JPS5854956B2 - Gun Robot - Google Patents

Description

[Detailed Description of the Invention] The present invention enables multiple self-propelled robots to operate within a limited range.
This is about a group of robots that can act while recognizing each other.

In recent years, research and development of industrial robots has been especially active, and robots are being used to perform various tasks in place of humans.

In addition to using this robot alone, researchers are also researching ways to use it as a group of moving robots to perform tasks over a wider range of areas and at a higher level.

However, according to the conventional method, controlling multiple robots is
A centralized control system is used, and individual robots cannot act while being aware of each other, and the amount of work done by each robot is simply the sum of what each robot can accomplish.

If multiple robots like this, each with their own work area, can take collective action as a whole, the amount of work the robots can do is not just the sum of their individual tasks.
Furthermore, synergistic effects can be expected, and the scope of its activities and fields of use will be expanded dramatically.

The present invention has been proposed to satisfy these demands, and allows multiple robots to individually recognize each other, perform unique actions based on their own judgment, and, at the same time, perform cooperative actions with others as necessary. The purpose is to provide a group robot that can wake up.

The technical content of the present invention will be clarified below.

First, to describe the basic concept of this invention, a robot group consisting of multiple robots acts within a certain range, and each robot has its own control function.
Act based on one's own judgment and not on external orders.

For this reason, robots have the ability to recognize each other, and have the ability to identify their own position based on information obtained from vision75), and take specific actions based on this identification. Take action individually or in groups depending on the situation.

What specific actions do you want the robot to take?
This can be considered depending on the purpose of use, and the following actions are planned in this embodiment.

Individual robots operate within a limited area, and when they do not recognize each other (when they do not approach each other within a predetermined distance), they perform predetermined tasks according to their own programs or randomly. It is assumed that when the robot moves around and recognizes an opponent, it will follow the target, and when it gets close, it will take evasive action.

Next, to explain the configuration of each robot, in Fig. 1, numeral 1 in the figure is an identification device for identifying the relationship between the robot and the robot, which includes a detection unit 1a for visual recognition of the robot, and a detection unit 1a for visual recognition of the robot. It consists of a comparison and judgment section 1b that judges the position of oneself based on the information.

2 is a storage device that stores operation modes to cause a predetermined operation based on this discrimination pattern; 3 is a storage device that logically analyzes the pattern and selects a priority mode from among the stored operation modes through a sequence; This is a control command device that selects a target and issues a command for specific operation to the drive device 4.

The identification device 1 uses light such as visible light or infrared rays as an identification medium to recognize the other robot.
The detection unit 1a includes a sensor 10 including a light receiving element.

In other words, as is clear from FIG. 3, the sensor 10 is composed of a filter 11, a lens 12, and a light receiving element (silicon photocell) 13, and the amount of light from the light source attached to each robot is transmitted through the filter 11 and lens 12. The light receiving element 13 detects the light and converts it into an amount of electricity according to the amount of light.

The output of the light receiving element is then amplified by an amplifier 14 and input to a comparator 15.

By the way, as shown in FIG. 2, the sensor 10 is generally provided with a plurality of sensors 10a, 10b, 10c, 10d, and 10e arranged in an annular manner, which are five sensors 10a, 10b, 10c, 10d, and 10e. Each sensor shares a viewing angle obtained by dividing the total viewing angle into five.

Therefore, when any of the sensors 10a to 10e outputs an output, it means that another robot exists in that direction.

In order to determine the distance to the robot that has entered this visual field, comparators 15 and 16.1 are used as a comparison and determination section 1b.
7 is placed.

That is, in order to discriminate between short distance 11 and long distance 12, comparators 15 and 16 with different set values are connected in parallel to sensor 10, and comparators 15 for short distance are connected to 15a and 15b corresponding to each sensor. .

Five comparators 15c, 15d, and 15e are provided, and the long-distance comparator 16 is the sensor 10b in the center.

There are three comparators 16b, 16c, and 16ct corresponding to 10c and 10d, so that the comparators 15a to 15d do not output at close range 11 where the other robot approaches to close range and the amount of light detected by the sensor 10 increases. Of course, the comparators 16b to 16d output signals within the long distance 12 (corresponding to the light receiving sensor), and the distance to the other robot is determined.

The reason why the long-distance comparators 16 are not provided for the sensors 10a and 10e at both ends is simply a design problem, and they can be provided as necessary.

Therefore, the position pattern of the other robot that can be identified by this identification device 1 is A1°B1. B2. C1,
C2, Dl, B2. There are eight patterns of El.

Comparator 17 determines which one is the closest when multiple robots are located in a long distance area at the same time. This is to cause a predetermined operation, and the sensors 10 b , 10 c + 10 d
comparators 17b, so as to compare the outputs of
17 c s 17 d is the arrangement.

Operation modes are stored in the storage device 2 in order to cause predetermined operations in accordance with the position patterns identified in this way.

