Running gear

Abstract

To provide a technology that enables a running device to properly travel on an inclined plane on a road surface.SOLUTION: A running device capable of running on a road surface includes: a body portion; a running portion having a plurality of rotators and controlling reciprocal rotation of the plurality of rotators; a first sensor arranged on a first side surface of the body portion in a direction orthogonal to a longitudinal direction of the running device, the first sensor outputting first data on a two-dimensional shape of the road surface by scanning the road surface along the longitudinal direction of the running device; a second sensor arranged on a second side surface on the opposite side of the first side surface of the body part, the second sensor outputting second data on the two-dimensional shape of the road surface by scanning the road surface along the longitudinal direction of the running device: and a control unit that detects an inclined plane on the road surface based on the first data and the second data and controls operation of the running portion with respect to the inclined plane.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a traveling device.

Background Art

[0002] In recent years, self-propelled traveling devices that autonomously travel on the road surface have been developed. The self-propelled traveling device can travel on an inclined surface (slope) of the road surface. Patent Document 1 discloses a technique for detecting the inclination of a transport vehicle on an inclined surface.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] There is a demand for a traveling device such as a mobile robot to appropriately travel on an inclined surface of a road surface. The present invention has been made in view of the above circumstances, and an object thereof is to provide a technique that enables a traveling device to appropriately travel on an inclined surface of a road surface.

Means for Solving the Problems

[0005] A traveling device according to an aspect of the present invention is a traveling device capable of traveling on a road surface, comprising a main body portion, a traveling portion having a plurality of rotating bodies, and configured to control forward and reverse rotation of the plurality of rotating bodies, a first sensor provided on a first side surface of the main body portion in a direction orthogonal to the front-rear direction of the traveling device, the first sensor configured to output first data regarding a two-dimensional shape of the road surface by scanning the road surface along the front-rear direction of the traveling device, a second sensor provided on a second side surface opposite to the first side surface of the main body portion, the second sensor configured to output second data regarding a two-dimensional shape of the road surface by scanning the road surface along the front-rear direction of the traveling device, and a control portion configured to detect an inclination of the road surface based on the first data and the second data, and control an operation of the traveling portion with respect to the inclination.

[0006] The first sensor outputs first data regarding the two-dimensional shape of the road surface by scanning the road surface along the front-rear direction of the traveling device, and the second sensor outputs second data regarding the two-dimensional shape of the road surface by scanning the road surface along the front-rear direction of the traveling device. Based on the first data output from the first sensor and the second data output from the second sensor, the inclination of the road surface can be detected. Therefore, it is possible to detect the inclination of the road surface and control the operation of the traveling portion with respect to the inclination. As a result, the driving force from the plurality of rotating portions is evenly transmitted to the inclination of the road surface, and the mobile robot 1 can appropriately travel on the inclination of the road surface, and it is possible to prevent the traveling device from tipping over.

[0007] The control portion may control the operation of the traveling portion so that the difference between the first data and the second data is equal to or less than a threshold value, and adjust the orientation of the traveling device when the traveling device enters the inclined surface.

[0008] The control portion may control the operation of the traveling portion so that the difference between the first data and the second data is equal to or less than a threshold value, and adjust the orientation of the traveling device when the traveling device leaves the inclined surface.

[0009] The control unit controls the operation of the traveling unit so that the difference between the first data and the second data is equal to or less than a threshold value, and may adjust the orientation of the traveling device when the traveling device travels on the slope. The control unit may control the operation of the traveling unit so that the difference between the first data and the second data is equal to or less than a threshold value, and may adjust the orientation of the traveling device when the traveling device travels on the slope.

[0010] The first data includes two-dimensional shape data of the road surface in front of the traveling device and two-dimensional shape data of the road surface in front of and behind the traveling device. The second data includes two-dimensional shape data of the road surface in front of the traveling device and two-dimensional shape data of the road surface in front of and behind the traveling device. The control unit controls the operation of the traveling unit so that the difference between the two-dimensional shape data of the road surface in front of the traveling device included in the first data and the two-dimensional shape data of the road surface in front of the traveling device included in the second data is equal to or less than the threshold value, and adjusts the orientation of the traveling device when the traveling device travels on the slope, or controls the operation of the traveling unit so that the difference between the two-dimensional shape data of the road surface behind the traveling device included in the first data and the two-dimensional shape data of the road surface behind the traveling device included in the second data is equal to or less than the threshold value, and adjusts the orientation of the traveling device when the traveling device travels on the slope.

[0011] The traveling device has a loading unit capable of loading a workpiece and a load sensor for measuring a load. A measuring unit measures the center of gravity position of the workpiece loaded on the loading unit based on the load data measured by the load sensor. The control unit acquires the eccentricity state of the workpiece based on the center of gravity position of the workpiece, obtains a specified amount based on the eccentricity state of the workpiece, and controls the operation of the traveling unit so that the difference between the first data and the second data matches or approximates the specified amount, and may adjust the orientation of the traveling device when the traveling device enters the slope.

[0012] The control unit may control the operation of the traveling unit so that the difference between the first data and the second data matches or approximates the specified amount, and may adjust the orientation of the traveling device when the traveling device leaves the slope.

[0013] The control unit may control the operation of the traveling unit so that the difference between the first data and the second data matches or approximates the specified amount, and adjust the direction of the traveling device when the traveling device travels on the slope.

[0014] The first data includes two-dimensional shape data of the road surface in front of the traveling device and two-dimensional shape data of the road surface in front of and behind the traveling device. The second data includes two-dimensional shape data of the road surface in front of the traveling device and two-dimensional shape data of the road surface in front of and behind the traveling device. The control unit controls the operation of the traveling unit so that the difference between the two-dimensional shape data of the road surface in front of the traveling device included in the first data and the two-dimensional shape data of the road surface in front of the traveling device included in the second data matches or approximates the specified amount, and adjusts the direction of the traveling device when the traveling device travels on the slope. Alternatively, the control unit controls the operation of the traveling unit so that the difference between the two-dimensional shape data of the road surface behind the traveling device included in the first data and the two-dimensional shape data of the road surface behind the traveling device included in the second data matches or approximates the specified amount, and adjusts the direction of the traveling device when the traveling device travels on the slope.

[0015] The control unit acquires the distance from the traveling device to the boundary portion between the plane of the road surface and the slope, the inclination angle of the slope, and the shape of the boundary portion based on at least one of the first data and the second data, and may control the operation of the traveling unit based on at least one of the distance from the traveling device to the boundary portion, the inclination angle, and the shape of the boundary portion.

[0016] The traveling device includes a loading unit capable of loading a workpiece and a mass measurement unit that measures the mass of the workpiece loaded on the loading unit. The control unit may permit the traveling device to travel on the slope when the mass of the workpiece is less than a threshold value related to the mass. The control unit may permit the traveling device to travel on the slope when the mass of the workpiece is less than a threshold value related to the mass.

[0017] The traveling device includes a traveling instruction unit that receives a traveling instruction in the taught traveling of the traveling device from a traveling instruction device and controls the operation of the traveling unit based on the traveling instruction. When controlling the operation of the traveling unit with respect to the slope based on the traveling instruction, the traveling instruction unit may change at least a part of the traveling instruction to control the operation of the traveling unit.

[0018] When the traveling device travels in the order of the first plane of the road surface, a predetermined slope continuous with the first plane, and a second plane continuous with the predetermined slope, the traveling device includes a measuring device that measures the first height of the ceiling in the first plane and the second height of the ceiling in the second plane. The control unit acquires the distance of the predetermined slope, measures the inclination angle of the predetermined slope based on at least one of the first data and the second data, calculates the height of the second plane based on the distance of the predetermined slope and the inclination angle of the predetermined slope, and when the difference between the first height and the total height of the second height and the height of the second plane is greater than a height threshold value, a notification may be sent to an external device.

[0019] The traveling device includes a storage unit that stores a map to which distance data regarding the distance of the slope is added. The control unit measures the inclination angle of the slope based on at least one of the first data and the second data, and may calculate the power consumption in the traveling of the slope based on the distance of the slope and the distance of the slope.

[0020] The traveling device may include a loading unit capable of loading a workpiece and an adjusting unit that adjusts the inclination of the loading unit. The traveling device includes an operation control unit that controls the operation of the adjusting unit. The control unit acquires the inclination angle of the slope based on at least one of the first data and the second data, and the operation control unit may control the operation of the adjusting unit based on the inclination angle.

Advantages of the Invention

[0021] According to the present invention, it is possible to provide a technique that enables a traveling device to appropriately travel on a slope of a road surface.

Brief Description of the Drawings

[0022]

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Embodiments for Carrying Out the Invention

[0023] Hereinafter, embodiments will be described with reference to the drawings. The following embodiments are one aspect of the present application and do not limit the scope of rights of the present application. <Application Example> An example of a scenario to which the present invention is applied will be described.

[0024] <First Embodiment> <Overall Configuration of Mobile Robot> FIG. 1 is a block diagram showing the configuration of a mobile robot 1 according to the first embodiment. The mobile robot 1 is a device having a function as a self-propelled driverless vehicle (self-propelled traveling device) or a device having a function as a self-propelled driverless transport vehicle (self-propelled transport device). The mobile robot 1 includes a main body 2, an integrated control unit 11, a communication unit 12, a 2D scanner 13, a measurement sensor 14, a storage unit 15, a travel control unit 16, and a travel unit 17. Further, the mobile robot 1 includes 2D shape measurement devices 18A and 18B, and a reception unit 19.

[0025] The upper device 200 can communicate with the mobile robot 1 and issues a travel instruction or a transport instruction to a predetermined mobile robot 1 in the system to be managed. The upper device 200 includes a storage device 201, an input device 202, and the like. The storage device 201 stores various information and data. The input device 202 receives the input of various information and data. The upper device 200 may be composed of a server, a workstation, a personal computer, or the like.

[0026] The integrated control unit 11 executes overall control of the mobile robot 1 and integrated control in the mobile robot 1 such as management of communication with the upper device 200. Further, the integrated control unit 11 simultaneously or individually creates a map (map data) of the surroundings of the mobile robot 1 and estimates the self-position of the mobile robot 1. For example, the integrated control unit 11 creates a map and maps it to the map by SLAM (Simultaneous Localization and Mapping) technology. It may estimate its own position. The integrated control unit 11 may be configured by a computer having, for example, a processor such as a CPU, a RAM, and a non-volatile storage device (e.g., ROM, flash memory, etc.). The form of the computer is not limited. All or part of the functions provided by the integrated control unit 11 may be configured by a circuit such as an ASIC or an FPGA.

[0027] The communication unit 12 is a communication interface that executes communication with the upper device 200. The integrated control unit 11 receives an instruction from the upper device 200 via the communication unit 12, and controls the traveling unit 17 according to the instruction content to move (travel) the mobile robot 1. The two-dimensional scanner 13 detects an object located around the mobile robot 1 as point cloud data of positions (x, y) on a two-dimensional coordinate. The two-dimensional scanner 13 may be, for example, a LiDAR (Light Detecting And Ranging). Alternatively, a three-dimensional scanner capable of measuring positions (x, y, z) on a three-dimensional coordinate may be mounted on the mobile robot 1. It is also possible that a three-dimensional scanner capable of measuring positions (x, y, z) on a three-dimensional coordinate is mounted on the mobile robot 1.

[0028] The measurement sensor 14 outputs measurement data for estimating the posture of the mobile robot 1. The measurement sensor 14 is an acceleration sensor, a gyro sensor (angular velocity sensor), or an IMU (Inertial Measurement Unit: inertial measurement sensor). The measurement sensor 14 may be a sensor unit combining an acceleration sensor and a gyro sensor (angular velocity sensor). The IMU has, for example, a three-axis acceleration sensor and a three-axis gyro sensor, and can measure three-dimensional angular velocity and acceleration. The storage unit 15 stores data necessary for the integrated control unit 11 to perform processing. The storage unit 15 may be a RAM, a non-volatile storage device, etc. It may also be a sensor unit combining an acceleration sensor and a gyro sensor (angular velocity sensor). The IMU has, for example, a three-axis acceleration sensor and a three-axis gyro sensor, and can measure three-dimensional angular velocity and acceleration. The storage unit 15 stores data necessary for the integrated control unit 11 to perform processing. The storage unit 15 may be a RAM, a non-volatile storage device, etc.

[0029] The travel control unit 16 controls the operation of the travel unit 17 based on an instruction signal from the integrated control unit 11. The travel control unit 16 may be configured by a computer having a processor such as a CPU, a RAM, a non-volatile storage device, and the like. The integrated control unit 11 may control the operation of the travel unit 17 via the travel control unit 16. The travel control unit 16 may be omitted, and the integrated control unit 11 may control the operation of the travel unit 17. The integrated control unit 11 and the travel control unit 16 may be integrated.

[0030] The travel unit 17 travels on the road surface. When the travel unit 17 travels on the road surface, the mobile robot 1 travels on the road surface. The travel unit 17 has a plurality of drive wheels (rotating bodies) 31, and can travel by controlling the forward and reverse rotation of the drive wheel 31 disposed on the right side of the main body 2 (hereinafter also referred to as the "right drive wheel 31") and the drive wheel 31 disposed on the left side of the main body 2 (hereinafter also referred to as the "left drive wheel 31"). The drive wheel 31 has a tire. The travel unit 17 has a plurality of auxiliary wheels 32. The auxiliary wheel 32 has a tire. The auxiliary wheel 32 assists the travel on the road surface during the travel of the mobile robot 1.

[0031] The travel unit 17 has a right motor drive unit 33, a left motor drive unit 34, a right motor 35, a left motor 36, a right encoder 37, and a left encoder 38. The travel control unit 16 controls the right motor drive unit 33 and the left motor drive unit 34 based on a travel instruction signal from the integrated control unit 11. By the right motor drive unit 33 controlling the drive of the right motor 35, the right drive wheel 31 rotates. By the left motor drive unit 34 controlling the drive of the left motor 36, the left drive wheel 31 rotates. The travel unit 17 has a right encoder 37 that measures the rotation angle of the right motor 35 and a left encoder 38 that measures the rotation angle of the left motor 36. The data measured by the right encoder 37 and the left encoder 38 is sent to the integrated control unit 11 and the travel control unit 16. The integrated control unit 11 or the travel control unit 16 calculates the travel distance and turning angle of the mobile robot 1 based on the data measured by the right encoder 37 and the left encoder 38.

