JP2002287824A - Autonomous traveling robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow autonomous travel between a reference position and a working area by allowing an autonomous traveling robot to travel a travel path connecting the reference position and an entrance of the working area, and preparing a map showing the arrangement of the entrance of the working area. SOLUTION: In a step S2, a travel path storage means stores a stand-by position as a reference position. In a step S3, a travel control means functions and drives a traveling means. In a step S4, a travel path acquiring means acquires the rotating quantity of a driving wheel from an encoder and computes a proceeding direction and moving distance. In a step S5, the computed measurement data is stored as path information in the travel path storage means. In a step S6, a visual sensor provided at a robot body 50 recognizes a marker provided at the entrance. When the marker is recognized, the existing position of the marker is set as the position of the entrance in S7, and coordinate data showing the position is stored in a travel path storage means.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an autonomous mobile robot that performs an operation in a specified work area while autonomously operating, and more particularly to an autonomous mobile robot that creates map information necessary for autonomous operation in advance.

[0002]

2. Description of the Related Art As this kind of autonomous mobile robot, for example, one described in Japanese Patent Application Laid-Open No. 9-269825 is known. According to the publication, the vehicle travels on the floor surface of a plurality of areas in a predetermined area, obtains and stores a traveling pattern of each cleaning area by at least the detecting means, and makes it possible to reproduce floor cleaning according to the stored traveling pattern. Disclosed is a floor cleaning robot in which movement from a predetermined passage to another passage can be set in advance, and information on the movement setting can be stored in a traveling pattern.

[0003]

However, since the robot described in this publication is intended for movement to a wide area and an adjacent passage, movement from a predetermined passage to another passage is, for example, a right turn or a right turn. It is limited to a simple move setting that turns left. Therefore, it has not been possible to cope with a plurality of areas separated by a boundary wall, for example, in a plurality of rooms separated by a wall, a movement from a room having a distant entrance to a room.

[0004] Therefore, the present invention allows the vehicle to travel along a traveling route connecting a preset reference position and an entrance and exit of the work area.
Accordingly, an object of the present invention is to provide an autonomous traveling robot that can reliably and autonomously travel between a reference position and a work area by creating a map indicating the arrangement of entrances and exits in the work area.

[0005]

According to the first aspect of the present invention,
In an autonomous traveling robot that performs work while autonomously traveling using traveling route information stored in advance, a traveling means for traveling a robot body and a robot along a boundary wall of a work area having an entrance and exit from a preset reference position. Traveling control means for controlling the traveling means so that the main body travels; acquiring means for acquiring a traveling route when the robot main body is traveling along the boundary wall from the reference position; and A detecting means for detecting the position of the entrance in the work area, and a storage means for combining and storing the travel route acquired by the acquiring means and the position of the entrance detected by the detecting means.

According to a second aspect of the present invention, in the autonomous mobile robot according to the first aspect, the detecting means detects a detectable object disposed in advance at the entrance of the work area to detect the position of the entrance. is there.

According to a third aspect of the present invention, there is provided the autonomous mobile robot according to the second aspect, further comprising image input means, and image processing means for processing an image input by the image input means.
The detecting means is to detect a detectable object arranged in advance at the entrance of the work area by the image processed by the image processing means.

According to a fourth aspect of the present invention, in the autonomous mobile robot according to the first aspect, the travel control means enters the work area when the robot body reaches an entrance and exit of the work area, and It is to control a traveling means so as to travel along a boundary wall of a work area.

According to a fifth aspect of the present invention, in the autonomous mobile robot according to the first aspect, the storage means stores information for identifying a work area having the entrance as well as the position of the entrance.

According to a sixth aspect of the present invention, there is provided an autonomous traveling robot which performs work while traveling autonomously by utilizing traveling route information stored in advance, a traveling means for traveling a robot body, a predetermined reference position and an entrance / exit. Traveling control means for guiding and controlling the traveling means so that the robot body travels between the entrance and exit of the work area, and acquisition for acquiring the traveling route when the robot body is traveling between the reference position and the entrance and exit of the work area Means and storage means for storing the travel route acquired by the acquisition means.

