JPH09185410A - Method and device for controlling traveling of autonomous traveling vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce cost by controlling the unit traveling means of autonomous traveling vehicle by using a traveling history coordinate while filling untraveled coordinates with a traveling history to simplify a device without using any traveling range input device or position measuring instrument. SOLUTION: A front sensor 7, right side sensor 9 and left side sensor 8 are loaded on the autonomous vehicle, the position of wall or obstacle detected by the sensor is record and besides, traveling is controlled while recording the traveling of autonomous vehicle. Namely, the vehicle moves forth toward the boundary of wall, etc., turns to left or right at 90 deg. from the boundary when the boundary is detected, decides the range of traveling area after once turning around the boundary, successively travels out inside the untraveled area within the range of traveling area and stops when there is no untraveled area. Therefore, without using any traveling range input device for deciding the traveling range of autonomous vehicle or any position measuring instrument for measuring the position of autonomous vehicle itself, the vehicle can be traveled inside the traveling range surrounded by the boundary such as walls without overlapping any area while avoiding the obstacle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control method and a traveling control device for an autonomous vehicle, and more particularly to a self-propelled cleaner, a self-propelled lawn mower, and the like.

[0002]

2. Description of the Related Art A conventional traveling control device for an autonomous vehicle that travels autonomously in an area surrounded by walls and the like while avoiding obstacles is disclosed, for example, in Japanese Unexamined Patent Publication No. 2-81210. . According to the above device, a traveling range input device for setting the traveling range of the autonomous traveling vehicle and a position measuring device for measuring the self-position of the autonomous traveling vehicle are provided.

[0003]

In the above prior art, since the traveling range input device and the position measuring device are used,
The structure is complicated. Therefore, an object of the present invention is to provide a traveling control method and device for an autonomous traveling vehicle, which simplifies without using a traveling range input device or a position measuring device and leads to cost reduction.

[0004]

A feature of the present invention is that the autonomous traveling vehicle travels on an untraveled coordinate set in which one traveling unit held by the coordinate holding means of the autonomous traveling vehicle is one unit coordinate. The travel history coordinates as the one unit coordinate for each travel unit obtained as the travel history of the vehicle are recorded, and the autonomous traveling vehicle is continuously traveled while filling the untraveled coordinates with the travel history coordinates. In the traveling control method of the autonomous traveling vehicle, the unit traveling means of the autonomous traveling vehicle is controlled by using the history coordinates.

Further, another feature of the present invention is that an autonomous traveling vehicle having reference coordinates in which one traveling unit is one unit coordinate is made to travel as a unit, a boundary is detected for each traveling unit, and the detected boundary is detected. Is set as the boundary coordinate for each of the unit coordinates, and the boundary coordinate is recorded in the reference coordinate for each of the traveling units, so that the autonomous operation is performed as a closed area drawn by the boundary coordinate on the reference coordinate. The traveling history coordinates of the traveling vehicle are grasped, and the traveling history for each traveling unit obtained by the autonomous traveling vehicle traveling within the traveling area coordinates is used as traveling history coordinates for each one unit coordinate of the autonomous traveling vehicle. By setting and recording the traveling history coordinates in the reference coordinates for each one traveling unit, the traveling history coordinates are subtracted from the traveling area coordinates to determine an untraveled area in which the autonomous traveling vehicle is not traveling. Non-running seat The autonomous traveling that controls the unit traveling of the autonomous traveling vehicle so as to cause the autonomous traveling vehicle to perform the traveling to fill the untraveled coordinates in the traveling area coordinates in order to travel the traveling area It is in the driving control method of the car.

The traveling control device for an autonomous traveling vehicle according to the present invention is characterized by a unit traveling means having a predetermined traveling means for traveling the autonomous traveling vehicle for each traveling unit, and the autonomous traveling vehicle by the unit traveling means. Coordinate holding means for holding reference coordinates in which the one traveling unit in which the vehicle travels is defined as one unit coordinate, boundary detecting means for detecting a boundary for each one traveling unit, and the detected boundary for each one unit coordinate. Boundary coordinate setting means for setting the boundary coordinates, boundary recording means for recording the boundary coordinates in the reference coordinates for each traveling unit, and the boundary coordinates as the closed area drawn on the reference coordinates. A traveling area calculation means for calculating traveling area coordinates of the autonomous traveling vehicle; and a traveling history of each of the traveling units of the autonomous traveling vehicle converted into traveling history coordinates of each of the unit coordinates, and the reference for each of the unit coordinates. Coordinate History recording means for recording, untraveled area computing means for computing untraveled coordinates in which the boundary coordinates and the traveling history coordinates are not recorded in the reference coordinates, and the untraveled coordinates are filled based on the untraveled coordinates. Traveling control means for controlling the unit traveling means so as to execute traveling.