[0032] FIG. 2 is a top view of the mobile robot 1, showing the arrangement of the two-dimensional shape measuring devices 18A and 18B, the drive wheels 31, the auxiliary wheels 32, the right motor 35, and the left motor 36. FIG. 3 is a side view of the mobile robot 1. The arrow direction R1 in FIGS. 2 and 3 indicates the front-rear direction of the mobile robot 1. The two-dimensional shape measuring devices 18A and 18B detect the two-dimensional shape of the road surface on which the mobile robot 1 travels as point cloud data. The road surface has a flat surface and an inclined surface. The two-dimensional shape measuring devices 18A and 18B may be, for example, LiDAR (Light Detecting And Ranging). The two-dimensional shape measuring devices 18A and 18B are located on the upper part of the main body 2 and are arranged thereon.

[0033] The two-dimensional shape measuring device 18A is provided on the first side surface of the main body 2 in the direction orthogonal to the front-rear direction of the mobile robot 1. The two-dimensional shape measuring device 18A is a sensor that outputs two-dimensional shape data (first data) regarding the two-dimensional shape of the road surface by scanning the road surface along the front-rear direction of the mobile robot 1. The two-dimensional shape measuring device 18A is an example of the first sensor. The two-dimensional shape measuring device 18B is provided on the second side surface of the main body 2 in the direction orthogonal to the front-rear direction of the mobile robot 1. The second side surface of the main body 2 is the opposite side surface of the first side surface of the main body 2. The two-dimensional shape measuring device 18B is a sensor that outputs two-dimensional shape data (second data) regarding the two-dimensional shape of the road surface by scanning the road surface along the front-rear direction of the mobile robot 1. The two-dimensional shape measuring device 18B is an example of the second sensor. The two-dimensional shape measuring devices 18A and 18B are provided downward with respect to the main body 2 so as to be able to measure the shape of the road surface.

[0034] The receiving unit 19 receives the two-dimensional shape data measured by the two-dimensional shape measuring devices 18A and 18B, and sends the two-dimensional shape data to the integrated control unit 11. The integrated control unit 11 detects the inclined surface of the road surface based on the two-dimensional shape data measured by the two-dimensional shape measuring device 18A and the two-dimensional shape data measured by the two-dimensional shape measuring device 18B, and controls the operation of the traveling unit 17 with respect to the inclined surface of the road surface.

[0035] Figure 4 is a diagram showing the configuration of the integrated control unit 11. The integrated control unit 11 includes a map acquisition unit 111, an estimation unit 112, a detection unit 113, an addition unit 114, and a travel operation determination unit 115. The map acquisition unit 111 acquires a map of the surroundings where the mobile robot 1 travels. The estimation unit 112 estimates the position of the mobile robot 1 in the map. The detection unit 113 detects the slope of the road surface and measures the inclination angle of the slope of the road surface. The addition unit 114 creates slope information regarding the slope of the road surface in the map and adds the slope information to the map. The travel operation determination unit 115 determines the operation of the travel unit 17 with respect to the slope of the road surface.

[0036] The map acquisition unit 111 creates a map of the surroundings of the mobile robot 1 based on obstacles detected around the mobile robot 1. Specifically, the map acquisition unit 111 creates a map corresponding to the position of the mobile robot 1 based on the point cloud data detected by the two-dimensional scanner 13 and the measurement data output by the measurement sensor 14, the right encoder 37, and the left encoder 38. Each time the map acquisition unit 111 acquires the point cloud data and the measurement data during the travel of the mobile robot 1, it sequentially creates a map of the surroundings of the mobile robot 1. The map acquisition unit 111 acquires the map of the surroundings of the mobile robot 1 by creating the map of the surroundings of the mobile robot 1. Further, the map acquisition unit 111 may acquire the map of the surroundings of the mobile robot 1 from the host device 200. The map acquisition unit 111 stores the created map or the map acquired from the host device 200 in the storage unit 15.

[0037] The estimation unit 112 estimates the position of the mobile robot 1 in the map based on the measurement data output by the measurement sensor 14, the right encoder 37, and the left encoder 38. The position of the mobile robot 1 in the map is, for example, coordinates (Xn, Yn , θn) in a rectangular coordinate system.

[0038] The detection unit 113 detects the slope of the road surface based on the two-dimensional shape data measured by the two-dimensional shape measurement device 18A and the two-dimensional shape data measured by the two-dimensional shape measurement device 18B. The detection unit 113 measures the inclination angle of the slope of the road surface based on the two-dimensional shape data measured by the two-dimensional shape measurement device 18A and the two-dimensional shape data measured by the two-dimensional shape measurement device 18B. The detection unit 113 may measure the inclination angle of the slope of the road surface based on the two-dimensional shape data measured by the two-dimensional shape measurement device 18A. The detection unit 113 may measure the inclination angle of the slope of the road surface based on the two-dimensional shape data measured by the two-dimensional shape measurement device 18B.

[0039] The addition unit 114 creates slope information regarding the slope of the road surface in the map. The addition unit 114 creates the slope information based on the position of the mobile robot 1 in the map when the detection unit 113 detects the slope of the road surface. The addition unit 114 may set, as the coordinates indicating the position of the slope of the road surface in the map, the coordinates indicating the position of the mobile robot 1 in the map when the detection unit 113 detects the slope of the road surface. The slope information may include coordinates (hereinafter, also referred to as "slope coordinates") indicating the position of the slope of the road surface in the map. The slope coordinates are, for example, coordinates (Xn, Yn, θn) in a rectangular coordinate system. The slope information may include one slope coordinate or a plurality of slope coordinates. The addition unit 114 adds the slope information to the map.

[0040] The traveling motion determination unit 115 determines the motion of the traveling unit 17 on the slope of the road surface and generates motion information regarding the motion of the traveling unit 17. The motion information regarding the motion of the traveling unit 17 includes information regarding the orientation (θ) of the mobile robot 1. The motion information regarding the motion of the traveling unit 17 includes information regarding the control of the drive of the right motor 35 and the control of the drive of the left motor 36. The control of the drive of the right motor 35 is the change, adjustment, etc. of the rotational speed, torque, gear ratio, etc. of the right motor 35. The control of the drive of the left motor 36 is the change, adjustment, etc. of the rotational speed, torque, gear ratio, etc. of the left motor 36. The integrated control unit 11 may control the motion of the traveling unit 17 based on the motion information regarding the motion of the traveling unit 17 to adjust the orientation (θ) of the mobile robot 1. The motion of the traveling unit 17 includes the normal turning and the super-steering of the mobile robot 1. In the normal turning of the mobile robot 1, the right drive wheel 31 and the left drive wheel 31 rotate forward, and the rotational speed of the right drive wheel 31 is different from the rotational speed of the left drive wheel 31. The super-steering of the mobile robot 1 is a turning motion in a state where the center of the mobile robot 1 does not move. In the super-steering of the mobile robot 1, the right drive wheel 31 and the left drive wheel 31 rotate in opposite directions to each other, and the rotational speed of the right drive wheel 31 is the same as the rotational speed of the left drive wheel 31.

[0041] FIG. 5 is a diagram showing a state where the mobile robot 1 is traveling on the road surface. The white arrow in FIG. 5 indicates the traveling direction of the mobile robot 1. In FIGS. 5(1), (2), (5), (6) and (9), a state where the mobile robot 1 is traveling on the flat surface of the road surface is shown. The flat surface of the road surface is, for example, a surface parallel to the horizontal plane. In FIGS. 5(3), (4), (7) and (8), a state where the mobile robot 1 is traveling on the slope (hill road) of the road surface is shown. The slope of the road surface is a surface inclined with respect to the flat surface of the road surface. In FIGS. 5(3) and (4), a state where the mobile robot 1 is going up the slope of the road surface is shown, and in FIGS. 5(7) and (8), a state where the mobile robot 1 is going down the slope of the road surface is shown.

[0042] Figures 6(A) to 6(C) are image diagrams of two-dimensional shape data measured by the two-dimensional shape measuring devices 18A and 18B. Figure 6(A) is an image diagram of the two-dimensional shape data measured by the two-dimensional shape measuring devices 18A and 18B in the state of the mobile robot 1 shown in (1), (3), (5), (7), and (9) of FIG. 5. Figure 6(B) is an image diagram of the two-dimensional shape data measured by the two-dimensional shape measuring devices 18A and 18B in the state of the mobile robot 1 shown in (2) and (8) of FIG. 5. Figure 6(C) is an image diagram of the two-dimensional shape data measured by the two-dimensional shape measuring devices 18A and 18B in the state of the mobile robot 1 shown in (4) and (6) of FIG. 5.

[0043] In FIGS. 6(A) to 6(C), the two-dimensional shape data measured by the two-dimensional shape measuring device 18A is denoted as data DT1, and the two-dimensional shape data measured by the two-dimensional shape measuring device 18B is denoted as data DT2. The horizontal axis in FIGS. 6(A) to 6(C) indicates the scanning direction (w) of the two-dimensional shape measuring devices 18A and 18B. Note that in FIGS. 6(A) to 6(C), the two-dimensional shape data (data DT1) measured by the two-dimensional shape measuring device 18A and the two-dimensional shape data (data DT2) measured by the two-dimensional shape measuring device 18B are offset in the depth direction (d).

[0044] In the state of the mobile robot 1 shown in (1), (3), (5), (7), and (9) of FIG. 5, since the plane of the road surface is measured by the two-dimensional shape measuring devices 18A and 18B, the data DT1 and data DT2 in FIG. 6(A) are plane data. In the state of the mobile robot 1 shown in (2) and (8) of FIG. 5, since the plane and slope of the road surface are measured by the two-dimensional shape measuring devices 18A and 18B, the data DT1 and data DT2 in FIG. 6(B) include plane data and slope data. In the state of the mobile robot 1 shown in (4) and (6) of FIG. 5, since the plane and slope of the road surface are measured by the two-dimensional shape measuring devices 18A and 18B, the data DT1 and data DT2 in FIG. 6(C) include plane data and slope data.

[0045] As shown in FIGS. 6(B) and 6(C), a difference (Δw) occurs between data DT1 and data DT2. With reference to FIGS. 7 and 8, the difference occurring between data DT1 and data DT2 will be described. FIG. 7 is a top view of the mobile robot 1 traveling on the flat surface of the road surface. In FIG. 7, a boundary line L1 between the flat surface and the slope of the road surface is shown. Also, in FIG. 7, a straight line L2 that is orthogonal to the boundary line L1 and along the flat surface of the road surface is shown. The white arrow in FIG. 7 indicates the traveling direction of the mobile robot 1. In a plan view, when the center line CL1 of the main body 2 in the front-rear direction R1 of the mobile robot 1 is inclined with respect to the straight line L2, the distance D1 from the two-dimensional shape measuring device 18A to the slope of the road surface and the distance D2 from the two-dimensional shape measuring device 18A to the slope of the road surface are different. Therefore, a difference occurs between data DT1 and data DT2.

[0046] FIG. 8 is a top view of the mobile robot 1 traveling on the slope of the road surface. In FIG. 8, a boundary line L3 between the flat surface and the slope of the road surface is shown. Also, in FIG. 8, a straight line L4 that is orthogonal to the boundary line L3 and along the slope of the road surface is shown. The white arrow in FIG. 8 indicates the traveling direction of the mobile robot 1. In a plan view, when the center line CL1 of the main body 2 in the front-rear direction R1 of the mobile robot 1 is inclined with respect to the straight line L4, the distance D3 from the two-dimensional shape measuring device 18A to the slope of the road surface and the distance D4 from the two-dimensional shape measuring device 18A to the slope of the road surface are different. Therefore, a difference occurs between data DT1 and data DT2.

[0047] When the mobile robot 1 arrives at the portion where the road surface switches from the flat surface to the slope (the boundary portion between the flat surface and the slope of the road surface), the operation of the traveling unit 17 is controlled so that the mobile robot 1 can enter straight with respect to the slope of the road surface. The integrated control unit 11 controls the operation of the traveling unit 17 so that the difference between data DT1 and data DT2 becomes equal to or less than a threshold value, and adjusts the orientation of the mobile robot 1 when the mobile robot 1 enters the slope of the road surface. The threshold value is obtained in advance by design, experiment, or simulation and is stored in the storage unit 15.

[0048] When the mobile robot 1 performs normal turning or super precise turning, the orientation of the mobile robot 1 is adjusted. As a result, a straight line that is orthogonal to the boundary line between the flat surface and the inclined surface of the road surface and is along the flat surface of the road surface is parallel or substantially parallel to the center line of the main body 2 in the front-rear direction of the mobile robot 1, and the mobile robot 1 can enter straight with respect to the inclined surface of the road surface. The entry angle (θ) of the mobile robot 1 with respect to the inclined surface of the road surface is adjusted so that the mobile robot 1 can enter straight with respect to the inclined surface of the road surface. When the mobile robot 1 enters the inclined surface of the road surface, the driving forces from the right driving wheel 31 and the left driving wheel 31 are evenly transmitted to the inclined surface of the road surface, and the mobile robot 1 can appropriately travel on the inclined surface of the road surface. Therefore, the mobile robot 1 can stably enter the inclined surface of the road surface, and it is possible to prevent the mobile robot 1 from falling over or the like.

[0049] When the mobile robot 1 arrives at a portion where the road surface switches from an inclined surface to a flat surface (the boundary portion between the flat surface and the inclined surface of the road surface), the operation of the traveling unit 17 is controlled so that the mobile robot 1 can enter straight with respect to the flat surface of the road surface. The integrated control unit 11 controls the operation of the traveling unit 17 so that the difference between the data DT1 and the data DT2 becomes equal to or less than the threshold value, and adjusts the orientation of the mobile robot 1 when the mobile robot 1 enters the flat surface of the road surface. The threshold value is obtained in advance by experiments or simulations and is stored in the storage unit 15.

[0050] By performing normal turning and tight turning, the orientation of the mobile robot 1 is adjusted. As a result, the line orthogonal to the boundary line between the flat surface and the inclined surface of the road surface and the straight line along the inclined surface of the road surface are parallel or substantially parallel to the center line of the main body 2 in the front-rear direction of the mobile robot 1, enabling the mobile robot 1 to enter straight from the inclined surface of the road surface to the flat surface. By adjusting the departure angle of the mobile robot 1 with respect to the inclined surface of the road surface, the mobile robot 1 can enter straight from the inclined surface of the road surface to the flat surface. That is, the mobile robot 1 can depart straight from the inclined surface of the road surface. When the mobile robot 1 departs from the inclined surface of the road surface, the driving forces from the right driving wheel 31 and the left driving wheel 31 are evenly transmitted to the inclined surface of the road surface, enabling the mobile robot 1 to appropriately travel on the inclined surface of the road surface. Therefore, the mobile robot 1 can stably depart from the inclined surface of the road surface, and prevent the mobile robot 1 from falling over etc.

