JP2001265437A - Traveling object controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a traveling object controller for moving a traveling object which performs a waxing work or the like in a designated range in an inexpensive constitution and which is provided with a function for automatically calculating the most efficient reciprocating interval according to the target of a user without making it necessary to preliminarily measure the work range. SOLUTION: This traveling object controller for controlling a traveling object performs a prescribed work to reciprocate with a proper interval so that the traveling object can performs the work everywhere in a designated range. The controller is provided with a position and direction controlling means for changing the position and direction of the traveling object by operating the traveling of the traveling object, an area setting means for starting the setting of the traveling area, a setting ending means for ending the setting of the traveling area, a starting state storing means for storing the position and direction of the traveling object at the time of starting the setting of the traveling area, an ending state storing means for storing the position and direction of the traveling object at the time of ending the setting of the area, and a reciprocating interval deciding means for deciding the work area and the reciprocating interval of the traveling object based on a relation between the position and direction of the traveling object at the time of starting the setting of the area and the position and direction of the traveling object at the time of ending the setting of the area.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a movement control device for an autonomous traveling work vehicle (moving body) that travels in a predetermined work area and performs all operations such as cleaning and wax application.

[0002]

2. Description of the Related Art A moving body control apparatus for controlling a moving body performing a specific work to reciprocate at a desired interval so that the moving body works over a specified range,
Means for specifying a range in which the moving body moves, means for inputting information on a position where the moving body ends moving, and determining means for determining a reciprocating interval based on the information on the specified range and the ending position. A moving object control device provided with the device has been developed (see Japanese Patent Application Laid-Open No. 9-269824). This publication describes, as an example of an embodiment, an apparatus for specifying a moving range by inputting numerical values of a vertical distance and a horizontal distance of the moving range with a remote controller having a liquid crystal display unit. This remote controller is provided with a switch for specifying whether to end on the outward path or end on the return path as the end position information, based on the data of the movement range and the information on whether to end on the outward path or end on the return path, The maximum reciprocating interval that satisfies the condition within a range where no remaining work occurs is calculated.

However, the above-mentioned known device requires a display unit in the input device for data input, so that the input device is expensive and the movement range must be input numerically, so that the work area cannot be used. It is necessary to measure the dimensions in advance, and there is a problem that simplicity is lacking. Further, as the user's needs, there is a case where the end position is not a problem and only the work efficiency is a problem. However, in the apparatus of the above embodiment, the end position must always be designated as either the outward route or the return route. Therefore, it is necessary for the user to calculate the end position where the reciprocating interval becomes the largest on the basis of the information on the moving range and the information on the working width of the moving body, which is problematic in terms of simplicity.

[0004]

According to the present invention, a display unit relating to data input at the time of setting an area is not required on the input device, so that it is possible to configure the apparatus at low cost, and it is not necessary to actually measure the working range before setting the moving range. It is an object of the present invention to provide a mobile control device having a function of automatically calculating the most efficient reciprocating interval according to the purpose of the user.

[0005]

Means for Solving the Problems In order to solve the above problems, the present invention has the following configuration. In other words, the moving body control device according to the present invention performs moving body control for performing reciprocation of the moving body at appropriate intervals so that the moving body performing the predetermined work can work all over the designated range. An apparatus, comprising: position / direction control means for operating the traveling of the moving body to change the position and orientation of the moving body; area setting means for starting setting of a moving area; and ending the setting of the moving area. Setting end means, start state storage means for storing the position and orientation of the moving body at the start of moving area setting, end state storage means for storing the position and orientation of the moving body at the end of area setting, The position and orientation of the moving object
A reciprocating interval determining means for determining a reciprocating interval between the work area and the moving body based on a relationship between a position and a direction of the moving body at the time of completion of the area setting is provided.

The moving object control apparatus according to the present invention determines the work area and the reciprocating interval based on the relationship between the position and orientation of the moving object at the start of area setting and the position and orientation of the moving object at the end of area setting. Since the determination means for determining is provided, the user can confirm the movement range based on the actual position of the moving object, and can confirm the end position based on the actual direction of the moving object. For this reason, the input device does not need a display unit related to data input at the time of area setting, and cost can be reduced.

Further, when the direction of the moving body at the start of the area setting is the same as the direction of the moving body at the end of the area setting, the number of traveling lanes is set to an odd number, that is, the end of the movement is set to the forward path. When the reciprocation interval is determined, and the direction of the moving body at the start of the area setting is opposite to the direction of the moving body at the end of the area setting, the number of traveling lanes is set to an even number, that is, the end of the movement is the return path. By determining the reciprocating interval as described above, the direction of the moving object at the end of the area setting is the same as the direction of the moving object at the end of the movement, so that the user can intuitively understand the direction at the end of the movement. It becomes possible to set.

If the direction of the moving body at the start of the area setting is different from the direction of the moving body at the end of the area setting by about 90 degrees, the operation is performed regardless of whether the number of running lanes is odd or even. By increasing the reciprocating interval as much as possible without leaving any residue and determining the reciprocating interval so that the number of traveling lanes is minimized, the position at the end of travel is not a problem as a user's need, and only the work efficiency is short. Even in the case of a problem, the most efficient number of traveling lanes is automatically set, so that the user does not have to perform cumbersome calculations.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described more specifically based on embodiments. FIG. 1 shows an example of a moving object provided with a moving object control device of the present invention. This moving object 1 is a self-propelled wax application robot that cleans or waxes a floor surface while self-propelled, It is controlled by the controller 2.

1 to 3, a moving body (hereinafter referred to as a "cleaning robot") 1 includes a plurality of ultrasonic sensors for measuring a distance to an obstacle and an operation for applying wax to a floor surface. A section 5 and a traveling device 6 are provided. The traveling device 6 includes left and right wheels 6a, 6b, traveling motors 7a, 7b for rotating the wheels, traveling encoders 8a, 8b for measuring the number of rotations of the wheels, and a free caster 9.

FIG. 2 is a plan view of the controller. The controller 2 is used for remotely controlling the cleaning robot 1 which is a moving body, and for setting a work area and a travel route. As an input unit of the controller 2, a setting start button 21 for starting setting of a work area and a traveling route, a setting end button 22 for ending setting, and an instruction for executing a set work process. Button 23 and emergency stop button 24 for emergency stop of the cleaning robot
A forward button 25 for advancing the cleaning robot, a retreat button 26 for retreating the cleaning robot, and a left turn for rotating the cleaning robot 1 90 degrees to the left when the cleaning robot 1 is stopped, and to perform a left curve when the cleaning robot 1 is moving forward or backward. There are provided a button 27, a right button 28 for turning right 90 degrees while the cleaning robot 1 is stopped, and a right curve for moving forward or backward, and a stop button 29 for stopping forward and backward operations. Have been.

