JP2005141636A - Autonomous traveling device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem of a conventional autonomous traveling device wherein, in a room of varying floor conditions, a correction using a carpet stitch direction sensor can not provide travel control in a target direction. <P>SOLUTION: An autonomous traveling device comprises a carpet stitch direction sensor for detecting a lateral deviation, floor information storing means for storing a lateral deviation amount in every section, correction value calculating means for calculating a correction value from the floor information stored in the floor information storing means, and controlling means for providing travel control using the correction value by the correction value calculating means. Even if the flooring changes in a room, such control depending on surrounding conditions can realize an autonomous traveling device capable of more precise travel control deterring a deviation by the flooring. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an autonomous traveling device that travels through the entire room without hesitation.

  Conventional techniques (see, for example, Patent Documents 1 and 2) will be described with reference to FIGS.

  FIG. 1 is a diagram showing the movement of the autonomous traveling device 15 when traveling on a carpet as an example. However, the direction in which the autonomous mobile device wants to travel is defined as the Y direction, and the vertical direction of the Y direction is defined as the X direction. The direction of the carpet is the X direction. As shown in FIG. 1, when traveling on a carpet, the autonomous traveling device 15 that has traveled from the place 1 in the Y direction is poured into the carpet. When the vehicle travels a distance L in the Y direction, the autonomous mobile device 15 is finally flown to the place 2 and the lateral displacement amount in the X direction is Δl.

  When an experiment was conducted by changing floor materials such as various carpets and tatami mats, the lateral deviation amount Δl due to the carpet when the autonomous traveling device 15 traveled a distance L in the Y direction depends on the floor condition. That is, the angle at which the autonomous traveling device 15 is swept away by the flooring and the carpet angle α are determined almost uniquely. However, the carpet angle α is defined as α = arctan (Δl / L) using the travel distance L in the Y direction and the lateral shift amount Δl in the X direction.

  Therefore, as shown in FIG. 2, when the carpet angle α is known, in order to travel the autonomous traveling device 15 in the Y direction without being flowed by the flow of the floor material such as the carpet, the autonomous traveling device 15 It is necessary to correct the traveling direction in the direction of the angle -α. When the autonomous traveling device 15 travels a distance L in the Y direction, the amount of flow caused by the floor material in the X direction is Δl, and the travel width due to traveling of the autonomous traveling device 15 is −Δl, and the position 7 is 0 in the total X direction. You can travel.

  FIG. 3 is a diagram showing a correction method using the carpet sensor of the autonomous traveling device 15 actually. According to an experiment using an actual machine, in order to measure the amount of lateral displacement of the flooring using the autonomous traveling device 15, the carpet sensor 10 which is installed in the lower part of the autonomous traveling device 15 and freely rotates and contacts the floor Is shown to be good to set.

  As shown in FIG. 3, the autonomous traveling device 15 is reciprocated in the measurement range 8, the travel distance L in the Y direction, and the amount of lateral deviation Δl due to the flooring are measured, and the carpet angle α is obtained. Thereafter, the autonomous traveling device can travel in the Y direction without being swept through the carpet by performing traveling control in the angle -α direction, which is the opposite direction to the carpet angle α. However, the travel distance L can be obtained from L = Δt · V, assuming that the travel speed V is constant and the travel time Δt is known.

As described with reference to FIG. 1 to FIG. 3, according to the conventional technology, the floor material is measured by using the carpet sensor 10 to measure the lateral deviation Δl due to the floor material, and performs the traveling control based on the measured value. The autonomous traveling device can travel in the Y direction without being swept away.
Japanese Patent No. 3227710 Japanese Patent No. 3003260

  By using the above-described conventional technology, the lateral displacement amount Δl due to the flooring material is measured using the carpet sensor 10, and the traveling control based on the value is performed, so that the target direction is not flowed to the flooring material. The autonomous traveling device 15 can travel in the Y direction.

