JP3498495B2 - Autonomous vehicles - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an autonomous vehicle that moves autonomously, and more particularly to an autonomous vehicle that performs cleaning, wax application, lawn mowing, and other operations.

[0002]

2. Description of the Related Art Currently, a cleaning robot for cleaning while traveling autonomously on a plane is being developed. In order to allow such a cleaning robot to accomplish work such as traveling and cleaning, the first technique for setting the range of a rectangular cleaning area in the cleaning robot and automatically performing the work, and teaching the cleaning robot of the work content Is known as a second technique.

According to the first technique, the cleaning robot travels in a zigzag in a rectangular area. This zigzag travel will be described first.

A specific zigzag traveling route will be described with reference to FIG. FIG. 25 is a diagram for explaining the route of the cleaning robot traveling in the rectangular area. Figure 25 (a)
FIG. 25 is a diagram for explaining a route along which the cleaning robot travels when the traveling direction and the short side of the rectangle are parallel to each other at the starting point A, and FIG. It is a figure for explaining a course which a cleaning robot runs, when a side is parallel.

In FIG. 25 (a), the cleaning robot, which has started to move straight from point A in parallel with the short side of the rectangle, first travels to point B. When reaching the point B, the cleaning robot rotates 90 degrees clockwise at the point B. Further, it goes straight to the point C, rotates 90 degrees clockwise at the point C, and goes straight to the point D. After that, when the points D and E are reached, the points B and C are rotated counterclockwise by 90 degrees conversely.

The cleaning robot travels in a zigzag manner in a rectangular area on a plane while repeating straight movement and rotation (straight movement and U-turn) as described above.

FIG. 25 (b) shows a zigzag running in which a straight line starts parallel to the long side of the rectangle from the point A '. The cleaning robot moves from the point A'to the points B ', C', D ',
Pass E'to point F '. As in the case of FIG. 25 (a), the vehicle travels in a flat rectangular area without interruption while repeating straight traveling and rotation (straight traveling and U-turn).

In these zigzag running, the route A
The direction parallel to B and the route A′B ′ is called the straight direction of the cleaning robot.

FIG. 26 is a diagram for explaining the setting of the rectangular area in which the cleaning robot is caused to perform zigzag traveling. Figure 2
6 (a) is the first case in which the surroundings are surrounded by walls such as in a room, and FIG. 26 (b) is the second case in which only both sides are walls, such as in a corridor, FIG. 26C shows a third case of the open area.

In the first case, when the cleaning robot is installed at the corner of the work area to start the work, the cleaning robot measures the distances L1 and L2 to the wall by using the sensor, and makes this into a rectangular area for zigzag running. Set.

In the second case, when the user sets the length L1 in the direction without the wall and installs the cleaning robot at the corner of the work area to start the work, the cleaning robot uses the sensor to detect the distance L2 to the wall. Is measured, and a rectangular area for zigzag traveling is set according to the distances L1 and L2.

In the third case, when the user sets the lengths L1 and L2 in the two directions of the traveling direction and the direction orthogonal to the traveling direction and starts the work, the cleaning robot makes a zigzag travel by the distances L1 and L2. Set the area.

Next, the second technique will be described. In the second technique, the user first causes the cleaning robot to perform work (work includes traveling) in the work area by using the controller that remotely operates the cleaning robot. When the work is completed, a series of work is recorded in a memory card capable of storing these works. The work using such a controller and the recording of these works are the teachings of the work to the cleaning robot.

By reproducing these taught work contents, the cleaning robot can repeat the recorded work contents.

Further, the following third technique is considered based on the first and second techniques described above.

The third technique is that when the cleaning robot detects a break in the wall while traveling along the wall, the depth of the recess in the wall is measured, and the traveling in the recessed region is performed according to the depth. It is something to choose. The traveling that can be selected at this time is zigzag traveling in the recessed area, lateral movement in the recessed area, and traveling straight while leaving the recessed area.

[0017]

Problems to be Solved by the Invention FIGS. 25 (a) and 25 (b)
As seen in Fig. 2, when the cleaning robot is running in zigzag, the cleaning robot is installed parallel to the short side of the rectangular area to be cleaned at the starting point and parallel to the long side. Can be.

Now, the working time required for traveling work in the rectangular area will be calculated for the cases shown in FIGS. 25 (a) and 25 (b). The working time is the sum of the time required for straight traveling and the time required for rotation, and is represented by the following equation.