FIGS. 3 and 4 show a cleaning robot 1 as a moving body.
The cleaning robot is provided with the cleaning work unit 5 and the traveling device 6 as described above, and the front ultrasonic sensors 3a and 3b for measuring a distance to a front obstacle as a sensor. A left ultrasonic sensor 3c for measuring the distance to the left obstacle, a right ultrasonic sensor 3d for measuring the distance to the right obstacle,
A gyro sensor 4 for measuring the direction of the cleaning robot 1 is provided.

The cleaning robot 1 is provided with a control device 10 to which detection signals from the above sensors, encoders and the like are input.
, A battery 11, a power supply unit 12, a remote control reception unit 13, and a storage unit 14. The running, work, and the like of the cleaning robot 1 are controlled by the control device 10.

The left and right wheels 6a, 6b are independently driven by running motors 7a, 7b, respectively. The traveling motors 7a and 7b are controlled by the control unit 10 to operate the traveling encoder 8
The rotation direction and the rotation speed are controlled based on the outputs a and 8b. If the left and right wheels rotate in the same direction, the vehicle moves forward or backward, and performs a curve running based on the difference between the left and right rotation speeds. By turning the left and right wheels in opposite directions, a turning operation is performed on the spot. Further, the control unit 10
Calculates the running distance by calculating the accumulated value of the outputs of the left and right running encoders, calculates the direction of the cleaning robot 1 based on the output of the gyro sensor 4, calculates the position of the cleaning robot, Control the stop position and direction.

The control unit 10 also controls the front ultrasonic sensor 3
An obstacle ahead is detected based on the detected values of a and 3b, and travel control such as stop of travel or U-turn is performed. Further, based on the detection values of the left and right ultrasonic sensors 3c and 3d, wall tracing travel control for controlling curve travel is performed so that the distance to a lateral flat wall becomes constant when moving forward or backward. Further, according to the input from the remote control receiving unit 13, the forward, backward, curve,
In addition to controlling each operation of the turn, at the time of setting an area, a work parameter required at the time of work execution is calculated based on the calculated values of the traveling distance and the direction, and stored in the storage unit 14. At the time of work execution, control of traveling and control of the work unit are performed based on the work parameters stored in the storage unit 14.

Next, a control method of the cleaning robot (moving body) 1 in the present embodiment will be described. 5 and 6
As an example, a so-called zigzag travel that reciprocates within a specified range at predetermined intervals is used as a travel route. FIG. 5 shows a case in which the vehicle travels back and forth while moving laterally from the left side to the right side at predetermined intervals, and FIG. 6 shows a case in which the vehicle travels back and forth while moving laterally from the left side to the right side at predetermined intervals. The case where the last traveling lane is the outbound route. In other cases, the vehicle may reciprocate while moving laterally from the right side to the left side at predetermined intervals.

There are the following four parameters as zigzag traveling operation parameters stored in the storage unit 14. Work area length L Work area width W Lateral travel direction Lateral travel distance P Final travel lane travel direction These parameters are set by the user using the remote control.
After the user presses the setting start button 21 of the camera 2 and sends a setting start command to the cleaning robot 1, the user operates the running using the remote controller 2 and is determined according to the running history until the user presses the setting end button 22. You.

A) When no parameter is specified First, the case where no parameter is specified will be described as the simplest setting procedure in this embodiment. In this case, the user places the cleaning robot 1 at the start position of the start lane of zigzag regular running in the traveling direction, and presses the setting start button 21. Then, if the user presses the setting end button 22 without doing anything, the parameters are set as follows. Work area length L = Immediately before an obstacle in the traveling direction Work area width W = Immediately before an obstacle in the lateral movement direction (calculated based on distance data measured by the ultrasonic sensor) Lateral movement direction = Left and right The horizontal movement interval P = W ÷ n (where n is the number of running lanes and a positive integer) from the closer wall side to the farther wall side, and the maximum is within the range of Pmax or less. The traveling direction of the last traveling lane = outbound when n is an odd number, n
In the above, the distance to the obstacle or the wall is measured by the ultrasonic sensors 3a, 3b, 3c, 3d at the time of executing the work. Therefore, the above parameters are determined at the time of work execution.

The above-mentioned lateral movement interval Pmax is the maximum value of the lateral movement interval, and is set to a value smaller than the width of the working portion of the cleaning robot 1 by a predetermined amount, so that a gap is not formed between the forward path and the return path in the reciprocating operation. Some overlap is taken into account. The traveling direction of the last traveling lane is determined by the position of the wall at the time of executing the work, and is undefined at the time of setting.

FIG. 7 shows a work execution example in the above setting. Put the cleaning robot 1 at the start position and execute the button 28
When the cleaning robot 1 is pressed, the ultrasonic sensor 3
The distances to the left and right walls are measured by c and 3d, and zigzag travel is performed from the near wall to the far wall. FIG. 7A shows a traveling route when the robot is placed near the left wall and the execution button is pressed to execute the work.
Zigzag travel is performed from the left wall, which is the near wall, to the right wall, which is the far wall. In addition, the number of traveling lanes is an odd number, and the last traveling lane is the forward path, based on the positional relationship between the work start position and the far wall. FIG.
FIG. 7B shows a traveling route when the cleaning robot is placed near the left wall and the execution button is pressed to execute the work, as in FIG. 7A, and the left wall which is the closer wall is shown. Zigzag travel is performed toward the right wall, which is the farthest wall, but the number of running lanes is even and the last running lane is the return route due to the positional relationship between the work start position and the far wall. is there.

A) When Only the Lateral Movement Direction of Zigzag Travel is Specified Next, the case where only the lateral movement direction of zigzag travel is designated will be described. When applying wax in a passage, etc.
In order to secure a passage area during work, there are cases where the work is divided into two areas at the center of the passage and work is performed on each side. In such a case, the work start position is set at the center of the passage and zigzag toward the wall side. It is convenient if you can set it to run.
To do this, it is not enough to work from the near wall to the far wall as shown in a), and it is necessary to specify the lateral movement direction of the zigzag travel. In this example, a method that is visually easy to understand is used by designating the lateral movement direction of the zigzag travel according to the direction of the cleaning robot at the end of the setting.