[0051] The integrated control unit 11 performs at least one of adjusting the orientation of the mobile robot 1 when the mobile robot 1 enters the inclined surface of the road surface and adjusting the orientation of the mobile robot 1 when the mobile robot 1 departs from the inclined surface of the road surface.

[0052] FIG. 9 is a flowchart showing an example of the operation of the mobile robot 1. When the mobile robot 1 receives an instruction to start traveling from the upper device 200, the mobile robot 1 may start traveling and the processing of the flowchart shown in FIG. 9 may start. When an operator uses an external device to give an instruction to start traveling to the mobile robot 1, the mobile robot 1 may start traveling and the processing of the flowchart shown in FIG. 9 may start. An instruction to move the mobile robot 1 to a predetermined location may be given, or an instruction to perform a patrol travel in a predetermined area may be given to the mobile robot 1. For example, in the state shown in (1) of FIG. 5, the traveling of the mobile robot 1 is started.

[0053] The mobile robot 1 arrives at the entry position (starting position) of the slope road (S1). For example, when the slope road slopes upward in the traveling direction of the mobile robot 1, the state where the mobile robot 1 arrives at the entry position of the slope road is the state shown in (2) of FIG. 5. The entry position of the slope road may be a position where a part of the main body 2 has entered the slope road, a position where the drive wheels 31 have entered the slope road, or a position immediately before a part of the main body 2 enters the slope road. The entry position of the slope road may be a predetermined position on the plane of the road surface and a position in the vicinity of the boundary portion between the plane of the road surface and the slope (hereinafter, also referred to as the "road surface boundary portion"). Yes.

[0054] The mobile robot 1 adjusts its orientation by performing normal turning or super-local turning so that the difference between the data DT1 and the data DT2 becomes equal to or less than the threshold value (S2). The integrated control unit 11 controls the operation of the traveling unit 17 so that the difference between the data DT1 and the data DT2 becomes equal to or less than the threshold value, and adjusts the orientation of the mobile robot 1 when the mobile robot 1 enters the slope of the road surface. If the difference between the data DT1 and the data DT2 is equal to or less than the threshold value (S3; YES), the process proceeds to S4. If the difference between the data DT1 and the data DT2 is greater than the threshold value (S3; NO), the process proceeds to S2. The mobile robot 1 enters the slope road straight ahead (S4).

[0055] The mobile robot 1 continues to travel straight on the slope road, and the mobile robot 1 arrives at the end position (departure position) of the slope road (S5). For example, when the slope road is inclined upward in the traveling direction of the mobile robot 1, the state in which the mobile robot 1 continues to travel straight on the slope road is the state shown in (3) of FIG. 5. While the mobile robot 1 is climbing the slope road, the traveling unit 17 is controlled so that the mobile robot 1 travels straight. For example, when the slope road is inclined upward in the traveling direction of the mobile robot 1, the state in which the mobile robot 1 arrives at the end position of the slope road is the state shown in (4) of FIG. 5. The end position of the slope road may be a position where a part of the main body 2 detaches from the slope road, a position where the drive wheels 31 detach from the slope road, or a position immediately before a part of the main body 2 enters the plane of the road surface. The end position of the slope road may be a predetermined position of the slope road and a position near the road surface boundary portion.

[0056] The mobile robot 1 adjusts its orientation by performing a normal turn or a super close-turn so that the difference between the data DT1 and the data DT2 becomes equal to or less than the threshold value (S6). The integrated control unit 11 controls the operation of the traveling unit 17 so that the difference between the data DT1 and the data DT2 becomes equal to or less than the threshold value, and adjusts the orientation of the mobile robot 1 when the mobile robot 1 enters the plane of the road surface. The integrated control unit 11 may determine whether the mobile robot 1 performs a normal turn or the mobile robot 1 performs a super close-turn according to the inclination angle of the slope of the road surface. If the mobile robot 1 may slide on the slope of the road surface by performing a super close-turn on the slope of the road surface, the mobile robot 1 may perform a normal turn. When the boundary line at the entrance of the slope road (the boundary line between the plane of the road surface and the slope) and the boundary line at the exit of the slope road (the boundary line between the plane of the road surface and the slope) are parallel, the orientation of the mobile robot 1 may be finely adjusted. When the difference between the data DT1 and the data DT2 is equal to or less than the threshold value (S7; YES), the process proceeds to S8. When the difference between the data DT1 and the data DT2 is greater than the threshold value (S7; NO), the process proceeds to S6.

[0057] The mobile robot 1 moves straight away from the slope and enters the flat surface of the road surface (S8). That is, the mobile robot 1 enters the flat surface of the road surface straight. After the mobile robot 1 enters the flat surface of the road surface, the integrated control unit 11 estimates the position of the mobile robot 1 on the map. The mobile robot 1 travels on the flat surface of the road surface and arrives at the entry position (starting position) of the slope (S9). The state where the mobile robot 1 is traveling on the flat surface of the road surface is, for example, the state shown in (5) of FIG. 5. For example, when the slope is inclined downward in the traveling direction of the mobile robot 1, the state where the mobile robot 1 arrives at the entry position of the slope is the state shown in (6) of FIG. 5.

[0058] The mobile robot 1 adjusts its orientation by performing a normal turn or a super-detailed turn so that the difference between the data DT1 and the data DT2 becomes equal to or less than the threshold value (S10). When the difference between the data DT1 and the data DT2 is equal to or less than the threshold value (S11; YES), the process proceeds to S12. When the difference between the data DT1 and the data DT2 is greater than the threshold value ( S11; NO), the process proceeds to S10. The mobile robot 1 enters the slope straight (S12).

[0059] The mobile robot 1 continues to travel straight on the slope and arrives at the end position of the slope (S13). For example, when the slope is inclined downward in the traveling direction of the mobile robot 1, the state where the mobile robot 1 continues to travel straight on the slope is the state shown in (7) of FIG. 5. For example, when the slope is inclined downward in the traveling direction of the mobile robot 1, the state where the mobile robot 1 arrives at the end position of the slope is the state shown in (8) of FIG. 5.

[0060] The mobile robot 1 adjusts its orientation by performing normal turning or tight turning so that the difference between the data DT1 and the data DT2 becomes equal to or less than the threshold value (S14). When the boundary line at the entrance of the slope road (the boundary line between the flat surface and the slope of the road surface) and the boundary line at the exit of the slope road (the boundary line between the flat surface and the slope of the road surface) are parallel, the orientation of the mobile robot 1 may be finely adjusted. When the difference between the data DT1 and the data DT2 is equal to or less than the threshold value (S15; YES), the process proceeds to S16. When the difference between the data DT1 and the data DT2 is greater than the threshold value (S15; NO), the process proceeds to S14.

[0061] The mobile robot 1 leaves the slope road straight and enters the flat surface of the road surface (S16). That is, the mobile robot 1 enters straight with respect to the flat surface of the road surface. After the mobile robot 1 enters the flat surface of the road surface, the integrated control unit 11 estimates the position of the mobile robot 1 on the map. The mobile robot 1 travels on the flat surface of the road surface (S17). The state in which the mobile robot 1 is traveling on the flat surface of the road surface is, for example, the state shown in (9) of FIG. 5. The mobile robot 1 performs normal autonomous traveling and ends the traveling when it arrives at a predetermined location. Also, the mobile robot 1 ends the traveling when it receives an instruction to end the traveling from the host device 200 or an external device.

[0062] FIG. 10 is an explanatory diagram of the case where the integrated control unit 11 estimates the position of the mobile robot 1 on the map after the mobile robot 1 enters the plane of the road surface. The white arrow in FIG. 10 indicates the traveling direction of the mobile robot 1. In FIG. 10, the direction in which the mobile robot 1 goes straight up the slope is taken as the X'-axis, and the direction orthogonal to the X'-axis is taken as the Y'-axis. FIG. 10 shows the entry position (X'a, Y'a) of the slope and the end position (X'a + ΔX', Y'a) of the slope. Note that the entry position (X'a, Y'a) of the slope and the end position (X'a + ΔX', Y'a) of the slope are different from the position coordinates (Xn, Yn) of the mobile robot 1 on the map. In the two-dimensional coordinate system based on the plane, when the difference between the entry position and the end position of the slope when the mobile robot 1 goes straight up the slope is ΔX', self-position estimation is performed at the end position (X'a + ΔX', Y'a) of the slope. That is, the integrated control unit 11 estimates the position of the mobile robot 1 at the end position (X'a + ΔX', Y'a) of the slope.

[0063] Note that while the mobile robot 1 is traveling on the slope, the mobile robot 1 does not perform an operation to avoid obstacles. The mobile robot 1 temporarily stops traveling until the obstacle has left, and notifies the host device 2 that it has stopped traveling. After the obstacle has left, the mobile robot 1 resumes traveling on the slope.

[0064] <Modification Example> A modification example of the first embodiment will be described. FIG. 11 is a schematic diagram of the mobile robot 1 traveling on the road surface. The mobile robot 1 is provided with an imaging device 39. The imaging device 39 is a camera that images the road surface and generates an imaging image. The imaging device 39 images the road surface at a predetermined frame rate and sequentially generates image data. The image data generated by the imaging device 39 The data is sent to the integrated control unit 11. The imaging device 39 includes an optical system such as a lens and an imaging element such as a CMOS (Complementary Metal Oxide Semiconductor) or a CCD (Charge Coupled Device). The white arrow in FIG. 11 indicates the traveling direction of the mobile robot 1.

[0065] As shown in FIG. 11, a line 40 having a specific pattern and color is provided at the start position and the end position of the slope. The imaging device 39 images the road surface and creates image data of the slope. Specifically, the imaging device 39 images the pattern and color provided at the start position and the end position of the slope, and creates image data including the pattern and color provided at the start position and the end position of the slope. The integrated control unit 11 determines the entry angle of the mobile robot 1 with respect to the slope by analyzing the image data including the pattern and color provided at the start position and the end position of the slope. The integrated control unit 11 may control the operation of the traveling unit 17 based on the determined entry angle to adjust the orientation of the mobile robot 1. Further, the integrated control unit 11 determines the departure angle of the mobile robot 1 with respect to the slope by analyzing the image data including the pattern and color provided at the start position and the end position of the slope. The integrated control unit 11 may control the operation of the traveling unit 17 based on the determined departure angle to adjust the orientation of the mobile robot 1.

[0066] FIG. 12 is a diagram showing an example of image data created by the imaging device 39 imaging the slope and the line 40. The image data includes an image of the slope and the line 40. For example, when the imaging device 39 is installed horizontally with respect to the mobile robot 1, the integrated control unit 11 controls the operation of the traveling unit 17 so that the line 40 included in the image data is horizontal, and the mobile robot 1 may turn normally.

[0067] <Second Embodiment> A second embodiment will be described. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals as in the first embodiment, and the description thereof will be omitted as appropriate. The mobile robots 1 according to the first and second embodiments may be combined as appropriate.

[0068] In the second embodiment, a configuration and method for the mobile robot 1 to travel straight with respect to the slope of the road surface will be described. FIG. 13 is a schematic diagram of the mobile robot 1 traveling on the slope of the road surface. FIG. 14 is a top view of the mobile robot 1 traveling on the slope of the road surface. The white arrows in FIGS. 13 and 14 indicate the traveling direction of the mobile robot 1. FIG. 14 shows a boundary line L5 between the flat surface and the slope of the road surface in front of the mobile robot 1, and a boundary line L6 between the flat surface and the slope of the road surface behind the mobile robot 1. The measurement ranges of the two-dimensional shape measurement devices 18A and 18B reach the boundary lines L5 and L6.

[0069] In the second embodiment, the two-dimensional shape measurement devices 18A and 18B are provided on the mobile robot 1 so that the measurement ranges of the two-dimensional shape measurement devices 18A and 18B reach the road surface boundary portion in front of the mobile robot 1. During at least a part of the period when the mobile robot 1 is traveling on the slope of the road surface, the integrated control unit 11 controls the operation of the traveling unit 17 with respect to the slope of the road surface based on the two-dimensional shape data measured by the two-dimensional shape measurement device 18A and the two-dimensional shape data measured by the two-dimensional shape measurement device 18B.

[0070] During at least a part of the period when the mobile robot 1 is traveling on the slope of the road surface, the operation of the traveling unit 17 is controlled so that the mobile robot 1 can travel straight with respect to the slope of the road surface. The integrated control unit 11 controls the operation of the traveling unit 17 with respect to the slope of the road surface based on the two-dimensional shape data of the road surface boundary portion in front of the mobile robot 1. That is, the integrated control unit 11 uses the two-dimensional shape data of the road surface in front of the mobile robot 1 included in the data DT1 and the two-dimensional shape data of the road surface in front of the mobile robot 1 included in the data DT2. The operation of the traveling unit 17 is controlled so that the difference from the target value becomes equal to or less than the threshold value. The integrated control unit 11 controls the operation of the traveling unit 17 to adjust the orientation of the mobile robot 1 when the mobile robot 1 travels on the slope of the road surface. The threshold value is obtained in advance by design, experiment, or simulation and is stored in the storage unit 15.

[0071] When the mobile robot 1 performs normal turning or tight turning, the orientation of the mobile robot 1 is adjusted. As a result, a straight line that is orthogonal to the boundary line between the flat surface and the slope of the road surface and that is along the slope of the road surface, and the center line of the main body 2 in the front-rear direction of the mobile robot 1 are parallel or substantially parallel, and the mobile robot 1 can travel straight on the slope of the road surface. By adjusting the traveling angle of the mobile robot 1 with respect to the slope of the road surface, the mobile robot 1 can travel straight on the slope of the road surface. When the mobile robot 1 travels straight on the slope of the road surface, the driving forces from the right driving wheel 31 and the left driving wheel 31 are evenly transmitted to the slope of the road surface, and the mobile robot 1 can travel appropriately on the slope of the road surface. Therefore, the mobile robot 1 can travel stably on the slope of the road surface, and it is possible to prevent the mobile robot 1 from tipping over or the like.