According to a seventh aspect of the present invention, there is provided the autonomous mobile robot according to the sixth aspect, further comprising image input means, and image processing means for processing an image input by the image input means.
The object registered in advance is input by the image input means, the image processing means recognizes the input, and the traveling control means controls the traveling means so as to follow the object recognized by the image processing means.

According to an eighth aspect of the present invention, in the autonomous mobile robot according to the sixth aspect, when the main body reaches the entrances and exits of a plurality of work areas starting from the reference position, the position of the entrance / exit of the work area is detected. The storage means combines and stores the travel route acquired by the acquisition means and the entrance / exit position detected by the detection means.

According to a ninth aspect of the present invention, in the autonomous mobile robot according to the sixth aspect, the storage means stores information identifying a work area having the entrance as well as the position of the entrance.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. (First Embodiment) FIGS. 1 and 2 show the configuration of an autonomous mobile robot, in which an operation panel 2 is provided on the front upper portion of a housing 1 having a substantially circular lower portion and a substantially hemispherical upper portion. A visual sensor 3 that is arranged and forms image input means in the center of the front surface
Are arranged, and a plurality of traveling sensors 4 are arranged at a lower portion extending from the front surface to the side surface. For example, the three traveling sensors 4 are arranged at predetermined positions at positions that can be seen from the front surface, and two at a time on the left and right side surfaces.

The housing 1 accommodates a cleaner motor 5, a fan 6 rotated by the motor 5, and a dust collection chamber 8 for sucking and collecting dust from a suction port 7 provided at the bottom by the rotation of the fan 6. ing. In addition, a pair of drive wheels 9, a traveling motor 10 that rotationally drives the drive wheels 9, and an encoder 11 that detects rotation of the drive wheels 9 are housed. A wheel 12 whose direction can be freely changed is attached to the center of the bottom rear end of the housing 1.

In the housing 1, a CPU, a RO,
Circuit board 13 incorporating control circuit components such as M and RAM
And a battery 14 for supplying power to each unit.

FIG. 3 is a block diagram showing the configuration of the control unit.
Reference numeral 21 denotes a CPU constituting the control unit main body, and 22 denotes this CPU.
A ROM 21 in which a program for controlling each part is stored;
23 is an RA provided with a memory for storing various processing data.
M / 24 are I / O ports for inputting / outputting signals to / from the operation panel 2, visual sensor 3, traveling sensor 4, cleaner motor 5, traveling motor 10, and encoder 11. CPU 21 and ROM 22, RAM 23, I / O
The O port 24 is electrically connected via a bus line 25.

FIG. 4 is a functional block diagram functionally showing the configuration of the control unit. This autonomous mobile robot is functionally instructed by an instruction unit 31, an imaging unit 32, a traveling unit 33, a traveling control unit 34, and an image processing unit. It comprises means 35, travel route storage means 36, travel route acquisition means 37 and cleaning means 38.

The instruction means 31 is provided on the operation panel 2, C
The imaging means 32 is constituted by the visual sensor 3, the traveling means 33 is constituted by the driving wheels 9 and the traveling motor 10, and the traveling control means 34 is constituted by the CPU 21, RO
The image processing means 35 is composed of a complex of M22 and RAM23.
23, the travel route storage means 36 is comprised of the RAM 23, and the travel route acquisition means 37 is provided with the encoder 11, CPU 21, RO
M22, and the cleaning means 38 includes the cleaner motor 5, the fan 6, the dust collection chamber 8, the CPU 2
1, a composite of ROM22, RAM23.

FIG. 5 is a flow chart showing the control of the autonomous mobile robot. This autonomous mobile robot starts with a predetermined standby position as a starting point, and prepares a map indicating the arrangement of the predetermined area. The operation of sequentially storing the positions and returning to the standby position is performed.