First, as shown in FIG. 8A, the user places the cleaning robot 1 at the start position of the start lane of zigzag traveling in the traveling direction at the time of starting the work, and presses the setting start button 21. Next, using the right button 26 or the left button 25, the cleaning robot 1 is turned by 90 degrees and turned in the zigzag traveling lateral movement direction, and then the setting end button 22 is pressed. FIG. 8B shows a case where the cleaning robot 1 is turned right at the end of the setting. The cleaning robot 1 calculates the direction at the end of the setting from the traveling history, and recognizes that it is facing sideways with respect to the direction at the start of the setting.
The direction of the cleaning robot at the end of the setting is set as the lateral movement direction of the zigzag travel. In this case, if the direction of the cleaning robot at the end of the setting is the same as that at the start of the setting, or is 180 degrees opposite, it is regarded as the state of a) where nothing is set, and the direction of the farthest wall from the closer wall is considered. Make settings for the wall.

In the case of FIG. 8B, the cleaning robot is turned right at the end of the setting in the case of FIG.
As shown in (c), the lateral movement direction of the zigzag travel is from left to right. Although not shown, when the cleaning robot is turned to the left at the end of the setting, the lateral movement direction of the zigzag travel is from right to left.

Various parameters are set as follows. Work area length L = Immediately before an obstacle in the traveling direction Work area width W = Immediately before an obstacle in the lateral movement direction (calculated based on distance data measured by the ultrasonic sensor) Lateral movement direction = Setting At the end, the direction in which the cleaning robot is facing. Lateral movement interval P = W ÷ n (where n is the number of traveling lanes, a positive integer) and the maximum value within the range of Pmax or less. Direction = forward when n is odd, n
Return when is even

C) When Only the Length of the Work Area is Specified Next, a case where only the length of the work area is specified will be described. In this execution example, the user does not need to input numerical information on the length of the work area, and the cleaning robot 1 is actually run by using a remote controller so that the movement distance is recognized by the cleaning robot. It can be area length data. First, as shown in FIG. 9A, the user places the cleaning robot 1 at the start position of the start lane of the zigzag travel in the traveling direction and presses the setting start button 21. Then, the robot is moved to the final position in the length direction of the work area using the forward button and the backward button, and the setting end button 22 is pressed. In this case, the traveling of the cleaning robot does not include a turning operation, and the direction of the cleaning robot is the same as the direction at the start of the setting from beginning to end.

The cleaning robot 1 determines from the running history that the direction of the cleaning robot 1 is the same as the direction at the start of running, and recognizes the moving distance as setting information of the work area length (
As will be described later, a 90-degree turning operation is performed between the start of setting and the end of setting, and when the orientation at the start of setting and the orientation at the end of setting are vertical, it is recognized as work area width setting information.)
. Specifically, the cleaning robot 1 uses the traveling encoder 8
The movement distance from the setting start position to the setting end position is calculated based on the outputs a and 8b, and is set as the length of the work area. Various parameters are set as follows. Work area length L = distance from setting start position to setting end position Work area width W = immediately before an obstacle in the lateral movement direction (calculated based on distance data measured by an ultrasonic sensor) Lateral movement direction = A lateral movement interval P = W ÷ n (where n is the number of traveling lanes and a positive integer) from the closer wall side to the farther wall side of the left and right walls, and within a range of Pmax or less. , The maximum value The traveling direction of the last traveling lane = outbound when n is an odd number, n
Return when is even

In executing the work, when the cleaning robot 1 is placed at the work start position and the execution button 28 is pressed, the cleaning robot first measures the distance to the left and right walls by using the ultrasonic sensor, and the operation shown in FIGS. As shown in b), zigzag travel is performed from the near wall to the far wall. Although illustration is omitted, also in this case, depending on the positional relationship between the work start position and the distant wall, the traveling direction of the final traveling lane may be the forward direction or the returning direction.

D) Specifying the length of the work area and the lateral movement direction of the zigzag travel Next, the case of specifying the length of the work area and the lateral movement direction of the zigzag travel will be described. First, FIG.
As shown in FIG. 11A, the user places the cleaning robot at the start position of the start lane of zigzag traveling in the traveling direction at the time of starting the work, and presses the setting start button 21.
Then, the cleaning robot is moved to the final position in the longitudinal direction of the work area using the forward button 23 or the backward button 24, and then the cleaning robot is turned 90 degrees using the right button 26 or the left button 25. Then, after turning in the zigzag traveling lateral movement direction, the setting end button 22 is pressed. FIG.
FIG. 11A shows a case where the cleaning robot is turned to the left at the end of the setting, and FIG. 11A shows a case where the cleaning robot is turned to the right at the end of the setting.

In the cleaning robot 1, the direction of the cleaning robot moving forward or backward is the same as the direction of the cleaning robot at the start of the setting from the traveling history, the area dimension is not specified in the width, and the length is not specified. Is determined, and the direction at the end of the setting is calculated, and the orientation of the cleaning robot at the end of the setting is recognized by recognizing that it is facing sideways with respect to the direction at the start of the setting. Set as the lateral movement direction of zigzag travel (If the direction of the cleaning robot at the end of setting is the same as the start of setting or 180 degrees opposite direction, it is considered that only the length of the work area is specified, and the closer Set up the wall farther from the wall).

In the operation shown in FIG. 10A, the cleaning robot 1 is turned to the left at the end of the setting.
As shown in FIG. 11B, the lateral movement direction of the zigzag travel is from right to left, and in the case of FIG. 11A, the cleaning robot 1 is turned to the right at the end of the setting. As shown in the figure, the lateral movement direction of the zigzag travel is from left to right.

Various parameters are set as follows. Work area length L = distance from setting start position to setting end position Work area width W = immediately before an obstacle in the lateral movement direction (calculated based on distance data measured by an ultrasonic sensor) Lateral movement direction = The direction in which the cleaning robot is facing at the end of the setting. Lateral movement interval P = W （n (where n is the number of running lanes and a positive integer), and the value that is the maximum within the range of Pmax or less. Lane running direction = forward when n is odd number, n
Return when is even

(E) Case where only the width of the work area is specified Next, a case where only the width of the work area is specified will be described. In this case, as in the case of setting the work area length,
There is no need for the user to input numerical information of the work area width, and the cleaning robot can be actually run and the moving distance can be used as the work area width data. First, FIG.
(A), as shown in FIG. 13 (a), the user places the cleaning robot 1 at the start position of the start lane of zigzag travel.
Is set in the traveling direction, and the setting start button 21 is pressed.
Then, the cleaning robot is turned by pressing the right button 26 or the left button 25, and the cleaning robot is directed toward the end of the work area width. Next, the forward button 23 and the reverse button 24
Is used to move the cleaning robot to the end position in the width direction of the work area, and the setting end button 22 is pressed.

