthermore, since the working robot is configured by a plurality of aircraft, if there is an obstacle ahead in the moving direction, the obstacle does not detect the obstacle ahead in the traveling direction only for the aircraft coming forward It is possible to avoid obstacles by moving and traveling on the movement trajectories of other aircraft or predicted movement trajectories, so it is possible to reduce the inconvenience that can not be weeded because there are obstacles ahead. Become.

Here, as the connecting member, connecting members are provided at both ends of the rod-like body, and each connecting member is erected substantially perpendicularly to the work target surface at the upper center of the body. the mounting shaft with mounted rotatably about the axis of the mounting shaft, the rod-shaped body attached rotatably in a plane on including the axis of the axis between the mounting shaft of the rod-like body There is .
If such a configuration is adopted, it is possible to absorb the movement of some of the airframes even when the machine body moves up and down in the case where there is unevenness on the work target surface.

Further, in the plurality of airframes, the airframes of one end connected in series are disposed at the foremost in the traveling direction, and the airframes of the other end are disposed at the rearmost in the advancing direction. It is preferable to run a configuration which is disposed linearly in a diagonally backward order sequentially as a reference arrangement from the aircraft body to the aircraft body at the other end.

  With such a configuration, it is easy to avoid even when there is an obstacle in front of each airframe, and when there is no obstacle, it is possible to align so as to minimize the uncut area. .

  And in such an arrangement configuration, the aircraft at the end detects the obstacle ahead in the traveling direction and the other vehicle's movement trajectory or movement prediction trajectory which does not detect the obstacle ahead in the traveling direction When moving up, when the obstacle detection sensor of the airframe at the end detects that an obstacle has passed, the airframe at the end is returned to the reference position (previously placed position) It is good. With such a configuration, it is possible to carry out the weeding of the part behind the obstacle effectively.

  In the case where an aircraft other than the end detects an obstacle ahead of the traveling direction by the obstacle detection sensor, all aircraft behind the aircraft in the traveling direction are on the same movement trajectory as the aircraft other than the end. It is good to move the Thereafter, the plurality of airframes may be returned to the reference position when it is detected that the last airframe has passed the obstacle by its own obstacle detection sensor.

Furthermore, the movement prediction trajectory of the other aircraft that has not been detected an obstacle in front of the traveling direction by detecting the obstacle in front of the traveling direction by an obstacle detection sensor that is located at the front of the traveling direction. After moving up, when it is determined by the obstacle detection sensor at the front that there is an obstacle also on the movement predicted trajectory by its own obstacle detection sensor, the plural aircraft are simultaneously made orthogonal to the traveling direction After that, the traveling direction is further changed to a right angle after moving, and a plurality of airframes are returned to the reference position and traveled, thereby traveling while reciprocating the entire work target surface (traveling in a zigzag shape). Is possible.

Further, on the upper surface of the machine body , the rod-like members of the connecting member are disposed in between, and a pair of projecting and retracting restricting members for restricting the rotation of the connecting member about the axial center of the mounting shaft is prescribed in the circumferential direction. It is preferable to provide many at intervals of

  By adopting such a configuration, it is possible to fix the direction of the connecting rod with respect to the airframe with the pair of restricting members, and there is no inconvenience that the direction changes in an unintended direction during traveling. In addition, the shape of this control member may be a form by which one control member is inserted in a connecting rod.

  Here, when the work robot is used as a weeding machine, the work tool may be constituted by a mowing blade driven by a drive motor mounted on the machine body, and the work robot is cleaned. When used as a machine, it may be configured by a brush driven by a drive motor mounted on the machine body.

  As described above, according to the self-propelled work robot according to the present invention, the work tool is mounted on the lower surface, and the plurality of airframes having the pair of drive wheels on both sides are provided. The airframes are connected in series by a connecting member, and adjacent airframes are connected rotatably relative to each other along the surface to be worked by the connecting members, and a drive unit for driving each drive wheel to each airframe, and this drive A control unit for controlling the control unit, and a plurality of obstacle detection sensors provided on the outer peripheral surface, and when each obstacle is detected ahead of the traveling direction by the obstacle detection sensor, Since it was made to move on the movement trajectory of another aircraft not detecting an obstacle ahead or on the movement prediction trajectory, it becomes possible to work while avoiding the obstacle even in a place where there are many obstacles, Narrow It is possible to correspond to the work of up to a wider working range from such location.

  In addition, since it becomes possible to travel while avoiding the obstacle in the forward direction while traveling while the respective aircraft are connected by the connecting member and aligned and traveling, weeding the work target surface efficiently and in a short time Is possible.

Furthermore, since a plurality of airframes are linked and cooperated by the connecting member, it is possible to avoid the inconvenience that the airframe can not be fitted into the recess and can not operate even when some of the airframes reach the recess of the work target surface. Become.
In particular, as a connecting member, connecting members are provided at both ends of the rod-like body, and each connecting member is mounted on the mounting shaft vertically erected at the upper center of the machine body with respect to the work surface. And the rod-like body is rotatably attached on a plane including the axial center of the rod-like body and the axial center of the attachment axis, so that the work target surface has unevenness In some cases, even when some aircraft move up and down, it is possible to absorb the movement.

