JP2004227474A - Self-propelled equipment and program therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled equipment which travels automatically in every corner without using a guiding means even if it travels automatically in a room, where pieces of furniture are put in a complicated layout and precision in detecting a position is difficult to obtain due to the slipperiness of a floor surface. <P>SOLUTION: The self-propelled equipment is provided with a position recognizing means 8 which recognizes a position where it is traveling, a traveling range storage means 9 which stores a traveling range from the recognized position which the position recognizing means 8 recognizes and an error estimating means 11 which estimates the error of a recognized position which the position recognizing means 8 recognizes and a self-control means 5 which executes a travel plan based on information on the traveling range stored by the traveling range storage means 9, the information of an obstacle recognizing means 6 and the result of the estimation by the error estimating means 11. By this, the self-traveling device can travel automatically in every corner without using a guiding means even when it travels automatically in the room where pieces of the furniture are put in a complicated layout and the precision in detecting a position is difficult to obtain due to the slipperiness of a floor surface. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled device that automatically travels in a room by performing automatic traveling and travels so as to fill the entire room.
[0002]
[Prior art]
Conventionally, this type of self-propelled device uses a guide device to control a traveling position (for example, see Patent Document 1). FIGS. 16 and 17 show a conventional self-propelled device described in Patent Document 1. FIG.
[0003]
16 and 17, reference numerals 102 and 103 denote guide means, 113 denotes a CCD camera, 120 denotes an image processing apparatus, 121 denotes a current position calculation unit, and 124 denotes a position determination unit. The CCD camera 113 is electro-optical means for visually detecting the guide means 102, 103 which is also a position index when the guide means 102, 103 travels in an absent place.
[0004]
The current position calculation unit 121 calculates a current position based on information from the encoder 119, a second calculation unit 123 calculates a current position based on information from the image processing apparatus 120, and both of these calculation units It comprises a position determination unit 124 that determines the current position based on the calculation results of 122 and 123, the guide means detectors 109 and 110, and the detection result of the stop position detector 111. That is, it is possible to accurately confirm the current position based on the detection result of the electro-optical means 113 and travel, irrespective of the occurrence of slippage of the wheels during traveling.
[0005]
[Patent Document 1]
Japanese Patent Application Laid-Open No. 03-229311
[Problems to be solved by the invention]
However, in the above-described conventional configuration, the vehicle runs in accordance with a preset guide means. Therefore, for example, when used in a self-propelled equipment that runs and cleans all over the room while self-propelled in a home where a special direction regulation tape or the like for traveling cannot be installed, a floor surface left to be cleaned occurs. There was a problem that.
[0007]
The present invention solves the above-mentioned conventional problems, and even when furniture or the like is arranged in a complicated manner and automatic traveling in a room or the like where position detection accuracy is difficult to obtain due to slippage of the floor or the like, automatic traveling without using guide means. The purpose is to provide a self-propelled device that performs.
[0008]
[Means for Solving the Problems]
In order to solve the above-mentioned conventional problems, the present invention provides a traveling unit, a mode control unit for instructing a predetermined traveling pattern, an autonomous control unit for controlling the traveling unit in accordance with the mode control unit, and a forward obstacle. Obstacle recognizing means for recognizing an object, position recognizing means for recognizing a running position, running range storing means for storing a running range from the recognized position of the running position recognizing means, and recognition of the position recognizing means. Error estimating means for estimating a position error, wherein the autonomous control means is based on information on the traveling range stored by the traveling range storage means, information on the obstacle recognizing means, and an estimation result of the error estimating means. It is a self-propelled device having travel planning means for performing travel planning.
[0009]
Thereby, the travel range is stored, and the travel plan is performed based on the information of the travel range and the information of the obstacle stored in consideration of the error of the recognized position. Automatic traveling can be performed without using guide means even during automatic traveling in a room or the like where position detection accuracy is difficult to obtain due to slippage of the floor or the like.