[0072] The integrated control unit 11 performs at least one of adjustment of the orientation of the mobile robot 1 when the mobile robot 1 enters the slope of the road surface, adjustment of the orientation of the mobile robot 1 while the mobile robot 1 is traveling on the slope of the road surface, and adjustment of the orientation of the mobile robot 1 when the mobile robot 1 leaves the slope of the road surface.

[0073] FIG. 15 is a flowchart showing an example of the operation of the mobile robot 1. The processing of the flowchart shown in FIG. 15 starts from a state where the mobile robot 1 enters straight with respect to the slope of the road surface. The mobile robot 1 continues to drive straight on the slope (S21). If the mobile robot 1 has not reached the end position of the slope (S22; NO), it proceeds to S23. If the difference between the data DT1 and the data DT2 is equal to or less than the threshold value (S23; YES), it proceeds to S21. If the difference between the data DT1 and the data DT2 is greater than the threshold value (S23; NO), it proceeds to S24.

[0074] The mobile robot 1 adjusts its orientation by performing a normal turn or a tight turn so that the difference between the data DT1 and the data DT2 becomes equal to or less than the threshold value (S24). The integrated control unit 11 controls the operation of the traveling unit 17 so that the difference between the data DT1 and the data DT2 becomes equal to or less than the threshold value, and adjusts the orientation of the mobile robot 1 when the mobile robot 1 travels on the slope of the road surface. The integrated control unit 11 may determine whether the mobile robot 1 performs a normal turn or the mobile robot 1 performs a tight turn according to the inclination angle of the slope of the road surface. If there is a possibility that the mobile robot 1 slides on the slope of the road surface when the mobile robot 1 performs a tight turn on the slope of the road surface, the mobile robot 1 may perform a normal turn.

[0075] If the mobile robot 1 reaches the end position of the slope (S22; YES), the mobile robot 1 adjusts its orientation by performing a normal turn or a tight turn so that the difference between the data DT1 and the data DT2 becomes equal to or less than the threshold value (S25). The integrated control unit 11 may determine whether the mobile robot 1 performs a normal turn or the mobile robot 1 performs a tight turn according to the inclination angle of the slope of the road surface. If the difference between the data DT1 and the data DT2 is equal to or less than the threshold value (S26; YES), it proceeds to S27. If the difference between the data DT1 and the data DT2 is greater than the threshold value (S26; NO), it proceeds to S25.

[0076] The mobile robot 1 leaves the slope in a straight line and enters the flat road surface (S27). In other words, the mobile robot 1 enters the flat road surface in a straight line. After the mobile robot 1 enters the flat road surface, the integrated control unit 11 estimates the position of the mobile robot 1 on the map. The mobile robot 1 moves along the flat road surface (S28). The mobile robot 1 performs normal autonomous movement and stops moving when it arrives at a predetermined location. The mobile robot 1 also stops moving when it receives an instruction to stop moving from the host device 200 or an external device.

[0077] <Third embodiment> A third embodiment will now be described. In the third embodiment, the same components as those in the first and second embodiments are designated by the same reference numerals as those in the first and second embodiments, and their description will be omitted as appropriate. The mobile robots 1 according to the first to third embodiments may be combined as appropriate.

[0078] In the third embodiment, a configuration and method for allowing the mobile robot 1 to travel straight on a sloped road surface will be described. In the third embodiment, two-dimensional shape measurement devices 18A and 18B are provided on the mobile robot 1 so that their measurement ranges reach the road surface boundary portions in front of and behind the mobile robot 1. During at least a portion of the time that the mobile robot 1 is traveling on a sloped road surface, the integrated control unit 11 controls the operation of the traveling unit 17 relative to the sloped road surface based on the two-dimensional shape data measured by the two-dimensional shape measurement devices 18A and 18B.

[0079] FIG. 16 is an image diagram of two-dimensional shape data measured by two-dimensional shape measuring devices 18A and 18B. In FIG. 16, the two-dimensional shape data measured by two-dimensional shape measuring device 18A is shown as data DT1, and the two-dimensional shape data measured by two-dimensional shape measuring device 18B is shown as data DT2. The horizontal axis of FIG. 16 indicates the scanning direction (w) of two-dimensional shape measuring devices 18A and 18B. Note that in FIG. 16, the two-dimensional shape data (data DT1) measured by two-dimensional shape measuring device 18A and the two-dimensional shape data (data DT2) measured by two-dimensional shape measuring device 18B are offset in the depth direction (d).

[0080] As shown in Figure 16, a difference (Δw_1) occurs between data DT1 and data DT2, and a difference (Δw_2) occurs between data DT1 and data DT2. The difference (Δw_1) is the difference in the 2D shape data of the road boundary portion behind the mobile robot 1. The difference (Δw_2) is the difference in the 2D shape data of the road boundary portion in front of the mobile robot 1. If the boundary line at the entrance to the slope (the boundary line between the flat road surface and the slope) and the boundary line at the exit of the slope (the boundary line between the flat road surface and the slope) are parallel, then the difference (Δw_1) = the difference (Δw_2) holds.

[0081] The operation of the running unit 17 is controlled so that the mobile robot 1 can run straight up the slope of the road surface for at least a portion of the time the mobile robot 1 is running on a slope. The integrated control unit 11 controls the operation of the running unit 17 relative to the slope of the road surface based on 2D shape data of the road surface boundary portion in front of or behind the mobile robot 1. The integrated control unit 11 controls the operation of the running unit 17 so that the difference between the 2D shape data of the road surface in front of the mobile robot 1 included in data DT1 and the 2D shape data of the road surface in front of the mobile robot 1 included in data DT2 is equal to or less than a threshold. The integrated control unit 11 controls the operation of the running unit 17 so that the difference between the 2D shape data of the road surface behind the mobile robot 1 included in data DT1 and the 2D shape data of the road surface behind the mobile robot 1 included in data DT2 is equal to or less than a threshold. The integrated control unit 11 controls the operation of the running unit 17 to adjust the orientation of the mobile robot 1 as it runs on a slope of the road surface. This allows the mobile robot 1 to travel more appropriately on slopes (hill roads) than in the second embodiment. This allows the mobile robot 1 to travel stably on slopes of roads, and prevents the mobile robot 1 from falling over.

[0082] Using any of the following methods 1 to 4, two-dimensional shape data of the road boundary portion ahead of the mobile robot 1 (hereinafter also referred to as "front side two-dimensional shape data") or two-dimensional shape data of the road boundary portion behind the mobile robot 1 (hereinafter also referred to as "rear side two-dimensional shape data") may be selected.

[0083] (Method 1) When the front of the mobile robot 1 is blocked by a moving obstacle such as a person and the two-dimensional shape data on the front side cannot be used, the integrated control unit 11 may select the two-dimensional shape data on the rear side. Also, when the rear of the mobile robot 1 is blocked by an obstacle and the two-dimensional shape data on the rear side cannot be used, the integrated control unit 11 may select the two-dimensional shape data on the front side. For example, according to the operating environment of the mobile robot 1 such that one of the front and rear of the mobile robot 1 is likely to be blocked, the integrated control unit 11 may select the two-dimensional shape data on the front side or the two-dimensional shape data on the rear side.

[0084] (Method 2) When it is easier to ensure the measurement accuracy for the closer one in terms of distance, according to the distance from the mobile robot 1 to the road surface boundary portion, the integrated control unit 11 may select the two-dimensional shape data on the front side or the two-dimensional shape data on the rear side. When the road surface boundary portion behind the mobile robot 1 (hereinafter, also referred to as the "first characteristic portion") is closer to the mobile robot 1 than the road surface boundary portion in front of the mobile robot 1 (hereinafter, also referred to as the "second characteristic portion"), the integrated control unit 11 may select the two-dimensional shape data on the rear side. When the first characteristic portion is closer to the mobile robot 1 than the second characteristic portion, the integrated control unit 11 may select the two-dimensional shape data on the front side. FIG. 17 is a schematic diagram of the mobile robot 1 traveling on a slope of the road surface. In FIG. 17, the distance (distance A) from the mobile robot 1 to the first characteristic portion and the distance (distance B) from the mobile robot 1 to the second characteristic portion are shown. The white arrow in FIG. 17 indicates the traveling direction of the mobile robot 1.

[0085] (Method 3) Weights may be set for the first feature portion and the second feature portion. The integrated control unit 11 may select the front-side two-dimensional shape data or the rear-side two-dimensional shape data based on the distance A, the distance B, the weighting (weighting A) set for the first feature portion, and the weighting (weighting B) set for the second feature portion. If the value obtained by multiplying the distance A by the weighting A is smaller than the value obtained by multiplying the distance B by the weighting B, the integrated control unit 11 selects the front-side two-dimensional shape data. If the value obtained by multiplying the distance A by the weighting A is greater than the value obtained by multiplying the distance B by the weighting B, the integrated control unit 11 selects the rear-side two-dimensional shape data.

[0086] (Method 4) The integrated control unit 11 may select the front-side 2D shape data or the rear-side 2D shape data by selecting the first feature portion or the second feature portion, whichever is easier to see. If the slope slopes upward toward the direction of travel of the mobile robot 1, the second feature portion is easier to see from the mobile robot 1 while the mobile robot 1 is traveling up the slope. If the slope slopes upward toward the direction of travel of the mobile robot 1, the integrated control unit 11 may select the rear-side 2D shape data. If the slope slopes downward toward the direction of travel of the mobile robot 1, the first feature portion is easier to see from the mobile robot 1 while the mobile robot 1 is traveling up the slope. If the slope slopes downward toward the direction of travel of the mobile robot 1, the integrated control unit 11 may select the front-side 2D shape data.

[0087] <Fourth embodiment> A fourth embodiment will now be described. In the fourth embodiment, the same components as those in the first to third embodiments are designated by the same reference numerals as those in the first to third embodiments, and their description will be omitted as appropriate. The mobile robots 1 according to the first to fourth embodiments may be combined as appropriate.

[0088] FIG. 18 is a schematic diagram of the mobile robot 1 traveling on the road surface. FIG. 19 is an image diagram of the two-dimensional shape data measured by the two-dimensional shape measuring devices 18A and 18B. In FIG. 19, the two-dimensional shape data measured by the two-dimensional shape measuring device 18A is shown as data DT1, and the two-dimensional shape data measured by the two-dimensional shape measuring device 18B is shown as data DT2. The horizontal axis in FIG. 19 indicates the scanning direction (w) of the two-dimensional shape measuring devices 18A and 18B. In FIG. 19, the two-dimensional shape data (data DT1) measured by the two-dimensional shape measuring device 18A and the two-dimensional shape data (data DT2) measured by the two-dimensional shape measuring device 18B are offset in the depth direction (d). Note that FIG. 19 shows the two-dimensional shape data measured in a state where the mobile robot 1 faces the slope of the road surface. The distance (D5) shown in FIGS. 18 and 19 is the distance from the mobile robot 1 to the road surface boundary portion. The angle (φ) shown in FIGS. 18 and 19 is the inclination angle of the slope of the road surface (the inclination angle with respect to the plane of the road surface).

[0089] The integrated control unit 11 measures the distance from the mobile robot 1 to the road surface boundary portion based on at least one of the data DT1 and the data DT2. The integrated control unit 11 may measure the distance from the mobile robot 1 to the road surface boundary portion in front of the mobile robot 1 based on at least one of the data DT1 and the data DT2. The integrated control unit 11 may measure the distance from the mobile robot 1 to the road surface boundary portion behind the mobile robot 1 based on at least one of the data DT1 and the data DT2.

[0090] The integrated control unit 11 measures the inclination angle of the slope of the road surface based on at least one of the data DT1 and the data DT2. The integrated control unit 11 may measure the inclination angle of the slope of the road surface in front of the mobile robot 1 based on at least one of the data DT1 and the data DT2. The integrated control unit 11 may measure the inclination angle of the slope of the road surface behind the mobile robot 1 based on at least one of the data DT1 and the data DT2.

[0091] The integrated control unit 11 measures the shape of the road surface boundary portion based on at least one of the data DT1 and the data DT2. The integrated control unit 11 may measure the shape of the road surface boundary portion in front of the mobile robot 1 based on at least one of the data DT1 and the data DT2. The integrated control unit 11 may measure the shape of the road surface boundary portion behind the mobile robot 1 based on at least one of the data DT1 and the data DT2. The integrated control unit 11 may determine whether the slope is inclined upward in the traveling direction of the mobile robot 1 or the slope is inclined downward in the traveling direction of the mobile robot 1 based on the shape of the road surface boundary portion in front of the mobile robot 1.

[0092] The integrated control unit 11 can acquire the distance from the mobile robot 1 to the road surface boundary portion, the inclination angle of the slope of the road surface, and the shape of the road surface boundary portion based on at least one of the data DT1 and the data DT2. The integrated control unit 11 may store the distance from the mobile robot 1 to the road surface boundary portion, the inclination angle of the slope of the road surface, and the shape of the road surface boundary portion in the storage unit 15.

[0093] The integrated control unit 11 may control the operation of the traveling unit 17 so that the mobile robot 1 performs the following operations. When the mobile robot 1 arrives at the entry position of the slope, the traveling speed of the mobile robot 1 is decreased. When the mobile robot 1 arrives at the entry position of the slope, the mobile robot 1 performs at least one of stopping and decelerating, and the mobile robot 1 slowly passes through the road surface boundary portion. When the mobile robot 1 arrives at the entry position of the slope, the torque of the right motor 35 and the torque of the left motor 36 are decreased. The vibration of the main body 2 when the mobile robot 1 enters the slope and the vibration of the workpiece loaded on the mobile robot 1 can be suppressed.

[0094] While the mobile robot 1 is traveling on an uphill road, lower the traveling speed of the mobile robot 1. While the mobile robot 1 is traveling on an uphill road, lower the torque of the right motor 35 and the torque of the left motor 36. Thereby, it is possible to suppress the vibration of the main body 2 while the mobile robot 1 is traveling on an uphill road and the vibration of the workpiece loaded on the mobile robot 1.

[0095] When the mobile robot 1 arrives at the end position of the uphill road, lower the traveling speed of the mobile robot 1. When the mobile robot 1 arrives at the end position of the uphill road, lower the torque of the right motor 35 and the torque of the left motor 36. Thereby, it is possible to suppress the vibration of the main body 2 when the mobile robot 1 leaves the uphill road and the vibration of the workpiece loaded on the mobile robot 1.

[0096] When the mobile robot 1 arrives at the entry position of the uphill road and the uphill road slopes upward in the traveling direction of the mobile robot 1, increase the torque of the right motor 35 and the torque of the left motor 36. When the mobile robot 1 arrives at the entry position of the uphill road and the uphill road slopes downward in the traveling direction of the mobile robot 1, lower the torque of the right motor 35 and the torque of the left motor 36.