  However, the floor material in the traveling room needs to be constant as a condition for traveling the autonomous mobile device 15 without being flowed to the floor material by the conventional technique. In other words, as an example, it is not possible to perform well running control for a room where a certain place is flooring and a certain place is full. As shown in FIG. 3, the lateral deviation angle α obtained by the carpet sensor 10 is obtained, and thereafter the traveling control is performed at the lateral deviation angle α. Therefore, when the floor material becomes the lateral deviation angle β ≠ α during traveling, As a result, a deviation in the X direction β-α occurs during reciprocating travel.

  In order to solve the above problems, the present invention provides a motor and wheels for moving a main body, a carpet sensor for detecting a lateral shift caused by a carpet, a flooring, etc. when traveling the main body, and a lateral shift based on the value of the carpet sensor. Lateral deviation amount calculating means for calculating the amount, floor information storage means for storing the lateral deviation amount for each section as floor information, and correction value calculating means for calculating a correction value in the traveling direction from the floor information stored in the floor information storage means, The control means for controlling the travel of the main body is provided with the input of the sensor for measuring the correction value by the correction value calculating means and the distance around the main body.

  Then, the lateral displacement angle due to the flooring material for each section is measured, and the angle to be controlled is determined from the lateral displacement angle between adjacent ones, so even if the flooring material is changed in the room, control according to the surrounding situation It is possible to perform the traveling control of the autonomous traveling device that is less likely to be flowed to the flooring with higher accuracy.

  The autonomous traveling device of the present invention can flexibly cope with a change in floor material of a traveling room and can control the traveling of the autonomous traveling device in a target direction.

  1st invention calculates the amount of lateral displacement from the value of the motor and wheel which move a main body, the carpet sensor which detects the lateral displacement which arises on the floor surfaces, such as a carpet at the time of driving | running the said main body, and a flooring, and a carpet sensor Lateral deviation amount calculating means, floor information storage means for storing lateral deviation amount for each section as floor information, correction value calculating means for calculating a correction value in the traveling direction from floor information stored in the floor information storage means, and correction value Control means for performing travel control of the main body is provided with a sensor for measuring a correction value by the calculation means and a distance around the main body as inputs.

  Thereby, the lateral deviation angle by the floor material for every section is measured, and the angle to be controlled is determined from the lateral deviation angle of the adjacent sections. Therefore, even when the flooring is changed in the room, the control according to the surrounding situation can be performed, so that it is possible to perform the traveling control of the autonomous traveling device that is less likely to be flowed to the flooring.

  According to a second invention, in addition to the first invention, the control means changes the traveling speed of the main body according to the floor information in the floor information storage means.

  As a result, for example, if the carpet has a large lateral deviation angle, it will run slowly and carefully control the running. The corresponding autonomous traveling device can be controlled.

  In the third invention, in addition to the invention described in the first or second invention, the correction value calculating means receives the floor information from the floor information storage means and the lateral deviation amount of the lateral deviation amount calculating means as inputs and predicts from the floor information. When the difference between the predicted lateral deviation amount and the lateral deviation amount exceeds the floor threshold value stored in the floor threshold value storage means, the correction value for the travel direction of the main body is calculated using the lateral deviation amount. is there.

  As a result, when the difference between the predicted lateral deviation amount and the currently measured lateral deviation amount is large, traveling control of the autonomous traveling device is performed using the lateral deviation amount being measured, assuming that the flooring has changed.

  In addition to the invention described in any one of the first to third aspects, the fourth invention is configured to change the section according to the size of the room traveling on the floor information storage means.

  As a result, according to the situation of the flooring, by taking as an example, the carpet is more controllable by reducing the section width when the carpet is easy to change, and increasing the section width when flooring with small lateral displacement. It is possible to control an autonomous traveling device with good quality.

  According to a fifth aspect of the invention, in addition to the invention described in any one of the first to fourth aspects, an up / down variation sensor for measuring an up / down variation amount of the carpet sensor, an up / down variation amount and a floor by the up / down variation sensor. A traveling floor determination unit that determines the floor type on which the main body is traveling from the floor variation amount by the variation amount storage unit, and a floor information storage unit that stores the floor type as floor information in addition to the lateral deviation amount for each section. Is.