(Working time) = {(distance traveled straight once) ×
(Number of traveling lanes) + (distance traveled by traveling lanes) x (number of traveling lanes-1)} / (traveling speed) + (90 degree rotation time) x
(U-turn count) x 2.

25 (a) and 25 (b), a rectangular area of 10 m × 5 m is zigzag-traveled with a working width of 50 cm, a traveling speed of 30 cm / sec and a time required for 90 ° rotation. 2 seconds.

In the case of FIG. 25 (a), (number of traveling lanes) =
20, (the number of U turns) = 19, and when these are substituted into the above equation, (working time) = {5 × 20 + 0.5 × 19}
/0.3+2×19×2=441 [seconds].

In the case of FIG. 25 (b), (the number of traveling lanes) =
10, (the number of U turns) = 9, and by substituting these into the above equation, (working time) = {10 × 10 + 0.5 × 9} /
It becomes 0.3 + 2 × 9 × 2 = 384 [seconds].

From the above, it is understood that when working in a rectangular area of 10 m × 5 m, there is a difference of about 60 seconds depending on the orientation of the cleaning robot at the work starting point.

The time required for 90-degree rotation being 2 seconds is an ideal case where there is no obstacle in the vicinity. Actually, when making a U-turn on the wall, it may be necessary to retreat once, move away from the wall, rotate 90 degrees, and then return to the original position. Requires.

For example, when the time required for 90-degree rotation is 6 seconds, it can be seen from the calculation using the above equation that there is a difference of about 140 seconds depending on the orientation of the cleaning robot at the work start point.

Further, in the above description, in order to simplify the calculation, acceleration / deceleration at the time of starting and stopping the cleaning robot is not taken into consideration, and if these are taken into consideration, the difference becomes even larger.

As described above, when performing zigzag traveling, it is understood that the orientation of the cleaning robot at the start of zigzag traveling greatly affects the working time.

Further, when the cleaning robot is made to travel by using the second technique shown in the conventional technique, the cleaning robot does not run in a region other than a predetermined region stored in advance.

There is a technique of running in zigzag in a region (for example, a region shown in FIG. 10) in which a plurality of rectangular regions are connected by using both the first technique and the second technique.
It is necessary to determine and teach the rectilinear direction of the cleaning robot for each rectangular area. These teaching operations are very complicated.

In the third technique, the cleaning robot is made to select the work depending on the depth of the recess, but there is no description about the selection of the straight traveling direction of the zigzag traveling.

The present invention has been made to solve the above problems, and an object thereof is to provide an autonomous vehicle which is easy to operate by a user.

[0032]

The invention according to claim 1 is an autonomous vehicle capable of autonomously traveling in a preset area to perform zigzag traveling.

The present autonomous vehicle detects the different lengths of the plurality of directions of the region, lateral distance while traveling to follow a realm to the wall
A detection unit that detects a region different from the region by the separation sensor , and a lateral distance sensor based on the detection by the detection unit.
By measuring the one distance of different areas, different areas
Travel in the direction corresponding to one of the distances and
A distance measuring means for measuring the other distance of the different areas and selecting a straight traveling direction of the zigzag traveling in the different areas, and the zigzag traveling is performed in the different areas based on the selection by the selecting means. Preferably, the selection means is one of
The direction corresponding to the longer of the distance and the other
Select straight ahead. Preferably different areas are zigzag
After cruising, restart zigzag driving in the area. Preferred
Or, there are a plurality of different areas, and the selection means is the detection means.
Whenever multiple different areas are detected by
select. Preferably, the sensing means is a lateral distance sensor
Detects different areas by detecting recesses in the wall
To do.

[0034] According to the invention, are detected different lengths of the plurality of directions of regions, sideways during travel to follow a realm to the wall
An area different from the area is detected by the heading distance sensor .
Based on these detections, the lateral distance sensor measures the distance in one of the different areas and determines the distance in one of the different areas.
Running in the direction corresponding to the separation, the lateral distance sensor
The other distance in the different area is measured, the straight traveling direction of the zigzag traveling in the different area is selected, and the zigzag traveling is performed based on this selection. This eliminates the need for the user to set an area different from the set area, and facilitates the user's operation.