The operation modes include tracking mode, avoidance mode, and random mode.
, C2, B2), when the robot is found, causes the robot to follow the robot at a certain speed in that direction.

Avoidance mode is short range (A1. B, , C□,
When the opponent robot is located at Dl, El), the robot is caused to perform an avoidance operation such as changing direction in order to avoid contact with the opponent.

In the random mode, when there is no other robot within the identification field of view, the robot is allowed to move freely at random, and this random mode is stored in the storage device 2a.

These storage devices 2 are composed of diode matrices, and a predetermined operating mode is selected based on the outputs from the comparators 15, 16, and 17 of the identification device 1, that is, the identified position patterns.

Next, the control command device 3 logically analyzes the position pattern, selects a priority mode from among the selected operation modes through a sequence, and outputs a command signal to the drive device 4.

The most prioritized mode is the avoidance mode, and when the opponent pot is located in a short distance area, the drive device 4 is activated for a certain period of time.
After stopping, if the situation does not change, it will perform an evasive action, and if the situation changes, for example, if the opponent leaves the close range while it is stopped, it will cancel the avoidance mode and switch to another mode.

Further, when a plurality of tracking modes are selected, priority is given to the tracking mode corresponding to the closest one according to the pattern from the comparator 17, and the tracking operation is caused in that direction.

When the robot does not find the other robot, it uses random mode and allows the robot to act freely.

You may also take appropriate breaks during this time.

Specifically, the storage device 2 includes a clock oscillator CP, a shift register SR, as shown in FIGS. 8 and 9, for example.
1, SR2, Impark RRI.

Random signal generator RG1 consisting of RR2, exclusive OR circuit ERI, ER2, etc. Matrix converter DMI, D
M2, OR circuit OGI, inverter RR3, multiple ANs
It is composed of gate circuits GC1, GC2, etc. consisting of D circuits, and according to the outputs of comparators 15, 16, 17, following mode signal Obtain signals such as X2, right turn Send.

On the other hand, the control command device 3 specifically includes a gate circuit GC3 consisting of a plurality of AND circuits, as shown in FIG.
, GC4, GC5, OR circuit OG2, OG3, OG
4, OG5, one-shot multi-by-break MM,
It is composed of an inverter RR4, a matrix converter DM3, etc., and is eventually sent to the motor drive device 4 for clockwise rotation in response to each command signal from the storage device 2 mentioned above and a signal from an electromagnetic wave detector 21, which will be described later. It sends out a signal J1, a right reverse rotation signal J2, a left forward rotation signal J3, and a left reverse rotation signal J4.

For example, when the target is far away and the input of the tracking comparators 16b to 16d does not reach the set value,
The R circuit OGI outputs 0'' to close the gate circuit GC1 and cut off the follow-up commands Xi, X2°X3, while opening the gate circuit GC2 and sending random commands Zl, Z2 to the control command device 3.

Then, the electromagnetic wave detector 21 receives a non-avoidance signal +11. u, and if the multiplex converter DM2 outputs the non-avoidance mode signal W I+ 111 and opens the gate circuit GC3゜GC5, then this random command Z1゜Z2 is sent to the motor drive device 4. The robot randomly performs movements such as left and right forward rotation.

On the other hand, when the object comes close and the inputs of the tracking comparators 16b to 16d exceed the set values, the OR circuit OG1 outputs 1'', closes the gate circuit GC2, and issues a random command Z1. While cutting off Z2, the gate circuit GC1 is opened and follow-up commands XLX2 and X3 are sent to the control command device 3.

At this time, the comparators 17C to 17d determine the tracking direction so that the object is always captured as the center, and the corresponding tracking commands Xi, X2. X3 is selectively sent to the control command device 3 via the gate circuit GC1.

Then, when the gate circuits GC3, GC5 are opened as described above, the follow-up commands Xi, X2 . X3 is sent to the motor drive device 4, and the robot performs a follow-up operation such as turning left, turning right, or going straight so that the robot always keeps the object centered.

If the robot approaches the target object at close range due to such a following operation, the comparators 15a to 15e
If any of them outputs O'', the matrix converter D
The non-avoidance mode signal W of M2 becomes O'' and the gate circuit G
C5 is closed and follow-up commands Xi, X2. Blocks X3 and random commands Zl and Z2.

Then, in place of each of these instructions, gate circuits GC3,
If GC4 is open, avoidance commands Yl, Y2 . Y3 is sent to the motor drive device 4, and the robot performs an avoidance operation such as turning left and right or moving straight to avoid the object.

Also, at this time, if the matrix converter DM2 outputs the temporary stop signal ``1'', the gate circuit GC4 is closed for a predetermined period, so the avoidance commands Yl, Y
2. Y3 is cut off and the robot performs a temporary stop operation.