  Thereby, in addition to the lateral displacement angle, it can be stored as information on the type of flooring, and more flooring information can be stored.

  In a sixth aspect of the invention, the correction value determining means calculates a correction value for the traveling direction of the main body using the lateral displacement amount and floor type for each section by the floor information storage means.

  Thereby, in addition to the lateral slip angle, the traveling control of the autonomous traveling device can be performed using the information on the type of flooring material, and the traveling control of the autonomous traveling device can be performed more precisely.

  7th invention is the structure which changes the traveling speed of an autonomous traveling apparatus noting that a main body exceeded a level | step difference, when the amount of vertical fluctuation | variation which measures the amount of vertical fluctuations of a carpet sensor as a control means exceeds a level difference threshold value It is what.

  Thereby, when a level difference occurs, it is highly possible that the flooring will change, and the speed control of the autonomous traveling device is reduced, new flooring information is obtained, and the autonomous traveling device is controlled. Therefore, it is possible to minimize the expansion of the lateral displacement of the autonomous traveling device due to the change in the flooring material.

  According to an eighth aspect of the present invention, the correction value determining means is configured such that when the vertical fluctuation amount for measuring the vertical fluctuation amount of the carpet sensor exceeds the step threshold, the section is changed because the main body exceeds the step. It is.

  As a result, when a level difference occurs, the floor material is likely to change, and new floor material information is obtained, and a section corresponding to the floor material is set. Therefore, the traveling control of the autonomous traveling device can be performed more flexibly according to the change of the flooring.

  According to a ninth aspect of the present invention, when the vertical fluctuation amount for measuring the vertical fluctuation amount of the carpet sensor exceeds a maximum vertical threshold, the correction by the carpet sensor is stopped as the correction cannot be performed by the carpet sensor of the main body. It is what.

  The amount of vertical fluctuation of the carpet sensor may exceed the set threshold value when there is a large step, the sensor may be broken, etc., and the carpet sensor value may be measured correctly. Although it is not possible, by canceling the correction of the autonomous traveling control using the carpet sensor, the traveling of the autonomous traveling device is realized, although it is somewhat swept away by the carpet.

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

  Reference numeral 14 denotes a travel sensor that measures the travel distance of the autonomous travel device 15, and measures the travel distance r of the autonomous travel device 20 in contact with the flooring material in the same manner as the carpet sensor 10.

  Reference numeral 16 denotes a gyro sensor, which calculates an angle at which the autonomous traveling device 15 travels and outputs it as a travel angle φ.

  As shown in FIG. 5, the position determination means 17 obtains the amount of change (u1, v1) of the autonomous traveling device in the u direction and the v direction from the traveling angle φ of the gyro sensor 16 and the traveling distance r by the traveling sensor. The position (u, v) is determined by substituting it into the following formula.

u ← u + u1
v ← v + v1
However, as shown in FIG. 1, the Y direction is the direction in which the autonomous traveling device 15 wants to travel, and the X direction is the direction perpendicular to the direction in which the autonomous traveling device 15 wants to travel.

  Further, the X and Y axes indicating the movement amounts in the X and Y directions are in an absolute coordinate system with the origin (0, 0) as the starting point of the autonomous traveling device 15.

  The v and u directions are defined as the same directions as the Y and X directions, respectively. However, the u and v axes indicating the movement amounts in the u and v directions are relative coordinates of the autonomous traveling device with the origin (0, 0) as the starting point of the autonomous traveling device 15.

That is, when traveling in the room of FIG. 3, the autonomous traveling device is flowed in absolute coordinates by Δl in the X direction.
X ← u + Δl
Y ← v
It becomes.

In this embodiment, in order to finely set the section and perform position correction of the autonomous traveling device for each section,
X ≒ u, Y ≒ v
And

  As shown in FIG. 6, the section determination means 18 is configured such that the coordinates (u, v) of the autonomous traveling device 15 determined by the position determination means 17 are the section widths Δu and v-axis in the u-axis direction stored in the section width determination means 19. Each time the group group belonging to the direction section width Δv changes, a section change signal and section coordinates are output.