[0035]

BEST MODE FOR CARRYING OUT THE INVENTION A cleaning robot, which is one of the embodiments of the present invention, will be described below with reference to the drawings.

FIG. 1 is a view showing the external appearance of a cleaning robot, which is one of the embodiments of the present invention, and FIG. 2 is a schematic sectional view for explaining the structure of the cleaning robot main body 1. .

The cleaning robot comprises a cleaning robot main body 1,
It is composed of a controller 2 and a memory card 3.
A controller 2 is used to remotely control the cleaning robot body 1 and to teach traveling and work, and a memory card 3 is used to store commands to the cleaning robot body 1.

The cleaning robot body 1 is roughly
The traveling unit 10 includes drive wheels, a cleaning unit 20 for cleaning, and a vehicle body unit 30 supported by the traveling unit 10.

The traveling unit 10 includes a front caster 11, a rear caster 12, a left driving motor 13, a right driving motor 14, a left traveling wheel 15, a right traveling wheel 16, a left encoder 17, and a right encoder. 18 and a gyro sensor 19.

Left drive motor 13 and right drive motor 14
Respectively drive the left-side traveling wheel 15 and the right-side traveling wheel 16, whereby the cleaning robot main body 1 travels straight ahead,
Rotational running is possible. The front caster 11 and the rear caster 12 support the weight of the cleaning robot body 1 together with the left traveling wheel 15 and the right traveling wheel 16.

The left encoder 17 and the right encoder 18 calculate the movement distance and the rotation angle of the cleaning robot body 1. The gyro sensor 19 is a rate gyro, measures the rotational angular velocity of the traveling unit 10, and outputs the measured value to the traveling unit CPU 121, which will be described later, at regular intervals (for example, every 1 millisecond). By using the gyro sensor 19, the direction in which the robot is about to rotate and its rotational angular velocity are measured from the original traveling direction of the cleaning robot body 1. The traveling unit CPU 121 can calculate the rotation angle of the traveling unit by integrating the value of the rotational angular velocity output from the gyro sensor 19 with respect to time.

The cleaning unit 20 includes the cleaning wiping pads 21 and 2.
2, 23, 24 and rotors 25, 26, 27, 28.

The wiping rotary pads 21, 22, 23, 24 attached to the rotors 25, 26, 27, 28, respectively.
By rotating, the detergent is applied. At this time, the detergent is dropped by a pump 71 (not shown, which will be touched later on the control circuit).

The vehicle body section 30 includes a display section 31, a work start button 32, a bumper sensor 33, and a distance measuring window 3.
4, 35, 36, the front distance measuring sensor 37, the left distance measuring sensor 38, the right distance measuring sensor 39, and the left scanning sensor 4
0 and 41, and right side scanning sensors 42 and 43.

The display section 31 displays operation guidance and error messages for the user, and the work start button 32 causes the user to start the work. Further, the bumper sensor 33 detects contact with an obstacle in the traveling direction, and the front distance measuring sensor 37, the left distance measuring sensor 38, and the right distance measuring sensor 39 are distance measuring windows 34, 35 provided in the bumper sensor 33. , 36 from the cleaning robot body 1 to the front, left, and right obstacles, respectively. Further, the left-side scanning sensors 40, 41 and the right-side scanning sensors 42, 43 measure the distance to the wall, and thereby, it is possible to realize traveling following the wall.

FIG. 3 is a diagram for explaining the straight traveling of the cleaning robot body 1. Left running wheel 1 of running unit 10
5, the right running wheel 16 is provided on the center line XX ′,
The front caster 11 and the rear caster 12 have a center line X-
It is provided on a center line Y-Y 'perpendicular to X'. Although not shown, a suspension mechanism is provided on at least one of the front caster 11 and the rear caster 12 to assist the cleaning robot body 1 in traveling.

When driving straight ahead, the left drive motor 1
3. The right drive motor 14 rotates in the same direction. As a result, the cleaning robot body 1 can move in the direction of arrow D1 in FIG.

FIG. 4 is a diagram for explaining the rotational traveling of the cleaning robot body 1. During rotational traveling, the left drive motor 13 and the right drive motor 14 rotate in opposite directions. As a result, the cleaning robot body 1 can rotate in the direction of arrow D2 in FIG. When the vehicle is rotating, as shown in FIG. 4, the front casters 11,
The rear caster 12 turns in a direction parallel to the center line XX ′ so as to be suitable for rotational traveling. Further, by controlling the drive ratio between the left drive motor 13 and the right drive motor 14, it is possible to perform curve traveling.

