JP2005080834A - Autonomous travelling apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem that detection of work finish is precisely performed since the coordinates of the room of an autonomous travelling apparatus cannot be measured precisely due to the deviation of a travelling sensor caused by slippage on the floor of a room or the deviation of a gyro sensor caused by impact in the autonomous travelling apparatus. <P>SOLUTION: The autonomous travelling apparatus 10 is provided with a past room information storage means 1 for storing information of a past room and a room information storage means 2 for storing information of a present room, and compares the past information with the present room information to decide a traveling control pattern. Since a work finish detection system which is the most suitable one among the control patterns of rooms where the device having travelled in the past can be used by this, for example, detection of work finish of the room is reliably performed. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an autonomous traveling device that travels through an entire room.

  As for the prior art, there is Patent Document 1 having the following contents. The contents will be described with reference to FIGS.

  First, the traveling process of the autonomous traveling device 10 will be described with reference to FIGS. 10 and 11.

  FIG. 10 shows a traveling room. However, the lower left corner of the room is coordinates (0, 0), the lower right corner is (X1,0), the upper left corner (0, Y0), and the upper right corner (X1, Y0).

  The autonomous traveling device 10 travels over the entire surface of the room for purposes such as floor cleaning and floor wiping, for example. That is, for example, the vehicle travels from the room coordinates (0, 0) in FIG. 10 and travels through the entire room while repeating the reciprocating travel to the coordinates (X1, Y0).

  Next, the traveling process of the autonomous traveling device 10 will be described with reference to FIG.

  The autonomous mobile device 10 performs a turning process of turning counterclockwise along the wall of the room. Since the autonomous traveling device 10 travels along the wall of the room, the autonomous traveling device 10 can know the size of the traveling room, for example, the coordinates of the stain in the room in FIG.

  Next, the reciprocating process for reciprocating the entire room is performed from the right corner (0, 0) of the room, and the reciprocating process is terminated when the entire room is traveled.

  Next, reciprocal travel will be described with reference to FIG.

  First, the autonomous mobile device 10 travels in parallel with the reference wall and in the upward direction in FIG. 10 until it reaches the wall. When reaching the wall, the vehicle travels in the vertical direction of the reference wall by the size of the autonomous traveling device 10. Next, the vehicle travels in parallel with the reference wall and reaches the wall in the downward direction of FIG. And if it reaches | attains a wall, it will drive | work to the perpendicular | vertical direction of a reference | standard wall by the magnitude | size of the autonomous mobile device 10.

  By repeating the traveling described above as one traveling in the reciprocating traveling process, the entire room can be traveled without hesitation.

In addition, when the autonomous traveling device 10 reaches the coordinates (X1, Y1) of the room, the reciprocating traveling process is terminated assuming that the entire room is terminated.
Japanese Patent Laid-Open No. 6-14857

  In the above conventional technique, when the autonomous traveling device 10 reaches the coordinates (X1, Y1) of the room, the entire room is terminated. According to the above method, since the vehicle travels from one end of the room to the other, the entire room can be cleaned without hesitation.

  However, if the room coordinates (x, y) of the autonomous traveling device 10 cannot be accurately measured due to the displacement of the traveling sensor due to slipping of the floor of the room and the displacement of the gyro sensor due to impact, the end detection cannot be made accurate. .

  In the worst case, the vehicle travels until the battery of the autonomous mobile device 10 runs out.

  In order to solve the above problems, in the present invention, past room information storage means for storing past room information, room information storage means for storing current room information, past information by the past room information storage means, Comparing the room information by the room information storage means, the room information comparison means for outputting the comparison result as a room number signal, and the room number signal of the room information comparison means as input, storing the control pattern of the past autonomous traveling device, Past control pattern storage means for outputting a past control pattern according to the room number signal, sensor value output means for outputting a value of a sensor installed in the autonomous traveling device, and past control patterns and sensor values by the past control pattern storage means Control pattern determination means for determining the control pattern of the autonomous mobile device using the sensor value from the output means as input is provided.

  The configuration and operation of the above invention determine the most suitable control pattern with reference to the control pattern when the autonomous traveling device has traveled in the same room in the past. As an example, since the most suitable end detection method among the control patterns of rooms that have traveled in the past can be used, the end of the room can be reliably detected.