FIG. 1 is a plan view showing the overall configuration of a self-propelled working robot according to the present invention, and is a view showing a case where it is configured by three machine bodies. (A) shows the state of the reference arrangement in which three airframes are arranged diagonally and linearly, and (b) shows the state in which the last airframe is arranged on the movement trajectory of the middle airframe is there. FIG. 2 is a view showing each body of the self-propelled working robot according to the present invention, wherein (a) is a plan view thereof, (b) is a bottom view thereof, (c) is a front view thereof, (d) These are the figures explaining the detection range of the sensor provided in the body. FIG. 3 is a view showing a connecting member for connecting the respective bodies of the self-propelled working robot according to the present invention, wherein (a) is a plan view thereof and (b) is a side view thereof. FIG. 4 is a view showing a traveling state of the self-propelled working robot according to the present invention, in which (a) shows a state of traveling on a slope and (b) shows a state of traveling on an uneven surface. FIG. 5 is a view for explaining a method in which the self-propelled working robot according to the present invention travels the work target surface, and (a) shows the progress from the airframe of one end located at the most forward in the traveling direction. It is a figure which shows the reference | standard arrangement | positioning which was arrange | positioned one after the other to the body of the other end of the direction linearly in order diagonally back, and (b) is a working object surface (work field) ) Is a diagram for explaining traveling backward in a zigzag shape. FIG. 6 is a view for explaining the traveling rules of the self-propelled work robot, and for explaining the movement in the case where there is an obstacle in front of the rearmost body. FIG. 7 is a diagram for explaining the continuation of the movement of FIG. FIG. 8 is a diagram for explaining the traveling rules of the self-propelled work robot, and a diagram for explaining the movement in the case where there is an obstacle in front of the forwardmost aircraft. FIG. 9 is a diagram for explaining the continuation of the movement of FIG. FIG. 10 is a diagram for explaining the traveling rules of the self-propelled working robot, and is a diagram for explaining the movement in the case where there is an obstacle ahead of the central airframe. FIG. 11 is a diagram for explaining the continuation of the movement of FIG. FIG. 12 is a diagram for explaining the continuation of the movement of FIG. FIG. 13 is a diagram for explaining the continuation of the movement of FIG. FIG. 14 is a view for explaining the folding operation when there is a boundary wall of the work target surface in front of the self-propelled work robot. FIG. 15 is a diagram for explaining the continuation of the movement of FIG. FIG. 16 is a diagram for explaining the continuation of the movement of FIG. FIG. 17 is a view showing another example where the working tool is a mowing blade. FIG. 18 is a view showing another example where the working tool is a mowing blade. FIG. 19 is a diagram showing an example where the working tool is a cleaning brush.

  Hereinafter, an embodiment of a self-propelled working robot according to the present invention will be described with reference to the attached drawings.

  In FIG. 1, a self-propelled working robot 1 performs an operation by autonomously traveling on a target surface for weeding work such as a photovoltaic power plant site, and a plurality of disk-like (in this example, three) The airframes A, B, and C are connected by connecting members 2 and 3 and configured.

  In each of the airframes A, B and C, as shown in FIG. 2, disk-shaped mowing blades 12, 22 and 32 as working tools are rotatably mounted on the lower surfaces of the airframe main bodies 11, 21 and 31. In addition, a pair of drive wheels 13a, 13b, 23a, 23b, 33a, 33b are provided on both sides (positions 180 degrees out of phase) of the airframe main bodies 11, 21, and 31.

  In addition, drive motors (drive units) 14a, 14b, 24a, 24b, 34a, 34b for driving the respective drive wheels, and work tools (grass cutting blades) 12, 22, 32 are provided on the respective fuselages A, B, C. Provided on the outer peripheral surface, and drive units 15, 25 and 35 for driving the drive motor, control units 16, 26 and 36 for controlling these drive motors 14a, 14b, 24a, 24b, 34a, 34b, 15, 25 and 35, and A plurality of obstacle detection sensors 17a to 17d, 27a to 27d, and 37a to 37d are provided. In this example, the obstacle detection sensor is orthogonal to a pair of side sensors 17a, 17b, 27a, 27b, 37a, 37b provided at the same circumferential position as the drive wheels and a diagonal line passing through the drive wheels forming a pair Provided with front sensors 17c, 27c, 37c and rear sensors 17d, 27d, 37d provided at diagonal positions, and provided four out of phase on the outer peripheral surface of the machine body 11, It is done.

  The front sensors 17c, 27c, 37c and the rear sensors 17d, 27d, 37d are, as shown in FIG. 2 (d), the distance by which the obstacle X can be detected in the traveling direction of the vehicle is about the diameter of the vehicle body. (Detects the presence of the obstacle X when the obstacle X approaches forward about the diameter of the airframe body), and detects the obstacle X within the same range of width (diameter) of the airframe It has the directivity that can be done.

  On the other hand, in the side sensors 17a, 17b, 27a, 27b, 37a and 37b, the distance at which the obstacle X can be detected on the side of the machine is set slightly smaller than the diameter of the machine body Detecting the presence of an obstacle X when the object X approaches the side than the diameter of the airframe main body), and pointing such that the obstacle X within a range wider than the longitudinal length (diameter) of the airframe can be detected Have sex.

  The control units 16, 26, and 36 input presence / absence of detection information of an obstacle from each obstacle detection sensor, and control the rotation direction, rotation speed, driving stop, etc. of each wheel based on the input information. It is like that.

  The plurality of airframes A, B, and C described above are connected in series by the connecting members 2 and 3, and adjacent airframes are connected to be relatively rotatable along the work target surface by the connecting members 2 and 3 There is.

  Specifically, as shown in FIG. 3, the connecting members 2 and 3 are provided with connecting members 6, 7, 8, 9 at both ends of the rod-like members 4, 5. Each of the connecting members 6, 7, 8, 9 is mounted on the mounting shafts 10a, 20a, 30a erected substantially perpendicularly to the work surface at the upper center of the fuselages A, B, C. An annular member 6a, 7a, 8a, 9a rotatably mounted about an axial center and a pair of clevis portions 6b, 7b, 8b, 9b projecting in parallel in the radial direction from the annular member It is configured. The end portions of the rod-like members 4 and 5 are formed with tongue portions 4a, 4b, 5a and 5b inserted between the pair of clevis portions, and the clevis portions 6b, 7b, 8b and 9b and the tongue portions 4a, 4b, The cotter pins 6c, 7c, 8c and 9c are inserted into the through holes formed in each of 5a and 5b, and the rod-like members 4 and 5 are formed by the shaft centers of the rod-like members and the shaft centers of the mounting shafts 10a, 20a and 30a. It is possible to rotate on the plane including.