According to the present invention, it is possible to obtain an autonomous vehicle which travels all over the travel area while avoiding obstacles regardless of where it starts within the travel area without using a travel range input device or a position measuring device. .

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below. First, the characteristics as a basic idea of a traveling control method for an autonomous vehicle (hereinafter, abbreviated as an autonomous vehicle) according to the present invention will be described. One of the characteristics is to set the self-position coordinate of the autonomous vehicle by, for example, setting a predetermined traveling time defined on the program or a predetermined distance traveled by the autonomous vehicle to 1
A section is defined as one section, and this one section is defined as one traveling unit, and the one traveling unit is defined as one unit coordinate on the reference coordinate that is stored in advance in the storage device of the traveling control device of the autonomous vehicle, and the traveling of any autonomous vehicle is defined. The self position coordinate at the point is set as one point in the reference coordinate.

Then, the coordinates (X, Y) are set as the initial self-position coordinates of the start point of the autonomous vehicle. If the initial self-position coordinate is set to the center point coordinate of the reference coordinate, the limit of the traveling range of the autonomous vehicle becomes the widest, and the reference coordinate that depends on the recording capacity of the storage device is used to the maximum extent. It As for the traveling direction of the autonomous vehicle, the direction in which the autonomous vehicle is facing at the start point (generally the forward direction) is recognized as the reference direction. Therefore, four directions (front, rear, left and right direction of the autonomous vehicle) are recognized based on the forward direction, and in what direction from what position the start position is, what section (how many coordinate points)
You can see if you have run.

Next, an autonomous vehicle has a device for detecting boundaries of walls, obstacles, etc. existing on the front, right side and left side.
(Hereinafter referred to as a sensor), when an autonomous vehicle travels in each section and each sensor detects a boundary such as a wall or an obstacle, the boundary (wall or obstacle, etc.) Are recognized as boundary coordinates (wall coordinates, obstacle coordinates, etc.), and these boundary coordinates are recorded as reference coordinates. On the other hand, as the self-position coordinates of the autonomous vehicle, the travel history of the autonomous vehicle traveling in each section is recorded as the travel history coordinate for each unit coordinate.

Then, when the autonomous vehicle continues to travel according to the predetermined traveling method and all the boundary coordinates of the surrounding are recognized and recorded, the closed area drawn on the reference coordinates by the boundary coordinates, that is, the boundary coordinates. The traveling area coordinates as the enclosed area are obtained, and are grasped as the traveling area of the autonomous vehicle represented by the traveling area coordinates. On the other hand, when the autonomous vehicle continues to travel, the travel history of the autonomous vehicle traveling is 1
It is grasped for each traveling unit, the traveling history for each traveling unit is set as traveling history coordinates for each unit coordinate of the autonomous vehicle, and the traveling history coordinates are recorded in the reference coordinates. However, as will be described later, not all of the travel history of the autonomous vehicle traveling is recorded as the travel history coordinates. The traveling area coordinates as the traveling area are classified into traveling history coordinates as traveling history and untraveled coordinates as untraveled areas. That is, traveling area coordinates-travel history coordinates = untraveled coordinates. Finally, a control method of grasping the presence or absence of untraveled coordinates in the travel area coordinates, executing a travel to fill the untraveled coordinates in the travel area coordinates, and causing the autonomous vehicle to travel throughout the travel area ( This is a control method for running through the running area).

Another feature of the present invention is a "right priority traveling control method" or a "left priority traveling control method" as a unit traveling method. The right-priority driving control method is a rule that obliges an autonomous vehicle to always run on the right wall or obstacles. If this rule is observed, it is possible to orbit the traveling area, which is generally a closed area, to grasp the traveling area without fail, and to grasp the boundary more efficiently than to drive at random. At this time, it is also important to record the history of running at the same time. This is to mark the points that have already been driven to avoid duplication. It is a principle similar to escape from a maze.

Specifically, an autonomous vehicle travels in each section, records a travel history and reaches an arbitrary travel point, and based on the above-mentioned coordinate data recorded, tries to travel at that travel point from now on. With respect to the front, rear, left, and right coordinates of the self-position coordinate, whether there is a wall or an obstacle, or whether there is no history of driving Driving method ". This is the "right priority driving control method". The "left-priority traveling control method" is "a traveling method in which the left side, the front side, the right side, and the rear side are determined in the order of priority and the next direction is determined to proceed." The "straight ahead priority traveling control method" is "priority order of front, right side, left side and rear side".