  Also, by analyzing past control patterns and room information, it is possible to know the room shape, furniture layout and actual room shape that the autonomous mobile device was thinking about, and deviations in furniture layout, and to correct the sensor Therefore, a more accurate position of the autonomous traveling device can be recognized.

  The autonomous traveling device of the present invention can determine the most suitable control pattern with reference to the control pattern when traveling in the same room in the past.

  In addition, by analyzing past control patterns and room information, the position of the autonomous traveling device can be recognized more accurately, and the autonomous traveling device can be controlled in a more accurate and stable state. is there.

  The invention of claim 1 is based on past room information storage means for storing past room information, room information storage means for storing current room information, past information by room information storage means, and room information storage means. The room information comparison means for comparing the room information and outputting the comparison result as a room comparison signal, the past control pattern storage means for storing the control pattern of the past autonomous traveling apparatus, and the value of the sensor installed in the autonomous traveling apparatus A control pattern for determining the control pattern of the autonomous traveling device by inputting the sensor value output means to output, the room comparison signal by the room information comparison means, the past control pattern by the past control pattern storage means, and the sensor value by the sensor value output means It has a determination means.

  According to the configuration and operation of the first aspect of the invention, the most suitable control pattern is determined with reference to the control pattern when the autonomous traveling device has traveled in the same room in the past. As an example, since the most suitable end detection method among the control patterns of the rooms that have traveled in the past can be used, the end of the room can be reliably detected.

  Also, by analyzing past control patterns and room information, it is possible to know the room shape, furniture layout and actual room shape that the autonomous mobile device was thinking about, and deviations in furniture layout, and to correct the sensor Therefore, a more accurate position of the autonomous traveling device can be recognized.

  Therefore, by using failure and success data when traveling in the past, the autonomous traveling device can be controlled in a more accurate and stable state.

  Next, in the invention of claim 2, in addition to the invention of claim 1, the room information comparison means compares the room information by the room information storage means with the past room information by the past room information storage means, and stores the past room information storage. The room number having the most similar information among the previously traveled rooms stored by the means is output as a comparison signal.

  According to the configuration and operation of the second aspect, the traveling data of the autonomous traveling device is compared with the traveling data of the rooms that have traveled in the past, and similar rooms are selected.

  By referring to the running data when traveling in similar rooms, you can know the furniture arrangement of the room, the degree of dust scatter, and the end detection method of the autonomous traveling device, so more accurate and stable autonomous traveling The device can be controlled.

  In addition to the invention of any one of claims 1 and 2, the invention of claim 3 is the past room size stored in the past room information storage means and the room size by the room information storage means. It is set as the structure which compares thickness.

  According to the configuration and operation of the invention of claim 3, it is possible to easily calculate the size of the traveling room using the traveling sensor and the gyro sensor installed in the autonomous traveling device.

  Further, since the room sizes can be easily compared, past room information can be easily and quickly searched.

  Further, in addition to the invention according to any one of claims 1 to 3, the invention of claim 4 is the lap time and room that travels around the past room stored in the past room information storage means by the room information comparison means. In this configuration, the lap times by the information storage means are compared.

  According to the configuration and operation of the invention of claim 4 above, even if the values of the traveling sensor and gyro sensor for measuring the position of the autonomous traveling device deviate, the past room search can be performed in a stable state by the lap time. it can.

  In addition to the invention of any one of claims 1 to 4, the invention of claim 5 is based on the furniture arrangement and the room information storage means in the past traveling of the past room stored in the past room information storage means by the room information comparison means. It is set as the structure which compares the furniture arrangement | positioning at the time of circular driving | running | working.

  According to the configuration and operation of the invention of claim 5 above, the furniture arrangement is the least changeable among those present in the room, and the search with the past room information using the furniture arrangement is the most stable search result. Can be obtained.

  According to a sixth aspect of the present invention, in addition to any one of the first to fifth aspects of the invention, the control pattern determining means includes the room number of the comparison signal by the room information comparing means in the past control pattern by the past control pattern storage means. The same room number is selected, and the first control pattern of the autonomous traveling device that travels is selected.