  Also, on the upper surface of each of the airframes A, B and C, a large number of pin-shaped stoppers (restriction members) 18, 28 and 38 are provided so as to protrude and retract around the mounting shafts 10a, 20a and 30a. It is done. In this example, the pair of stoppers 18, 28, 38 are provided at an interval of 45 degrees so that the rods 4 and 5 of the connecting members 2 and 3 can be arranged with a slight gap therebetween. In the state where the rod-shaped members 4 and 5 are provided between the rod-shaped members 4 and 5, the circumferential displacement of the rod-shaped members is prevented. In addition, the shape of this control member may be a form by which one control member is inserted in a connecting rod.

  Therefore, the adjacent aircraft A, B and C (the aircraft bodies 11, 21 and 31) are sequentially connected by the connecting members 2 and 3, so as shown in FIG. 4A, when traveling on the inclined surface Also, it is possible to travel without significantly shifting the center of gravity of the fuselage (without tilting the fuselage main bodies 11, 21 and 31 more than necessary), and as shown in FIG. Even when a part of the aircraft reaches the recess when traveling, it moves together with the other aircraft while being held by the other aircraft, so that it can be passed without being fitted into the recess.

  When the work robot 1 in which the above-described aircraft A, B, and C are connected in series travels the work target surface 100, the control units 16, 26, and 36 of the respective aircraft A, B, and C are shown in FIG. As shown in a), the airframe A at one end connected in series is arranged at the foremost in the traveling direction, and the airframe C at the other end is arranged at the rearmost in the traveling direction, one end From the fuselage A of the part to the fuselage C at the other end, the configuration to be arranged linearly in a diagonally backward direction is made to travel as a reference disposition, and as shown in FIG. The field robot 100 performs autonomous control as the work robot 1 while cooperatively controlling each of the airframes A, B, and C so that the field 100 travels in a zigzag manner.

  The work robot 1 may be installed manually at the work start point of the work target surface 100 (though the work robot 1 may be manually set at the work start point). Each of the aircrafts A, B, and C may be provided with a function of acquiring GPS information, and the GPS information may be used to guide the work robot to the work start position.

  In particular, when traveling the work target surface 100, it becomes a problem how to control each aircraft when there is an obstacle X in the traveling direction, but in this configuration, the remaining uncut is minimized while avoiding the obstacle. It is controlled as follows to do.

First, as shown in FIG. 6, when the obstacle X is detected by the front sensor 37 c of the vehicle C (the obstacle X is detected in front of the vehicle C located at the rear of the traveling direction as shown in FIG. Step 1-1) Stop all aircraft A, B and C temporarily (step 1-2), open the stopper 38 of the aircraft C (pull down the stopper 38 and release the function to restrict the movement of the connecting member 3) (Step 1-3), rotate the fuselage C until the rod 5 of the connecting member 3 connecting the fuselage B and the fuselage C and the axes of the drive wheels 33a and 33b of the fuselage C become coaxial (the fuse C The driving wheel 33a on the left side in the drawing is rotated forward, and the driving wheel 33b on the right side in the drawing is rotated by rotating backward) (step 1-4).
Here, that the rod-like body of the connecting member and the axis of the drive wheel of the vehicle body are coaxial means that the rod-like body of the connecting member and the axis of the drive wheel of the vehicle body are in the same direction. It is similar.

  Then, when the rod 5 of the connecting member 3 connecting the machine B and the machine C and the axes of the drive wheels 33a and 33b of the machine C become coaxial, the stopper 38 of the machine C is made to project and Set the function to restrict movement (Step 1-5), and at the same time open the stopper 28 of the machine B (pull the stopper 28 down and release the function to restrict movement of the connecting member 3) (Step 1-6) The vehicle C is rotated so as to come directly behind the vehicle B (the drive wheels 33a and 33b on both sides of the vehicle C are rotated backward) (step 1-7).

  Thereafter, when the machine C comes directly behind the machine B, the stopper 28 of the machine B is protruded to set the function of restricting the movement of the connecting member 3 (step 1-8). Further, the stopper 38 of the body C is opened (the stopper 38 is pulled down to release the function of restricting the movement of the connecting member 3) (step 1-9), and the rod shape of the connecting member 3 connecting the body B and the body C The body 5 is rotated until the axes of the drive wheels 33a and 33b of the body C are perpendicular (the upper drive wheel 33a in the figure of the body C is rotated backward, and the lower drive wheel 33b in the figure is rotated forward). Rotate) (step 1-10).

  When the rod 5 of the connecting member 3 connecting the machine B and the machine C is perpendicular to the axes of the drive wheels 33a and 33b of the machine C, the stopper 38 of the machine C is protruded to A function to restrict movement is set (step 1-11), and forward movement of all the aircrafts A, B, C is resumed (step 1-12).

  After that, as shown in FIG. 7, while the aircraft C is being moved forward while maintaining the position immediately behind the vehicle B, the side sensor 37 b of the vehicle C detects that the obstacle X has passed. Then (step 1-13), the entire machine is temporarily stopped (step 1-14), the stopper 38 of the machine C is opened (the stopper 38 is pulled down to release the function of restricting the movement of the connecting member 3) (step 1) 1-15), rotate the fuselage C until the rod 5 of the connecting member 3 connecting the fuselage B and the fuselage C and the axes of the drive wheels 33a and 33b of the fuselage C become coaxial (the left side of the fuselage C in FIG. The drive wheel 33a is rotated forward, and the drive wheel 33b on the right in the figure is rotated backward (step 1-16).