First, the autonomous vehicle repeatedly moves forward one section from the start point toward a boundary such as a wall. Then, when the front sensor detects a wall, it is directed to the left by 90 degrees with respect to the wall and then moved forward by one section to proceed according to the "right priority traveling control method". (You can also use the left-priority driving control method after turning 90 degrees to the right.) After that, you can go around if you run on the right wall, and by determining the running area at the time of turning, you can drive the autonomous vehicle. It is possible to grasp the traveling area as a closed area surrounded by. At the same time, if you start to run on the wall, record the running history. It should be noted that, while the vehicle is traveling from the start point to the detection of a boundary such as a wall, it is more efficient to record no traveling history.

As described above, the vehicle travels according to the "right priority traveling control method",
After detecting a wall or an obstacle, recording the driving history and making a round along the boundary, and after the autonomous vehicle grasps the traveling area (traveling area coordinates), generally, the vehicle travels inside the grasped boundary (boundary coordinates). The running history (running history coordinates) is replaced with the boundary (boundary coordinates) by the right priority running control method so that the unrunning area (unrunning coordinates) without history (running history coordinates) is filled up. (Running history coordinates) As a result, the vehicle travels counterclockwise and runs through the running area.

However, it is determined that all of the front, rear, left, and right coordinates of the self-position coordinates of the autonomous vehicle have a travel history, but the coordinates (or coordinate area) having no travel history other than the front, rear, left, and right coordinates of the self-position coordinates. Occurs when there are still.
Therefore, if it is determined that there is a driving history in all of the front, rear, left, and right coordinates of the self-position coordinate of the autonomous vehicle, there are remaining coordinates (or coordinate areas) that have no driving history in the driving area drawn in the reference coordinates. If there is no remaining vehicle, the autonomous vehicle is stopped.

If it remains, one point of the coordinates in the remaining coordinate area is selected as the representative coordinate value (for example, the largest coordinate value), and the self-position coordinate of the autonomous vehicle and the representative coordinate selected above in the X direction. It is determined which of the two directions is larger than the Y direction, the size of the coordinates is compared in that direction to temporarily determine the traveling direction, and the traveling direction is determined by the straight-ahead priority traveling control method. (Hereinafter, this is referred to as "remaining direction straight ahead priority traveling control method").

Next, while traveling by the remaining direction straight ahead priority traveling control method, if any one of the front, rear, left and right coordinates of the coordinates of the self position of the autonomous vehicle is no longer the traveling history,
It is determined that the vehicle has reached a coordinate area where there is no running history, and the vehicle travels in accordance with the straight ahead priority running control method. , Searches for coordinates that have no history of travel within the travel range, and if there are no coordinates, stop.

If there is still more, the process returns to the remaining direction straight ahead priority traveling control method, and the straight ahead priority traveling control method, the determination of the traveling range, and the search for the coordinates having no traveling history within the traveling range are repeated, and Run to fill the running coordinates,
It will stop when there are no coordinates with no driving history. With the above autonomous vehicle traveling control method, no matter where the autonomous vehicle starts, it is efficient, that is, it minimizes overlapping traveling, and travels within the boundaries that the autonomous vehicle itself grasps including obstacles. You can run through the area.

Next, embodiments of the present invention will be described with reference to the drawings. 1 is an embodiment of the present invention in which the logic of a travel control method is programmed and written in a semiconductor memory device (ROM) to control travel. FIG. 1 is a diagram showing an autonomous vehicle equipped with a traveling control device for an autonomous vehicle according to an embodiment of the present invention. The autonomous vehicle 50 includes a vehicle body means including vehicle body frames 1, left / right drive wheels 2 and 3, auxiliary wheels 6, drive means including left / right motors 4 and 5 for driving the drive wheels, and And a control means including the traveling control device 60 and the like. The travel control device 60 corresponds to a logic controller 16 described later in a narrow sense, and the front sensor 7, the left sensor 8, the right sensor 9 and the logic controller 16 which detect a wall or an obstacle in a broad sense. It corresponds to the device including. In the present embodiment, the former case will be described.