  According to the configuration and operation of the invention of claim 6, the control pattern of the autonomous traveling device is determined with reference to the control pattern when traveling in the same room in the past, and has succeeded or failed in the past. Since the control pattern is based on the case, the autonomous control device can be controlled more accurately and reliably.

  Further, the invention of claim 7 is configured such that the control pattern determining means is the second control pattern of the autonomous traveling control device that travels according to the sensor value by the sensor value output means, and has not been present when traveling in the past. Even if there is an obstacle such as a furniture arrangement in the room or a person, it can flexibly respond.

  The invention according to claim 8 is configured such that the control pattern determining means preferentially uses the second control pattern when the first control pattern and the second control pattern exist. According to the configuration and operation of the invention of item 8, an autonomous traveling device that performs safer traveling can be provided by using the second control pattern capable of urgent response.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments.

(Embodiment 1)
The configuration and operation of the first embodiment will be described below.

  First, the configuration of the first embodiment will be described with reference to FIG.

  Reference numeral 1 denotes past room information storage means that stores information on the size, floor state, obstacles, and the like related to a room in which the autonomous mobile device 10 has traveled in the past.

  Reference numeral 2 denotes room information storage means, which stores information on the room in which the autonomous mobile device 10 is currently traveling, such as size, floor condition, and obstacles, in the order of the room numbers.

  When the traveling of the autonomous traveling device 10 ends, the room information storage unit 2 adds the room number to the room information and stores it as one of the past room information in the past room information.

  The room information comparison unit 3 receives the past room information stored in the past room information storage unit 1 and the room information stored in the room information storage unit 2 as inputs.

  The room information comparison unit 3 compares the room information stored in the room information storage unit 2 with the past room information, selects the most similar room among the past room information, and outputs it as the room number.

  Reference numeral 4 denotes past control pattern storage means for organizing and storing control patterns of rooms that have traveled in the past for each room number.

  The past control pattern storage means 4 outputs the control pattern which is the room number by the room information storage means 3 as the room number control pattern.

  The sensor value output means 6 converts the output of the sensor 7 installed in the autonomous traveling device 9 into a distance, temperature, angle, etc., and outputs it as a sensor value.

  The control pattern determining means 5 receives the sensor value of the sensor value output means 6 and the room number control pattern of the past control pattern storage means 4 and determines the control pattern of the autonomous traveling device 10 that is currently traveling.

  The control pattern storage means 5 stores the control pattern of the autonomous control device 10 that is currently traveling, and when the travel of the autonomous travel device 10 ends, the control pattern is added to the past control pattern with the room number by the room information comparison means 3. Add to one of the.

  The drive motor means 8 for driving the wheels controls the movement of the autonomous traveling device 10 according to the control pattern of the control pattern determining means 5.

  Next, the operation of the first embodiment will be described.

  First, the operation of the room information comparison unit 3 will be described as an example with reference to FIGS. 2, 3, and 4.

  As shown in FIG. 2, the autonomous traveling device 10 first travels around the traveling room as the first step. And it shall run in a room as the next process.

  In the rounding process of running around, the shape, width, and length of the room can be measured by running through the corners of the room.

  FIG. 3 shows the length, width, and shape of the room, taking as an example the room information stored in the past room information storage means 1 and the room information storage means 2 acquired in the rounding process of the autonomous traveling device 10.

  In the room information comparison means 3, the room information in the past room information storage means 1 and the room information in the room information storage means 2 shown in FIG.

  The operation of the room information comparison unit 3 will be described as an example using the flowchart of FIG.

  First, room information and area S0 by the room information storage means 1 are input (flow chart 11). Next, an absolute value αi = | SO−Si | with n pieces of room information, Si (where i = 1 to n) stored in the past room information storage means 2 is obtained (flow chart 12).

  Then, αj having the smallest absolute value is obtained, and when the value is smaller than the reference value ε, the room number j is set as the room number k of the currently traveling room (flow charts 13 and 14). If it is larger, 1 is added to the maximum value jmax of the current room number to update the maximum value of the room number, and the current room number k is set to jmax (flow chart 15).

  In other words, if there is information about the room that is almost the same in the room information so far, it is determined as the same room, otherwise it is determined as a different room.

  As shown in the flowchart of FIG. 3, it is possible to determine whether or not the vehicle has traveled in the past by comparing the information on the traveling room with the information on the past room.