[0097] The integrated control unit 11 may control the operation of the traveling unit 17 based on at least one of the distance from the mobile robot 1 to the road boundary portion, the inclination angle of the slope of the road surface, and the shape of the road boundary portion. Specifically, the integrated control unit 11 may control at least one of the traveling speed of the mobile robot 1, the torque of the right motor 35, the torque of the left motor 36, and the control gain based on at least one of the distance from the mobile robot 1 to the road boundary portion, the inclination angle of the slope of the road surface, and the shape of the road boundary portion.

[0098] <Fifth Embodiment> The fifth embodiment will be described. In the fifth embodiment, the same components as those in the first to fourth embodiments are denoted by the same reference numerals as in the first to fourth embodiments, and the description thereof will be omitted as appropriate. The mobile robots 1 according to the first to fifth embodiments may be combined as appropriate.

[0099] FIG. 20 is a block diagram showing the configuration of the mobile robot 1 according to the fifth embodiment. The mobile robot 1 according to the fifth embodiment includes a detection unit 41 and a loading unit 42 in addition to the components of the mobile robot 1 according to the first embodiment. In FIG. 20, the illustration of components other than the integrated control unit 11, the two-dimensional shape measurement devices 18A and 18B, the receiving unit 19, the drive wheels 31, the detection unit 41, and the loading unit 42 is omitted.

[0100] It is possible to load a workpiece on the loading unit 42. The workpiece is, for example, a final product, an intermediate product, a semi-finished product, a part, a material, or the like. The loading unit 42 may have a mechanism for gripping the workpiece. The detection unit 41 and the loading unit 42 may be arranged on the upper surface of the main body unit 2 or on the upper part of the main body unit 2. Power may be supplied from the mobile robot 1 to the detection unit 41. The detection unit 41 detects the workpiece loaded on the loading unit 42. The detection unit 41 detects whether a workpiece is loaded on the loading unit 42. The detection unit 41 has at least one of a limit switch, a proximity switch, a photoelectric sensor, a displacement sensor, and a two-dimensional shape measurement sensor. The integrated control unit 11 may control at least one of the traveling speed of the mobile robot 1, the torque of the right motor 35, the torque of the left motor 36, and the control gain based on the presence or absence of the workpiece. 。

[0101] The detection unit 41 may include a mass meter or a load cell. The detection unit 41 may measure the mass of a workpiece loaded on the loading unit 42. The detection unit 41 is an example of a mass measurement unit. The host device 200 sends a workpiece transport instruction to the mobile robot 1. The mobile robot 1 starts moving based on the workpiece transport instruction to transport the workpiece. The detection unit 41 measures the mass of the workpiece loaded on the loading unit 42 and sends the measurement data of the workpiece mass to the integrated control unit 11. The integrated control unit 11 compares the workpiece mass with a threshold value related to the workpiece mass based on the measurement data of the workpiece mass. The threshold value related to the workpiece mass is stored in the memory unit 15.

[0102] The host device 200 may send a workpiece transport instruction and mass data including the workpiece mass to the mobile robot 1. The integrated control unit 11 may compare the workpiece mass included in the mass data with a threshold value related to the workpiece mass.

[0103] If the workpiece mass is less than the workpiece mass threshold, the integrated controller 11 determines that the mobile robot 1 can travel up the slope and allows the mobile robot 1 to travel up the slope. The mobile robot 1 starts or continues traveling and travels up the slope when it reaches the slope entry point. If the workpiece mass is equal to or greater than the workpiece mass threshold, the integrated controller 11 determines that the mobile robot 1 cannot travel up the slope and prohibits the mobile robot 1 from traveling up the slope. In this case, the integrated controller 11 controls the operation of the travel unit 17 to prevent the mobile robot 1 from traveling up the slope. The integrated controller 11 may send a notification to the host device 200 indicating that the mobile robot 1 cannot travel up the slope.

[0104] The detection unit 41 may measure the height of the workpiece loaded on the loading unit 42. The host device 200 sends a conveyance instruction for the workpiece to the mobile robot 1. The mobile robot 1 starts traveling based on the conveyance instruction for the workpiece in order to convey the workpiece. The detection unit 41 measures the height of the workpiece loaded on the loading unit 42, and sends the measurement data of the height of the workpiece to the integrated control unit 11. The integrated control unit 11 compares the height of the workpiece with a threshold value related to the height of the workpiece based on the measurement data of the height of the workpiece. The threshold value related to the height of the workpiece is stored in the storage unit 15.

[0105] The host device 200 may send the mobile robot 1 a conveyance instruction for the workpiece and height data including the height of the workpiece. The integrated control unit 11 may compare the height of the workpiece included in the height data with the threshold value related to the height of the workpiece.

[0106] When the height of the workpiece is less than the threshold value related to the height of the workpiece, the integrated control unit 11 determines that the mobile robot 1 can travel on the slope. The mobile robot 1 starts or continues traveling, and when it arrives at the entry position of the slope, it travels on the slope. When the height of the workpiece is greater than or equal to the threshold value related to the height of the workpiece, the integrated control unit 11 determines that it is impossible for the mobile robot 1 to travel on the slope. In this case, the integrated control unit 11 controls the operation of the traveling unit 17 so that the mobile robot 1 does not travel on the slope. The integrated control unit 11 may send the host device 200 a notification indicating that it is impossible for the mobile robot 1 to travel on the slope.

[0107] <Sixth Embodiment> The sixth embodiment will be described. In the sixth embodiment, the same components as those in the first to fifth embodiments are denoted by the same reference numerals as those in the first to fifth embodiments, and the description thereof will be omitted as appropriate. The mobile robots 1 according to the first to sixth embodiments may be combined as appropriate.

[0108] <Overall Configuration of Mobile Robot> FIG. 21 is a block diagram showing the configuration of a mobile robot 1 according to a sixth embodiment. In addition to the components of the mobile robot 1 according to the first embodiment, the mobile robot 1 according to the sixth embodiment includes an instruction receiving unit 51 and a driving instruction unit 52. A teacher can use a manual driving instruction device 300 to teach the mobile robot 1 how to drive. The mobile robot 1 and the manual driving instruction device 300 can be connected wirelessly or via a wire. To teach the mobile robot 1 how to drive, the teacher uses the manual driving instruction device 300 to manually determine the mobile robot 1's driving operations (forward, backward, turning, etc.) and speed limit. The mobile robot 1 drives in accordance with the teacher's operation of the manual driving instruction device 300, and the mobile robot 1 acquires a map of its surroundings. Hereinafter, the driving of the mobile robot 1 as a result of the teacher operating the manual driving instruction device 300 is referred to as "taught driving of the mobile robot 1." Hereinafter, the autonomous driving of the mobile robot 1 is also referred to as "autonomous driving of the mobile robot 1."

[0109] For example, when teaching the mobile robot 1 to navigate up a slope, if the mobile robot 1 makes a sudden turn or travels too fast, the mobile robot 1 may fall over. In the sixth embodiment, a configuration and method for teaching the mobile robot 1 to navigate autonomously by disabling some of the driving instructions from the manual driving instruction device 300 will be described.

[0110] The manual driving instruction device 300 is a joystick, a controller, an external terminal device, or an information processing device (e.g., a personal computer). The instruction receiving unit 51 receives driving instructions from the manual driving instruction device 300. The driving instructions include instructions for forward movement, reverse movement, turning, and driving speed of the mobile robot 1. The driving instruction unit 52 receives driving instructions from the instruction receiving unit 51. In this manner, the driving instruction unit 52 receives driving instructions for teaching driving of the mobile robot 1 from the manual driving instruction device 300. The driving instruction unit 52 is an example of a receiving unit. The driving instruction unit 52 may be configured, for example, by a computer having a processor such as a CPU, RAM, a non-volatile storage device, and the like. The driving instruction unit 52 receives various data and information from the integrated control unit 11.

[0111] The driving instruction unit 52 controls the operation of the driving unit 17 via the driving control unit 16 based on the driving instruction received from the instruction receiving unit 51. The driving control unit 16 controls the operation of the driving unit 17 based on the instruction signal from the driving instruction unit 52. The driving control unit 16 may be omitted, and the driving instruction unit 52 may control the operation of the driving unit 17. The driving control unit 16 and the driving instruction unit 52 may be integrated. The integrated control unit 11, the driving control unit 16, and the driving instruction unit 52 may be integrated.

[0112] An example of the behavior of the mobile robot 1 during a driving instruction session will be described. The instructor uses the manual driving instruction device 300 to instruct the mobile robot 1 to start driving, causing the mobile robot 1 to start driving. When controlling the behavior of the driving unit 17 on a slope based on driving instructions received from the manual driving instruction device 300, the driving instruction unit 52 modifies at least a portion of the driving instructions to control the behavior of the driving unit 17. For example, when the mobile robot 1 arrives at an entry point for a slope, the driving instruction unit 52 modifies at least a portion of the driving instructions and controls the behavior of the driving unit 17 based on the modified driving instructions. The driving instruction unit 52 modifies the driving instructions based on various data and information received from the integrated control unit 11.

[0113] The travel instruction unit 52 may change the travel instruction so that the mobile robot 1 can enter the slope straight ahead. The travel instruction unit 52 may change the travel instruction so that the mobile robot 1 can enter the slope at a predetermined travel speed. The predetermined travel speed when the mobile robot 1 enters the slope has been obtained in advance by design, experiment or simulation and is stored in the storage unit 15. The travel instruction unit 52 may determine the predetermined travel speed when the mobile robot 1 enters the slope according to the inclination angle of the slope of the road surface.

[0114] When the mobile robot 1 is traveling on the slope, the travel instruction unit 52 changes the travel instruction and controls the operation of the travel unit 17 based on the changed travel instruction. The travel instruction unit 52 changes the travel instruction based on various data and information received from the integrated control unit 11. The travel instruction unit 52 may change the travel instruction so that the mobile robot 1 can travel straight on the slope. The travel instruction unit 52 may change the travel instruction so that the mobile robot 1 can travel at a predetermined travel speed on the slope.

[0115] When the mobile robot 1 arrives at the end position of the slope, the travel instruction unit 52 changes the travel instruction and controls the operation of the travel unit 17 based on the changed travel instruction. The travel instruction unit 52 changes the travel instruction based on various data and information received from the integrated control unit 11. The travel instruction unit 52 may change the travel instruction so that the mobile robot 1 can leave the slope straight. The travel instruction unit 52 may change the travel instruction so that the mobile robot 1 can leave the slope at a predetermined travel speed. The predetermined travel speed when the mobile robot 1 leaves the slope has been obtained in advance by design, experiment or simulation and is stored in the storage unit 15. The travel instruction unit 52 may determine the predetermined travel speed when the mobile robot 1 leaves the slope according to the inclination angle of the slope of the road surface.

[0116] ​When the mobile robot 1 is traveling on the flat surface of the road surface, the travel instruction unit 52 controls the operation of the travel unit 17 based on the travel instruction received from the instruction reception unit 51. The travel instruction unit 52 may validate the forward and backward instructions included in the travel instruction and invalidate the turning and travel speed instructions included in the travel instruction. That is, the travel instruction unit 52 may change the turning and travel speed instructions included in the travel instruction without changing the forward and backward instructions included in the travel instruction.

[0117] <Seventh Embodiment> The seventh embodiment will be described. In the seventh embodiment, the same components as those in the first to sixth embodiments are denoted by the same reference numerals as those in the first to sixth embodiments, and the description thereof will be omitted as appropriate. The mobile robots 1 according to the first to seventh embodiments may be appropriately combined.

[0118] In the seventh embodiment, an example of the map obtained by the teaching travel of the mobile robot 1 described in the sixth embodiment will be described. In the teaching travel of the mobile robot 1, the map is acquired in a state where the mobile robot 1 enters straight onto the slope, travels straight on the slope, and leaves the slope straight. Similar to the first embodiment, the integrated control unit 11 estimates the position of the mobile robot 1 at the end position of the slope.

[0119] FIG. 22 is a diagram showing an example of a map including a slope obtained by the teaching travel of the mobile robot 1. As shown in FIG. 10, the distance of the slope in the three-dimensional data is ΔX'. The integrated control unit 11 may measure the distance (ΔX') of the slope based on the diameter of the drive wheels 31 and the measurement data output by the right encoder 37 and the left encoder 38. The integrated control unit 11 can manage the map as two-dimensional data by adding distance data regarding the distance (ΔX') of the slope to the map.

[0120] FIG. 23 is a diagram showing an example of a map including a slope obtained by the teaching run of the mobile robot 1. The integrated control unit 11 measures the inclination angle of the slope of the road surface based on at least one of the data DT1 and the data DT2. When the inclination angle of the slope of the road surface is equal to or greater than a threshold value, the integrated control unit 11 may set the slope of the road surface as a prohibited entry area. The threshold value regarding the inclination angle of the slope of the road surface is obtained in advance by design, experiment, or simulation and is stored in the storage unit 15. The threshold value regarding the inclination angle of the slope of the road surface may be determined based on whether or not a work is mounted on the mobile robot 1. The threshold value regarding the inclination angle of the slope of the road surface may be determined based on the mass of the work, durability, equipment for gripping the work, etc. Further, in response to an instruction from the host device 200 or an external device, the integrated control unit 11 may change the threshold value regarding the inclination angle of the slope of the road surface stored in the storage unit 15.

[0121] <Eighth Embodiment> The eighth embodiment will be described. In the eighth embodiment, the same components as those in the first to seventh embodiments are denoted by the same reference numerals as those in the first to seventh embodiments, and the description thereof will be omitted as appropriate. The mobile robots 1 according to the first to eighth embodiments may be appropriately combined. The eighth embodiment can be applied to both the autonomous running of the mobile robot 1 and the teaching run of the mobile robot 1 during the operation of the mobile robot 1.

[0122] <Overall Configuration of Mobile Robot> FIG. 24 is a block diagram showing the configuration of the mobile robot 1 according to the eighth embodiment. The mobile robot 1 according to the eighth embodiment includes a distance measuring device 61 in addition to each component of the mobile robot 1 according to the first embodiment. The distance measuring device 61 outputs a light beam from its tip portion and measures the distance from the distance measuring device 61 to the object. The distance measuring device 61 is arranged on the upper surface of the main body 2 so that the tip portion of the distance measuring device 61 faces upward in the vertical direction.