FIG. 2 is a flow chart showing a traveling control method according to an embodiment of the present invention. FIG. 3 is a diagram showing a travel locus of an embodiment according to the travel control method of the present invention.
This embodiment will be described with reference to FIGS. 2 and 3.
In FIG. 3, a locus when an autonomous vehicle travels in a travel area surrounded by a wall 10 drawn at the reference coordinates of the recording device in the travel control device is shown. In the embodiment of FIG. 3, A
An autonomous vehicle is placed at a point, and the forward direction (direction of the arrow) of the autonomous vehicle is parallel to the wall at the start point of point A. In the case of this embodiment, the right side of the autonomous vehicle is in contact with the wall. And

First, when the power switch of the autonomous vehicle placed at the point A is turned on, reference coordinates in a blank state are held in the recording device (RAM) in the travel control device, and the center point coordinates of the reference coordinates are autonomous. A is the starting point where the car first starts
The initial self-position coordinates of the point are set. When the autonomous vehicle is started, step S1 of FIG. 2 is executed, and since the wall is on the right side of the autonomous vehicle, the right sensor is activated and it is detected that there is a wall on the right side. Record the boundary coordinates as if there is a wall at the coordinates of, aim at the boundary of the wall,
Move forward one section from point A. Then, the point B is reached. A
Only by moving forward from the point to point B,
One point of coordinates with one traveling unit as one unit coordinate is obtained.
In this case, although the vehicle has advanced one section from point A, the driving history is not recorded.

Further, since the autonomous vehicle does not necessarily run parallel to the side wall or vertically to the front wall, it is necessary to separately control the traveling attitude of the autonomous vehicle. However, in the present embodiment, the autonomous vehicle runs parallel to the side wall or perpendicular to the front wall. It is assumed that the vehicle runs, and the running posture control is omitted. At the point B where the autonomous vehicle has moved forward by one section, the front sensor operates because there is a wall in front, it is determined in step S2 that there is a wall in front, and the right sensor operates because there is a wall on the right side. That is, the front sensor and the right sensor detect that there are walls on the front and right sides. In addition, the boundary coordinates are recorded as a wall at the front coordinates and the right coordinates of the self-position coordinates of the autonomous vehicle. At the same time, the driving history is recorded in the self-position coordinates of point B. Further, starting from the fact that the front sensor has actuated, in other words, the detection of the wall, in step S2 ′, a left turn is performed to change the direction of the autonomous vehicle to the left by 90 degrees with respect to the wall, and moves forward for one section C To the point.

Next, at the point C, a determination is made by the right priority traveling control method in step S3. That is, the driver tries to run on the right priority, but the right sensor detects that there is a wall on the right side. At this time, it is recorded that there is a wall at the coordinate on the right side of the self-position coordinate of the autonomous vehicle. Then, it advances one section to point C1 where there is no wall and there is no history of travel. At the same time, the driving history is recorded in the self-position coordinates. The above is repeated until the C1 point is reached to the C2 point. At point C2, there are walls in front of and on the right side of the autonomous vehicle, so the front priority coordinate and the right coordinate of the self-position coordinate of the autonomous vehicle are recorded as having a wall by the right priority traveling control method in step S3.
Record the driving history in the self-position coordinates of the autonomous vehicle, and
Turn 0 degrees to the left and move forward for one section. Then, according to the right priority traveling control method in step S3, the vehicle continuously travels to the points C2 to C3 to C4, and circulates to the point A as illustrated.

At the point A, since there is a wall on the right side, the right side wall is recorded, and the traveling history is recorded in the self position coordinates of the point A. Next, to the right of the position coordinates of the autonomous vehicle in step S4,
It is determined from the coordinate data in the recording device whether or not there is a running history at the coordinates on the front and left sides. Since there is a running history at the point B ahead of the point A, it is determined at this point that the vehicle has made a round along the wall, and step S5 By determining the traveling area of, the traveling area as a closed area in which the autonomous vehicle is surrounded is grasped.

Next, according to the right priority traveling control method in step S6, the traveling history is recorded from the traveling history on the right side wall and the front side to the self-position coordinates of the autonomous vehicle, and the direction is turned 90 degrees to the left to advance one section. To do. At point D, the travel history is recorded in the self-position coordinates of the autonomous vehicle, and it is determined in step S7 whether any of the front, rear, left, and right coordinates of the self-position coordinates of the autonomous vehicle has a travel history-free coordinate, Since there is no travel history at the coordinates in the front, the vehicle travels forward one section by the right priority travel control method in step S6. The same judgment is made at point E as at point D, and the operation is the same.

At point F, the traveling history is recorded in the self-position coordinates of the autonomous vehicle, and the traveling history is recorded in the front, rear, left, and right coordinates of the self-position coordinates of the autonomous vehicle in the determination of step S7. Then, it is determined whether or not there are any coordinates (or coordinate areas) with no travel history in the travel area. Since there are no coordinates with no travel history, the autonomous vehicle travel is stopped in step S15, and the program ends.