[0010]
BEST MODE FOR CARRYING OUT THE INVENTION
According to the first aspect of the present invention, there is provided a traveling means, a mode control means for instructing a predetermined traveling pattern, an autonomous control means for controlling the traveling means according to the mode control means, and an obstacle for recognizing an obstacle ahead. Object recognizing means, position recognizing means for recognizing a running position, running range storing means for storing a running range from the recognized position of the running position recognizing means, and estimating an error of a recognized position of the position recognizing means. And an autonomous control unit performs a traveling plan based on the information on the traveling range stored by the traveling range storage unit, the information on the obstacle recognizing unit, and the estimation result of the error estimating unit. It is a self-propelled device having a travel planning means.
[0011]
Then, by storing the size of the traveled range and making a travel plan based on the travel range information and the obstacle information stored in consideration of the error of the recognized position, furniture and the like are complicated. And automatic running can be performed without using guide means even during automatic running in a room or the like where position detection accuracy is difficult to obtain due to slippage of the floor or the like.
[0012]
According to a second aspect of the present invention, in particular, the mode control means according to the first aspect is set so as to run in a room, and is a circulating mode in which the circuit goes around the room along a wall, and the mode control means is arranged at the start of the circulating mode. The mode transition is performed in the order of a vertical traveling mode in which reciprocating traveling perpendicular to a wall is performed, and a lateral traveling mode in which reciprocating traveling is performed in parallel with the wall at the start of the orbiting mode, and at the time of mode transition, movement for starting the next mode is performed. In this way, furniture and other objects are placed in a complicated manner, and even during automatic driving in a room where position detection accuracy is difficult to obtain due to slippage on the floor, etc. Cleaning makes it possible to perform autonomous driving.
[0013]
According to a third aspect of the present invention, in particular, the position recognizing means according to the second aspect is configured such that the origin is the rotation mode start point, the first wall direction is the positive direction of the X axis, and the counterclockwise direction is perpendicular to the X axis. The position is output as XY coordinates in which the direction of 90 ° is the positive direction of the Y axis, the error estimating means outputs the respective errors of the X coordinate and the Y coordinate output by the position recognizing means, and the traveling range storage means outputs In the mode, the minimum value of the error value added to the X coordinate, the minimum value of the error value added to the Y coordinate, the maximum value of the error value subtracted from the X coordinate, and the error value subtracted from the Y coordinate By storing the maximum value of the value, furniture and other objects are placed in a complicated manner, and the size of the room can be reduced during circulating mode even during automatic driving in indoors where it is difficult to obtain position detection accuracy due to slippage on the floor. Easy to grasp and detect the position by slipping on the floor Also be able to automatically traveling without bear regardless of the shape of the room in hard to the room.
[0014]
According to a fourth aspect of the present invention, in particular, the travel planning means according to the third aspect determines an end position of the lap mode, a start position and an end position of the longitudinal traveling mode and the lateral traveling mode, an error estimating means and a position recognizing means. And the travel range information stored in the travel range storage means, so that furniture and the like are placed in a complicated manner, and automatic traveling in a room or the like where position detection accuracy is difficult to obtain due to slippage on the floor surface or the like. Even when the shape of the room is easily reflected in the travel plan, even in a room where position detection is difficult due to slippage of the floor or the like, it becomes possible to perform automatic traveling without running leaks according to the shape of the room.
[0015]
According to a fifth aspect of the present invention, in particular, the travel planning means according to the fourth aspect sets the end position of the lap mode to a range in which an error by the error estimating means is considered in the X coordinate by the position recognition means. Furniture is placed in a complicated manner by including the origin of the X and Y coordinates, which is the position. By making a round along, even in a room where position detection is difficult due to slippage of the floor or the like, it is possible to reliably grasp the outer shape of the room.