  Then, when the rod 5 of the connecting member 3 connecting the machine B and the machine C and the axes of the drive wheels 33a and 33b become coaxial, the stopper 38 of the machine C is protruded to restrict the movement of the connecting member 3 Function is set (step 1-17), the stopper 28 of the machine B is opened (the stopper 28 is pulled down to release the function of restricting the movement of the connecting member 3) (step 1-18). It is rotated so that it is diagonally behind B (in a reference position) (the drive wheels 33a and 33b on both sides of the machine C are rotated forward) (step 1-19).

Thereafter, the stopper 28 of the airframe B is protruded to set the function of restricting the movement of the connecting member 3 (step 1-20). Also, open the stopper 38 of the machine C (draw the stopper 38 to release the function of restricting the movement of the connecting member 3) (step 1-21), and until the drive wheels 33a and 33b of the machine C are in the advancing direction The motor is rotated (the drive wheel 33a on the left side in the figure of the machine C is rotated backward, and the drive wheel 33b on the right side in the figure is rotated forward) (step 1-22).
Here, to rotate the drive wheels 33a and 33b of the vehicle C until the traveling direction is the direction of the vehicle C so that the vehicle C moves in the intended traveling direction by rolling of the drive wheels 33a and 33b. It means to change, and the same applies below.
After that, when the drive wheels 33a and 33b of the vehicle C move in the forward direction, the stopper 38 of the vehicle C is protruded to set a function to restrict the movement of the connecting member 3 (step 1-23). The forward movement of B and C is resumed (step 1-24).

  Therefore, even when there is an obstacle X in front of the aircraft C, it is possible to avoid the obstacle X and to be weeded, and after passing through the obstacle X, it returns to the standard arrangement, so It is also possible to reduce the amount of grass cutting behind.

  Next, as shown in FIG. 8, when the obstacle X is detected by the front sensor 17 c of the aircraft A, when the obstacle X is present in front of the aircraft A, which is disposed at the frontmost position in the traveling direction. (Step 2-1), all the aircraft A, B, C are temporarily stopped (step 2-2), the stopper 18 of the aircraft A is opened (the stopper 18 is pulled down and the function of restricting the movement of the connecting member 2 is released (Step 2-3), rotate the machine A until the rod 4 of the connecting member 2 connecting the machine A and the machine B and the axes of the drive wheels 13a and 13b of the machine A become coaxial (machine A The drive wheel 13a on the left side of the figure is rotated forward, and the drive wheel 13b on the right side in the figure is rotated backward (step 2-4).

  Then, when the rod 4 of the connecting member 2 connecting the machine A and the machine B and the axes of the drive wheels 13a and 13b of the machine A become coaxial, the stopper 18 of the machine A is made to project and Set the function to restrict movement (Step 2-5), and at the same time open the stopper 28 of the machine B (pull the stopper 28 down and release the function to restrict movement of the connecting member 2) (Step 2-6) The vehicle body A is rotated so as to come to the front of the vehicle body B (the drive wheels 13a and 13b on both sides of the vehicle body A are rotated forward) (step 2-7).

Thereafter, when the machine A comes to the front of the machine B, the stopper 28 of the machine B is protruded to set a function of restricting the movement of the connecting member 2 (step 2-8). Further, the stopper 18 of the body A is opened (the stopper 18 is pulled down to release the function of restricting the movement of the connecting member 2) (step 2-9), and the rod shape of the connecting member 2 which connects the body A and the body B The body 4 is rotated until the axes of the drive wheels 13a and 13b of the vehicle body A are perpendicular (in the figure, the upper drive wheel 13a in the figure of the body A is rotated backward, and the lower drive wheel 13b in the figure is rotated forward). Rotate) (step 2-10).
Then, when the rod 4 of the connecting member 2 connecting the machine A and the machine B is perpendicular to the axes of the drive wheels 13a and 13b of the machine A, the stopper 18 of the machine A is made to project. The function of restricting the movement is set (step 2-11), and the forward movement of all the aircrafts A, B and C is resumed (step 2-12).

  Thereafter, as shown in FIG. 9, when the fuselage A is positioned forward of the fuselage B and is being advanced, the side sensor 17a of the fuselage A detects that an obstacle has passed. (Step 2-13), all the aircraft A, B, C are temporarily stopped (step 2-14), the stopper 18 of the aircraft A is opened (the stopper 18 is pulled down and the function of restricting the movement of the connecting member 2 is released (Step 2-15), rotate the machine A until the rod 4 of the connection member 2 connecting the machine A and the machine B and the axes of the drive wheels 13a and 13b of the machine A become coaxial (machine A The drive wheel 13a on the left side of the figure is rotated forward, and the drive wheel 13b on the right side in the figure is rotated backward (step 2-16).

  Then, when the rod 4 of the connecting member 2 connecting the machine A and the machine B and the axes of the drive wheels 13a and 13b of the machine A become coaxial, the stopper 18 of the machine A is made to project and A function to restrict movement is set (step 2-17). Also, open the stopper 28 of the airframe B (lower the stopper 28 to release the function of restricting the movement of the connecting member 2) (step 2-18), and bring the airframe A obliquely forward of the airframe B (reference Rotate so as to be arranged (turn the drive wheels 13a and 13b on both sides of the machine body A by rotating backward) (step 2-19).

Thereafter, the stopper 28 of the airframe B is protruded to set the function of restricting the movement of the connecting member 2 (step 2-20). Also, open the stopper 18 of the machine A (draw the stopper 18 to release the function of restricting the movement of the connecting member 2) (step 2-21), and until the drive wheels 13a and 13b of the machine A are in the advancing direction It is rotated (the drive wheel 13a on the left side in the figure of the machine A is rotated backward, and the drive wheel 13b on the right side in the figure is rotated forward) (step 2-22).
After that, when the drive wheels 13a and 13b of the aircraft A move in the traveling direction, the stopper 18 of the aircraft A is protruded to set a function to restrict the movement of the connecting member 2 (step 2-23). The forward movement of B and C is resumed (step 2-24).