FIG. 4 is a diagram showing a traveling locus of another embodiment according to the traveling control method of the present invention. The locus | trajectory when an autonomous vehicle runs while avoiding the obstacle 11 in the inside of the traveling area surrounded by the wall 10 etc. is shown. FIG. 2 is a flowchart showing the travel control method. This embodiment will be described with reference to FIGS.

When the power switch of the autonomous vehicle placed at the point A is turned on and the program is started, the reference coordinates in the blank state are held in the recording device in the traveling control device 60. Also, this A
The coordinates of the point are recorded in the center coordinates of the reference coordinates as the initial self-position coordinates. Then, when the autonomous vehicle is started, step S1 is executed at point A, and the autonomous vehicle moves forward by one section. By moving forward by this one section, one point of coordinates having one traveling unit as one unit coordinate is obtained. Then, the autonomous vehicle started from the point A repeats the forward movement for one section until the point B at which it is determined in step S2 that there is a wall ahead.

The self-position coordinates between the points A and B are
It is always recognized with reference to the initial self-position coordinate of point A. However, the program is not recorded as a driving history between points A and B, with the intention of "running in a running area" with high efficiency to avoid overlapping running. Only when the front sensor operates at the point B and the autonomous vehicle detects the front wall, it is recorded that there is a wall at the coordinate in front of the self-position coordinate of the autonomous vehicle at the point B and the self-position coordinate of the autonomous vehicle at the point B. Record the driving history.

Since the front wall is detected for the first time in step S2, the direction is turned 90 degrees to the left with respect to the wall and the vehicle advances one section in step S2 '. Step S at point B1
It is determined from the coordinate data in the recording device whether or not there is a running history at the coordinates on the front, right, and left sides of the self-position coordinate of the autonomous vehicle of 4. Since there is no running history, since there is a wall only on the right side of the autonomous vehicle by the right priority running control method in step S3, it is recorded that there is a wall at the coordinate on the right side of the self-position coordinate of the autonomous vehicle, and Record the travel history on the position coordinates and move forward one section from point B1. This process is repeated until point B2 is reached.

At point B2, since there are walls in front of and on the right side of the autonomous vehicle, it is recorded that there is a wall at the coordinates on the front and right sides of the self-position coordinates of the autonomous vehicle, and the travel history is recorded in the self-position coordinates of the autonomous vehicle. Record and turn left 90 degrees to the wall and move forward for one section. Then, the vehicle travels along the wall from point B2 to point B6 to point C. At point C, there is no wall at all of the front, right, and left coordinates of the self-position coordinate of the autonomous vehicle, and there is no history of travel. Therefore, the vehicle preferentially travels to the right in accordance with the right priority travel control method. (In other words, it is turning to the right.) That is, the direction is turned 90 degrees to the right, the running history is recorded in the self-position coordinate of the autonomous vehicle at point C, and the vehicle moves forward for one section. Then, from point C to point D. Even at point D, the right priority traveling control method operates effectively. In this way, steps S3 to S4 are repeated, and the autonomous vehicle travels along the wall until reaching point E. At point E, there is a wall on the right side,
There is a running history at point B ahead. Therefore, in the determination in step S4, it is determined whether there is a travel history at the front, right, or left coordinates of the self-position coordinates of the autonomous vehicle, and it is determined that the coordinates before the self-position coordinates have a travel history for the first time. Proceed to. That is, since there is a history of traveling ahead of the autonomous vehicle, it is determined that the vehicle has traveled along the wall at this point, and the range of the traveling area is determined in step S5.

Next, from step E to point F, step S
In the right-priority driving control method of 6, since there is a driving history in front of the autonomous vehicle and there is a wall on the right side, it is recorded that there is a wall at the coordinate on the right side of the self-position coordinate of the autonomous vehicle. Record the driving history on the position coordinates and turn 90 degrees to the left.
Move forward from point to point F by one section. At point F, the travel history is recorded in the self-position coordinates of the autonomous vehicle, and step S
At 7 it is determined whether there is a coordinate with no running history in any of the front, rear, left and right coordinates of the self-position of the autonomous vehicle. Since it is not in the coordinates, the right priority traveling control method of step S6 operates. That is, the direction is changed 90 degrees to the right and the vehicle moves forward from point F to point F1 by one section. Then, at the F1 point, the same judgment as that at the F point is made, and since the traveling history is located at the coordinate (B point) on the right side of the self-position coordinate (F1 point) of the autonomous vehicle, the traveling history is replaced by the boundary. Start to circulate counterclockwise as you want to keep track.