That is, in the standby mode A, the autonomous mobile robot waits at a predetermined position until an instruction is given. FIG. 6 shows a state in which the robot main body 50 is on standby. Since the power source of the robot main body 50 is the battery 14, the robot main body 50 is connected to the charging stand 51 when the robot main body 50 is in the standby position. It is waiting while charging to prepare for traveling.

In this state, when the user operates the operation panel 2 of the robot body 50 to input a map creation indicating the arrangement of the predetermined area, the instruction means 31 determines an instruction to create a map in step S1. The mode is shifted from the standby mode A to the map creation traveling mode B, and each of the work areas 52, 5
Doorways 52a, 53a, 54a, 55 of 3, 54, 55
The traveling for storing the position of a is started.

The traveling route storage means 36 stores the information in step S
At 2, the standby position, which is the traveling start position, is stored in the RAM 23 as a reference position. The reference position at this time is indicated by coordinates. In step S3, when traveling in the work area 56 provided with the reference position is started, the traveling control unit 34 is started.
Works. The traveling means 33 drives the driving wheels 9 to rotate in accordance with the output information of the traveling control means 34.

The travel control means 34 uses, for example, information on the distance to an obstacle output from the travel sensor 4,
While always detecting the boundary wall of the work area on the left side (or right side) of the robot main body 50, the traveling control is performed such that the robot moves forward or turns in the travelable space while maintaining a predetermined distance from the boundary wall. . According to this method, it is possible to travel along the wall. The traveling sensor 4 is
For example, it is constituted by an ultrasonic sensor.

In step S4, the traveling route acquisition means 37 acquires the amount of rotation of the driving wheel 9 by the output from the encoder 11, and calculates, for example, the traveling direction and the moving distance from the previous position, and proceeds to step S5. Then, the calculated measurement data is stored in the travel route storage means 36 as route information as needed.

As shown in FIG. 6, for example, markers 57, 58, 59, and 60 made of sheets on which identification marks are marked are attached to the floors at the entrances of the work areas 52 to 55, respectively. In step S6, the visual sensor 3 provided in the robot body 50 inputs an external image while traveling, supplies the input image to the image processing means 35, and recognizes the marker by image processing.

When the marker is recognized, step S
At 7, the position of the marker is set as the position of the entrance, and the coordinate data indicating the position is stored in the traveling route storage means 36. Then, the robot body 50 repeats the processing of step S3 and subsequent steps while autonomously traveling along the boundary wall until returning to the standby position.

In the method using a marker, for example, when a sheet on which an identification mark indicating a direction such as an arrow is used is used, the position of the marker recognized by the image processing is determined by the position of the entrance / exit of the work area. The direction indicated by the marker similarly recognized by the image processing is stored in the traveling route storage means 36 as the direction information of the entrance and exit of the work area at the same position.

After the robot body 50 reaches the reference position, which is the standby position, in step S8, the process returns to the initial standby mode A. Thus, as map information,
The traveling route storage means 36 stores a traveling route in which the entrance and exit positions of each work area and the reference position are incorporated. After the map information indicating the arrangement of each work area is created, the marker is not required and can be removed.

When the door of the entrance 54a is open as in the work area 54 in the map creation travel mode, the robot main body 50 enters the work area 54 through the entrance 54a, and enters the work area 54. After making a round around the wall along the inside of the boundary wall, it returns to the entrance 54a again.
Therefore, the same marker 59 is recognized when entering the room and when leaving the room.

As described above, when a marker whose coordinate information substantially matches is recognized, it is processed as the same marker. Also,
The route information at the time of making a round around the wall in the work area 54 is also stored in the traveling route storage means 36, so that the information of the traveling route is detailed, and efficient traveling can be performed at a later traveling.