FIG. 5 is a view showing the structure of the rotation mechanism section 50 for rotating the vehicle body section 30 from the traveling section 10.

The rotating mechanism section 50 includes a bearing consisting of a bearing inner ring 51 and a bearing outer ring 52, a vehicle body rotation drive gear 53, a bearing outer ring holder 54, a vehicle body frame 55, a traveling frame 56, and a bearing inner ring. It includes a holder 57, a vehicle body rotation motor 58, a gear 59, and the like. .

The running frame 56 is fixed to the bearing inner ring 51 by a bearing inner ring holder 57. The bearing outer ring 52 has a bearing outer ring holder 5
The vehicle body rotation drive gear 53 is fixed by 4.
In addition, the body frame 55 is used for the bearing outer ring holder 5.
5 is fixed. Further, a vehicle body rotation motor 58 is mounted on the traveling portion frame 56, and the vehicle body rotation motor 58 is provided with a vehicle body rotation drive gear 53 via a gear 59.
To drive.

A potentiometer (not shown) is attached to the vehicle body rotation drive gear 53 via a gear 59, and the rotation angle of the vehicle body 30 with respect to the traveling unit 10 can be accurately detected.

Such a structure of the rotating mechanism section 50 enables independent rotation of the vehicle body section 30 with respect to the traveling section 10 from -90 degrees to +90 degrees with respect to the center ZZ '.

FIG. 6 is a block diagram showing a circuit configuration of the cleaning robot body 1. The control unit of the cleaning robot body 1 is a traveling control unit 1 that controls traveling of the cleaning robot body 1.
20 and a work control unit 100 that controls the cleaning work.

Details of the traveling control unit 120 and the work control unit 100 are shown below. The traveling control unit 120 controls the traveling unit CPU 121 that controls the processing of the traveling unit 10 and the drive control units 122 and 1 that control the left traveling wheel 15 and the right traveling wheel 16, respectively.
23 and a vehicle body rotation control unit 124 that controls the vehicle body unit rotation motor 58, and each control unit is connected to the traveling unit CPU 121.

Further, the traveling CPU 121 has the above-mentioned left encoder 17, right encoder 18, gyro sensor 19, front distance measuring sensor 37, left distance measuring sensor 38,
The right distance measuring sensor 39 is connected and each measured value is transmitted to the traveling unit CPU 121.

The work control unit 100 is a work unit CPU 101 which controls the cleaning work, a pump control unit 102 which controls a pump for dropping the detergent necessary for the cleaning work, and the rotor 2.
Rotor control unit 103 for controlling 5, 26, 27 and 28
And a cleaning unit movement control unit 104 that controls the cleaning unit movement motor 72 that moves the cleaning unit 30 in parallel to the left and right, and a voice output unit 105 that outputs a voice message.

Further, the work control section 100 includes a display section 31.
And a display control unit 106 for controlling the display at the input unit 7 for starting and stopping the work of the cleaning robot body 1 and turning on the power.
3 includes an input control unit 107 that controls an input from the memory card 3, a memory card reading unit 108 that reads information such as work content stored from the memory card 3, and a communication unit 109 that communicates with the controller 2. There is. Further, the work control unit 100 has a power supply circuit 110 to which a battery 74 is connected.
including. Each control unit, the memory card reading unit 108, the communication unit 109, and the power supply circuit 110 are connected to the working unit CPU 101.

Further, the above-mentioned bumper sensor 33 is connected to the working unit CPU 101, and the measured value is the working unit CPU 10.
Sent to 1.

The working unit CPU 101 and the traveling unit CPU
It is connected to 121, and information is transmitted and received as necessary.

FIG. 7 is a plan view for explaining the structure of the controller 2. As an input part of the controller 2,
An operation shift button group 80, a power switch 90, a cross cursor button 91 for indicating a direction, a reproduction button 92 for instructing reproduction of the work stored in the memory card 3, and a support for ending the operation. End button 93
And a pause button 94 for temporarily stopping the operation
And a mode switching button 95 for switching the operation mode
A cancel button 96 for canceling the setting and a setting button 97 for setting the input data are provided.