The point F1 is the point where the autonomous vehicle has already run. However, as described above, since the self-position coordinates between points A and B are not recorded as the driving history,
There is no problem. From F2 point to F3 point, there is a traveling history at the coordinates on the front and right sides of the self-position coordinate of the autonomous vehicle, but the traveling history is recorded at the self-position coordinate of the autonomous vehicle, and 90 degrees to the left. Turn around,
Move forward one section. In this way, the vehicle travels from point F3 while recording the driving history to point G. Then, the traveling history is recorded in the self-position coordinate of the autonomous vehicle at the point G, and step S7 is performed.
When it is determined whether there is a coordinate that has no traveling history in the front, rear, left, or right coordinates of the self-position coordinate of the autonomous vehicle, it is determined that there is a traveling history in any direction. Although it is determined that there is a travel history in any direction, there is an untraveled area (coordinates or coordinate area) that has not yet traveled around the point A. Therefore, in step S8, the travel history in the travel area is set. A search for a travel range (coordinates or coordinate area) that does not exist is executed. In the case of the present embodiment, the point I, which is the largest coordinate in the untraveled area, is searched. Then, the remaining direction straight ahead priority traveling control method in step S9 is executed.

That is, by the remaining direction straight ahead priority traveling control method in step S9, at the point G, the direction is changed to the right by 90 degrees and the vehicle advances one section. At the advanced point C, step S
It is determined whether there is a traveling history in the coordinates of the front, rear, left side, and right side of the self-position coordinates of the 10 autonomous vehicles. Since there is a traveling history in any direction, 1 is set by the remaining direction straight ahead priority traveling control method in step S9. Go forward in the section. At point H, step S
It is determined from the coordinate data in the recording device whether or not there is a history of traveling together with the front, rear, left, and right of the self-position coordinates of the 10 autonomous vehicles. Only the coordinates of the front, left, and rear have a traveling history, so go straight in step S11. Move forward one section by the priority travel control method. Step S11 and step S12 are repeated to move forward.

At point D, it is determined whether or not there is a running history in the front, rear, left, and right coordinates of the self-position coordinate of the autonomous vehicle in step S12. Therefore, the vehicle travels forward by one section by the straight traveling priority traveling control method in step S11. At point I, the running history is recorded in the self-position coordinate of the autonomous vehicle, and it is determined whether there is a running history together with the front, rear, left, and right coordinates of the self-position coordinate of the autonomous vehicle in step S12. Since there is only a history of running, the vehicle travels forward by one section by the straight ahead priority running control method in step S11. In this way, the vehicle travels by the straight ahead priority traveling control method for each section. In addition, the autonomous vehicle is
As a method of moving from the point to the non-running area, step S
I of the largest coordinate value is selected from the untraveled areas with no travel history found by the search of the traveling range in the eight traveling areas.
Select a point as the representative coordinate value. Next, the self-position coordinates of the autonomous vehicle and the I selected above are applied by the remaining direction straight ahead priority traveling control method.
It is determined which difference between the X direction and the Y direction of the point coordinates is larger (the number of sections is larger), and the size of the coordinates is compared in that direction (for example, the Y direction if the Y direction is larger). This is a method of tentatively determining the traveling direction and further determining the traveling direction of the autonomous vehicle by the straight ahead priority traveling control method.

Further, the smallest coordinate value is selected as the representative coordinate value from the non-running areas having no running history found by searching the running range in the running area in step S8, and the same remaining direction straight ahead priority running as described above is selected. Judgment by the control method,
A method of deciding the direction to go is also conceivable. Finally, at point A, the travel history is recorded in the self-position coordinates of the autonomous vehicle, and in step S12, it is determined whether there is a co-travel history of the front-back, left-right coordinates of the self-position coordinates of the autonomous vehicle. Since there is also a travel history in the direction, the travel range is determined in step S13, and it is determined in step S14 whether there are any coordinates without a travel history in the travel range. In S15, the autonomous vehicle is stopped and the program ends.

FIG. 5 is a diagram showing a traveling control method of an embodiment when the front sensor detects a wall or the like during traveling of one section. The above-mentioned two examples show the traveling control method when the front sensor 7 detects the wall 10 or the obstacle 11 during the traveling of one section. In FIG. 5 (a),
If the front sensor 7 detects a wall while the autonomous vehicle 50 is moving forward and cannot complete one section, the section that cannot be completed is also recorded as a wall. Then, it is a travel control method of retreating to the preceding one section (one coordinate), and changing the direction to the direction obtained by the 90-degree judgment when retreating. By using the coordinate data of the section recognized as a wall without running completely, for example, the vehicle continues to run by the right priority running control method. Further, it is also possible to use a program that changes the definition (for example, distance) of one traveling unit only when the front sensor 7 detects a wall before the vehicle has completed traveling in one section. Further, in FIG. 5B, when the right sensor 9 and the left sensor 8 detect a wall or an obstacle while the autonomous vehicle is moving forward and the front sensor 7 detects a wall in the middle of the next one section, This is a traveling control method in which a section where the vehicle cannot run completely is recorded as a wall, and the vehicle travels backward to the immediately preceding section and changes its direction by 180 degrees.