[0016]
According to a sixth aspect of the present invention, in particular, the travel planning means according to the fourth aspect stores a start range of the longitudinal traveling mode, and a range in which an error by the error estimating means is considered in the X coordinate by the position recognition means. Including the maximum value of the X coordinate stored in the means and when the obstacle recognizing means recognizes an obstacle ahead, furniture and the like are placed in a complicated manner, and the position detection accuracy due to slippage of the floor surface etc. Prevents run-out leakage due to vertical travel start position deviation even during automatic travel in difficult-to-obtain rooms, so that vertical travel can be started correctly regardless of room shape even in rooms where position detection is difficult due to slippage on the floor etc. become.
[0017]
According to a seventh aspect of the present invention, in particular, the travel planning means according to the fourth aspect stores the end position of the vertical travel mode in a range in which an error by the error estimating means is considered in the X coordinate by the position recognition means. Furniture etc. are arranged in a complicated manner by including the minimum value of the X coordinate stored in the means and when the obstacle recognition means recognizes an obstacle ahead, and the position detection accuracy due to slippage of the floor surface etc. Prevents run-out leaks due to misalignment of vertical travel end even during automatic travel in difficult-to-obtain rooms, etc., so that vertical travel can be correctly terminated regardless of the shape of the room even in rooms where position detection is difficult due to slippage on the floor etc. become.
[0018]
According to an eighth aspect of the present invention, in particular, the travel planning means according to the fourth aspect stores a start position of the lateral travel mode, and a range in which an error by the error estimating means is considered in the Y coordinate by the position recognition means. Furniture etc. are arranged in a complicated manner by including the minimum value of the Y coordinate stored in the means and when the obstacle recognizing means recognizes an obstacle ahead, and the position detection accuracy due to slippage of the floor surface etc. Prevents runaway due to lateral travel start position deviation even during automatic travel in difficult-to-obtain rooms, and enables lateral travel to be started correctly regardless of room shape even in rooms where position detection is difficult due to slippage on the floor etc. become.
[0019]
According to a ninth aspect of the present invention, in particular, the travel planning means according to the fourth aspect stores the end position of the lateral traveling mode in a travel range in which the error by the error estimating means is considered in the Y coordinate by the position recognition means. Furniture etc. are arranged in a complicated manner by including the maximum value of the Y coordinate stored in the means and when the obstacle recognizing means recognizes an obstacle ahead, so that the position detection accuracy due to slippage of the floor surface etc. Prevents runaway due to misalignment of horizontal travel end position even during automatic travel in difficult-to-obtain rooms, etc., so that lateral travel can be correctly terminated regardless of the shape of the room even in rooms where position detection is difficult due to slippage on the floor etc. become.
[0020]
The invention according to claim 10 provides a computer, particularly when the computer is a program for causing all or a part of the self-propelled device according to any one of claims 1 to 9 to function. By functioning as all or part of the self-propelled device according to any one of 1 to 9, some or all of the self-propelled device of the present invention can be easily realized using a general-purpose computer or server. become.
[0021]
【Example】
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0022]
(Example 1)
FIG. 1 is a diagram showing a schematic configuration of a self-propelled device according to a first embodiment of the present invention. In FIG. 1, reference numeral 1 denotes a main body, and 2 denotes a traveling means. In this embodiment, the driving means comprises drive wheels for moving forward or backward. Numeral 3 denotes a traveling control unit which controls the traveling speed and rotation of the main body 1 by controlling the rotation speed of the driving wheels as the traveling unit 2 and travels in a prescribed direction at a prescribed speed. Reference numeral 4 designates a traveling pattern predetermined by the mode control means as a mode transition. Reference numeral 5 denotes an autonomous control unit that controls the traveling control unit 3 in accordance with a mode specified by the mode control unit 4. Reference numeral 6 denotes obstacle recognition means for recognizing an obstacle in front of the main body. In the present embodiment, the obstacle recognition means 6 is realized by an ultrasonic sensor. Reference numeral 7 denotes a side distance measuring means for measuring a distance from a side wall. In this embodiment, the side distance measuring means 7 uses an infrared distance measuring sensor.