  However, for the segment coordinates (k, s), as shown in FIG. 6, the segment including the start position of the autonomous traveling device is set as (0, 0), and Δu moves in the u-axis direction and Δv in the v-axis direction. Change the segment coordinates every time.

  Reference numeral 10 denotes a carpet sensor for detecting a lateral shift amount of a flooring material such as a carpet. The carpet sensor 10 is a rotation angle sensor that can freely rotate 360 degrees, and can measure the direction of the carpet of the floor material in contact with the floor material by calculation of the sensor value calculation means 11.

Reference numeral 12 denotes a lateral deviation calculation means, which calculates the movement amount L of the autonomous traveling device in the u direction of the position determination means 8 and the movement amount Δl in the v direction by the carpet sensor 7 until there is a division change signal from the division determination means 18. Lateral displacement α = arctan (Δl / L)
Is output.

Further, when the segment change signal is input, the lateral shift angle αk, s of the section coordinates (k, s).
αk, s = arctan (Δl / L)
Is calculated and output as the lateral shift angle αk, s of the segment coordinates (k, s).

  Then, by setting L = 0 and Δl = 0, the movement amounts L and Δl within the section of the autonomous mobile device 15 are reset.

  The floor information storage means 13 stores the lateral deviation angles αk, s of the segment coordinates (k, s) output by the lateral deviation calculation means 8. Reference numeral 20 denotes correction value calculation means, which calculates the correction value γ of the autonomous traveling device for the autonomous traveling device 15 to travel in the Y direction from the floor information stored in the floor information storage means 13.

  The control means 21 receives the sensor 23 for measuring the distance to the obstacle around the autonomous traveling device 15 and the correction value γ of the correction value calculation means 16 as input, detects the obstacle based on the sensor value, turns during the reciprocating process, etc. If there is no reason, a control signal is output so that the autonomous traveling device 15 travels in the -γ direction as viewed from the Y axis so that the autonomous traveling device 15 travels in the Y direction. In addition, the motor control unit 22 controls the motor 25 that rotates the wheels of the autonomous traveling device 15 in accordance with the control signal from the control unit 21.

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

  The operation of the section determining unit 18 will be described with reference to FIG. FIG. 6 shows segmented coordinates (k, s) obtained by dividing the room in which the autonomous traveling device 15 travels by the size of Δu in the u (X) direction and Δv in the v (Y) direction. As shown in FIG. 6, the coordinates including the start position of the autonomous mobile device 15 are (0, 0), and k is added each time the division is changed in the u (X) direction, and the division is changed in the v (Y) direction. Add s every time.

  In the room of FIG. 6, coordinates in the u (X) direction and up to 4 in the v (Y) direction can be set. The division determination means 18 outputs a division change signal and a division coordinate every time the division coordinates (k, s) of the autonomous traveling device 15 change.

  Next, the operation of the correction value calculation means 20 will be described with reference to FIG. 7 as an example. FIG. 7 is a diagram illustrating a correction value calculation method when the autonomous traveling device 20 at the position 21 enters the segment coordinates (2, 3). At the same time, the lateral deviation angles αk and s in the respective sections are shown at the same time.

  The lateral shift angles α2, 3 predicted in the section (2, 3) are obtained as follows.

  Since the rooms are continuous, it is assumed that the lateral deviation angles αk and s in the adjacent sections have substantially the same value, and the predicted lateral deviation angle and the predicted lateral deviation amounts αk and s are calculated using the following equations. .

αk, s ← (αk, s-1 + αk-1, s) / 2
By using the above equation, the predicted lateral deviation angle α2,3 of the section (2,3) is obtained.

α2,3 ← (−2.0−3.2) /2=−2.6
Therefore, in order for the autonomous traveling device 20 to travel in the Y-axis direction without being swept through the carpet, traveling control may be performed so as to travel in the + 2.6 ° direction. Note that the method for obtaining the predicted lateral deviation angles αk, s described above is an example, and any method may be used as long as the direction can be calculated from the lateral deviation angles of other sections.