FIG. 6 is a diagram showing a logic controller according to an embodiment of the present invention. Microprocessor 1
7, the ROM 18, the RAM 19, and the like are integrated in the logic controller 16 as the traveling control device 60.
That is, the logic of the travel control method described with reference to FIGS. 2, 3, and 4 is written in the ROM 18 as a program, the reference coordinates are recorded in the RAM 19, and each of them is read and used as needed, and the microprocessor 17 is used.
FIG. 3 is a connection block diagram showing an example of processing performed by the above. Further, in FIG. 6, reference numeral 12 is a battery, 13 is a power switch, 14 is a push-button start switch, and 15 is a start switch.
Is a stop switch.

Therefore, the unit traveling means is
Drive means including right motors 4, 5 and battery 12;
It corresponds to the logic controller 16 including the microprocessor 17 and the ROM 18. Further, the predetermined traveling means, the boundary coordinate setting means, the boundary recording means, the traveling area calculating means, the history recording means, the untraveled area calculating means and the traveling control means correspond to the logic controller 16 including the microprocessor 17, the ROM 18, and the like. The coordinate holding means corresponds to the RAM 19, and the boundary detecting means includes the front sensor 7, the left sensor 8, the right sensor 9, and the microprocessor 1.
7, the logic controller 16 including the ROM 18 and the like. The features of the present invention described above can be summarized as follows. The traveling control method for an autonomous vehicle is such that the autonomous vehicle holds autonomously on the reference coordinates in a blank state, that is, on the unrunning coordinates where one traveling unit held by the coordinate holding means of the autonomous vehicle is one unit coordinate. The travel history is such that one unit coordinate for each travel unit obtained as the travel history of the autonomous vehicle is recorded as travel history coordinates, and the untraveled coordinates are filled with the travel history coordinates so that the autonomous vehicle continues to travel. The unit travel is controlled using the coordinates, that is, the unit travel means of the autonomous vehicle is controlled.

Specifically, the unit section that moves in the unit traveling time of the autonomous vehicle defined on the program is defined as one traveling unit,
The reference coordinates in a blank state where the one running unit is one unit coordinate are set in the recording device. Then, an arbitrary start point of the autonomous vehicle is set as reference coordinates, and four directions (directions of the autonomous vehicle in the front, rear, left, and right) are defined based on the forward direction of the autonomous vehicle at the start point. As a result, the self-position coordinate of the autonomous vehicle can always be recognized depending on which direction and how many sections the vehicle has traveled from the start point.

Then, the autonomous vehicle is advanced from any point within the boundary toward the boundary, and when the boundary is detected, the autonomous vehicle is rotated 90 ° left or right to make a round along the boundary,
The autonomous vehicle itself can grasp the boundaries of the area surrounded by walls and the like. Further, the traveling history of the self-position coordinates of the autonomous vehicle and the position coordinates of the wall or the obstacle detected by the device for detecting the boundary of the wall or the obstacle are recorded for each section, and based on these coordinate data. The judgment is made and the vehicle is made to travel efficiently so as to completely fill the untraveled area.

In other words, the front sensor 7, the right direction sensor 9 and the left direction sensor 8 are mounted on the autonomous vehicle, and the position of the wall or obstacle detected by the sensor is recorded.
In addition, while controlling the traveling history of the autonomous vehicle, the traveling control is performed in the following order. a. Advance towards a boundary such as wall 10; b. When the boundary is detected, turn the boundary 90 degrees to the left or right, and c. Make a round along the boundary to determine the range of the traveling area, d. Sequentially run through unrunning areas within the running area, e. The autonomous vehicle is stopped when there is no unrun area.

Therefore, according to the present invention, without using a travel range input device for determining the travel range of the autonomous vehicle or a position measuring device for measuring the self-position of the autonomous vehicle, the boundary of a wall or the like is not used. It is possible to obtain an autonomous traveling work vehicle such as a self-propelled vacuum cleaner or a self-propelled lawnmower that travels in an enclosed traveling area while avoiding obstacles without overlapping.