[0023]
Numeral 8 is a position recognition means for recognizing the current position. In this embodiment, the position recognition means 8 includes a gyro sensor and a travel distance sensor, and recognizes the current position more accurately by using not only the travel distance sensor but also the direction of the gyro sensor. Reference numeral 9 denotes a traveling range storage unit which stores the size of the traveling range from the recognized position of the traveling position recognizing unit 8. Numeral 10 denotes a travel planning means which constitutes the autonomous control means 5. Numeral 11 denotes an error estimating means for outputting an error of the recognized position which is an output of the position recognizing means 8. In the present embodiment, the error estimating means 11 calculates the error in the X and Y directions in the direction of the gyro sensor by multiplying the travel distance by a coefficient 0.05 assuming that the error of the travel distance sensor is proportional to the travel distance.
[0024]
In this embodiment, the traveling control means 3, the mode control means 4, the autonomous control means 5, the traveling range storage means 9, the traveling planning means 10, and the error estimating means 11 are constituted by microcomputers.
[0025]
Next, an outline of the autonomous traveling operation will be described with reference to FIGS. FIG. 2 is a flowchart showing the autonomous traveling operation. When the autonomous traveling operation is started, the vehicle travels around the room in the traveling mode of step 1.
[0026]
Next, in step 2, the movement 1 to the vertical traveling mode start position is performed, and in step 3, the longitudinal traveling, which is the reciprocating traveling in the vertical direction, is performed. Next, in step 4, the movement 2 which is the movement to the start position of the lateral traveling is performed, and in step 5, the lateral traveling which is the reciprocating traveling in the lateral direction is performed. Step 6 is movement 3 for ending.
[0027]
Next, the operation in the rotation mode will be described with reference to FIGS. FIG. 3 is a flowchart showing the orbital running operation of step 1. The circling mode is a mode for making a round around the room along the wall. In step 11 in FIG. 3, the starting coordinates are set to the origin, that is, (X, Y) = (0, 0), and then the circuit goes around the wall. . While traveling in the orbiting mode, in step 12, the vehicle goes straight while keeping the distance to the right wall such that the distance to the right wall becomes a predetermined value a. In step 13, the current position coordinates (x, y) are inputted from the position recognizing means 8, and the current error estimated value (Ex, Ey) is inputted from the error estimating means 11. In step 14, the maximum and minimum values of X and Y are updated.
[0028]
That is, when (x−Ex) is larger than the stored maximum value of X, the X maximum value is updated, and when (x + Ex) is smaller than the stored minimum value of X, the X minimum value is updated and stored. When (y−Ey) is larger than the maximum value of Y, the Y maximum value is updated. When (y + Ey) is smaller than the stored minimum value of Y, the Y minimum value is updated.
[0029]
Next, at step 15, it is confirmed whether or not it has returned to the start position. That is, if the start position (0, 0) is included in the range in which the current error (Ex, Ey) is added to the current coordinates (x, y), it is determined that the original position has returned to the origin, and the orbiting operation is ended in step 18. If it has not returned to the start position in step 15, it is checked in step 16 if there is any obstacle before, and if there is no obstacle, step 12 is repeated, and if there is an obstacle such as a wall or furniture before, it becomes possible to advance in step 17. After returning to step 12, the process returns to step 12 to continue traveling along the wall. FIG. 4 is a diagram showing an example of traveling in the circuit mode, in which 12 is a wall of a room, and 13 is furniture. The main body 1 starts traveling around the wall from the rotation start position (0, 0) shown in FIG. 4 and makes a round around the room along the wall, and then returns to the origin (0, 0), that is, the rotation start point. And the round running ends.
[0030]
Next, the operation of the movement 1 in step 2 will be described with reference to FIGS. FIG. 5 is a flowchart showing the movement 1 operation. In step 21, the user moves along the wall. In step 22, whether or not the X coordinate considering the error has reached the maximum value Xmax, that is, the range considering the error by the error estimating means to the X coordinate by the position recognizing means takes into account the error stored in the traveling range storage means. Check whether the maximum value of the X coordinate is included. If not included, the movement along the wall is continued in step 21. If the range in which the error by the error estimating means is taken into account in the X coordinate by the position recognizing means in step 22 includes the maximum value of the X coordinate in consideration of the error stored in the traveling range storage means, in step 23, an obstacle is detected before the obstacle. Check if there is. If there is no obstacle, the moving along the wall is continued in step 21. If there is an obstacle, the process ends.