[0123] The distance measurement device 61 may be a measurement device using laser light or a measurement device using non-laser light. The distance measurement device 61 may be a displacement sensor. The distance measurement device 61 may measure the distance to an object using a diffuse light source such as an LED. The distance measurement device 61 may measure the distance from the distance measurement device 61 to an object by irradiating the object with microwaves, millimeter waves, or the like. For example, when the mobile robot 1 travels through a premises with a ceiling, the distance measurement device 61 measures the distance to the ceiling and, based on the measurement result, calculates the height of the ceiling as height data. The distance measurement device 61 sends the height data to the integrated control unit 11. The integrated control unit 11 acquires the height data from the distance measurement device 61. Alternatively, a similar function may be achieved by detecting changes in the elevation of the mobile robot 1 itself, without using the ceiling as a reference point.

[0124] FIG. 25 is a schematic diagram of a mobile robot 1 moving on a road surface. The white arrow in FIG. 25 indicates the direction of travel of the mobile robot 1. The ceiling surface may be flat, have negligible unevenness, or be smoothed out by the mobile robot 1 moving a certain distance. The mobile robot 1 moves on the flat road surface (first plane), a sloped road surface (predetermined slope) that is continuous with the flat road surface (first plane), and a flat road surface (second plane) that is continuous with the sloped road surface (predetermined slope), in this order. The distance measurement device 61 measures the height data (h1) of the ceiling above the flat road surface (first plane). The distance measurement device 61 measures the height data (h2) of the ceiling above the flat road surface (second plane).

[0125] The integrated control unit 11 measures the inclination angle of the road slope based on at least one of the data DT1 and DT2. The integrated control unit 11 measures the inclination angle of the road slope at a position before the mobile robot 1 enters the slope (e.g., at an arbitrary position on the plane (1) of the road surface) or at a position after the mobile robot 1 leaves the slope (e.g., at an arbitrary position on the plane (2) of the road surface). The integrated control unit 11 measures the distance (ΔX') of the slope based on the diameter of the drive wheels 31 and the measurement data output by the right encoder 37 and the left encoder 38. The integrated control unit 11 may obtain the distance (ΔX') of the slope based on measurement data obtained from the time the mobile robot 1 enters the slope until it leaves the slope. The integrated control unit 11 may obtain the distance (ΔX') of the slope from a map.

[0126] When the mobile robot 1 is at a position before entering the slope (for example, at any position on the road surface (first plane)), the integrated control unit 11 acquires height data (first height data) for height (h1) from the distance measurement device 61. When the mobile robot 1 is at a position after leaving the slope (for example, at any position on the road surface (second plane)), the integrated control unit 11 acquires height data (second height data) for height (h2) from the distance measurement device 61. The integrated control unit 11 calculates height (h3) based on the following (Equation 1). Height (h3) is the height on the road surface (second plane). Height (h3) = Height (h2) + ΔX' × sinφ (Equation 1) ΔX' in the above (Equation 1) is the distance (ΔX') of the slope. In the above formula (1), φ is the inclination angle of the slope of the road surface.

[0127] The integrated control unit 11 determines whether the difference between the height (h1) and the total height of the heights (h2) and (h3) is equal to or less than the height threshold. The height threshold is determined in advance by design, experiment, or simulation and stored in the memory unit 15. If the difference between the height (h1) and the total height is equal to or less than the height threshold, the integrated control unit 11 controls the operation of the traveling unit 17 to continue traveling of the mobile robot 1. If the difference between the height (h1) and the total height is greater than the height threshold, the reliability of the data DT1 and DT2 may be low. If the difference between the height (h1) and the total height is greater than the height threshold, the integrated control unit 11 sends a predetermined notification to the host device 200. The predetermined notification includes a message indicating that the difference between the height (h1) and the total height is greater than the height threshold. After sending the predetermined notification to the host device 200, the integrated control unit 11 may control the operation of the traveling unit 17 to stop the traveling of the mobile robot 1. If the mobile robot 1 stops traveling, an operator or instructor may move the mobile robot 1.

[0128] Ninth Embodiment The ninth embodiment will now be described. In the ninth embodiment, the same components as those in the first to eighth embodiments are designated by the same reference numerals, and their description will be omitted as appropriate. The mobile robots 1 according to the first to ninth embodiments may be combined as appropriate.

[0129] Figure 26 is a schematic diagram of the mobile robot 1 traveling on the road surface. As shown in Figure 26, equipment 401 is installed at a predetermined position on the plane (1) of the road surface, and equipment 402 is installed at a predetermined position on the plane (2) of the road surface. The equipment 401 and 402 have the same function, for example, a charging dock for the mobile robot 1, a work transfer device, and the like. The mobile robot 1 can select the equipment 401 or the equipment 402 as the destination. When the mobile robot 1 travels the same distance, the power consumption of the mobile robot 1 is considered to decrease in the order of (1) traveling on an uphill slope, (2) traveling on a flat surface, and (3) traveling on a downhill slope. Therefore, it is preferable to select one of the plurality of destinations based on the power consumption until reaching the destination rather than the simple distance to the destination.

[0130] The integrated control unit 11 measures the inclination angle of the slope of the road surface based on at least one of the data DT1 and the data DT2. The integrated control unit 11 may obtain the distance (ΔX’) of the slope from the map. The integrated control unit 11 calculates the power consumption in traveling on the slope of the road surface based on the inclination angle of the slope of the road surface and the distance (ΔX’) of the slope. Also, the integrated control unit 11 may obtain the power consumption in traveling on the slope of the road surface by other methods. The integrated control unit 11 may obtain the power consumption in traveling on the slope of the road surface from the upper device 200.

[0131] The integrated control unit 11 calculates the power consumption required for the mobile robot 1 to travel from the current position to the position of the equipment 401 (hereinafter referred to as “first power consumption”). The integrated control unit 11 calculates the power consumption required for the mobile robot 1 to travel from the current position to the position of the equipment 402 (hereinafter referred to as “second power consumption”). The integrated control unit 11 compares the first power consumption with the second power consumption and selects the destination with less power consumption. When the first power consumption is less than the second power consumption, the integrated control unit 11 selects the equipment 401 as the destination. When the second power consumption is less than the first power consumption, the integrated control unit 11 selects the equipment 402 as the destination.

[0132] <Tenth Embodiment> The tenth embodiment will be described. In the tenth embodiment, the same components as those in the first to ninth embodiments are denoted by the same reference numerals as in the first to ninth embodiments, and the description thereof will be omitted as appropriate. The mobile robots 1 according to the first to tenth embodiments may be appropriately combined.

[0133] <Overall Configuration of Control System> FIG. 27 is a schematic diagram showing an example of a control system according to the tenth embodiment. In FIG. 27, the host device 200 manages a plurality of mobile robots 1 (1A, 1B, 1C). The number of mobile robots 1 managed by the host device 200 can be arbitrarily set and is not limited to the number of mobile robots 1 shown in FIG. 27. The host device 200 can communicate with the mobile robots 1A, 1B, 1C. The host device 200 may acquire a map from one of the plurality of mobile robots 1 (for example, the mobile robot 1A) and send the map to another mobile robot 1 (for example, the mobile robot 1B).

[0134] The mobile robots 1A, 1B, 1C may send a map with slope information and distance data of the slope road distance (ΔX’) added to the host device 200. The host device 200 may send a map with slope information and distance data of the slope road distance (ΔX’) added to the mobile robots 1A, 1B, 1C. The host device 200 may acquire slope information and the slope road distance (ΔX’) from one of the plurality of mobile robots 1 (for example, the mobile robot 1A) and send the slope information and the slope road distance (ΔX’) to another mobile robot 1 (for example, the mobile robot 1B). In this case, another mobile robot 1 (for example, the mobile robot 1B) may update the map by adding the slope information and the distance data of the slope road distance (ΔX’) acquired from the host device 200 to the map stored in the storage unit 15.

[0135] 28(A) to 28(D) are diagrams illustrating an example of the operation of multiple mobile robots 1. In FIGS. 28(A) to 28(D), the white arrows indicate the direction of travel of the mobile robot 1. The example of operation shown in FIG. 28(A) will be explained. When the mobile robot 1A is traveling up a slope, the mobile robots 1B and 1C are prohibited from entering the same slope. When the mobile robot 1A enters the slope, the host device 200 sends a command to the mobile robots 1B and 1C prohibiting them from entering the same slope, and the mobile robots 1B and 1C wait without entering the slope. When the mobile robot 1A leaves the slope, the host device 200 sends a command to the mobile robots 1B and 1C permitting them to enter the slope. In this way, when one of the multiple mobile robots 1 is traveling up a slope, the other mobile robots 1 are prohibited from entering the same slope.

[0136] The operation example shown in Figure 28(B) will be explained. Mobile robots 1A and 1B are permitted to travel on the same slope depending on the width of the slope. The host device 2 determines the number of mobile robots 1 that can travel side by side based on the width of the mobile robot 1 and the width of the slope. When a mobile robot 1 is carrying a structure that is larger than the external dimensions of the mobile robot 1, In this case, the host device 2 determines the number of mobile robots 1 that can travel side by side based on the width of the structure on which the mobile robots 1 are mounted and the width of the slope.

[0137] The following describes the operation example shown in Figure 28(C). The mobile robots 1A and 1B are permitted to travel on the same slope. When the mobile robot 1A travels ahead and the mobile robot 1B follows behind the mobile robot 1A, the mobile robot 1A uses the road boundary in front of it, and the mobile robot 1B uses the road boundary behind it. The integrated control unit 11 of the mobile robot 1A controls the movement of the running unit 17 relative to the slope of the road based on two-dimensional shape data of the road boundary in front of the mobile robot 1A. The integrated control unit 11 of the mobile robot 1B controls the movement of the running unit 17 relative to the slope of the road based on two-dimensional shape data of the road boundary behind the mobile robot 1B. The operation example shown in Figure 28(B) and the operation example shown in Figure 28(C) may be combined. For example, if a slope allows two mobile robots 1 to travel side by side, four mobile robots 1 can travel on the same slope.

[0138] An example of operation is shown in Figure 28(D). Mobile robots 1A, 1B, and 1C are permitted to travel up the same slope. In Figure 28(D), mobile robot 1A travels ahead, while mobile robot 1B follows behind mobile robot 1A, and mobile robot 1C follows behind mobile robot 1B. To make it easier for the trailing mobile robots 1 to follow the leading mobile robot 1, distinctively shaped structures may be attached to the rear of the multiple mobile robots 1. The structures on the leading mobile robot 1 can be detected and measured by the two-dimensional shape measurement devices 18A and 18B on the trailing mobile robot 1.

[0139] Eleventh Embodiment An eleventh embodiment will now be described. In the eleventh embodiment, the same components as those in the first to tenth embodiments will be assigned the same reference numerals as those in the first to tenth embodiments, and their description will be omitted as appropriate. The mobile robots 1 according to the first to eleventh embodiments may be combined as appropriate.

[0140] <Overall configuration of the mobile robot> FIG. 29 is a block diagram showing the configuration of the mobile robot 1 according to the 11th embodiment. The mobile robot 1 according to the 11th embodiment includes a measurement unit 71 and a loading unit 72 in addition to each component of the mobile robot 1 according to the 1st embodiment. In FIG. 29, illustration of components other than the integrated control units 11, the two-dimensional shape measurement devices 18A and 18B, the receiving unit 19, the drive wheels 31, the measurement unit 71, and the loading unit 72 is omitted.

[0141] The measurement unit 71 is disposed on the upper surface of the main body 2. A work can be loaded on the loading unit 72. The loading unit 72 may have a mechanism for gripping the work. The loading unit 72 is disposed above the measurement unit 71. The measurement unit 71 and the loading unit 72 may be disposed above the main body 2. Power may be supplied from the mobile robot 1 to the measurement unit 71.

[0142] FIG. 30 is a top view of the measurement unit 71. In an example of the measurement unit 71 shown in FIG. 30, load sensors 73A to 73D are disposed on the upper surface of the measurement unit 71. The number of the load sensors 73 (73A to 73D) is not limited to the example shown in FIG. 30, and three load sensors 73 may be disposed on the upper surface of the measurement unit 71, or five or more load sensors 73 may be disposed on the upper surface of the measurement unit 71.

[0143] The load sensor 73A measures the load (F1) applied to the load sensor 73A. The load sensor 73B measures the load (F2) applied to the load sensor 73B. The load sensor 73C measures the load (F3) applied to the load sensor 73C. The load sensor 73D measures the load (F4) applied to the load sensor 73D. The loads measured by the load sensors 73A to 73D data are sent to the integrated control unit 11. The integrated control unit 11 acquires the load data measured by the load sensors 73A to 73D.

[0144] The integrated control unit 11 measures the mass of the workpiece loaded on the loading unit 72 based on the load data of the load sensors 73A to 73D. The integrated control unit 11 calculates (measures) the center of gravity position (load center of gravity position) of the workpiece loaded on the loading unit 72 based on the load data of the load sensors 73A to 73D. The measuring unit 71 may measure the mass of the workpiece loaded on the loading unit 72 based on the load data of the load sensors 73A to 73D, and send the measured mass of the workpiece to the integrated control unit 11. The measuring unit 71 may calculate the center of gravity position of the workpiece loaded on the loading unit 72 based on the load data of the load sensors 73A to 73D, and send the calculated center of gravity position of the workpiece to the integrated control unit 11.

[0145] FIG. 30 shows, in a plan view (top view), the center line CL2 in the front-rear direction of the measuring unit 71, the center line CL3 in the left-right direction of the measuring unit 71, and the intersection point P1 of the center line CL2 and the center line CL3. The load sensors 73A and 73D are installed on a straight line L7 passing through the intersection point P1. The load sensors 73B and 73C are installed on a straight line L8 passing through the intersection point P1. The installation positions of the load sensors 73A to 73D on the upper surface of the measuring unit 71 are not limited to the positions shown in FIG. 30. The origin of the coordinates [X1, Y1] of the installation position of the load sensor 73A, the coordinates [X2, Y2] of the installation position of the load sensor 73B, the coordinates [X3, Y3] of the installation position of the load sensor 73C, and the coordinates [X4, Y4] of the installation position of the load sensor 73D may be the intersection point P1.