The entrance 52a of each of the work areas 52 to 55
When setting the positions of .about.55a, for example, in the order of the recognized markers, the marker 57 is the room number 1 (work area 53), the marker 58 is the room number 2 (work area 52),.
Is assigned for convenience. Therefore, the user can specify a work area using the room number presented on the operation panel 2. Further, the work area 56 where the robot body 50 is waiting can be designated as a waiting area.

As another room designating method, in a map creation traveling mode B for creating a map showing the arrangement of the work areas, the entrances and exits of the rooms are stored using markers registered in different colors and shapes. Then, in the stage of specifying the cleaning area in the cleaning mode C described later, the user specifies the color or shape of the marker presented on the operation panel 2.

Next, a case where the work areas 52 to 56 are cleaned using the autonomous mobile robot will be described. When the user operates the operation panel 2 provided on the robot main body 50 during the standby mode A, and the instruction unit 31 executes a cleaning setting instruction in step S9, the robot main body 50 switches from the standby mode A to the cleaning mode C. Transition.

In this state, when a work area to be cleaned is designated by using the operation panel 2 in step S10, the mode shifts to the traveling mode in step S11. One or more work areas may be specified here.

In the traveling mode, the travel route obtained by combining the entrance and exit positions of the work area stored in the travel route storage means 36 is read and input to the travel control means 34 to reach the entrance and exit of the designated work area. Moving. After arriving at the entrance of the designated area, the vehicle travels toward the inside of the area.

When the map showing the arrangement of the work areas is created, since the robot body 50 is running along the boundary wall,
The traveling direction at the time when the position of the entrance is stored is determined from the traveling route stored as the map information. Therefore, for example, when traveling along the wall on the left side of the robot body 50, the entrance / exit can be estimated to be on the left side with respect to the traveling direction when the position of the entrance / exit is stored. Therefore, step S11
When the vehicle arrives at the entrance of the work area designated in the traveling mode, the vehicle travels toward the inside of the work area based on the estimated entrance information. When the direction of the doorway is stored together with the position of the doorway, the vehicle travels toward the inside of the work area according to the direction information.

When the robot body 50 enters the work area,
In step S12, the cleaning traveling mode is executed, and the cleaning unit 38 performs cleaning while traveling autonomously. As a method of autonomous traveling, for example, there is a method of traveling at random while avoiding an obstacle in a work area, a method of traveling in a zigzag, and the like. The cleaning travel mode ends when the vehicle travels in the entire travelable area in the work area.

After the end of the cleaning travel mode, the vehicle moves to the entrance of the work area, and in step S13, it is determined whether or not another work area is left. If the area remains, the process returns to the traveling mode of step S11 again, and travels to the next entrance / exit of the designated work area. If the cleaning has been completed for all the designated work areas, step S1
At 4, the vehicle shifts to a return travel mode for return, and travels toward a predetermined standby position (reference position) while reading map information. Then, after reaching the original standby position (reference position), the process returns to the initial standby mode A.

As described above, the robot body travels along the traveling path connecting the preset reference position and the entrance and exit of each work area, thereby making it possible for the robot body itself to create a map showing the arrangement of a plurality of work areas. it can. Therefore, autonomous traveling between the reference position and an arbitrary work area and between an arbitrary work area becomes possible.

Further, autonomous traveling from the reference position to the work area designated by the user and autonomous traveling between the designated work areas are enabled. Therefore, the user only has to specify the area, and the time during which the user is restrained is extremely reduced. Furthermore, after arriving in the work area, efficient autonomous traveling for work becomes possible based on the shape of the work area.

In the first embodiment,
When setting the position of the doorway of each work area, a marker is attached to the floor of the doorway and recognized by the visual sensor 3, but the present invention is not necessarily limited to this. Place a magnet near the entrance of the
The position of the entrance may be set by detecting this by the magnetic detection means provided in the main body 50.

(Second Embodiment) The hardware configuration is the same as that of the first embodiment, and the difference lies in the traveling method for creating a map showing the arrangement of the predetermined area. More specifically, a route between a predetermined standby position (reference position) and an entrance is guided and stored for each area.