[0031]
FIG. 6 is a diagram showing a running example of the movement 1. Movement 1 is performed from the end position of the round running, and moves to the start position of the vertical running. If the X coordinate considering the error becomes the maximum value Xmax and there is an obstacle before, the movement 1 is ended. In other words, even when an error occurs in position detection, erroneous termination can be reduced by the condition that termination is performed if there is a wall before.
[0032]
Next, the operation in the longitudinal traveling mode in step 3 will be described with reference to FIGS. FIG. 7 is a flowchart showing the operation in the vertical traveling mode. In step 31, a vertical traveling mode is set, and in step 32, a vertical traveling mode operation, that is, reciprocating traveling in the Y direction which is perpendicular to the wall along the start of the circulating mode is performed. In step 33, it is confirmed whether or not the X coordinate including the error has reached the minimum value Xmin. That is, it is confirmed whether or not the range in which the error by the error estimating means is considered in the X coordinate by the position recognizing means includes the minimum value of the X coordinate in consideration of the error stored in the traveling range storage means. That is, if Xmin exists between a value (x−Ex) obtained by subtracting the error from the current X coordinate x and a value (x + Ex) obtained by adding the error to the current X coordinate x, it is regarded as the minimum value Xmin. If the X coordinate in which the error is added is not the minimum value Xmin, the longitudinal reciprocation is continued in step 32.
[0033]
If the X coordinate including the error becomes the minimum value Xmin in step 33, it is determined in step 34 whether or not there is an obstacle before. If there is an obstacle before, the process ends. If there is no obstacle in front at step 34, reciprocation in the vertical direction is continued at step 32. In other words, even when an error occurs in position detection, erroneous termination can be reduced by the condition that termination is performed if there is a wall before. FIG. 8 is a diagram showing an example of traveling in the longitudinal traveling mode. Reciprocating traveling in the vertical direction is performed from the start position of the longitudinal traveling, and when the X coordinate taking into account the error becomes the minimum value Xmin and the front becomes an obstacle such as a wall, the longitudinal traveling ends.
[0034]
Next, the operation of the movement 2 in step 4 will be described with reference to FIGS. FIG. 9 is a flowchart showing the movement 2 operation. In step 41, the user moves along the wall. Whether the Y coordinate in consideration of the error in step 42 has reached the minimum value Ymin, that is, the range in which the error by the error estimating means has been added to the Y coordinate by the position recognition means takes into account the error stored in the traveling range storage means. Check whether the minimum value of the Y coordinate is included. If not included, the movement along the wall is continued in step 41. If the range in which the error by the error estimating means is taken into account in the Y coordinate by the position recognizing means in step 42 includes the minimum value of the Y coordinate in consideration of the error stored in the traveling range storage means, in step 43, an obstacle is detected before the obstacle. Check if there is. If there is no obstacle, the moving along the wall is continued in step 41. If there is an obstacle, the process ends.
[0035]
FIG. 10 is a diagram showing a traveling example of the movement 2. Movement 2 is performed from the end position of the round running, and moves to the start position of the vertical running. If the Y coordinate considering the error becomes the maximum value Ymax and there is an obstacle before, the movement 2 is ended. In other words, even when an error occurs in position detection, erroneous termination can be reduced by the condition that termination is performed if there is a wall before.