[0045]

According to the present invention, since the traveling range input device and the position measuring device are not used, it can be manufactured at a low cost and the traveling is not repeated so that the working efficiency is improved and the battery is used. It also saves power.

[Brief description of the drawings]

FIG. 1 is a diagram showing an autonomous vehicle equipped with a traveling control device for an autonomous vehicle according to an embodiment of the present invention.

FIG. 2 is a flowchart showing a travel control method according to an embodiment of the present invention.

FIG. 3 is a diagram showing a travel locus of an embodiment according to the travel control method of the present invention.

FIG. 4 is a diagram showing a travel locus of another embodiment according to the travel control method of the present invention.

FIG. 5 is a diagram showing a traveling control method of an embodiment when a front sensor detects a wall or the like during traveling of one section.

FIG. 6 is a diagram showing a logic controller according to an embodiment of the present invention.

[Explanation of symbols]

1 ... Body frame, 2 ... Left drive wheel, 3 ... Right drive wheel, 4 ...
Left motor, 5 ... Right motor, 6 ... Auxiliary wheel, 7 ... Front sensor, 8 ... Left sensor, 9 ... Right sensor, 10 ... Wall, 11 ... Obstacle, 12 ... Battery, 13 ... Power switch, 14 ... Start switch , 15 ... Stop switch, 16 ... Logic controller, 17 ... Microprocessor 18 ... ROM, 1
9 ... RAM, 50 ... Autonomous vehicle, 60 ... Travel control device.

Claims (4)

[Claims] 1. The one traveling obtained by the autonomous traveling vehicle as a travel history of the autonomous traveling vehicle on a non-traveling coordinate having one traveling unit held by the coordinate holding means of the autonomous traveling vehicle as one unit coordinate. The traveling history coordinates as the one unit coordinate for each unit are recorded, and the traveling history coordinates are used to continuously drive the autonomous traveling vehicle while filling the untraveled coordinates with the traveling history coordinates. A traveling control method for an autonomous vehicle, comprising controlling a unit traveling means. 2. An autonomous traveling vehicle, which has reference coordinates in which one traveling unit is one unit coordinate, travels as a unit to detect a boundary for each traveling unit, and the detected boundary is a boundary for each one unit coordinate. By setting the coordinates as the coordinates and recording the boundary coordinates in the reference coordinates for each of the traveling units, the traveling area coordinates of the autonomous traveling vehicle are grasped as a closed area drawn by the boundary coordinates on the reference coordinates. Then, the traveling history for each traveling unit obtained by the autonomous traveling vehicle traveling within the traveling area coordinates is determined by the 1 of the autonomous traveling vehicle.
By setting the travel history coordinates for each unit coordinate and recording the travel history coordinates in the reference coordinates for each of the travel units, the autonomous travel vehicle is obtained by subtracting the travel history coordinates from the travel area coordinates. The autonomous vehicle is configured to recognize the untraveled coordinates as the untraveled area that is not traveling, and to cause the autonomous traveling vehicle to execute the traveling in which the untraveled coordinates in the traveling area coordinates are filled in order to travel the traveling area thoroughly. A traveling control method for an autonomous traveling vehicle, comprising controlling the unit traveling of the traveling vehicle. 3. The unit travel according to claim 2, wherein the unit travel is travel based on a right priority travel control method, a left priority travel control method, a remaining direction straight travel priority travel control method, or a straight travel priority travel control method. Driving control method for autonomous vehicle. 4. A unit traveling unit having a predetermined traveling unit for traveling an autonomous traveling vehicle for each traveling unit, and the unit traveling unit traveling the autonomous traveling vehicle.
Coordinate holding means for holding reference coordinates in which the traveling unit is one unit coordinate, boundary detection means for detecting a boundary for each traveling unit, and the detected boundary are set as boundary coordinates for each one unit coordinate. Boundary coordinate setting means, boundary recording means for recording the boundary coordinates in the reference coordinates for each traveling unit, and traveling of the autonomous vehicle as a closed region drawn on the reference coordinates in the boundary coordinates. A traveling area calculating means for calculating area coordinates; and a traveling history of the autonomous traveling vehicle for each traveling unit,
A history recording unit that converts the travel history coordinates for each unit coordinate and records the one unit coordinates in the reference coordinates, and calculates the untraveled coordinates in which the boundary coordinates and the travel history coordinates are not recorded in the reference coordinates. A traveling control of an autonomous traveling vehicle comprising: an untraveled region calculating means; and traveling control means for controlling the unit traveling means so as to execute traveling to fill the untraveled coordinates based on the untraveled coordinates. apparatus.