  Therefore, the room number can be determined by comparing the past room information in the past room information storage means 1 and the room information currently running in the room information storage means 2 by the room information comparison means 3.

  In the above description, the room area is used as the room information used when determining whether or not the vehicle has traveled in the past. However, other room information such as the vertical length and the horizontal length is also used. Any information may be used as long as it can be determined using room information.

  Further, the operation relating to the room identification determination of the room information comparison unit 3 will be described in detail with reference to FIGS. 5, 6, and 7 as an example.

  FIG. 5 illustrates two of the rooms that are currently running and those that have been run in the past. However, at the same time, the locus of the autonomous vehicle, the width of the room, and the depth were also shown.

  As shown in FIG. 5, by comparing the size, width, and depth of a room, it is possible to know whether the room is the same as the room that is currently running.

  It is easy to calculate the size of a room using a gyro sensor and a running sensor, and it is also possible to quickly compare the size of rooms, making it easy to search past room information. And it can be done speedily.

  FIG. 6 depicts two rooms out of rooms that are currently running and rooms that have been run in the past. However, at the same time, the trajectory of the autonomous traveling device and the time taken for the rounding process are also shown.

  The traveling time for traveling around the room is determined by the length of the room circumference when the traveling speed is constant. Since the perimeter of the room is determined by the furniture arrangement, the size of the room, etc., the furniture arrangement and the size of the room can be known by knowing the traveling time of the room.

  Therefore, it is possible to determine whether or not the user has traveled in the past by measuring the travel time of the room and comparing the past travel time.

  In addition, the travel time for traveling around is determined by the environment such as travel speed, room furniture layout, size, etc., regardless of the accuracy of the travel sensor and gyro sensor, which are likely to cause sensor deviation. Even when the values of the running sensor and the gyro sensor to be measured are shifted, the past room search can be performed in a stable state depending on the lap time.

  FIG. 7 depicts two rooms out of the currently traveling room and the past traveling room. However, at the same time, the locus of the autonomous vehicle was also shown.

  In FIG. 7, furniture placed near the walls of the room, especially large and heavy furniture, for example, refrigerators and wedding dances do not move frequently, they always exist in the same place, and even if they move, the same room It is thought to move at.

  Therefore, it is possible to determine whether the room has traveled in the past by measuring the size of furniture installed in the room while traveling around the room and examining information on past furniture.

  As shown in FIG. 7, even if the rooms are the same size, furniture is installed according to the purpose of the room, bedroom, living room, kitchen, etc., so the size and location of the furniture are known. Thus, the room can be more accurately identified.

  As described above, it is possible to identify a room by knowing the size of the room, the time of the circulation process, the arrangement of the furniture, and the size.

  The room can be identified in a stable state in any case by changing the determination method according to the purpose of the autonomous traveling device 10, for example, the purpose of traveling quickly or slowly.

  Next, the operation of the past control pattern storage unit 4 will be described with reference to FIG. 8 as an example.

  FIG. 8 is a diagram illustrating the movement of the autonomous traveling device 10 when traveling in a certain room. In the case of FIG. 8 (a), the obstacle was not detected well, so it hit the obstacle. In FIG. 8 (b), the obstacle was detected, so it was good without hitting the obstacle. I was able to travel to.

  If the autonomous traveling device 10 can travel in the room based on the information shown in FIGS. 8A and 8B, it knows in advance information such as the position of the obstacle and the location where the obstacle is erroneously detected. You can run smoothly without hitting an obstacle.

  The past control pattern storage means 4 extracts a control pattern having the same room number as the room number of the room information storage means 3 from the control pattern database and outputs it as a room number control pattern.

  Next, the operation of the control pattern determining means will be described with reference to FIG. 9 as an example.

  FIG. 9 shows a control pattern when traveling in the past in a room having the same room number as the room where the autonomous traveling device 10 is traveling, and the furniture arrangement of the traveling room.

  As shown in FIG. 9, since furniture is arranged at a position different from the past at points a and b, the autonomous mobile device 10 will hit the furniture when traveling in the past control pattern. .

  Therefore, although not detected in the past, when furniture is detected by the sensor value by the sensor value output means 6, the furniture avoidance operation is performed regardless of the contents of the past control pattern, thereby enabling safer driving. It can be carried out.