FIG. 7 shows an example in which the robot body 50 is arranged at the entrance and exit of the area 52 by the user, and the robot body 50 is guided to a predetermined standby position 61 by guidance. This is also performed for the remaining areas 53, 54, 55 as shown by the broken lines in the figure.

That is, the user sets the robot body 50 in advance.
Is carried to the entrance of the area where the user wants to store, and the robot main body 50 is placed in a direction in which the back is directed to the entrance, for example, in the area. When the user operates the operation panel 2 and issues a map creation instruction indicating the arrangement of the predetermined area by the instruction means 31, the robot body 50 shifts to a travel mode for creating a map and waits for a predetermined standby time. The traveling for storing the route information up to the position 61 is started.

In the execution of the map creation travel mode, as shown in FIG. 8, first, in step S21, the entrance / exit position information is stored in the travel route storage means 36 as the travel start position. Then, travel control is executed in step S22. The traveling control at this time is performed by guidance control,
As the travel control for the user to guide the robot body 50, for example, a wireless reception unit is provided to guide the robot body to the standby position 61 by a remote controller. As another guided traveling control, a unique object such as a ball registered in advance is presented to the visual sensor 3, and the image is recognized by the image processing means 35 to follow the object. The robot main body 50 is guided to the standby position 61 while being presented on the front surface of the visual sensor 3.

The traveling means 33 drives the driving wheels 9 in accordance with the output information of the traveling control means 34. Then, in step S23, the traveling route obtaining means 37 obtains the actual rotation amount of the driving wheel 9 by the output from the encoder 11, and in step S24, calculates the traveling direction and the moving distance from the previous position, for example. The measured data is stored in the traveling route storage means 36 as route information as needed.

Then, in step S25, it is determined whether or not the vehicle has reached the predetermined standby position 61.
When the vehicle is guided to step S26, the coordinate data is stored in the traveling route storage means 36 with the standby position 61 as a reference position in step S26. This can be achieved by storing the coordinates of the current position as reference coordinates by the instruction means 31 by operating the operation panel 2. As another method, the state connected to the charging stand 51 can be automatically registered as reference coordinates. By repeating the same processing for the areas 52 to 55, the route information to the entrances 52a, 53a, 54a, and 55a of each area can be stored.

In the above description, the robot body 50 is guided and controlled by setting the entrance and exit of each area as the traveling start position and the standby position 61 as the traveling end position. However, the present invention is not limited to this. The robot body 50 may be guided and controlled by setting the start position and the entrance and exit of each area as the traveling end position.

That is, as shown in FIG.
At 31, the predetermined standby position 61 is stored as a reference position, and then at step S 32, the robot main body 50 is guided and controlled to the entrance of the area. 9 is obtained by the output from the encoder 11, and the process proceeds to step S34.
For example, the traveling direction and the moving distance from the previous position are calculated, and the measured data is stored in the traveling route storage means 36 as needed as route information.

Then, in step S35, it is determined whether or not the vehicle has reached the entrance of the corresponding area.
In step S36, the coordinate data of the entrance position is stored in the traveling route storage means 36. At this time, the robot main body 50 is stopped in a predetermined direction at the entrance, for example, with the back of the entrance facing the entrance, and the position of the entrance is stored by the instruction means 31 by operating the operation panel 2.

It is also possible to store the area 56 where the robot body 50 is waiting as a running area. If the robot 56 is waiting with its back facing the center of the area 56, the standby position Can be stored as the position of the entrance of the area 56. In this way, the traveling route storing means 36 stores the traveling route in which the entrance position and the reference position of each predetermined area are recorded as the map information.

Next, a case in which the autonomous mobile robot is applied for cleaning will be described. The difference from the application to cleaning in the first embodiment is that, after arriving at an entrance / exit of a designated area, in particular, the direction of the entrance / exit is estimated to travel toward the inside of the area.