  Therefore, even if there is an obstacle X ahead of the aircraft A, it is possible to weed to avoid the obstacle X, and after passing the obstacle X, it returns to the reference position, so It is also possible to reduce the amount of grass cutting behind.

  Next, as shown in FIG. 10, when the obstacle X is detected by the front sensor 27c of the airframe B when the obstacle X is present in front of the airframe B at the center (step 3-1), Stop all aircraft A, B, C once (step 3-2), open the stopper 28 of the aircraft B (pull down the stopper 28 and release the function to restrict the movement of the connecting members 2, 3) (step 3) -3), rod 4 of the connecting member 2 connecting the machine A and the machine B (or rod 5 of the connecting member 3 connecting the machine B and the machine C) and the driving wheels 23a and 23b of the machine B The machine body B is rotated until the axis is coaxial (the drive wheel 23a on the left side of the machine body B in the figure is rotated forward, and the drive wheel 23b on the right side in the figure is rotated backward) (step 3-4).

  Thereafter, the stopper 28 of the airframe B is protruded to set the function of restricting the movement of the connecting member 2 and the connecting member 3 (step 3-5). Further, the stopper 38 of the body C is opened (the stopper 38 is pulled down to release the function of restricting the movement of the connecting member 3) (step 3-6), and the rod shape of the connecting member 3 connecting the body B and the body C The machine body C is rotated until the axes of the drive wheels 33a and 33b of the body 5 and the machine body C are coaxial (the drive wheel 33a on the left side in the figure of the machine body C rotates forward and the drive wheel 33b on the right side in the drawing reverses Rotation) (step 3-7).

  Then, when the rod 5 of the connecting member 3 connecting the machine B and the machine C and the axes of the drive wheels 33a and 33b of the machine C become coaxial, the stopper 38 of the machine C is made to project and A function to restrict movement is set (step 3-8). At the same time, the stopper 18 of the airframe A is opened (the stopper 18 is pulled down to release the function of restricting the movement of the connecting member 2) (step 3-9), and the airframe B and the airframe C are directly behind the airframe A It is rotated so as to come (the drive wheels 23a, 23b, 33a, 33b on both sides of both the machine B and the machine C are rotated by rolling backward) (step 3-10).

  Thereafter, when the aircraft B and the aircraft C come directly behind the aircraft A, as shown in FIG. 11, the stopper 18 of the aircraft A is protruded to set the function of restricting the movement of the connecting member 2 (step 3-3) 11). Further, the stopper 28 of the machine B is opened (the stopper 28 is pulled down to release the function of restricting the movement of the connecting members 2 and 3) (step 3-12), and the connecting member 2 for connecting the machine A and the machine B Until the axis of the drive wheels 23a and 23b of the fuselage B is vertical (the upper drive wheel 23a in the figure of the fuselage B is rotated backward, and the lower drive wheel 23b in the figure is rotated forward) To rotate) (step 3-13).

  Then, when the rod 4 of the connecting member 2 connecting the machine A and the machine B is perpendicular to the axes of the drive wheels 23a and 23b of the machine B, the stopper 28 of the machine B is protruded to connect the members 2, The function of restricting the movement of 3 is set (step 3-14). Further, the stopper 38 of the body C is opened (the stopper 38 is pulled down to release the function of restricting the movement of the connecting member 3) (step 3-15), and the rod shape of the connecting member 3 connecting the body B and the body C The body 5 is rotated until the axes of the drive wheels 33a and 33b of the body C are perpendicular (the upper drive wheel 33a in the figure of the body C is rotated backward, and the lower drive wheel 33b in the figure is rotated forward). Rotate) (step 3-16).

  Thereafter, when the rod 5 of the connecting member 3 connecting the machine B and the machine C is perpendicular to the axes of the drive wheels 33a and 33b of the machine C, the stopper 38 of the machine C is made to project. The function of restricting the movement is set (step 3-17), and the forward movement of all the aircrafts A, B and C is resumed (step 3-18).

  While moving forward while maintaining the state in which the airframe B and the airframe C are disposed directly behind the airframe A, an obstacle X is detected by the side sensor 37b of the airframe C at the tail end (the rearmost in the traveling direction). When it is detected that the vehicle has passed (Step 3-19), as shown in FIG. 12, the whole machine is temporarily stopped (Step 3-20) and the stopper 28 of the machine B is opened (the stopper 28 is pulled down and connected Release the function of restricting the movement of the members 2 and 3) (step 3-21), the rod 4 of the connecting member 2 connecting the machine A and the machine B and the axes of the drive wheels 23a and 23b of the machine B The machine body B is rotated until it becomes coaxial (the drive wheel 23a on the left side in the figure of the machine body B is rotated forward, and the drive wheel 23b on the right side in the figure is rotated backward) (step 3-22).

  Then, when the rod 4 of the connecting member 2 for connecting the machine A and the machine B and the axes of the drive wheels 23a and 23b of the machine B become coaxial, the stopper 28 of the machine B is protruded to connect the members 2, The function of restricting the movement of 3 is set (step 3-23). Further, the stopper 38 of the body C is opened (the stopper 38 is pulled down to release the function of restricting the movement of the connecting member 3) (step 3-24), and the rod shape of the connecting member 3 which connects the body B and the body C The machine body C is rotated until the axes of the drive wheels 33a and 33b of the body 5 and the machine body C are coaxial (the drive wheel 33a on the left side in the figure of the machine body C rotates forward and the drive wheel 33b on the right side in the drawing reverses Rotation) (step 3-25).