The operation shift button group 90 includes a traveling section rotation button 81 for rotating only the direction of the traveling section 10 to the left and right without changing the direction of the vehicle body section 30, and a vehicle body for simultaneously rotating the vehicle body section 30 and the traveling section 10. Section rotation button 82 and cleaning section 2
It includes a cleaning work unit slide button 83 for moving 0 in parallel to the left and right with respect to the vehicle body unit 30, a U-turn button 84 for designating a U-turn operation, and a zigzag button 85 for designating zigzag running.

Further, the controller 2 has a display section 98 composed of a liquid crystal display and a mode display section 99 for displaying the operation mode. Information necessary for the user is displayed on the display unit 98, such as input guidance, commands transmitted to the cleaning robot body 1, various error messages resulting from the execution of the commands by the cleaning robot body 1, and the like. The user can input data using the buttons of the input unit while looking at the display unit 98.

In the operation mode, the operation mode in which the user remotely operates the cleaning robot main body 1, the teaching mode in which the user teaches the cleaning robot main body 1 a work, and the contents of the work taught in the teaching mode are edited. There is an edit mode. These operation modes switched by the mode switching button 95 are displayed on the mode display portion 99.

FIG. 8 is a block diagram showing the circuit configuration of the controller 2. The controller control unit 200 is a controller control unit CPU 20 that controls the controller 2.
1 and a display control unit 202 for controlling display on the display unit,
A communication control unit 204 for controlling an input control unit 203 for controlling an input from the input unit and a communication unit 207 for communicating between the communication unit 109 of the cleaning robot body 1.
And an external interface 205 and a battery 206. The controller 2 can be connected to an external device such as a personal computer or a printer via the external interface 205.

Hereinafter, a first operation performed by the cleaning robot when starting zigzag traveling in the set rectangular area and an area different from the area set during the work in the set area will be described. The second operation performed by the cleaning robot when it is detected will be described.

FIG. 9 is a diagram for explaining the first operation of the cleaning robot. The procedure of the first operation is as shown below. The procedure shown in these is the work unit CPU1.
01, the first operation is achieved by being controlled by the traveling unit CPU 121. The following deals with the case where the work area is surrounded by a wall, but when only both sides are walls,
The same applies to the case where the area is open. (1) The cleaning robot body 1 is installed at a point A which is one corner of the rectangular area. (2) The cleaning robot is set to travel in a zigzag in the rectangular area to be worked as described in FIG. (3) Instruct the cleaning robot to start work. (4) In response to the work start instruction in (3), the cleaning robot uses the front distance measuring sensor 37, the left distance measuring sensor 38, and the right distance measuring sensor 39 to determine the size of the rectangular area (see the figure). Measure the distances L1, L2). (5) Compare the sizes of L1 and L2. (6) The direction corresponding to the larger one of L1 and L2 is the straight traveling direction. (7) According to the straight traveling direction at (5), the straight traveling direction is changed if necessary, and the vehicle travels in a zigzag manner up to the point B.

FIG. 9A shows the case of L1> L2,
The cleaning robot starts to go straight and zigzag in the direction (the direction corresponding to L1) initially set by the user.
Further, FIG. 9B shows the case where L1 <L2, and the cleaning robot faces the direction rotated by 90 degrees (the direction corresponding to L2) from the direction initially set by the user (the direction corresponding to L1). Change and start going straight and running zigzag.

The running time can be shortened by the first operation of the cleaning robot as described above.

FIG. 10, FIG. 11, FIG. 12, and FIG.
It is a figure for demonstrating the 2nd operation | movement of this cleaning robot in the work area of this shape.

In the work area of the first shape, as shown in FIG. 10, the area in which the rectangular area S2 is connected to the rectangular area S1 is used as the working area, and the cleaning robot body 1 is installed at a point A which is one corner of the rectangular area S1. To be done. Here, the long side of the rectangular area S1 and the long side of the rectangular area S2 are at vertical positions.