  The correction function calculation means 20 obtains the predicted lateral deviation angle αk, s from the floor information stored in the floor information storage means 13 as described above, and outputs the control angle −αk, s that the autonomous traveling device 15 travels. According to the operation of the correction function calculation means 20, the correction function value corresponding to the actual room condition is set for each section. Therefore, even when the floor material in which the carpet is placed on the flooring material is changed in the room. Since the control according to the surrounding situation can be performed, the traveling control of the autonomous traveling device 15 that is less likely to be flowed to the flooring can be performed with higher accuracy.

  Furthermore, a flowchart showing the operation of the present invention will be described as an example with reference to FIG.

  However, the coordinates of the traveling room were determined as shown in FIG.

When the circulation process is completed, the maximum values kmax and smax of the segment coordinates are calculated, and αk and s are set to k = 1 to kmax, s = 1 to smax.
(Flow charts 26 and 27).

  The reciprocating travel is started, and first, the values of the change amount L in the Y direction and the change amount Δl in the X direction are set to 0 (flow charts 28 and 29), respectively.

Next, while the autonomous traveling device 15 is traveling, the amount of change L in the Y direction and the amount of change Δl in the X direction are measured and the lateral deviation angle α = arctan (Δl / L) until the segment coordinates (k, s) change.
Obtain (flow chart 30, 31).

  When the segment coordinates (k, s) are changed, a segment change signal is output, and predicted lateral deviation angles αk, s are calculated (flow charts 31-34).

  The flowcharts 29 to 34 shown above are performed until the reciprocating process is completed, and the reciprocating process is completed (flowcharts 35 and 36).

  The invention of the first embodiment includes a motor that moves the autonomous traveling device, wheels, a carpet sensor that detects a lateral shift caused by a carpet, flooring, etc. when traveling the main body, and a value of the carpet sensor The lateral deviation amount calculating means for calculating the lateral deviation amount, the floor information storage means for storing the lateral deviation amount for each section as floor information, and the correction value calculation for calculating the correction value in the traveling direction from the floor information stored in the floor information storage means. And a control means for controlling the traveling of the autonomous traveling device by using the means, the correction value by the correction value calculating means, and a sensor for measuring the distance around the autonomous traveling device.

  According to the configuration and operation of the invention of the autonomous traveling device, the lateral deviation angle due to the floor material for each section is measured, and the angle to be controlled is determined from the lateral deviation angle of the adjacent sections. Therefore, even when flooring where carpets are placed on the flooring material changes in the room, control according to the surrounding conditions can be performed, so the autonomous traveling device is less likely to be washed away by the flooring Can be controlled.

(Embodiment 2)
Next, the configuration and operation of the second exemplary embodiment of the present invention will be described.

  2nd Embodiment adds the structure and operation | movement which set the speed of the autonomous traveling apparatus 15 matched with the floor state to the control means 21 compared with the structure and operation | movement of 1st Embodiment.

  Therefore, the configuration and operation of the following second embodiment will be described with a focus on differences from the first embodiment, and the other configuration and operation will be the same as those of the first embodiment.

  The configuration of the second embodiment will be described with reference to FIG. Reference numeral 37 denotes lateral displacement amount speed storage means, which outputs the speed of the autonomous traveling device corresponding to the lateral displacement amount of the floor information storage means 9 as lateral displacement amount speed. Next, the speed control means 38 outputs to the motor control means 22 so that the autonomous traveling device travels at the lateral deviation amount speed of the lateral deviation amount speed storage means 37.

  Next, the operation of the second embodiment will be described with reference to FIG. 10 as an example.

  FIG. 10 is a diagram showing a relational expression between the lateral shift angles αk, s and the traveling speed V (m / sec). However, the horizontal axis indicates the lateral shift angle αk, s, and the vertical axis indicates the traveling speed v.

  When the lateral shift angle αk, s is large, the amount of the autonomous traveling device that is flowed by the flooring material is large. In general, the change amount of the carpet sensor is also increased. Therefore, when the value of the carpet sensor is surely large while the autonomous traveling device 15 is traveling, the autonomous traveling device 15 is slowed down and travels carefully, and the true lateral deviation angles αk, s are obtained.