[0146] FIG. 30 shows the distance E1 from the intersection point P1 to the installation position of the load sensor 73A, the distance E2 from the intersection point P1 to the installation position of the load sensor 73B, the distance E3 from the intersection point P1 to the installation position of the load sensor 73C, and the distance E4 from the intersection point P1 to the installation position of the load sensor 73D. The distances E1 to E4 may be the same, or the distances E1 to E4 may be different from each other. Two of the distances E1 to E4 (for example, the distances E1 and E2) may be the same, and the other two of the distances E1 to E4 (for example, the distances E3 and E4) may be the same (in this case, the distance E1 ≠ the distance E3). Three of the distances E1 to E4 (for example, the distances E1, E2, and E3) may be the same (in this case, the distance E1 ≠ the distance E4).

[0147] The integrated control unit 11 calculates the center of gravity position (coordinates of the center of gravity) of the workpieces loaded on the loading unit 72 using XY coordinates with the origin being the intersection P1 of the center line CL2 and the center line CL3 in the measurement unit 71. The integrated control unit 11 calculates the center of gravity (Xg) in the X-axis direction of the workpieces loaded on the loading unit 72 based on the following (Equation 2), and calculates the center of gravity (Yg) in the Y-axis direction of the workpieces loaded on the loading unit 72 based on the following (Equation 3), thereby calculating the center of gravity position (Xg, Yg) of the workpieces loaded on the loading unit 72. Center of gravity position (Xg) of the workpiece loaded on the loading section 72=(F1×X1+F2×X2+F3×X3+F4×X4) / (F1+F2+F3+F4) (Equation 2) Center of gravity position (Yg) of the workpiece loaded on the loading section 72=(F1×Y1+F2×Y2+F3×Y3+F4×Y4) / (F1+F2+F3+F4) (Equation 3) F1 to F4: Loads applied to load sensors 73A to 73D X1, Y1: Coordinates of the installation position of the load sensor 73A X2, Y2: Coordinates of the installation position of the load sensor 73B X3, Y3: Coordinates of the installation position of the load sensor 73C X4, Y4: Coordinates of the installation position of the load sensor 73B

[0148] The host device 200 sends a workpiece transport command to the mobile robot 1. The mobile robot 1 receives the workpiece transport command and starts moving based on the workpiece transport command. The host device 200 may also send a workpiece transport command and the position of the center of gravity of the workpiece to the mobile robot 1. The mobile robot 1 receives the workpiece transport command and the position of the center of gravity of the workpiece and starts moving based on the workpiece transport command. The mobile robot 1 starts moving based on the transport command. If the position of the center of gravity of the workpiece is sent from the host device 200 to the mobile robot 1 and the integrated control unit 11 does not calculate the position of the center of gravity of the workpiece, the installation of the measurement unit 71 can be omitted.

[0149] The integrated control unit 11 acquires the eccentricity state of the center-of-gravity position of the workpiece loaded on the loading unit 72. The integrated control unit 11 may use the calculated center-of-gravity position of the workpiece or the center-of-gravity position of the workpiece acquired from the host device 200. The eccentricity state of the center-of-gravity position of the workpiece may be the amount of deviation between the center-of-gravity position of the workpiece and the center-of-gravity position of the mobile robot 1. Further, the eccentricity state of the center-of-gravity position of the workpiece may be the amount of deviation between the center-of-gravity position of the workpiece and the center position of the mobile robot 1. The center-of-gravity position of the mobile robot 1 and the center position of the mobile robot 1 are stored in the storage unit 15.

[0150] Based on the eccentricity state of the center-of-gravity position of the workpiece, the integrated control unit 11 acquires the approach angle of the mobile robot 1 with respect to the slope of the road surface, the traveling angle of the mobile robot 1 with respect to the slope of the road surface, and the departure angle of the mobile robot 1 with respect to the slope of the road surface. The relationship between the eccentricity state of the center-of-gravity position of the workpiece and the approach angle of the mobile robot 1 with respect to the slope of the road surface has been obtained in advance by design, experiment or simulation as a relational expression or a map and is stored in the storage unit 15. The relationship between the eccentricity state of the center-of-gravity position of the workpiece and the traveling angle of the mobile robot 1 with respect to the slope of the road surface has been obtained in advance by design, experiment or simulation as a relational expression or a map and is stored in the storage unit 15. The relationship between the eccentricity state of the center-of-gravity position of the workpiece and the departure angle of the mobile robot 1 with respect to the slope of the road surface has been obtained in advance by design, experiment or simulation as a relational expression or a map and is stored in the storage unit 15. The integrated control unit 11 may calculate the approach angle, the traveling angle and the departure angle of the mobile robot 1 with respect to the slope of the road surface based on the eccentricity state of the center-of-gravity position of the workpiece by using the relational expression or the map.

[0151] The integrated control unit 11 converts the approach angle of the mobile robot 1 relative to the slope of the road surface into a specified amount of Δw (hereinafter also referred to as the “first specified amount”) using conversion information (e.g., a mathematical formula or a map) to obtain the first specified amount. The integrated control unit 11 converts the driving angle of the mobile robot 1 relative to the slope of the road surface into a specified amount of Δw (hereinafter also referred to as the “second specified amount”) using conversion information (e.g., a mathematical formula or a map) to obtain the second specified amount. The integrated control unit 11 converts the departure angle of the mobile robot 1 relative to the slope of the road surface into a specified amount of Δw (hereinafter also referred to as the “third specified amount”) using conversion information (e.g., a mathematical formula or a map) to obtain the third specified amount. The conversion information is obtained in advance through design, experiment, or simulation and is stored in the memory unit 15.

[0152] When the mobile robot 1 reaches the entry point for the slope, the operation of the running unit 17 is controlled so that the mobile robot 1 can enter the slope while maintaining a predetermined angle. The integrated control unit 11 controls the operation of the running unit 17 to adjust the orientation of the mobile robot 1 as it enters the slope so that the difference between data DT1 and DT2 matches or approximates the first specified amount.

[0153] The orientation of the mobile robot 1 is adjusted by performing normal turns and pivot turns. This allows the angle between a line perpendicular to the boundary between the flat surface of the road and the slope and the center line of the main body 2 in the front-to-back direction of the mobile robot 1 to be a predetermined angle, allowing the mobile robot 1 to enter the slope while maintaining the predetermined angle. If the center of gravity of the workpiece is eccentric, adjusting the angle of the mobile robot 1 relative to the slope of the road allows the mobile robot 1 to enter the slope while maintaining the predetermined angle. When the mobile robot 1 enters the slope of the road, the driving force from the right drive wheel 31 and the left drive wheel 31 is transmitted evenly to the slope of the road, allowing the mobile robot 1 to enter the slope while maintaining the predetermined angle. Bot 1 can appropriately travel on the slope of the road surface. Therefore, the mobile robot 1 can stably enter the slope of the road surface, and prevent the mobile robot 1 from tipping over.

[0154] During at least a part of the period when the mobile robot 1 is traveling on the slope of the road surface, the operation of the traveling unit 17 is controlled so that the mobile robot 1 maintains a predetermined angle. The integrated control unit 11 controls the operation of the traveling unit 17 so that the difference between the data DT1 and the data DT2 coincides with or approximates the second specified amount, and adjusts the orientation of the mobile robot 1 when the mobile robot 1 travels on the slope of the road surface.

[0155] By performing normal turning or tight turning by the mobile robot 1, the orientation of the mobile robot 1 is adjusted. As a result, the angle formed by the center line of the main body 2 in the front-rear direction of the mobile robot 1 and a straight line that is orthogonal to the boundary line between the flat surface and the slope of the road surface and along the slope of the road surface becomes a predetermined angle, and the mobile robot 1 can travel on the slope of the road surface while maintaining the predetermined angle. By traveling on the slope of the road surface while the mobile robot 1 maintains a predetermined angle, the driving forces from the right driving wheel 31 and the left driving wheel 31 are evenly transmitted to the slope of the road surface, and the mobile robot 1 can appropriately travel on the slope of the road surface. Therefore, the mobile robot 1 can stably travel on the slope of the road surface, and prevent the mobile robot 1 from tipping over.

[0156] When the mobile robot 1 arrives at the end position of the slope, the operation of the traveling unit 17 is controlled so that the mobile robot 1 can leave the slope of the road surface while maintaining a predetermined angle. The integrated control unit 11 controls the operation of the traveling unit 17 so that the difference between the data DT1 and the data DT2 coincides with or approximates the third specified amount, and adjusts the orientation of the mobile robot 1 when the mobile robot 1 leaves the slope of the road surface.

[0157] The mobile robot 1 adjusts its orientation by performing normal turns and pivot turns. This allows the angle between a line perpendicular to the boundary between the flat surface of the road and the slope and the center line of the main body 2 in the forward / backward direction of the mobile robot 1 to be set at a predetermined angle, enabling the mobile robot 1 to leave the slope while maintaining the predetermined angle. If the center of gravity of the workpiece is eccentric, adjusting the departure angle of the mobile robot 1 relative to the slope allows the mobile robot 1 to leave the slope while maintaining the predetermined angle. When the mobile robot 1 leaves the slope, the driving force from the right drive wheel 31 and the left drive wheel 31 is transmitted evenly to the slope, allowing the mobile robot 1 to navigate the slope appropriately. This allows the mobile robot 1 to leave the slope stably and prevents the mobile robot 1 from tipping over.

[0158] The integrated control unit 11 performs at least one of the following adjustments: adjustment of the orientation of the mobile robot 1 when the mobile robot 1 enters a slope on a road surface; adjustment of the orientation of the mobile robot 1 while the mobile robot 1 is traveling on a slope on a road surface; and adjustment of the orientation of the mobile robot 1 when the mobile robot 1 leaves a slope on a road surface.

[0159] Figure 31 is a flowchart showing an example of the operation of the mobile robot 1. The mobile robot 1 may start moving and the process of the flowchart shown in Figure 31 may begin when the mobile robot 1 receives an instruction to start moving from the host device 200. The mobile robot 1 may start moving and the process of the flowchart shown in Figure 31 may begin when an operator uses an external device to instruct the mobile robot 1 to start moving. The mobile robot 1 may also be instructed to move to a predetermined location. The mobile robot 1 is loaded with a workpiece.

[0160] The mobile robot 1 arrives at the entry position of the slope road (S31). The integrated control unit 11 acquires the eccentricity state of the center of gravity position of the workpiece loaded on the loading unit 72 (S32). Based on the eccentricity state of the center of gravity position of the workpiece, the integrated control unit 11 acquires the entry angle of the mobile robot 1 with respect to the slope of the road surface, the traveling angle of the mobile robot 1 with respect to the slope of the road surface, and the departure angle of the mobile robot 1 with respect to the slope of the road surface (S33). The integrated control unit 11 converts the entry angle, traveling angle, and departure angle of the mobile robot 1 with respect to the slope of the road surface into a first specified amount, a second specified amount, and a third specified amount, and acquires the first specified amount, the second specified amount, and the third specified amount (S34).

[0161] The mobile robot 1 adjusts its orientation by performing a normal turn or a super-accurate turn so that the difference between the data DT1 and the data DT2 matches or approximates the first specified amount (S35). The integrated control unit 11 controls the operation of the traveling unit 17 so that the difference between the data DT1 and the data DT2 matches or approximates the first specified amount, and adjusts the orientation of the mobile robot 1 when the mobile robot 1 enters the slope of the road surface. When the difference between the data DT1 and the data DT2 matches or approximates the first specified amount (S36; YES), proceed to S37. When the difference between the data DT1 and the data DT2 does not match the first specified amount and the difference between the data DT1 and the data DT2 does not approximate the first specified amount (S36; NO), proceed to S35. The mobile robot 1 enters the slope road while maintaining a predetermined angle (S37).

[0162] The mobile robot 1 continues to travel on the slope road while maintaining a predetermined angle (S38). When the mobile robot 1 has not arrived at the end position of the slope road (S39; NO), proceed to S40. When the difference between the data DT1 and the data DT2 matches or approximates the second specified amount (S40; YES), proceed to S38. When the difference between the data DT1 and the data DT2 does not match the second specified amount and the difference between the data DT1 and the data DT2 does not approximate the second specified amount (S40; NO), proceed to S41.

[0163] The mobile robot 1 adjusts its orientation by performing normal turning or tight turning so that the difference between the data DT1 and the data DT2 matches or approximates a second specified amount (S41). The integrated control unit 11 controls the operation of the traveling unit 17 to adjust the orientation of the mobile robot 1 when the mobile robot 1 travels on an inclined surface of the road surface so that the difference between the data DT1 and the data DT2 matches or approximates the second specified amount. The integrated control unit 11 may determine whether the mobile robot 1 performs normal turning or the mobile robot 1 performs tight turning according to the inclination angle of the inclined surface of the road surface.

[0164] When the mobile robot 1 arrives at the end position of the slope (S39; YES), it proceeds to S42. The mobile robot 1 adjusts its orientation by performing normal turning or tight turning so that the difference between the data DT1 and the data DT2 matches or approximates a third specified amount (S42). The integrated control unit 11 controls the operation of the traveling unit 17 to adjust the orientation of the mobile robot 1 when the mobile robot 1 leaves the inclined surface of the road surface so that the difference between the data DT1 and the data DT2 matches or approximates the third specified amount. The integrated control unit 11 may determine whether the mobile robot 1 performs normal turning or the mobile robot 1 performs tight turning according to the inclination angle of the inclined surface of the road surface.

[0165] The mobile robot 1 leaves the slope while maintaining a predetermined angle (S43). That is, the mobile robot 1 enters the flat surface of the road surface while maintaining a predetermined angle. The integrated control unit 11 estimates the position of the mobile robot 1 on the map. The mobile robot 1 performs normal autonomous traveling and ends the traveling when it arrives at a predetermined location. Also, the mobile robot 1 ends the traveling when it receives an instruction to end the traveling from the upper device 200 or an external device. End the traveling.

[0166] The integrated control unit 11 may convert one of the entry angle of the mobile robot 1 with respect to the slope of the road surface, the traveling angle of the mobile robot 1 with respect to the slope of the road surface, and the departure angle of the mobile robot 1 with respect to the slope of the road surface into a specified amount of Δw using conversion information (for example, a mathematical formula or a map), and acquire the specified amount of Δw. The integrated control unit 11 may use the specified amount of Δw instead of the first specified amount, the second specified amount, and the third specified amount.

[0167] <The 12th Embodiment> The 12th embodiment will be described. In the 12th embodiment, the same components as those in the 1st to 11th embodiments are denoted by the same reference numerals as those in the 1st to 11th embodiments, and the description thereof will be omitted as appropriate. The mobile robots 1 according to the 1st to 12th embodiments may be combined as appropriate.