The procedure of the second operation is as shown below. The second operation is achieved by the procedures shown in these being controlled by the work unit CPU 101 and the traveling unit CPU 121, similarly to the first operation. At the start of the work, the size of the rectangular area described in the first operation, the size of each side of the rectangle is compared, and the straight traveling direction is selected. In the following, similar to the first operation, the case where the work area is surrounded by a wall is dealt with, but the case where only both sides are walls and the case where the area is open can be applied in a similar manner. . (1) The cleaning robot body 1 is installed at a point A which is one corner of the rectangular area S1 (see FIG. 10). (2) The cleaning robot is set to run the rectangular area S1 in zigzag. (3) Instruct the cleaning robot to start work. (4) In response to the work start instruction in (3), the cleaning robot measures the size of the rectangular area (distances L1 and L2 in the figure), compares L1 and L2, and responds to L1 as the straight traveling direction. Select the direction to do and start zigzag running. (5) The cleaning robot moves straight along the walls while measuring the distance to the left and right walls. (6) When the point B is reached (see FIG. 11), a recess (area S2) in the wall is detected due to a sudden increase in the measurement value of the lateral distance measuring sensor (left side distance measuring sensor 38). (7) The depth (distance L3) of the recess of the wall is stored. (8) The direction is changed to the direction of the recess of the wall (the direction corresponding to the distance L3), and the vehicle goes straight while measuring the distance to the left and right walls of the rectangular area S2. (9) One distance L4 that determines the size of the rectangular area S2
And the stored L3 are compared (see FIG. 12). (10) According to the comparison in (9), the direction corresponding to the one having the larger value of L3 and L4 (the direction corresponding to L3 in FIG. 12) is set as the straight direction of the cleaning robot, and the rectangular area S2 is set. Zigzag run. (11) When the zigzag traveling in the rectangular area S2 is reached and the point C is reached (see FIG. 13), the cleaning robot restarts the zigzag traveling in the rectangular area S1 and ends the zigzag traveling when the point D is reached.

Here, as the distance L3, the detection value obtained by the lateral distance measuring sensor is used, but it is also possible to use the traveling distance traveled until it comes into contact with the wall in the direction corresponding to L3.

14 and 15 are diagrams for explaining the second operation of the cleaning robot in the work area of the second shape.

In the work area of the second shape, as shown in FIG. 14, the area where the rectangular area S3 is connected to the rectangular area S3 is used as the work area, and the cleaning robot body 1 is installed at a point A which is one corner of the rectangular area S3. To be done. Here, the long side of the rectangular area S3 and the long side of the rectangular area S4 are parallel to each other.

The second operation of the cleaning robot in the work area of the second shape will be described. The procedure of the operation from (1) to (9) is the same as that of the work area of the first shape. After entering the rectangular area S4 by these procedures, the following operation is performed. (10) In accordance with the comparison in (9), the direction corresponding to the one having the larger value of L3 and L4 (the direction corresponding to L4 in FIG. 12) is set as the rectilinear direction of the cleaning robot, and S4 in the rectangular area is set. Zigzag running is performed (see FIG. 14). (11) When the zigzag running in the rectangular area S4 is reached and the point C is reached (see FIG. 15), the cleaning robot restarts the zigzag running in the rectangular area S3, and when the point D is reached, the zigzag running is finished.

FIGS. 16, 17, and 18 are diagrams for explaining the second operation of the cleaning robot in the work area of the third shape.

In the work area of the third shape, as in the work area of the second shape, the long sides of the area are made parallel to each other.
The two rectangular areas S5 and S6 are connected, but the cleaning robot main body 1 is first installed at a point (point A in FIG. 16) apart from the connecting section of the rectangular areas.

The second operation of the cleaning robot in the work area having the third shape will be described. The procedure of the operation from (1) to (5) is the same as that of the work areas of the first shape and the second shape. By these procedures, the point B of the rectangular area S5
After reaching, the following operation is performed. (6) When reaching the point B (see FIG. 16), the lateral distance measuring sensor (left side distance measuring sensor 38) detects a wall recess (area S6) different from the set rectangular area S5. . (7) The depth (distance L3) of the recess of the wall is stored. (8) Change the direction of the wall depression (direction corresponding to the distance L3), and go straight while measuring the distance to the left and right walls of the rectangular area S6. (9) One distance L4 that determines the size of the rectangular area S6
And the stored L3 are compared (see FIG. 17). (10) According to the comparison in (9), the direction corresponding to the one having the larger value of L3 and L4 (the direction corresponding to L4 in FIG. 17) is set as the rectilinear direction of the cleaning robot, and the rectangular area S6 is set. Zigzag run. (11) When the zigzag running in the rectangular area S6 is reached and the point C is reached (see FIG. 18), the cleaning robot restarts the zigzag running in the rectangular area S5, and when the point D is reached, the zigzag running is finished.