  As shown in FIG. 10, when the lateral deviation angle αk, s is large, the speed of the autonomous traveling device 20 is delayed to carefully determine the lateral deviation angle αk, s, and when the lateral deviation angle αk, s is small, the autonomous traveling device 20 Increase the speed to end the driving process quickly. The lateral deviation amount speed storage means 37 stores a relational expression between the lateral deviation angles αk, s and the traveling speed v shown in FIG. 10 shown as an example, and the traveling speed v is calculated from the lateral deviation amounts αk, s by the floor information storage means. Output.

  According to the configuration and operation of the second embodiment, the control means changes the travel speed of the main body according to the floor information in the floor information storage means.

  According to the configuration and operation of the invention of the second embodiment, as an example, when the carpet has a large lateral deviation angle, it travels slowly, carefully controls the traveling, and conversely the flooring with a small lateral deviation angle. Sometimes, by traveling faster, it is possible to control the autonomous traveling device that responds flexibly to the flooring.

(Embodiment 3)
In the third embodiment of the present invention, if the difference between the lateral deviation amount predicted by the correction value determining means and the lateral deviation amount currently measured is large, the configuration and operation using the lateral deviation amount being measured as the flooring has changed. Is added.

  Therefore, the configuration and operation of the invention of the third embodiment will be described focusing on the differences from the first embodiment, and the other configuration and operation will be the same as those of the first embodiment.

  First, the configuration of the third embodiment will be described with reference to FIG. In FIG. 11, reference numeral 40 denotes a used floor information selection unit, which includes a predicted lateral deviation angle αk, s, an actual lateral deviation amount α calculated by the lateral deviation calculation unit 12, and a floor threshold value Sα stored by the floor threshold storage unit 39. As an input. The used floor information selection means 40 compares the difference between the predicted lateral deviation angle αk, s and the lateral deviation amount α actually measured with the floor threshold value Sα, and determines a correction value to be used for the traveling control of the autonomous traveling device 15.

  Next, the operation of the third embodiment will be described with reference to FIG. FIG. 12 shows the lateral deviation angles αk, s when the autonomous traveling device 15 travels for each segmented coordinate in a room where the carpet 41 is laid on the flooring 42. When the predicted lateral shift angle αk, s is obtained by the method described in the first embodiment of FIG. 7, the predicted lateral shift angle α2, 3 of the section coordinates (2, 3) is + 0.2 °. However, since the flooring is changed from flooring to carpet at the section coordinates (2, 3), the actual lateral deviation angle is -3.2.

When the traveling direction of the autonomous traveling device 20 is corrected using the predicted lateral deviation angles α2 and 3 calculated above, the autonomous traveling device 20 deviates greatly because there is a large difference from the actual lateral deviation angle. Therefore, if the difference between the predicted lateral deviation angle α2, 3 and the actual lateral deviation angle α is greater than or equal to a certain value, it is assumed that the flooring has changed, and the lateral deviation amount used for the correction value is changed to the actual lateral deviation amount. Correspond. The floor information selection means 40 uses the difference between the predicted lateral deviation angle αk, s and the lateral deviation amount α Δα = | αk, s−α |> Sα.
When satisfying, α is used as the lateral deviation angle used in the traveling control of the autonomous traveling device 15 on the assumption that the flooring has changed.

  In the third embodiment, the correction value calculation means receives the floor information from the floor information storage means and the lateral deviation amount of the lateral deviation amount calculation means as inputs, and the difference between the predicted lateral deviation amount and the lateral deviation amount predicted from the floor information. When the floor threshold value stored by the floor threshold value storage means exceeds the lateral deviation amount, the correction value for the traveling direction of the main body is calculated.

  According to the configuration and operation of the invention of the third embodiment, if there is a large difference between the predicted lateral deviation amount and the currently measured lateral deviation amount, autonomous running using the lateral deviation amount being measured as the flooring has changed. It controls the running of the device. Therefore, the traveling control of the autonomous traveling device can be performed more flexibly even under room conditions where the flooring material changes frequently.