The cleaning robot 1 determines from the travel history whether the direction of the cleaning robot being moved is rightward or leftward at the start of travel, and recognizes the travel distance as work area width setting information. The lateral movement direction of zigzag traveling is
When the moving direction at the time of setting is right to left, the direction is set from right to left. When the moving direction at the time of setting is left to right, the direction is set from left to right.

Various parameters are set as follows. Work area length L = Immediately before obstacle in the traveling direction Work area width W = Moving distance from setting start to setting end + width of cleaning work unit Lateral moving direction = Direction from setting start position to setting end position Lateral movement interval P = W ÷ n (where n is the number of running lanes and is a positive integer), which is the maximum value within the range of Pmax or less, when the running direction of the last running lane = n is an odd number, the forward path, n
Is an even number. In the above, the lateral movement interval is a value determined from the work area width and the number of traveling lanes, but together with the number of traveling lanes n, so that the lateral traveling interval is maximum within a range not exceeding Pmax. It is calculated by the control unit 10 of the cleaning robot 1.
The traveling direction of the last traveling lane is determined according to the number of traveling lanes calculated together with the calculation of the lateral movement interval.

In performing the work, the cleaning robot 1 is placed at the work start position and the execution button 28 is pressed. When the cleaning robot 1 is pressed, the cleaning robot 1 is set from the set start position to the set end as shown in FIGS. 12 (b) and 13 (b). Perform a zigzag run toward the position. In the case of FIG. 12A, since the setting end position is on the left side of the setting start position, the execution of the operation is performed as shown in FIG.
As shown in the figure, the vehicle travels in a zigzag manner from the right side to the left side. In the case of FIG. 13A, since the setting end position is on the right side of the setting start position, the work is executed in a zigzag manner from the left side to the right side as shown in FIG. 13B. FIG. 12B shows an example in which the last traveling lane is on the outbound route, and FIG. 13B shows an example in which the last traveling lane is on the return route.

(F) Designating the width of the work area and the traveling direction of the last travel lane Next, the case of designating the width of the work area and the travel direction of the last travel lane will be described. Depending on the work, the end position should be on the same side as the work start side in the length direction of the work area to ensure continuity with the next work area or to collect the cleaning robot after the work is completed. In some cases, it may be necessary to specify whether to be on the opposite side of the work start side, and only the width of the work area is specified. If you want to know the driving direction of the final driving lane, you need to perform complicated calculations in advance, and you cannot set the width of the work area freely, so there is a function to specify the driving direction of the final driving lane. It is convenient.

In this execution example, a method that is visually easy to understand is used by designating the traveling direction of the final traveling lane according to the direction of the cleaning robot at the end of the setting. First, as shown in FIGS. 14 (a) and 15 (a), the user places the cleaning robot 1 at the start position of the start lane of zigzag traveling in the traveling direction at the time of starting the work,
The setting start button 21 is pressed. Then, as in the case of (e), the right button 26 or the left button 25 is pressed to direct the cleaning robot toward the end of the work area width, and the forward button 2 is pressed.
The cleaning robot is moved to the end position in the width direction of the work area by using 3 or the retreat button 24. Up to this point, the operation is the same as in the case of e). Next, the user turns the cleaning robot 90 degrees clockwise or counterclockwise using the right button 26 or the left button 25 to start the cleaning robot setting. The user presses the setting end button 22 in the same direction as the above or in the opposite direction by 180 degrees.

FIG. 14A shows a case where the cleaning robot 1 is oriented in the same direction as when the setting was started at the end of the setting.
(A) shows the cleaning robot 1 at the start of setting when the setting is completed.
This is the case where it is turned to the opposite side by 80 degrees. For the cleaning robot, the traveling history indicates that the direction of the cleaning robot moving forward or backward is perpendicular to the direction of the cleaning robot at the start of the setting, and the area dimension is specified, but the length is not specified and only the width is specified. It is determined that it is specified, and the direction at the end of setting is calculated,
The direction of the cleaning robot at the end of the setting is set as the traveling direction of the last traveling lane by recognizing that the direction is the same or 180 degrees opposite to the direction at the start of the setting.

In the case of FIG. 14 (a), the cleaning robot 1 is oriented in the same direction as at the start of setting in the case of FIG. 14 (a). The direction is the forward path, and in the case of FIG. 15A, the cleaning robot 1 is turned to the opposite side by 180 degrees from the start of the setting at the end of the setting, so that the traveling direction of the last traveling lane as shown in FIG. Will return.

Various parameters are set as follows. Work area length L = Immediately before obstacle in the traveling direction Work area width W = Moving distance from setting start to setting end + width of cleaning work unit Lateral moving direction = Direction from setting start position to setting end position Lateral movement interval P = W ÷ n Running direction of the last running lane = Depends on the direction of the robot at the end of setting

In the above, the horizontal movement interval P is equal to the width W of the work area.
Is divided by the number n of traveling lanes. In this case, since the traveling direction of the last traveling lane is specified, the number of traveling lanes is limited to an odd number or an even number according to the traveling direction of the last traveling lane. That is, when the traveling direction of the final traveling lane is the outward route, the number of traveling lanes n is limited to an odd number, and when the traveling direction of the final traveling lane is the returning route, the number is limited to an even number. In the former case, the lateral movement pitch P is set to a maximum value within the range of Pmax or less under the condition that n is an odd positive integer. In the latter case, n is an even positive integer. Is set to the maximum value within the range of Pmax or less. 14 and 15 show the case where the horizontal movement direction of the zigzag traveling is from right to left, but the same applies to the case where the lateral movement direction of the zigzag traveling is from left to right.