FIG. 19 is a view for explaining the second operation of the main cleaning robot in the work area of the fourth shape.

In the work area of the fourth shape, as in the work area of the first shape, the long sides of the area are made perpendicular to each other.
Although the two rectangular areas S7 and S8 are connected, the cleaning robot body 1 is first installed at a point (point A in FIG. 19) apart from the connecting section of the rectangular areas.

The second operation of the cleaning robot in the work area of the fourth shape will be described. The procedure of the operations from (1) to (11) is the same as that of the work area of the third shape, but the length of the recess in the depth direction corresponds to the long side of the rectangle S8, and accordingly, it is adapted. The operation is performed.

The work areas of the first to fourth shapes are two rectangular areas connected to each other. However, even in a work area in which three or more rectangular areas are connected, the present cleaning robot can spread the areas without exception. Can run in zigzag. Next, an example of the operation of the main cleaning robot in such a work area (fifth work area) will be shown.

FIG. 20 is a diagram for explaining the second operation of the main cleaning robot in the work area of the fifth shape.

The work area of the fifth shape is a rectangular area S9,
It is formed by connecting S10, S11, S12, and S13. By setting the zigzag traveling in the rectangular area S9, the cleaning robot is provided with another rectangular area S10,
S11, S12, and S13 are detected, and zigzag traveling is performed according to the shape of each rectangular area.

By the second operation of the cleaning robot as described above, it is unnecessary for the user to set an area different from the set area, and the user's operation becomes easy.

According to the positional relationship with the wall of the cleaning robot and the direction of distance measurement, correction is performed by the following vehicle body size or the distance measurement value in the other direction, so that the dimension value of the rectangular area can be measured. The calculation can be made more accurate.

21, FIG. 22, FIG. 23, and FIG. 24 are diagrams for explaining the calculation of the size of the rectangular area. here,
The distances L _L and L _R to the lateral wall are corrected to the distance from the vehicle body central axis to the wall by adding the distance from the vehicle body central axis at the mounting position of the distance measuring sensor to the measured value of the distance measuring sensor. is there.

FIG. 21 is a diagram for explaining the calculation of the size of the rectangular area when the side surface of the cleaning robot follows the wall and the distance in the opposite direction is measured.

The cleaning robot follows the left wall and measures in the right direction. In this case, the left distance measurement value L _L and the right distance measurement value L
_With respect to _R and the vehicle body width W, the dimension value of the rectangular region can be expressed by the following equation. (Dimensional value) = _LR + W / 2. Alternatively, (dimension value) = _LR + _LL . Such dimension values are used, for example, when measuring L2 in FIG.

FIG. 22 is a diagram for explaining the calculation of the size of the rectangular area when the side surface of the cleaning robot follows the wall and the distance in the same direction is measured.

The cleaning robot follows the left wall and measures the distance to the left and right walls. In this case, the dimension value in the left direction can be expressed by the following equation. (Dimension value) = _LL- W /
2. Such a dimension value is, for example, L3 in FIG.
It is used when measuring.

FIG. 23 is a diagram for explaining the calculation of the size of the rectangular region when the lateral sides of the cleaning robot do not follow the wall and the lateral distance is measured.

In this case, (dimension value) = L _R + L _L. FIG. 24 is a diagram for explaining calculation of the dimensions of the rectangular area when the cleaning robot measures the distance in the vertical direction.

In this case, the front distance measurement value L_F, Front distance sensor
Rectangle for the length D from the mounting position of the support to the rear surface of the vehicle
The size of the area can be expressed by the following equation. (Dimension value)
= L _F+ D. Such dimensional values are shown in FIG. 10, for example.
It is used when measuring L1.

By providing the cleaning robot with the setting means for setting the size of the work area as described above, it is possible to eliminate the need for a sensor for the user to set the size of the work area and measure the distance. Thereby, the configuration of the cleaning robot can be simplified. Further, when the work area is an open space not surrounded by a wall or the like, such setting means is required.

When the measured distances in the two directions are the same, either direction may be set as the straight traveling direction in consideration of more accurate calculation of the dimensional value of the rectangular area as described with reference to FIGS. Let's be good.