  Thereafter, the stopper 38 of the airframe C is protruded to set the function of restricting the movement of the connecting member 3 (step 3-26). Also, the stopper 18 of the airframe A is opened (the stopper 18 is pulled down to release the function of restricting the movement of the connecting member 2) (step 3-27), and the airframe B and the airframe C come obliquely behind the airframe A In such a manner (rotate so as to be the reference arrangement) (turn forward by rotating the drive wheels 23a, 23b, 33a, 33b on both sides of the machine B and the machine C) (Step 3-28).

  After that, when the aircraft B and the aircraft C are arranged obliquely behind the aircraft A (become the reference arrangement), as shown in FIG. 13, the stopper 18 of the aircraft A is protruded to move the connecting member 2 Set the function that restricts (step 3-29). Further, the stopper 28 of the machine B is opened (the function of restricting the movement of the connecting members 2 and 3 is released by pulling down the stopper 28) (step 3-30), and the driving wheels 23a and 23b of the machine B move (The drive wheel 23a on the left side in the figure of the machine B is rotated backward, and the drive wheel 23b on the right side in the figure is rotated forward) (step 3-31).

  Further, when the drive wheels 23a and 23b of the vehicle B are in the forward direction, the stopper 28 of the vehicle B is protruded to set a function of restricting the movement of the connecting members 2 and 3 (step 3-32). Open the stopper 38 (draw the stopper 38 to release the function of restricting the movement of the connecting member 3) (step 3-33), and rotate the drive wheels 33a and 33b of the machine C until the advancing direction becomes (airframe (airframe) The drive wheel 33a on the left side in the figure C is rotated backward, and the drive wheel 33b on the right side in the figure is rotated forward (step 3-34).

  Then, when the drive wheels 33a and 33b of the vehicle C are in the advancing direction, the stopper 38 of the vehicle C is protruded to set a function of restricting the movement of the connecting member 3 (step 3-35). The whole aircraft A, B, C is retracted in order to reduce the amount of left uncut parts (step 3-36). Then, when the rear sensor 27d of the central aircraft B detects the approach of the obstacle X (step 3-37), all the aircraft A, B, C are temporarily stopped (step 3-38), and thereafter, the entire aircraft A, The forward movement of B and C is resumed (step 3-39).

  Therefore, even if there is an obstacle X ahead of the aircraft B, it is possible to avoid the obstacle X and to be weeded, and after passing through the obstacle X, it returns to the standard arrangement, so It is also possible to reduce the amount of grass cutting behind. In this case, in particular, the working robot 1 is temporarily retreated after returning to the reference position, so that it is possible to further reduce the uncut area.

  Next, in order to cause the work target surface (work field) 100 to return in a zigzag shape, the operation of turning back at the work target surface (work field) 100 (boundary wall Y) is performed as follows.

  First, as shown in FIG. 14, when an obstacle (boundary wall Y) is detected by the front sensor 17c of the aircraft A located at the front of the traveling direction (step 4-1), all aircraft A, B , C (step 4-2), open the stopper 18 of the machine A (pull the stopper 18 down to release the function of restricting the movement of the connecting member 2) (step 4-3), The machine body A is rotated until the rod 4 of the connecting member 2 connecting the machine body B and the axes of the drive wheels 13a and 13b of the machine body A become coaxial (the drive wheel 13a on the left side of the machine body A is rotated forward The drive wheel 13b on the right in the figure is rotated by rotating backward (step 4-4).

  Then, when the rod 4 of the connecting member 2 connecting the machine A and the machine B and the axes of the drive wheels 13a and 13b of the machine A become coaxial, the stopper 18 of the machine A is made to project and Set the function to restrict movement (Step 4-5), and at the same time open the stopper 28 of the machine B (pull the stopper 28 down and release the function to restrict movement of the connecting members 2 and 3) (Step 4-4) 6) The aircraft A is rotated in front of the aircraft B (the drive wheels 13a and 13b on both sides of the aircraft A are rotated forward) (step 4-7).

  Then, when the machine body A comes to the front of the machine body B, the stopper 28 of the machine body B is protruded to set a function of restricting the movement of the connecting members 2 and 3 (step 4-8). At that time, when an obstacle (boundary wall Y) is detected by the side sensor 17a of the aircraft A (step 4-9), it is determined that there is an obstacle (boundary wall Y) also in front of the aircraft B. Open the stopper 28 of B (retract the stopper 28 to release the function of restricting the movement of the connecting members 2 and 3) (step 4-10), and turn the machine A diagonally forward of the machine B (reference position To rotate (the drive wheels 13a and 13b on both sides of the machine A are rotated by rolling backward) (step 4-11).

  Thereafter, the machine B is rotated until the rod 4 of the connecting member 2 for connecting the machine A and the machine B and the axes of the drive wheels 23a and 23b of the machine B become coaxial (the drive wheel on the left side of the figure of the machine B). The motor 23a is rotated forward and the drive wheel 23b on the right in the drawing is rotated backward (step 4-12).

  Further, as shown in FIG. 15, when the rod 4 of the connecting member 2 connecting the machine A and the machine B is coaxial with the axes of the drive wheels 23a and 23b of the machine B, the stopper of the machine B is obtained. 28 is set to project a function to restrict movement of the connecting members 2 and 3 (step 4-13). At the same time, the stopper 38 of the fuselage C is opened (the stopper 38 is pulled down to release the function of restricting the movement of the connecting member 3) (step 4-14). It is rotated so as to come (the drive wheels 13a, 13b, 23a, 23b on both sides of the machine A and the machine B are made to rotate by forward rolling) (step 4-15).

  Then, when the machine A and the machine B come to the front of the machine C, the stopper 38 of the machine C is protruded to set the function of restricting the movement of the connecting member 3 (step 4-16). At that time, when the detection of the obstacle (boundary wall Y) is confirmed by the side sensor 17a of the machine A (step 4-17), it is determined that the work robot 1 can not be advanced further, and the machine is The stopper 38 of C is opened (the stopper 38 is pulled down to release the function of restricting the movement of the connecting member 3) (step 4-18), and the rod 5 of the connecting member 3 connecting the machine B and the machine C The machine C is rotated until the axes of the drive wheels 33a and 33b of the machine C are coaxial (the drive wheel 33a on the left side of the figure of the machine C rotates forward and the drive wheel 33b on the right rotates backward). ) (Step 4-19).