(G) A case where the length and width of the work area are designated and the traveling direction of the last traveling lane is not designated. First, as shown in FIG. 16A, the user places the cleaning robot 1 in the traveling direction at the start position of the zigzag traveling start lane, and presses the setting start button 21. Then, the forward button 23, the backward button 24, the right button 2
6. Using the left button 25, move the cleaning robot 1 to the diagonal position of the work area while moving the cleaning robot 1 forward, backward, turn right 90 degrees, and turn left 90 degrees, and press the setting end button 22. The cleaning robot 1 calculates a horizontal movement distance and a vertical movement distance from a setting start position to a setting end position based on the direction of the cleaning robot calculated based on the traveling history and outputs of the traveling encoders 8a and 8b. Set the length and width of the region.
In this case, in order not to specify the traveling direction of the last traveling lane, the direction of the cleaning robot at the end of the setting is set to a direction perpendicular to the direction at the start of the setting, that is, either to the right or to the left.

Various parameters are set as follows. Working area length L = Vertical movement distance from setting start to setting end Working area width W = Horizontal moving distance from setting start to setting end + width of cleaning work unit Horizontal moving direction = Setting start position to setting end position Toward the lateral movement interval P = W ÷ n (where n is the number of traveling lanes and is a positive integer) and the maximum value within the range of Pmax or less When the traveling direction of the final traveling lane = n is an odd number Outbound,
Return when n is even

C) Designation of the length and width of the work area and the traveling direction of the last travel lane Next, the case of designating the length and width of the work area and the direction of the last travel lane will be described. First, in the same manner as in case g), as shown in FIGS. 17A and 18A, the user places the cleaning robot 1 at the start position of the start lane of zigzag traveling in the traveling direction and sets the position. The start button 21 is pressed. Then, the forward button 23 and the backward button 2
4. Using the right button 26 and the left button 25, the cleaning robot 1 is moved to the diagonal position of the work area while moving forward, backward, turning right 90 degrees and turning left 90 degrees, and presses the setting end button 22. The cleaning robot 1 has a direction of the cleaning robot calculated based on the traveling history and traveling encoders 8a and 8b.
, The horizontal movement distance and the vertical movement distance from the setting start position to the setting end position are calculated, and the length and width of the work area are set. Up to this point, this is the same as in the case of (g), but the direction of the cleaning robot at the end of the setting is different, and the direction of the robot at the end of the setting is the same as the direction at the start of the setting to specify the traveling direction of the final driving lane. Same orientation, 180
Press the setting end button 22 in the opposite direction.

Various parameters are set as follows. Working area length L = Vertical movement distance from setting start to setting end Working area width W = Horizontal moving distance from setting start to setting end + width of cleaning work unit Horizontal moving direction = Setting start position to setting end position Toward the lateral movement interval P = W ÷ n The traveling direction of the last traveling lane = Depending on the direction of the cleaning robot at the end of setting

As described above, when the traveling direction of the last traveling lane is the outward direction, the lateral movement pitch P is within the range of Pmax or less under the condition that n is an odd positive integer. In the case where the traveling direction of the final traveling lane is the return trip, the maximum value is set within the range of Pmax or less under the condition that n is an even positive integer.

FIG. 17A shows a case where the direction of the cleaning robot at the end of the setting is the same as that at the start of the setting.
As shown in FIG. 7 (b), the traveling direction of the final traveling lane is the outward route. FIG. 18A shows a case where the direction of the cleaning robot at the end of the setting is 180 degrees opposite to the direction at the start of the setting. As shown in FIG. 18B, the traveling direction of the last traveling lane is a return trip. .

As described in a) to c) above, the length and width of the work area, the running direction at the start of work, and the running direction at the end of work are determined at the start of setting and the cleaning robot at the end of setting. , The user can easily set the work area and the running pattern.

Next, the operation of setting a work area in this embodiment will be described with reference to the flowcharts shown in FIGS. 19 (a), 19 (b) and 19 (c). In this flowchart, S: a variable indicating the progress of the area setting 0: a state in which the area setting is not in progress 1: a state in which neither the forward command nor the backward command is executed after receiving the setting start command 2: a setting start command After receiving, a state in which a forward command or a reverse command is executed. 3: After S becomes 2, a right turn or a left turn is executed. Thereafter, a state in which no forward / reverse command is executed. , After executing the forward command or the backward command, L: length of the work area W: width of the work area P: lateral movement interval XD: moving direction 0: wall farther from the nearer wall in the horizontal direction Head for. 1: Left → Right 2: From the near wall in the left and right direction to the far wall. 3: Right to left YD: Running direction of the last lane 0: Outbound route 1: Direction in which the number of traveling lanes decreases 2: Returning route 3: Direction in which the number of traveling lanes decreases RD: Direction of cleaning robot 0: Cleaning robot at the start of setting Direction 1: 90 degrees to the right from the start of setting 2: 180 degrees to the start of setting 3: 90 degrees to the left from the start of setting RM: Running state of the cleaning robot 0: Stopping 1: Moving forward 2: Reversing 3: Left turning 4: Right turning X: Position coordinates of the cleaning robot in the work area width direction (X axis). X coordinate table value. The right direction to the direction of the cleaning robot at the start of the setting is positive. Y: Position coordinates of the cleaning robot in the work area length direction (Y axis). Y coordinate value. The direction of the cleaning robot at the start of the setting is positive. C: Travel distance from the start of forward or backward movement. Calculate based on the output of the traveling encoder.

When the power of the cleaning robot is turned on, # 1
Then, it is assumed that S = 0 and the area setting operation is not performed. At step # 2, a command waiting state from the infrared remote controller is awaited. If a command is received, the process proceeds to step # 3. In step # 3, it is determined whether the command is a setting start command. If the command is not a setting start command, the process proceeds to step # 4. If the command is a setting start command, the process proceeds to step # 12. In # 12, S is set to 1 and L, W, P, X
Set D, YD, RD, X, and Y to default values and #
Return to 1.

In # 4, it is determined whether the command is a setting end command. If the command is not a setting end command, the flow proceeds to # 5, and if it is a setting end command, the flow proceeds to # 13. In # 13, the value of S is 0
If it is 0, it returns to # 1 without doing anything since the setting start command has not been received yet, and if not 0, it goes to the setting end process of # 100.

In step # 5, it is determined whether the command is a forward command. If the command is not a forward command, the process proceeds to step # 6. If the command is a forward command, the process proceeds to step # 14. In # 14, it is determined whether or not the running state of the cleaning robot is stopped. If the running state is not stopped, the process returns to # 1 without doing anything. If stopped, the process proceeds to # 15, and the RM is set to 1
, And the forward movement is started at # 16. # 17, # 18,
The progress of the area setting is determined in # 19, and when S is 1,
S is set to 2 in # 18, and when S is 3, S is set to 4 in # 20.
Otherwise, return to # 1 without changing the value of S.