  Further, in the normal case, by controlling the autonomous traveling device 10 based on the past control pattern, the most suitable control pattern can be obtained with reference to the control pattern when the autonomous traveling device has traveled in the same room in the past. Can be determined, and more reliable driving can be performed.

  As described above, the autonomous traveling device according to the present invention refers to the control pattern when traveling in the same room in the past, determines the most suitable control pattern, and realizes reliable and safe traveling of the autonomous traveling device. Therefore, it can be adapted to uses such as cleaning robots and security robots.

The figure which shows the structure of the autonomous traveling apparatus in Embodiment 1 of this invention. The figure which shows the structure of the room where the autonomous traveling device travels (A) The same figure which shows the operation | movement which a past room information storage means memorize | stores. (B) The same figure which shows the operation | movement which a room information storage means memorize | stores. A flowchart showing the operation of the room information comparison means (A) The figure which shows the operation | movement which the past room information storage means for showing the comparison method of a 1st room comparison means memorize | stores (b) The figure which shows the operation | movement which a room information storage means memorize | stores (A) The figure which shows the operation | movement which the past room information storage means for showing the comparison method of a 2nd room comparison means memorize | stores (b) The figure which shows the operation | movement which a room information storage means memorize | stores (A) The figure which shows the operation | movement which the past room information storage means for showing the comparison method of a 3rd room comparison means memorize | stores (b) The figure which shows the operation | movement which a room information storage means memorize | stores (A) The figure which shows the operation | movement which a past control pattern memory | storage means memorize | stores. (B) The figure which shows the other operation | movement which a past control pattern memory | storage means memorize | stores. (A) The figure which shows the operation | movement which the past room information storage means for showing operation | movement of a control pattern determination means memorize | stores (b) The figure which shows the operation | movement which a room information storage means memorize | stores The figure which shows the structure of the room which the conventional autonomous traveling apparatus drive | works The figure which shows operation | movement of the reciprocating process of the conventional autonomous traveling apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Past room information storage means 2 Room information storage means 3 Room information comparison means 4 Past control pattern storage means 5 Control pattern determination means 6 Sensor value output means 7 Sensor 8 Motor drive means 9 Wheel 10 Autonomous traveling device

Claims (8)

The past room information storage means for storing past room information, the room information storage means for storing current room information, the past information by the past room information storage means, and the room information by the room information storage means are compared and compared. The room information comparison means for outputting the result as a room number signal, and the room number signal of the room information comparison means as input, the past control pattern of the autonomous mobile device is stored, and the past control pattern is output according to the room number signal Autonomous traveling device using control pattern storage means, sensor value output means for outputting the value of a sensor installed in the autonomous traveling device, past control pattern by past control pattern storage means, and sensor value by sensor value output means as inputs An autonomous traveling device provided with control pattern determining means for determining the control pattern. The room information comparison unit compares the room information stored in the room information storage unit with the past room information stored in the past room information storage unit, and has the most similar information in the past traveled rooms stored in the past room information storage unit. The autonomous traveling device according to claim 1, wherein the room number is output as a room number signal. The autonomous traveling device according to claim 1 or 2, wherein the room information comparison means compares the past room size stored in the past room information storage means with the room size by the room information storage means. The room information comparison unit is configured to compare a lap time for traveling around a past room stored in the past room information storage unit and a lap time by the room information storage unit. Autonomous traveling device. The room information comparing means is configured to compare the furniture arrangement at the time of round traveling of the past room stored in the past room information storage means with the furniture arrangement at the time of round running by the room information storage means. 2. The autonomous traveling device according to item 1. The control pattern determining means selects the first control pattern of the autonomous traveling device that travels by selecting the one having the same room number as the room number of the comparison signal by the room information comparing means from the past control patterns by the past control pattern storage means. The autonomous traveling device according to any one of claims 2 to 5, wherein the autonomous traveling device is configured to output. The autonomous traveling device according to any one of claims 1 to 6, wherein the control pattern determining means outputs a second control pattern of the autonomous traveling control device that travels according to the sensor value by the sensor value output means. The autonomous traveling device according to claim 7, wherein the control pattern determination unit preferentially uses the second control pattern when the first control pattern and the second control pattern exist.

Images