As shown in FIG. 4, the drive device 4 includes a drive wheel 18.18 connected to the left and right drive motors ML2MI, and a driven wheel 19.

The drive motors M1 and MI operate selectively as appropriate according to commands from the control command device 3, thereby moving the robot in all directions.

Note that in the random mode, the left and right sides are driven randomly.

Each robot has the above-mentioned configuration, and in order to limit the range in which these robots can move around, electric wires 20 are strung along the boundaries as shown in FIG. Electromagnetic waves are generated along the electric wire 20 through the electric wire 20.

When this boundary is reached, a pair of electromagnetic wave detectors 23, 23 are placed on the left and right to cause the robot to take an evasive action (see FIG. 1).

When the electromagnetic waves are detected, the control command device 3 immediately selects an avoidance mode and performs an avoidance operation to prevent the robot from escaping outside the boundary.

Therefore, there are two avoidance modes: when the other robot approaches and when the robot approaches the boundary line, and in either case, priority is given to other operation modes.

The present invention is constructed as described above, and its operation will now be explained using a few examples.

As shown in Figure 6, when two robots are active,
When neither recognizes the other, it operates randomly,
Now one robot RA recognizes the other robot RB,
For example, if it is captured in a long-distance tracking range, RB
is operating randomly, but RA enters tracking operation and R
I chase after B and gradually approach him.

When RA approaches RR at close range, that is, within the avoidance range, avoidance mode is selected and the system pauses.

When the stop is released, the RB moves randomly during that time and, for example, if it is within the tracking range, it will follow in that direction again, but if the situation does not change (that is, if it is within close range), it will take an evasive action. to change direction.

Also, when RA and RB recognize each other and approach each other, they both stop for a certain period of time in avoidance mode and then move to avoidance operation, but if at this time one of them releases the stop later, If the other has already made an evasive action and disappeared from the field of view, a random action will be taken.

As shown in Fig. 7, if there are two or more robots and one of them, RA, has three objects RB, Rc, and RD in its field of view (following range) at the same time, among them, The tracking mode for the closest one, ie Rc, is prioritized and RA follows Rc.

In addition, when three or more are located within the avoidance range at the same time, (
(However, those that have identified this) will simultaneously go into avoidance mode.

In this way, multiple robots can perform independent actions (random actions) and collective actions (following, avoidance actions) while being aware of each other, and when these robots are asked to perform actual tasks, may be provided with additional operating functions depending on the purpose.

For example, when collecting products scattered within a boundary, each robot RA, RB, etc. is equipped with an actuating arm equipped with a suction device (electromagnet, vacuum pad), and a storage box installed on the robot. If the tip of the actuating arm is configured to move between the floor and the tip, and in this case, the tip is configured to release suction when the suction device at the tip of the actuating arm is positioned in the storage box, each robot RA can be moved.

While the RBs do not recognize each other, they move around randomly and collect the products scattered on the floor, and when they recognize the other, they follow it and collect the products left behind by the former. At the same time, it is possible to avoid inconveniences such as these items coming into contact with each other and falling over or being damaged.

Incidentally, in this embodiment, random, follow-up, and avoidance operations are provided, but since these can be appropriately selected depending on the purpose, they will not be mentioned in detail.

As can be understood from the above explanation, according to the present invention, each robot has its own identification function and corresponding operation mode, and when each robot performs its own operation and simultaneously recognizes another, it cooperates. As a result, the work efficiency of group robots is not limited to the simple total of each individual as in the past, but has a synergistic effect, dramatically improving the field of use of industrial robots. It is something that makes you

[Brief explanation of the drawing]

FIG. 1 is a system circuit diagram of an individual robot of the present invention, FIG. 2 is an explanatory diagram showing the relationship between the viewing angle and distance of the detection unit of the identification device, and FIG. 3 is an explanatory diagram showing the individual sensors, FIG. 4 is a plan view of the drive device, FIGS. 5 to 7 are operation explanatory diagrams showing the active state of the robot, FIGS. 8 and 9 are circuit diagrams showing a specific example of the storage device in FIG. 1, 10th
The same figure is a circuit diagram showing a specific example of the control command device. 1...Identification device, 1a...Detection section, 1
b...Comparison/discrimination unit, 2...Storage device,
2a...Storage device (random mode), 3...
... Control command device, 4 ... Drive device, 10
......Sensor, 15...Comparator,
16...Comparator, 17...Comparator.

Claims (1)

[Claims] 1. An identification device for determining the direction and distance of each robot relative to each other, that is, relative position; a storage device for storing operation modes including at least a random mode according to the identified position pattern; and a self-propelled speed. and a self-propelled drive device that controls the direction of the robot, and a control command device that logically analyzes the pattern, selects a priority mode from among the stored operation modes, and issues an output command to the self-propelled drive device. A group robot characterized in that by arranging a plurality of robots in a certain action area, each robot can recognize each other and take independent or group actions selected from movement patterns in response. .