In # 6, it is determined whether the command is a backward command. If the command is not a backward command, the process proceeds to # 7. If the command is a backward command, the process proceeds to # 21. In # 21, it is determined whether or not the running state of the cleaning robot is stopped. If the running state is not stopped, the process returns to # 1 without doing anything.
Is set, and retreat is started in # 23, and the process proceeds to # 17. # 1
7, # 18 and # 19 determine the progress of area setting, and
When S is 1, S is set to 2 in # 18, and when S is 3, #
At S20, S is set to 4; otherwise, the process returns to # 1 without changing the value of S.

In # 7, it is determined whether or not the command is a left instruction. If the command is not a left instruction, the process proceeds to # 8.
Proceed to 24. In step # 24, it is determined whether the running state of the cleaning robot is stopped. If the running state is not stopped, the robot is moving forward or retreating.
Returning to step # 24, if the vehicle is stopped at step # 24, the process proceeds to step # 26, where RM is set to 3, and at step # 27, a turning operation to the left by 90 degrees is performed and the state returns to the stop state. Then, the process proceeds to # 28, in which the variable RD indicating the direction of the cleaning robot is subtracted by 1, and it is determined whether or not the subtraction result of RD is negative in # 29. If the RD is not negative, the process directly proceeds to # 31, If RD is negative, it indicates that the cleaning robot is facing left with respect to the direction at the start of setting, so RD is set to 3 in # 30 and the process proceeds to # 31. In # 31, RM is set to 0 to indicate that the cleaning robot is stopped. In # 32, it is determined whether or not the value of S is 2, and only when S is 2, S is set to 3 in # 33. Set and return to # 1.

In step # 8, it is determined whether the command is a right instruction. If the command is not a right instruction, the process proceeds to step # 9.
Proceed to 34. In # 34, it is determined whether or not the traveling state of the cleaning robot is stopped. If not, the cleaning robot is moving forward or retreating.
Returning to step # 34, if the vehicle is stopped at step # 34, the process proceeds to step # 36, RM is set to 4, a right 90-degree turning operation is executed at step # 37, and the operation returns to the stop state. Then, the process proceeds to # 38, where 1 is added to the variable RD indicating the direction of the cleaning robot, and it is determined whether or not the addition result of RD is 4 in # 39. If RD is not 4, the process directly proceeds to # 31, If RD is 4, this indicates that the cleaning robot has returned to the same direction as when the setting was started, so RD is set to 0 in # 40, and the process proceeds to # 31. # 31
Then, RM is set to 0 to indicate that the cleaning robot is stopped, and it is determined whether or not the value of S is 2 in # 32, and if it is 2, S is set to 3 in # 33. And return to # 1.

In step # 9, it is determined whether or not the command is a stop command. If the command is not a stop command, the process proceeds to step # 10. If the command is a stop command, the process proceeds to step # 200, and the process proceeds to a position coordinate calculation process of the cleaning robot. The running state is determined in # 201, # 202, and # 213. If the vehicle is not moving forward or moving backward, the process returns to # 1 without doing anything.

In step # 202, if the vehicle is moving forward (RM = 1), the traveling stop operation is executed in step # 203, and the traveling of the cleaning robot is stopped. In step # 204, the direction of the cleaning robot is determined.
If = 0), it means that the vehicle has traveled in the positive direction of the Y-axis, so the process proceeds to # 205, and the traveling distance value C from the start of forward movement to the stop of traveling is added to the Y coordinate value of the cleaning robot.
The current Y coordinate value is calculated, and the process proceeds to # 211.

If RD is not 0 in # 204, # 206
, And the direction of the cleaning robot is determined, and the direction of the cleaning robot is 180 degrees (RD =
If it is 2), it means that the vehicle has traveled in the negative direction of the Y axis, so the flow proceeds to # 207, and the traveling distance value C from the start of forward movement to the stop of traveling is subtracted from the Y coordinate value of the cleaning robot. , And calculates the current Y coordinate value, and proceeds to # 211.

If RD is not 2 in # 206, # 208
The direction of the cleaning robot is further discriminated, and the direction of the cleaning robot is 90 degrees to the right (RD =
If it is 1), it means that the vehicle has traveled in the positive direction of the X axis, so the process proceeds to # 209, and the traveling distance value C from the start of forward movement to the stop of traveling is added to the X coordinate value of the cleaning robot. , Calculate the current X coordinate value, and proceed to # 211.

If RD is not 1 in # 208, the direction of the cleaning robot is 90 degrees to the left (RD =
3), which means that the vehicle has traveled in the negative direction of the X-axis. Therefore, the process proceeds to # 210, and the traveling distance value C from the start of forward movement to the stop of traveling is determined from the X coordinate value of the cleaning robot.
Is subtracted to calculate the current X coordinate value, and the flow proceeds to # 211.

In step # 202, if the vehicle is not moving forward (IRM = 1), the flow proceeds to step # 213, and it is determined whether the vehicle is moving backward (RM = 2). If the vehicle is moving backward, the running stop operation is executed in step # 214. Then, the traveling of the cleaning robot is stopped. In step # 215, the direction of the cleaning robot is determined. If the direction of the cleaning robot is the same as the direction at the start of the setting (RD = 0), it means that the vehicle has traveled in the negative direction of the Y-axis. The current Y coordinate value is calculated by subtracting the travel distance value C from the start of retreat to the stop of travel from the Y coordinate value of the robot,
Proceed to 211.

If RD is not 0 in # 215, # 217
, And the direction of the cleaning robot is determined, and the direction of the cleaning robot is 180 degrees (RD =
If it is 2), it means that the vehicle has traveled in the positive direction of the Y axis, so the process proceeds to # 218, and the traveling distance value C from the start of forward movement to the stop of traveling is added to the Y coordinate value of the cleaning robot. , And calculates the current Y coordinate value, and proceeds to # 211.

If RD is not 2 in # 217, # 219
The direction of the cleaning robot is further discriminated, and the direction of the cleaning robot is 90 degrees to the right (RD =
If it is 1), it means that the vehicle has traveled in the negative direction of the X axis, so the process proceeds to # 220, and the travel distance value C from the start of forward movement to the stop of travel is subtracted from the X coordinate value of the cleaning robot. , Calculate the current X coordinate value, and proceed to # 211.