[0168] <Overall Configuration of Mobile Robot> FIG. 32 is a block diagram showing the configuration of the mobile robot 1 according to the 12th embodiment. The mobile robot 1 according to the 12th embodiment includes a gimbal control unit 81, a gimbal unit 82, and a loading unit 83 in addition to the components of the mobile robot 1 according to the 1st embodiment. It is possible to load a workpiece on the loading unit 83. The loading unit 83 may have a mechanism for gripping the workpiece. In FIG. 32, the illustration of components other than the integrated control unit 11, the two-dimensional shape measurement devices 18A and 18B, the receiving unit 19, the drive wheels 31, the gimbal control unit 81, the gimbal unit 82, and the loading unit 83 is omitted.

[0169] The gimbal control unit 81 is disposed inside the main body unit 2. The gimbal unit 82 is disposed on the upper surface of the main body unit 2, and the loading unit 83 is disposed on the gimbal unit 82. The gimbal control unit 81 may be disposed on the upper surface of the main body unit 2. The gimbal control unit 81, the gimbal unit 82, and the loading unit 83 may be disposed on the upper part of the main body unit 2. Electric power may be supplied from the mobile robot 1 to the gimbal control unit 81 and the gimbal unit 82.

[0170] The gimbal control unit 81 may be configured, for example, by a computer having a processor such as a CPU, RAM, and a non-volatile storage device (e.g., ROM, flash memory, etc.). All or part of the functions provided by the gimbal control unit 81 may be configured by a circuit such as an ASIC or FPGA. The gimbal control unit 81 controls the operation of the gimbal unit 82. The gimbal control unit 81 is an example of an operation control unit. The integrated control unit 11 and the gimbal control unit 81 may be integrated. The gimbal unit 82 is a mechanism (gimbal mechanism) that adjusts the inclination of the loading unit 83. The gimbal unit 82 is an example of an adjustment unit.

[0171] When the mobile robot 1 travels up a slope, the main body 2 tilts, causing the loading unit 83 to tilt. This tilting can cause the workpieces loaded on the loading unit 83 to shift or fall off the mobile robot 1. When the mobile robot 1 travels straight up a slope, the loading unit 83 tilts primarily in the pitch direction. Therefore, the mobile robot 1 is equipped with a single-axis gimbal unit 82 that can correct tilt about the pitch axis. This adjusts the tilt of the loading unit 83 while the mobile robot 1 is traveling up a slope. This allows the tilt of the loading unit 83 to be corrected while the mobile robot 1 is traveling up a slope, thereby compensating for the tilt of the main body 2. This prevents the workpieces loaded on the loading unit 83 from shifting or falling off the mobile robot 1 while the mobile robot 1 is traveling up a slope.

[0172] 33 is a diagram showing the configuration of the gimbal control unit 81, the gimbal unit 82, and the loading unit 83. The gimbal control unit 81 includes an inclination data acquisition unit 811, a target angle storage unit 812, a difference calculation unit 813, an operation unit 814, a control coefficient storage unit 815, a determination unit 816, and a motor drive The gimbal unit 82 has a support mechanism (stator) 821, a motor unit 822, a rotating shaft 823, and a support unit 824. The support mechanism 821 supports the motor unit 822 and the rotating shaft 823. The support unit 824 is attached to the rotating shaft 823 and supports the loading unit 83. The motor unit 822 has various motors. The motor unit 822 rotates the rotating shaft 823 to adjust the inclination of the loading unit 83.

[0173] The integrated control unit 11 measures the inclination angle of the slope of the road surface as a pitch angle based on at least one of the data DT1 and the data DT2, and sends the inclination data including the pitch angle to the inclination data acquisition unit 811. The inclination data acquisition unit 811 acquires the inclination data including the pitch angle from the integrated control unit 11, and sends the inclination data including the pitch angle to the difference calculation unit 813.

[0174] The target angle storage unit 812 stores the target pitch angle. The target pitch angle may be set so that the loading unit 83 is horizontal, or may be set so that the loading unit 83 is inclined relative to the horizontal. Depending on the characteristics of the workpiece, it may be preferable to load the workpiece on the loading unit 83 in an inclined state.

[0175] A difference calculation unit 813 calculates the difference between the pitch angle of the tilt data and the target pitch angle, and sends the difference data to a calculation unit 814. The calculation unit 814 calculates drive torques of various motors in a motor unit 822 based on PID gains (control coefficients) and the difference data, and sends torque commands to a motor drive unit 817. A control coefficient storage unit 815 stores the PID gains.

[0176] The determination unit 816 determines whether it has received a control signal from the integrated control unit 11. When the integrated control unit 11 detects the slope of the road surface based on at least one of the data DT1 and the data DT2, it may send a first control signal to the determination unit 816. Also, when the mobile robot 1 arrives at the entry position of the slope road, the integrated control unit 11 may send a first control signal to the determination unit 816. The first control signal is a start signal for starting the operation of the gimbal unit 82. When the determination unit 816 receives the first control signal from the integrated control unit 11, it generates a start signal for the operation of the gimbal unit 82 and sends the start signal for the operation of the gimbal unit 82 to the arithmetic unit 814. When the mobile robot 1 leaves the slope road, the integrated control unit 11 sends a second control signal to the determination unit 816. The second control signal is a stop signal for stopping the operation of the gimbal unit 82. When the determination unit 816 receives the second control signal from the integrated control unit 11, it generates a stop signal for the operation of the gimbal unit 82 and sends the stop signal for the operation of the gimbal unit 82 to the arithmetic unit 814.

[0177] When the arithmetic unit 814 receives the start signal for the operation of the gimbal unit 82, it may send a torque command to the motor drive unit 817. Also, when the arithmetic unit 814 receives the start signal for the operation of the gimbal unit 82, it may start supplying power from the mobile robot 1 to the gimbal unit 82 and send a torque command to the motor drive unit 817. The motor drive unit 817 generates a motor control signal based on the torque command received from the arithmetic unit 814 and controls the drive of the motor unit 822.

[0178] When the arithmetic unit 814 receives the stop signal for the operation of the gimbal unit 82, it may stop the operation of the gimbal unit 82 and cut off the power supply from the mobile robot 1 to the gimbal unit 82. In this way, the gimbal unit 82 adjusts the inclination of the loading unit 83 while the mobile robot 1 is traveling on the slope road. By operating the gimbal unit 82 during the travel of the mobile robot 1 on the slope road, the power consumption of the mobile robot 1 can be suppressed.

[0179] Each process described above may be regarded as a method executed by a computer. Also, a program for causing a computer to execute each process described above may be provided to the computer through a network or from a computer-readable recording medium that non-temporarily holds data, etc.

[0180] <Appendix> A traveling device (1) capable of traveling on a road surface, a main body part (2), a traveling part (17) having a plurality of rotating bodies (31) and controlling the forward and reverse rotations of the plurality of rotating bodies, a first sensor (18A) provided on a first side surface of the main body part (2) in a direction orthogonal to the front-rear direction of the traveling device (1), the first sensor (18A) scanning the road surface along the front-rear direction of the traveling device (1) and outputting first data regarding a two-dimensional shape of the road surface, a second sensor (18B) provided on a second side surface opposite to the first side surface of the main body part (2), the second sensor (18B) scanning the road surface along the front-rear direction of the traveling device (1) and outputting second data regarding a two-dimensional shape of the road surface, a control part (11) that detects an inclination of the road surface based on the first data and the second data and controls an operation of the traveling part (17) with respect to the inclination, The traveling device (1) comprising the above.

Explanation of Signs

[0181] 1: Mobile robot 2: Main body part 11: Integrated control part 12: Communication part 13: Two-dimensional scanner 14: Measurement sensor 15: Storage part 16: Traveling control part 17: Traveling part 18A, 18B: Two-dimensional shape measurement device 19: Receiving part 31: Driving wheel 32: Auxiliary wheel 200; Upper device

Claims

1. A traveling device capable of traveling on a road surface, comprising: a main body; a traveling unit having a plurality of rotating bodies and controlling forward and reverse rotation of the plurality of rotating bodies; a first sensor provided on a first side surface of the main body in a direction orthogonal to the front-rear direction of the traveling device, the first sensor scanning the road surface along the front-rear direction of the traveling device to output first data regarding a two-dimensional shape of the road surface; a second sensor provided on a second side surface opposite to the first side surface of the main body, the second sensor scanning the road surface along the front-rear direction of the traveling device to output second data regarding a two-dimensional shape of the road surface; a control unit configured to detect an inclination of the road surface based on the first data and the second data and control an operation of the traveling unit with respect to the inclination; and a traveling device including the same.

2. The traveling device according to claim 1, wherein the control unit controls the operation of the traveling unit so that a difference between the first data and the second data is equal to or less than a threshold value, and adjusts a direction of the traveling device when the traveling device enters the inclined surface. The traveling device according to claim 1.

3. The traveling device according to claim 1 or 2, wherein the control unit controls the operation of the traveling unit so that a difference between the first data and the second data is equal to or less than a threshold value, and adjusts a direction of the traveling device when the traveling device leaves the inclined surface. The traveling device according to claim 1 or 2.

4. The traveling device according to any one of claims 1 to 3, wherein the control unit controls the operation of the traveling unit so that a difference between the first data and the second data is equal to or less than a threshold value, and adjusts a direction of the traveling device when the traveling device travels on the inclined surface. The traveling device according to any one of claims 1 to 3.

5. The first data includes two-dimensional shape data of the road surface in front of the traveling device and two-dimensional shape data of the road surface in front of the traveling device, the second data includes two-dimensional shape data of the road surface behind the traveling device and two-dimensional shape data of the road surface behind the traveling device, and the control unit controls the operation of the traveling unit so that a difference between the two-dimensional shape data of the road surface in front of the traveling device included in the first data and the two-dimensional shape data of the road surface in front of the traveling device included in the second data is equal to or less than the threshold value, and adjusts a direction of the traveling device when the traveling device travels on the inclined surface, or Controlling the operation of the traveling unit so that the difference between the two-dimensional shape data of the road surface behind the traveling device included in the first data and the two-dimensional shape data of the road surface behind the traveling device included in the second data is equal to or less than the threshold value, and adjusting the orientation of the traveling device when the traveling device travels on the slope. The traveling device according to claim 4.

6. A loading section capable of loading a workpiece, A load sensor that measures a load, and a measurement section that measures the center-of-gravity position of the workpiece loaded on the loading section based on the load data measured by the load sensor. Comprising The control unit acquires the eccentricity state of the workpiece based on the center-of-gravity position of the workpiece, obtains a specified amount based on the eccentricity state of the workpiece, and controls the operation of the traveling unit so that the difference between the first data and the second data coincides with or approximates the specified amount, and adjusts the orientation of the traveling device when the traveling device enters the slope. The traveling device according to claim 1.

7. The control unit controls the operation of the traveling unit so that the difference between the first data and the second data coincides with or approximates the specified amount, and adjusts the orientation of the traveling device when the traveling device leaves the slope. The traveling device according to claim 6.

8. The control unit controls the operation of the traveling unit so that the difference between the first data and the second data coincides with or approximates the specified amount, and adjusts the orientation of the traveling device when the traveling device travels on the slope. The traveling device according to claim 6 or 7.

9. The first data includes the two-dimensional shape data of the road surface in front of the traveling device and the two-dimensional shape data of the road surface in front of the traveling device. The second data includes the two-dimensional shape data of the road surface behind the traveling device and the two-dimensional shape data of the road surface behind the traveling device. The control unit Controls the operation of the traveling unit so that the difference between the two-dimensional shape data of the road surface in front of the traveling device included in the first data and the two-dimensional shape data of the road surface in front of the traveling device included in the second data coincides with or approximates the specified amount, and adjusts the orientation of the traveling device when the traveling device travels on the slope. Or, Controlling the operation of the traveling unit so that the difference between the two-dimensional shape data of the road surface behind the traveling device included in the first data and the two-dimensional shape data of the road surface behind the traveling device included in the second data matches or approximates the specified amount, and adjusting the orientation of the traveling device when the traveling device travels on the slope. The traveling device according to claim 8.

10. Based on at least one of the first data and the second data, the control unit acquires the distance from the traveling device to the boundary portion between the plane of the road surface and the slope, the inclination angle of the slope, and the shape of the boundary portion, and controls the operation of the traveling unit based on at least one of the distance from the traveling device to the boundary portion, the inclination angle, and the shape of the boundary portion. The traveling device according to any one of claims 1 to 9.

11. A loading unit capable of loading a workpiece; A mass measurement unit that measures the mass of the workpiece loaded on the loading unit; Comprising: When the mass of the workpiece is less than a threshold value related to the mass, the control unit permits the traveling device to travel on the slope. The traveling device according to any one of claims 1 to 10.

12. A traveling instruction unit that receives a traveling instruction in the teaching travel of the traveling device from a traveling instruction device and controls the operation of the traveling unit based on the traveling instruction, When controlling the operation of the traveling unit with respect to the slope based on the traveling instruction, the traveling instruction unit changes at least a part of the traveling instruction to control the operation of the traveling unit. The traveling device according to any one of claims 1 to 11.

13. When the traveling device travels in the order of the first plane of the road surface, a predetermined slope continuous with the first plane, and a second plane continuous with the predetermined slope, a measuring device that measures the first height of the ceiling in the first plane and the second height of the ceiling in the second plane is provided. The control unit acquires the distance of the predetermined slope, measures the inclination angle of the predetermined slope based on at least one of the first data and the second data, calculates the height of the second plane based on the distance of the predetermined slope and the inclination angle of the predetermined slope, and when the difference between the first height and the total height of the second height and the height of the second plane is greater than a height threshold, notifies an external device. The traveling device according to any one of claims 1 to 12.

14. A storage unit that stores a map with distance data related to the distance of the slope added thereto, The control unit measures the inclination angle of the slope based on at least one of the first data and the second data, and calculates the power consumption in traveling on the slope based on the distance of the slope and the distance of the slope, The traveling device according to any one of claims 1 to 13.

15. A loading unit capable of loading a workpiece, An adjustment unit that adjusts the inclination of the loading unit, Comprising: The traveling device according to any one of claims 1 to 14.

16. An operation control unit that controls the operation of the adjustment unit, The control unit obtains the inclination angle of the slope based on at least one of the first data and the second data, The operation control unit controls the operation of the adjustment unit based on the inclination angle, The traveling device according to claim 15.

Images