When a map showing the arrangement of a predetermined area is created, the robot body 50 stores the position of the entrance in a form in which the entrance faces the entrance of the area. Therefore, when the robot body 50 reaches the entrance of the designated area in the traveling mode, the direction in which the entrance exists can be uniquely estimated from the path information when the entrance is stored and the direction of the robot body 50. The presence or absence of an obstacle is determined.
If there is no obstacle, it is determined that the entrance is open, and if there is an obstacle, it is determined that the entrance is closed. The other cleaning modes are the same as in the first embodiment.

As described above, the standby position 61 and each work area 5
The traveling route connecting the entrances 2 to 55 is defined by the robot body 50.
The robot body itself can create a map indicating the arrangement of a plurality of work areas by guiding the robot. Therefore, in this embodiment, the same effect as in the first embodiment can be obtained.

(Third Embodiment) The third embodiment is different from the second embodiment in that, in a system in which a path between a predetermined standby position (reference position) and an entrance is guided and stored, the robot body 50 is moved to the reference position. Each time the vehicle arrives at the doorway 52a-55a formed on the boundary wall of each of the regions 52-55 starting from, the position of the doorway reached on the traveling route from the reference position is synthesized and stored. is there.

FIG. 10 shows an example of such a case.
In order to create a map showing the positions of the entrances 52a to 55a of the robots 50 to 55, the traveling route through which the user guides the robot body 50 is shown. When the user operates the operation panel 2 during the standby mode in the predetermined standby area and the instruction means 31 executes the instruction to create the map indicating the arrangement of the predetermined area, the robot main body 50 generates the map. The mode is shifted to the traveling mode, and traveling for storing the positions of the entrances 52a to 55a is started. At this time, the traveling route storage means 36 stores the predetermined standby position as a reference position.

As the traveling control for the user to guide the robot body 50, for example, an object registered in advance is presented to the visual sensor 3, and the image is displayed on the image processing unit 35.
The main body 50 is guided while presenting the object on the front surface of the visual sensor 3 in a method of causing the object to follow the object by the recognition.
As another guidance traveling control, there is a method of providing a wireless receiving means to guide the main body with a remote controller.

The entrances 52a-55a of the respective areas 52-55
After guiding the main body 50 to the predetermined position, for example, the robot main body 50 is temporarily stopped in a state in which the back is turned with respect to the entrance of each area. The instructing means 31 instructs the traveling route storage means 36 to store the instruction. These guidance and storage processes are sequentially performed on the entrance and exit of each area, and finally guidance is performed to the original standby position. Others are the same as the first embodiment described above.

As described above, each work area 52 is shifted from the standby position.
When the robot main body 50 guides and runs the traveling route that returns to the standby position again through the gateways 55 to 55, it is possible to create a map indicating the arrangement of a plurality of work areas by itself. Therefore, in this embodiment, the same effect as in the first embodiment can be obtained.

In the above-described embodiment, when the robot body 50 is guided and guided by a remote control or an object following system, the robot body 50 may be guided along a wall.

[0062]

As described in detail above, according to the present invention,
By running a traveling route connecting a preset reference position and the entrance and exit of the work area, and thereby creating a map showing the arrangement of the entrance and exit of the work area, it is possible to reliably connect between the reference position and the work area Can run autonomously. When there are a plurality of work areas, autonomous traveling from the reference position to the designated work area and autonomous traveling between the designated work areas are possible. Therefore, the user only has to specify the area, and the time during which the user is restrained is extremely reduced.

[Brief description of the drawings]

FIG. 1 is a front view of an autonomous mobile robot according to a first embodiment of the present invention.

FIG. 2 is a partially cutaway side view showing the internal configuration of the autonomous mobile robot according to the embodiment.

FIG. 3 is a block diagram showing a hardware configuration of a control unit in the embodiment.

FIG. 4 is a functional block diagram functionally showing a configuration of a control unit in the embodiment.