[0036]
Next, the operation of the side running mode in step 5 will be described with reference to FIGS. FIG. 11 is a flowchart showing the operation in the side running mode. In step 51, the vehicle is set in the lateral traveling mode. In step 52, the vehicle travels in the lateral traveling mode, that is, reciprocates in the X direction parallel to the wall along the start of the orbiting mode. In step 53, it is confirmed whether or not the Y coordinate taking the error into consideration has reached the maximum value Ymax. That is, it is confirmed whether or not the range in which the error by the error estimating unit is considered in the Y coordinate by the position recognizing unit includes the minimum value of the Y coordinate in consideration of the error stored in the traveling range storage unit. In other words, if Ymax exists between a value (y-Ey) obtained by subtracting the error from the current Y coordinate y and a value (y + Ey) obtained by adding the error to the current Y coordinate y, it is regarded as the maximum value Ymax. If the Y coordinate taking the error into consideration is not the maximum value Ymax, the longitudinal reciprocation is continued in step 52.
[0037]
If the X coordinate including the error reaches the maximum value Ymax in step 53, it is determined in step 54 whether or not there is an obstacle before, and if there is an obstacle before, the process ends. If there is no obstacle before in step 54, reciprocation in the vertical direction is continued in step 52. In other words, even when an error occurs in position detection, erroneous termination can be reduced by the condition that termination is performed if there is a wall before. FIG. 12 is a diagram showing an example of traveling in the lateral traveling mode. Reciprocating traveling in the horizontal direction is performed from the start position of the lateral traveling, and when the Y coordinate taking into account the error becomes the maximum value Xmax and the front becomes an obstacle such as a wall, the longitudinal traveling ends.
[0038]
Next, the operation of the movement 3 in step 6 will be described with reference to FIGS. FIG. 13 is a flowchart showing the operation of the movement 3. In step 61, the user moves along the wall. In step 62, it is checked whether or not the (X, Y) coordinates considering the error have reached the start position, that is, the origin (0, 0). In step 61, the movement along the wall is continued. If it becomes the origin (0, 0) in step 62, the process ends. FIG. 14 is a diagram illustrating a running example of the movement 3. The movement 3 is performed from the end position of the lateral traveling, and moves to the traveling start position which is the end position. When the (X, Y) coordinates taking into account the error become the start position, that is, the origin (0, 0), the movement 3 ends. That is, the operation is stopped after returning to the position where the traveling started.
[0039]
FIG. 15 shows a diagram in which all traveling trajectories of the orbiting mode, the longitudinal traveling mode, and the lateral traveling mode are superimposed and displayed. As shown in FIG. 15, according to the present embodiment, furniture and the like are placed in a complicated arrangement, and the guide means is not used even during automatic traveling in a room or the like where position detection accuracy is difficult to obtain due to slippage of the floor or the like. Automatic driving can be performed throughout.
[0040]
A program according to a tenth aspect of the present invention causes a computer to function as a part of the self-propelled device according to any one of the first to ninth aspects. Since the program is a program, a part of the self-propelled device of the present invention can be easily realized using a general-purpose computer or a server. Further, by recording the program on a recording medium or distributing the program using a communication line, distribution and installation of the program can be easily performed. FIGS. 2, 3, 5, 7, 9, 11, and 13 show flowcharts of the programs in the above-described operation program.