If RD is not 1 in # 219, the direction of the cleaning robot is 90 degrees to the left (RD =
3), which means that the vehicle has traveled in the positive direction of the X-axis, so the process proceeds to # 221, and the traveling distance value C from the start of forward movement to the stop of traveling is added to the X coordinate value of the cleaning robot. Then, the current X coordinate value is calculated, and the process proceeds to # 211.

In step # 211, the running distance is returned to the initial value by setting C = 0, the running state is stopped by setting RM = 0, and the process returns to step # 1.

In step # 10, it is determined whether the command is an execution command. If the command is not an execution command, the process proceeds to step # 11. If the command is an execution command, the process proceeds to step # 41 to determine the value of S. If 0), the operation is performed based on the various area setting values, and the process returns to # 1. If the area is being set (S ≠ 0), the process returns to # 1 without doing anything.

In step # 11, it is determined whether or not the command is an emergency stop command. If the command is an emergency stop command, work stop processing is executed and the process returns to step # 1. If not, the process returns to step # 1 without doing anything. .

Next, the setting end process starting from # 100 will be described. In step # 101, it is determined whether S is 1 or not.
If not, proceed to # 107 and if 1, proceed to # 102. Since the state of S = 1 indicates that no operation other than the turning operation is performed after the setting is started, the width and the length of the work area are set to the default values, and only the lateral movement direction of the zigzag travel is set. Become. In steps # 102 to # 105, the direction of the cleaning robot is determined. If the right side is 90 degrees (RD = 1) from the start of the setting, the lateral movement direction of the zigzag travel is set from left to right (XD = 1). If 90 degrees to the left (RD = 3), the lateral movement direction of the zigzag travel is changed from right to left (XD =
Set to 3). When the direction of the cleaning robot is other than that, the value of XD is not changed, and XD = 0 set in # 12 remains. Then, the process proceeds to # 106, sets S = 0 to indicate that the setting is completed, and returns to # 1.

In # 107, it is determined whether S is 2 or not.
If not, proceed to # 114. If it is 2, proceed to # 108.
The state of S = 2 indicates that the turning operation is not performed after the forward / backward commands are executed after the setting is started, and only in one of the length direction and the width direction of the work area. Since this indicates that the forward and backward movements have been performed, this setting end process requires only one of "the length of the work area" or "the width of the work area and the lateral movement direction of zigzag travel". Will be set. In step # 108, the direction of the cleaning robot is determined. If the direction of the cleaning robot is parallel to the direction at the start of the setting (RD = 0 or RD = 2), the forward / backward movement is performed in the length direction of the work area. Therefore, the process proceeds to # 122, and the current Y coordinate value is set as the length L of the work area. Then, the process proceeds to # 106, sets S = 0 to indicate that the setting is completed, and returns to # 1.

In step # 108, if the direction of the cleaning robot is not parallel (RD = 0 or RD = 2) to the direction at the start of setting, it indicates that the robot has moved forward and backward in the width direction of the work area. Proceeding to # 109, the lateral movement direction of the zigzag travel is set according to the current value of the X coordinate. In other words, when the X coordinate is negative, it means that the vehicle has advanced leftward from the start of the setting, so that the horizontal movement direction of the zigzag travel is set from right to left (XD = 3) in # 110, and the X coordinate is positive. In the case of, since the vehicle has proceeded rightward from the start of the setting, the lateral movement direction of the zigzag traveling is set from left to right (XD = 1) in # 111. Then, at # 112, a value obtained by adding the width W ₀ of the working portion to the absolute value of the current X-coordinate as the width W of the work area. Then, in # 113, the horizontal movement interval P is calculated, and in # 10,
Then, the process proceeds to # 6, where S = 0 is set to indicate that the setting is completed, and the process returns to # 1.

In # 114, it is determined whether S is 3 or not.
If not, proceed to # 123; if 3, proceed to # 115.
The state of S = 3 indicates that the turning operation is performed after the forward / backward instruction is executed after the setting is started, and thereafter, the forward / backward instruction is not performed. To set either the combination of "the length of the work area and the lateral movement direction of the zigzag travel" or the combination of "the width of the work area and the lateral movement direction of the zigzag travel and the travel direction of the last lane" Become. In step # 115, the direction of the cleaning robot is determined. If the direction is the same as the direction of the cleaning robot at the start of the setting (RD = 0), the traveling direction of the last lane is set to the forward path (YD = 0) in step # 109. Proceed to.

At step # 117, the direction of the cleaning robot is 180 degrees (RD = RD) with respect to the direction of the cleaning robot at the start of the setting.
In the case of 2), the traveling direction of the last lane is set to the return route (YD = 2) in # 118, and the process proceeds to # 109. From # 109 onward, as described above, the lateral movement direction XD of the zigzag travel, the width W of the work area, and the lateral movement interval P according to the current value of the X coordinate.
Then, the process proceeds to # 106, and S = 0 is set to indicate that the setting is completed, and the process returns to # 1. In # 119, the direction of the cleaning robot is changed with respect to the direction of the cleaning robot at the start of the setting.
If the right angle is 90 degrees (RD = 1), the horizontal movement direction of the zigzag traveling is set from left to right (XD = 1) in # 120 and # 1
Proceed to 22.

At step # 119, the direction of the cleaning robot is 90 degrees to the right with respect to the direction of the cleaning robot at the start of the setting (RD = 1).
If it is not, the horizontal direction of the zigzag travel is set from right to left (XD = 3) in # 121 and # 12 because it is 90 degrees to the left with respect to the direction of the cleaning robot at the start of the setting.
Proceed to 2. In # 122, the current Y coordinate value is set as the length L of the work area. Then, the process proceeds to # 106, sets S = 0 to indicate that the setting is completed, and returns to # 1.

# 123 is a state where S = 4. S = 4
Indicates that the turning operation is performed after the forward / backward command is executed after the setting is started, and then the forward / backward command is executed again. And the length, the lateral movement direction of the zigzag traveling, and the traveling direction of the last lane. In # 123, the value of the variable RD indicating the direction of the cleaning robot is substituted for the variable YD indicating the traveling direction of the last lane. Therefore, when the direction of the cleaning robot is the same as the direction of the cleaning robot at the start of the setting (RD = 0), the traveling direction of the last lane is the forward direction,
When the direction of the cleaning robot is 180 degrees with respect to the direction of the cleaning robot at the start of the setting, the traveling direction of the last lane is the return path, and the direction of the cleaning robot is not parallel to the direction of the cleaning robot at the start of the setting (RD). = 1 or RD =
In 3), the traveling direction of the last lane is the direction in which the number of traveling lanes decreases.