  Thereafter, when the rod 5 of the connecting member 3 connecting the machine B and the machine C and the axes of the drive wheels 33a and 33b of the machine C become coaxial, the stopper 38 of the machine C is made to project. Set the function to restrict movement (Step 4-20) and move all aircraft A, B and C forward with the traveling direction changed by 90 degrees (drive wheels 13a on both sides of all aircraft A, B and C, 13b, 23a, 23b, 33a, 33b are rotated forward (step 4-21).

  Thereafter, after advancing by a predetermined distance (a distance approximately three times the width of the vehicle), the stopper 38 of the vehicle C is opened (the stopper 38 is pulled down to release the function of restricting the movement of the connecting member 3) (step 4-22) Rotate the machine A and the machine B 135 degrees around the machine C. (The drive wheels 13a, 13b, 23a, 23b on both sides of the machine A and the machine B are rotated by rotating backward, the machine The A and the aircraft B are obliquely disposed so as to be farther from the obstacle wall Y than the C (step 4-23).

  Thereafter, as shown in FIG. 16, with the direction of moving away from the obstacle wall Y vertically as the traveling direction, with the arrangement of the aircraft A, B, C shown in the same figure as the reference arrangement, the stopper 38 of the aircraft C is protruded. The function of restricting the movement of the connecting member 3 is set (step 4-24). Further, the stopper 28 of the machine B is opened (the function of regulating the movement of the connecting members 2 and 3 is released by pulling down the stopper 28) (step 4-25), and the drive wheels 23a and 23b of the machine B move (The drive wheel 23a on the left side of the body B in the figure is rotated backward, and the drive wheel 23b on the right side in the figure is rotated forward) (step 4-26).

  In addition, when the drive wheels 23a and 23b of the vehicle B are in the forward direction, the stopper 28 of the vehicle B is protruded to set a function to restrict the movement of the connecting members 2 and 3 (step 4-27). Open the stopper 18 (draw the stopper 18 to release the function of restricting the movement of the connecting member 2) (step 4-28), and rotate the drive wheels 13a and 13b of the machine A until it is in the advancing direction The drive wheel 13a on the left side in the figure A is rotated backward, and the drive wheel 13b on the right side in the figure is rotated forward (step 4-29).

  Further, when the drive wheels 13a and 13b of the machine A are in the advancing direction, the stopper 18 of the machine A is protruded to set a function to restrict the movement of the connecting member 2 (step 4-30). 38 is released (the stopper 38 is pulled down to release the function of restricting the movement of the connecting member 3) (step 4-31), and the drive wheels 33a and 33b of the machine C are rotated until the advancing direction becomes (the machine C The upper drive wheel 33a in the figure is rotated forward, and the lower drive wheel 33b in the figure is rotated backward (step 4-32).

  Then, when the drive wheels 33a and 33b of the vehicle C are in the advancing direction, the stopper 38 of the vehicle C is protruded to set the function of restricting the movement of the connecting member 3 (step 4-33). , B, C) are advanced while turning away from the boundary wall Y (the drive wheels on both sides of the whole vehicle are rotated forward) (step 4-34).

  Thereafter, each control described above is performed in a state in which the configuration of the reference arrangement is horizontally reversed, and the entire area of the work target surface is zigzag-traveled.

  Then, the above-described series of operations are repeated each time the obstacle X or the boundary wall Y is detected, and finally it is determined that there is an obstacle ahead of all the aircraft A, B, C in the traveling direction (all aircraft When it became impossible to move, that is, when the obstacle was detected by the front sensors 17c, 27c and 37c of all the aircrafts A, B and C in step 4-21, the end of the work target surface was reached It is determined that all the devices A, B and C are stopped and the work is finished.

  Therefore, according to the work robot 1 described above, even in a place where there are many obstacles X, work can be performed while avoiding the obstacles X. Furthermore, the work robot 1 includes a plurality of aircraft A, B, C Because it is configured by connecting, it is possible to cope with work from a narrow place to a wider work range.

  In addition, since it becomes possible to travel while avoiding the obstacle X in the forward direction while traveling while each body A, B, C is linked by the connecting members 2 and 3 and aligned and traveled, the work target surface 100 is efficient And weeding can be done in a short time.

  In the above configuration, an example is shown in which the working robot is used for weeding and the disk-shaped mowing blades 12, 22 and 32 are used, but the shape of the mowing blade is not particularly limited. As shown in FIG. 17, even with a hair clipper-like mowing blade 41 driven by a drive motor, as shown in FIG. 18, a drive motor having a spiral blade formed on its peripheral surface It may be a cylindrical mowing blade 42 driven.

  In the above configuration, the working robot is used for weeding. However, as shown in FIG. 19, for example, it may be used as a cleaning robot, and the working tool is rotated by the drive motor. The cleaning brush 43 may be driven.

Furthermore, in the above configuration, a configuration in which three airframes are connected is shown. However, similar effects can be obtained as long as two or more airframes are connected.
Also, although an example in which four obstacle detection sensors are provided on the outer peripheral surface of the machine body has been shown, more obstacle detection sensors may be attached and drive control may be performed.