FIG. 5 is a flowchart showing control of the autonomous mobile robot in the embodiment.

FIG. 6 is a view showing an operation example of the autonomous mobile robot in the embodiment.

FIG. 7 is a diagram illustrating an operation example of the autonomous mobile robot according to the second embodiment of the present invention.

FIG. 8 is a flowchart showing a control example in a map creation travel mode in the embodiment.

FIG. 9 is a flowchart showing another control example in the map creation travel mode in the embodiment.

FIG. 10 is a diagram showing an operation example of the autonomous mobile robot according to the third embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 2 ... Operation panel 3 ... Visual sensor 4 ... Traveling sensor 9 ... Drive wheel 10 ... Traveling motor 11 ... Encoder 21 ... CPU 31 ... Instruction means 32 ... Imaging means 33 ... Traveling means 34 ... Traveling control means 35 ... Image processing means 36 ... travel route storage means 37 ... travel route acquisition means 38 ... cleaning means

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Masahito Sano 6-78, Minamicho, Mishima-shi, Shizuoka F-term (reference) in the Mishima Plant of Toshiba Tec Corporation 3B116 AA31 AB54 BA35 BB72 CD41 3C007 AS15 AS34 CS08 CY02 HS04 HS27 KS12 KS16 KS19 KS36 KT04 KT11 KV01 LS15 LT08 MS09 MT06 WA16 WA28 WB21 5H301 AA01 AA10 BB11 BB14 DD01 FF13 GG03 GG09 GG12 QQ04

Claims (9)

[Claims] 1. An autonomous mobile robot that performs an operation while autonomously running by using previously stored travel route information. A running means for running the robot body, and a boundary of a work area having an entrance and exit from a preset reference position. Travel control means for controlling the travel means so that the robot body travels along a wall; acquisition means for acquiring a travel route when the body travels along a boundary wall from a reference position; Detecting means for detecting the position of the doorway of the work area reached while the robot body is traveling, and storage means for combining and storing the travel route obtained by the obtaining means and the position of the doorway detected by the detecting means; An autonomous mobile robot characterized by the following. 2. The autonomous mobile robot according to claim 1, wherein the detecting means detects a detectable object disposed at an entrance of the work area in advance and detects a position of the entrance. 3. An image input means, and an image processing means for processing an image inputted by the image input means, wherein the detection means detects a detectable object placed at an entrance of a work area in advance. 3. The autonomous mobile robot according to claim 2, wherein the detection is performed based on the processed image. 4. The travel control means controls the travel means so that the robot body enters the work area when the robot body reaches an entrance and exit of the work area, and travels along a boundary wall of the work area. The autonomous mobile robot according to claim 1, wherein 5. The autonomous mobile robot according to claim 1, wherein the storage means stores information identifying a work area having the entrance as well as a position of the entrance. 6. An autonomous mobile robot that performs a work while autonomously running by using previously stored travel route information, a running means for running the robot body, and an entrance / exit of a work area having a preset reference position and an entrance / exit. Traveling control means for guiding and controlling the traveling means so that the robot main body travels between, and acquisition means for acquiring a traveling route when the robot main body is traveling between a reference position and an entrance of a work area, An autonomous mobile robot comprising a storage unit for storing the travel route acquired by the acquisition unit. 7. An image input means, and an image processing means for processing an image input by the image input means, wherein a pre-registered object is input by the image input means, and the object is recognized by the image processing means. The autonomous mobile robot according to claim 6, wherein the travel control means controls the travel means so as to follow the object recognized by the image processing means. 8. When the main body departs from the reference position and arrives at the entrances and exits of the plurality of work areas, the main body includes detection means for detecting the positions of the entrances and exits of the corresponding work areas. 7. The autonomous mobile robot according to claim 6, wherein the route and the position of the entrance detected by the detection unit are combined and stored. 9. The autonomous mobile robot according to claim 6, wherein the storage means stores information for identifying a work area having the entrance as well as a position of the entrance.