[0041]
【The invention's effect】
As described above, according to the present invention, even when the furniture or the like is arranged in a complicated manner, and the position detection accuracy is not easily obtained due to slippage of the floor or the like, it is possible to automatically perform the automatic travel without using the guide means. Running equipment can be provided.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a self-propelled device according to a first embodiment of the present invention. FIG. 2 is a flowchart showing the same operation. FIG. 3 is a flowchart showing an operation in the same circuit mode. FIG. 5 is a flowchart showing an operation of the movement 1 FIG. 6 is a diagram showing a traveling example of the movement 1 FIG. 7 is a flowchart showing an operation of the same vertical traveling mode FIG. FIG. 9 is a flowchart showing an example of travel 2 of the same movement. FIG. 10 is a flowchart showing an example of travel of the same movement 2. FIG. 11 is a flowchart showing an operation of the same horizontal travel mode. FIG. 13 is a flowchart showing the operation of the movement 3; FIG. 14 is a diagram showing an example of the movement of the movement 3; FIG. 15 is a diagram showing the entire traveling locus; FIG. Schematic diagram of running equipment [Figure 17] The control mechanism of the self-propelled equipment To block diagram DESCRIPTION OF SYMBOLS
DESCRIPTION OF SYMBOLS 1 Main body 2 Running means 3 Travel control means 4 Mode control means 5 Autonomous control means 6 Obstacle recognition means 7 Side distance measuring means 8 Position recognition means 9 Travel range storage means 10 Travel planning means 11 Error estimation means

Claims (10)

Traveling means, mode control means for instructing a predetermined traveling pattern, autonomous control means for controlling the traveling means according to the mode control means, obstacle recognizing means for recognizing an obstacle ahead, and a traveling position. Position recognition means for recognizing, a traveling range storage means for storing a traveling range from a recognition position of the position recognition means during traveling, and an error estimating means for estimating an error of a recognition position of the position recognition means, A self-propelled device having a travel planning means for performing a travel plan based on information on a travel range stored in the travel range storage means, information on the obstacle recognition means, and an estimation result of the error estimation means. The mode control means is set to run in the room, a circulating mode for making a round around the room along the wall, a vertical running mode for performing reciprocating running perpendicular to the wall along the start of the circulating mode, 2. The self-propelled device according to claim 1, wherein the mode transition is performed in the order of the lateral traveling mode in which the vehicle reciprocates parallel to the wall, and the mode transition is performed to start the next mode. The position recognizing means outputs the position as the XY coordinates with the origin of the orbiting mode start point, the first wall direction along the X axis as the positive direction, and the 90 ° counterclockwise direction perpendicular to the X axis as the Y axis positive direction. The error estimating means outputs an error of each of the X coordinate and the Y coordinate output from the position recognizing means, and the traveling range storage means stores a minimum value of an error value added to the X coordinate in the orbiting mode, a Y coordinate. 3. The self-propelled device according to claim 2, wherein a minimum value of a value obtained by adding an error value to the maximum value, a maximum value of a value obtained by subtracting the error value from the X coordinate, and a maximum value of a value obtained by subtracting the error value from the Y coordinate are stored. The travel planning means uses the error estimation means, the position recognition means, and the travel range information stored in the travel range storage means to determine the end position of the orbit mode and the start position and end position of the vertical travel mode and the lateral travel mode. The self-propelled device according to claim 3, which determines. The travel planning means sets the end position of the orbiting mode when the origin of the X and Y coordinates as the orbiting mode start position is included in a range in which the X coordinate by the position recognition means and the error by the error estimating means are considered. 4. The self-propelled device according to 4. The travel planning means includes a start position of the longitudinal traveling mode, a range in which an error by the error estimating means is considered in the X coordinate by the position recognizing means includes a maximum value of the X coordinate stored in the traveling range storage means, and an obstacle recognizing means. 5. The self-propelled device according to claim 4, wherein the device recognizes an obstacle ahead. The travel planning means includes an end position of the longitudinal travel mode, a range in which an error by the error estimating means is considered in the X coordinate by the position recognizing means includes a minimum value of the X coordinate stored in the traveling range storage means, and an obstacle recognizing means. 5. The self-propelled device according to claim 4, wherein the device recognizes an obstacle ahead. The travel planning means includes a start position of the lateral traveling mode, a range in which an error estimated by the error estimating means is included in the Y coordinate by the position recognizing means includes a minimum value of the Y coordinate stored in the traveling range storage means, and an obstacle recognizing means. 5. The self-propelled device according to claim 4, wherein the device recognizes an obstacle ahead. The travel planning means determines the end position of the lateral travel mode, the range in which the error by the error estimating means is considered in the Y coordinate by the position recognizing means includes the maximum value of the Y coordinate stored in the traveling range storage means, and the obstacle recognizing means. 5. The self-propelled device according to claim 4, wherein the device recognizes an obstacle ahead. A program for causing a computer to function all or a part of the self-propelled device according to any one of claims 1 to 9.

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