1 Self-propelled working robot 2, 3 Connecting rod 4, 5 Rod 10a, 20, 30a Mounting shaft 12, 22, 32 Working tool (grass cutting blade)
13a, 13b, 23a, 23b, 33a, 33b driving wheels 17a to 17d, 27a to 27d, 37a to 37d obstacle detection sensors 18, 28, 38 stoppers A, B, C airframe X obstacle

Claims (14)

A self-propelled work robot that travels by autonomously traveling on a work target surface,
It has a plurality of airframes with a working tool mounted on the lower surface and a pair of drive wheels on both sides,
The plurality of airframes are connected in series by a connecting member, and adjacent airframes are connected to be relatively rotatable along the work target surface by the connecting member,
Each of the vehicles includes a drive unit for driving each drive wheel, a control unit for controlling the drive unit, and a plurality of obstacle detection sensors provided on the outer peripheral surface,
When each obstacle is detected ahead of the traveling direction by the obstacle detection sensor, each of the other aircraft does not detect an obstacle ahead of the traveling direction or on a predicted movement locus of the other aircraft. To move ,
The connecting member is provided with connectors at both ends of the rod-like body, and each connector is attached to a mounting shaft erected substantially vertically with respect to the work target surface at the upper center of the body. The rod-shaped body is rotatably mounted on a plane including the shaft center of the rod-like body and the shaft center of the mounting shaft, as well as being rotatably mounted about the axis of the mounting shaft. A self-propelled work robot characterized by   In the plurality of airframes, the airframes of one end connected in series are arranged at the foremost in the traveling direction, and the airframes of the other end are arranged at the rearmost in the traveling direction, the airframes of the one end The self-propelled working robot according to claim 1, wherein a configuration arranged linearly in a diagonally backward direction sequentially as a reference arrangement travels from the vehicle body to the body at the other end.   In the case where the aircraft at the end detects the obstacle ahead of the traveling direction and moves on the movement trajectory or the movement predicted trajectory of another aircraft not detecting the obstacle ahead of the traveling direction, 3. The self-propelled working robot according to claim 2, wherein when the obstacle detection sensor of the end body detects that an obstacle has passed, the end body is returned to the reference position. .   When an aircraft other than the end detects an obstacle ahead of the traveling direction by the obstacle detection sensor, all the aircraft behind the traveling direction in the traveling direction are moved on the same movement trajectory as the aircraft other than the end The self-propelled working robot according to claim 2, characterized in that 5. The self-propelled working vehicle according to claim 4 , wherein the plurality of airframes are returned to the reference position when it is detected that the last airframe has passed an obstacle by the obstacle detection sensor of its own. robot. An aircraft located at the front of the traveling direction detects the obstacle ahead of the traveling direction by the obstacle detection sensor, and the other vehicle does not detect an obstacle ahead of the traveling direction on the predicted movement trajectory of the other aircraft. After moving, the plurality of airframes are simultaneously orthogonal to the traveling direction when it is determined that the forwardly located airframe has an obstacle also on the movement predicted trajectory by the obstacle detection sensor of its own. 3. The self-propelled working robot according to claim 2, wherein the robot is moved in a direction, and then the traveling direction is further changed to a right angle to return the plurality of aircraft to the reference position and travel. On the upper surface of the airframe, a pair of projecting and retracting restricting members are disposed circumferentially, with a bar-like member of the connecting member interposed therebetween to restrict rotation of the connecting member about the axis of the attachment shaft. The self-propelled working robot according to claim 1 , characterized in that a large number is provided at intervals of. The self-propelled working robot according to any one of claims 1 to 7 , wherein the working tool is a mowing blade attached to the machine body and driven by a drive motor. The self-propelled working robot according to any one of claims 1 to 7 , wherein the working tool is a brush mounted on the machine body and driven by a drive motor. The work tool is mounted on the lower surface and has a plurality of airframes provided with a pair of drive wheels on both sides, and the plurality of airframes are connected in series by a connecting member, and adjacent airframes are connected A plurality of members provided on the work target surface are relatively rotatably connected along the work target surface, and each of the body includes a drive unit for driving each drive wheel, a control unit for controlling the drive unit, and a plurality of peripheral units. A traveling method of a self-propelled working robot including the obstacle detection sensor of
When each obstacle is detected ahead of the traveling direction by the obstacle detection sensor, each of the other aircraft does not detect an obstacle ahead of the traveling direction or on a predicted movement locus of the other aircraft. To move ,
In the plurality of airframes, the airframes of one end connected in series are arranged at the foremost in the traveling direction, and the airframes of the other end are arranged at the rearmost in the traveling direction, the airframes of the one end A traveling method of a self-propelled working robot, wherein a configuration of being linearly arranged in a diagonally backward order sequentially as a reference arrangement is run from the vehicle body to the body at the other end. In the case where the aircraft at the end detects the obstacle ahead of the traveling direction and moves on the movement trajectory or the movement predicted trajectory of another aircraft not detecting the obstacle ahead of the traveling direction, 11. The self-propelled working robot according to claim 10 , wherein when the obstacle detection sensor of the end body detects that an obstacle has passed, the end body is returned to the reference position. How to travel. When an aircraft other than the end detects an obstacle ahead of the traveling direction by the obstacle detection sensor, all the aircraft behind the traveling direction in the traveling direction are moved on the same movement trajectory as the aircraft other than the end The method according to claim 10 , wherein the self-propelled working robot travels. 11. The self-propelled working vehicle according to claim 10 , wherein the plurality of aircraft are returned to the reference position when it is detected that the last aircraft has passed an obstacle by the obstacle detection sensor of its own. How to run the robot. An aircraft located at the front of the traveling direction detects the obstacle ahead of the traveling direction by the obstacle detection sensor, and the other vehicle does not detect an obstacle ahead of the traveling direction on the predicted movement trajectory of the other aircraft. After moving, the plurality of airframes are simultaneously orthogonal to the traveling direction when it is determined that the forwardly located airframe has an obstacle also on the movement predicted trajectory by the obstacle detection sensor of its own. 11. The method according to claim 10 , further comprising moving the robot in the direction and then changing the traveling direction to a right angle further, returning the plurality of aircraft to the reference position and traveling.

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