Next, in steps # 124 to # 128, in the same manner as in steps # 109 to # 113, the lateral movement direction XD of the zigzag travel, the width W of the work area, and the lateral movement interval P are calculated in accordance with the current value of the X coordinate. Then, the process proceeds to # 122, where the current Y coordinate value is set as the length L of the work area. Then proceed to # 106,
In order to indicate that the setting is completed, S = 0 is set, and the process returns to # 1.

The operation of the subroutine for calculating the lateral movement interval P of the zigzag travel performed in # 113 and # 128 will be described with reference to the flowchart shown in FIG. 19D. Here, N is a variable indicating the number of traveling lanes.

Since the method of calculating P differs depending on the traveling direction of the last traveling lane, first, in # 300 and # 301, the traveling direction of the last traveling lane is determined, and the forward path (YD =
If 0), the number of traveling lanes is an odd number, so in step # 302, 1 is set as the initial value of the number N of traveling lanes, and the return route (YD
= 2), since the number of running lanes is even, # 303
In step # 304, 2 is set as the initial value of the number N of traveling lanes.
Proceed to. In # 304, a value obtained by dividing the width W of the work area by the number N of running lanes is substituted for the lateral movement interval P. P in # 305
Is determined to be smaller than the maximum value Pmax of the horizontal movement interval, and if it is smaller, the current value of P is adopted, and the calculation processing subroutine for P is terminated and the routine returns.
If it is not smaller, 2 which is the number of traveling lanes for one round trip is added to the number of traveling lanes in # 306, and the process returns to # 304.
From # 304 to # 30 until P becomes smaller than Pmax
Repeat 6. By doing in this way, when the last traveling lane is the outward route, the maximum value of P can be calculated within a range smaller than Pmax under the condition that the number of traveling lanes is an odd number, and the final traveling lane is the return route. In this case, the maximum value of P can be calculated in a range smaller than Pmax under the condition that the number of running lanes is an even number.

Now, in # 300 and # 301, when the traveling direction of the last traveling lane is neither the outbound route nor the return route (Y
D = 1 or YD = 3)
Since it is necessary to calculate P that minimizes the number of traveling lanes, in step # 307, N is set to 1, and in steps # 308 to # 310, the width W of the work area is increased by one while increasing N by one. The value N obtained by dividing the value N by a value smaller than the maximum value Pmax is obtained, and the maximum value of P is calculated within a range smaller than Pmax.

[0079]

As is apparent from the above description, the moving object control device according to the present invention allows the user to confirm the moving range and the end position based on the actual position and orientation of the moving object. A display unit for inputting data at the time of region setting is not required, and the control device can be configured at low cost. When setting the movement range, it is not necessary to actually measure the work range in advance, and the most efficient reciprocation interval can be automatically calculated according to the user's purpose of use and conditions. Now you can do it. In the above description, the cleaning robot that waxes the floor is described as an example. However, it is needless to say that the moving body control device can be applied to control of a moving body that performs painting, cleaning, and other various operations. No.

[Brief description of the drawings]

FIG. 1 is a perspective view of a cleaning robot (moving body) and a remote controller.

FIG. 2 is a plan view of a remote controller.

FIG. 3 is a plan view illustrating a configuration of a cleaning robot (moving body).

FIG. 4 is a block diagram of a control device.

FIG. 5 is an explanatory diagram of a work range and a moving lane.

FIG. 6 is an explanatory diagram of a work range and a moving lane.

7 (a), (b), (c), (d) are explanatory diagrams of a working range and a moving lane.

8 (a), (b), (c) are explanatory diagrams of a working range and a moving lane.

FIGS. 9A, 9B, and 9C are explanatory diagrams of a work range and a moving lane.

FIGS. 10A and 10B are explanatory diagrams of a work range and a moving lane.

11A and 11B are explanatory diagrams of a work range and a moving lane.

12A and 12B are explanatory diagrams of a work range and a moving lane.

13A and 13B are explanatory diagrams of a work range and a moving lane.

14A and 14B are explanatory diagrams of a work range and a moving lane.

15A and 15B are explanatory diagrams of a work range and a moving lane.

FIGS. 16A and 16B are explanatory diagrams of a work range and a moving lane.

17A and 17B are explanatory diagrams of a work range and a moving lane.

FIGS. 18A and 18B are explanatory diagrams of a work range and a moving lane.

FIG. 19 (a) is a flowchart of (a) control.

FIG. 19 (b) is a flowchart of (b) control.

FIG. 19C is a flowchart of (c) control.

FIG. 19 (d) is a flowchart of (d) control.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Cleaning robot (moving body) 2 Remote controller 3 Sensor 4 Gyro sensor 5 Working device 6 Traveling device 10 Control part

Claims (3)

[Claims] 1. A moving body control device for controlling a moving body performing a predetermined work to reciprocate at a proper interval so that the moving body can work over a designated range. Position / direction control means for operating the body to change the position and orientation of the moving body, area setting means for starting the setting of the moving area, setting end means for ending the setting of the moving area, and moving area Start state storage means for storing the position and orientation of the moving body at the start of setting, end state storage means for storing the position and orientation of the moving body at the end of area setting, and position and orientation of the moving body at the start of area setting And a reciprocating interval determining means for determining a reciprocating interval between the work area and the moving body based on a relationship between a position and a direction of the moving body at the time of completion of the area setting. 2. The reciprocating interval determining means determines a reciprocating interval so that the number of traveling lanes becomes an odd number when the direction of the moving body at the start of region setting and the direction of the moving body at the end of region setting are the same. The moving body control apparatus according to claim 1, wherein when the direction of the moving body at the start of the area setting is opposite to the direction of the moving body at the end of the area setting, the reciprocating interval is determined so that the number of traveling lanes becomes an even number. . 3. The reciprocating interval determining means, when the angle difference between the direction of the moving body at the start of the area setting and the direction of the moving body at the end of the area setting is about 90 degrees, makes the number of traveling lanes odd. Regardless of whether it is an even number or not, by increasing the reciprocating interval as much as possible within the range where there is no remaining work,
The moving body control device according to claim 1, wherein the reciprocating interval is determined so that the number of traveling lanes is minimized.