In this embodiment, the work area is a rectangular area or a connected rectangular area, but the present invention can be applied to an area such as a parallelogram or a triangular area.

[Brief description of drawings]

FIG. 1 is a diagram showing an appearance of a cleaning robot, which is one of the embodiments of the present invention.

FIG. 2 is a schematic cross-sectional view for explaining the structure of the cleaning robot body 1.

FIG. 3 is a diagram for explaining straight traveling of the cleaning robot body 1.

FIG. 4 is a diagram for explaining rotation traveling of the cleaning robot body 1.

5 is a diagram showing a configuration of a rotation mechanism unit 50 that rotates the vehicle body unit 30 from the traveling unit 10. FIG.

FIG. 6 is a block diagram showing a circuit configuration of the cleaning robot body 1.

7 is a plan view for explaining the configuration of the controller 2. FIG.

FIG. 8 is a block diagram showing a circuit configuration of the controller 2.

FIG. 9 is a diagram for explaining the operation of the cleaning robot.

FIG. 10 is a first diagram for explaining the operation of the cleaning robot in the work area of the first shape.

FIG. 11 is a second diagram for explaining the operation of the cleaning robot in the work area of the first shape.

FIG. 12 is a third diagram for explaining the operation of the cleaning robot in the work area of the first shape.

FIG. 13 is a fourth diagram for explaining the operation of the cleaning robot in the work area having the first shape.

FIG. 14 is a first diagram for explaining the operation of the cleaning robot in the second shape work area.

FIG. 15 is a second diagram for explaining the operation of the cleaning robot in the work area of the second shape.

FIG. 16 is a first diagram for explaining the operation of the cleaning robot in the work area having the third shape.

FIG. 17 is a second diagram for explaining the operation of the cleaning robot in the work area having the third shape.

FIG. 18 is a third diagram for explaining the operation of the cleaning robot in the work area having the third shape.

FIG. 19 is a view for explaining the operation of the cleaning robot in the work area of the fourth shape.

FIG. 20 is a view for explaining the operation of the cleaning robot in the work area of the fifth shape.

FIG. 21 is a first diagram for explaining calculation of a size of a rectangular area.
FIG.

FIG. 22 is a second diagram for explaining the calculation of the size of the rectangular area.
FIG.

FIG. 23 is a third diagram for explaining the calculation of the dimensions of a rectangular area.
FIG.

FIG. 24 is a fourth diagram for explaining the calculation of the dimensions of the rectangular area.
FIG.

FIG. 25 is a diagram for explaining a route of a cleaning robot that travels in a rectangular area.

FIG. 26 is a diagram for explaining setting of a rectangular area that causes the cleaning robot to perform zigzag traveling.

[Explanation of symbols]

1 Cleaning robot body 2 controller 3 memory card 10 running section 20 Cleaning Department 30 body part 37 Forward distance measuring sensor 38 Left side distance sensor 39 Right range sensor 101 Working unit CPU 121 Running CPU

Front page continuation (58) Fields surveyed (Int.Cl. ⁷ , DB name) G05D 1/02

Claims (5)

(57) [Claims] 1. An autonomous traveling vehicle capable of autonomously traveling in a preset area and performing zigzag traveling, wherein the lengths of a plurality of different directions of the area are detected and the area is detected. detection means for detecting a region different from the said region by lateral distance sensors during traveling following the wall, on the basis of detection by said detection means, said lateral distance Se
Sensor to measure the distance of one of the different areas ,
Driving in the direction corresponding to the one distance in different areas
And the other of the different regions by the lateral distance sensor.
And a selecting means for selecting a straight traveling direction of zigzag traveling in the different area, and performing zigzag traveling in the different area based on the selection by the selecting means. 2. The selecting means is configured to detect the one distance and the one distance.
Go straight in the direction corresponding to the longer of the other distance
The self-sustaining vehicle according to claim 1, wherein the self-propelled vehicle is selected in a suitable direction. 3. After zigzag running through the different areas,
The zigzag traveling of the area is restarted, according to claim 1.
Autonomous vehicle. 4. The plurality of different areas are provided, and the selection is performed.
The means detects the plurality of different areas by the detecting means.
2. A straight-ahead direction is selected each time it is known.
Autonomous vehicle. 5. The detecting means is the lateral distance sensor.
By detecting the depression of the wall by
The self-sustaining vehicle according to claim 1, which detects.