(Embodiment 4)
Next, the configuration and operation of the fourth embodiment of the present invention will be described.

  In the configuration and operation of the fourth embodiment, floor material information such as carpet and flooring determined from the up and down fluctuation amount of the carpet sensor is added in addition to the carpet angle α as floor information. Therefore, the configuration and operation of the fourth embodiment will be described with a focus on differences from the configuration and operation of the first embodiment, and other configurations and operations will be the same as those of the first embodiment. And

  The configuration of the fourth embodiment will be described with reference to FIG. Reference numeral 43 denotes an up / down fluctuation amount sensor, which measures the up / down fluctuation amount of the carpet sensor 10. The traveling floor determination unit 44 determines the material of the floor on which the autonomous traveling device 15 is currently traveling from the floor variation amount stored in the floor variation amount storage unit 45 and the vertical variation amount of the vertical variation sensor 43.

Next, the operation of the fourth embodiment will be described with reference to FIG. 14 as an example. FIG. 14 is a view showing the vertical fluctuation amount of the carpet sensor 7 when traveling on the carpet, flooring, and fold. However, the horizontal axis represents the strike distance L, and the vertical axis represents the vertical fluctuation amount Z. As shown in FIG. 14, since the up and down direction of the carpet is random, the vertical fluctuation amount Z also varies randomly with respect to the running distance L.

  Further, since the vertical direction of the flooring is constant, the vertical fluctuation amount Z is also constant with respect to the travel distance L. Furthermore, as shown in FIG. 14, the vertical direction of the fold changes with a constant period of traveling along the eyes of the fold, and similarly, the vertical fluctuation amount Z also periodically changes with respect to the strike distance L. .

  By knowing the change in the vertical fluctuation amount Z with respect to the strike distance L shown as an example above, the flooring on which the autonomous traveling device 20 is traveling can be known. The traveling floor determination means 44 uses the relationship between the running distance L and the vertical fluctuation amount Z stored in the floor fluctuation amount storage means 45 shown as an example in FIG. 14 by using the vertical fluctuation amount Z measured by the vertical fluctuation amount sensor 43. The flooring is determined by comparison.

  In the invention of the fourth embodiment, the main body travels from the vertical fluctuation sensor for measuring the vertical fluctuation quantity of the carpet sensor, the vertical fluctuation quantity by the vertical fluctuation sensor and the floor fluctuation quantity by the floor fluctuation storage means. In addition to the traveling floor determining means for determining the floor type and the amount of lateral displacement for each section, the floor type storage means for storing the floor type as floor information is also provided.

  According to the configuration and operation of the invention of the above embodiment, in addition to the lateral shift angle, it can be stored as information on the type of flooring, and more flooring information can be stored.

  Since the autonomous traveling device of the present invention can flexibly cope with a change in floor material of a traveling room and can control the traveling of the autonomous traveling device in a target direction, it can be used for household appliance robots such as cleaning robots. It can also be applied to.

The figure which showed the movement of the autonomous traveling device when traveling on the carpet The figure which showed the correction method by a carpet sensor The figure which showed the locus of the autonomous running device when carrying out actual carpet correction The figure which showed the structure of the autonomous traveling apparatus in the 1st Embodiment of this invention Diagram showing the principle of relative coordinates (u, v) The figure which showed the principle of division coordinates (k, s) The figure which showed the carpet correction method in the 1st Embodiment of this invention Flowchart of the first embodiment of the present invention The figure which showed the structure of the autonomous running apparatus in the 2nd Embodiment of this invention The figure which shows the relation between the side slip angle and the traveling speed The figure which showed the structure of the autonomous traveling apparatus in the 3rd Embodiment of this invention. The figure which showed the principle of operation of the 3rd Embodiment of this invention The figure which showed the structure of the autonomous running apparatus in the 4th Embodiment of this invention (A) Operation principle diagram in the carpet of the fourth embodiment of the present invention (b) Same as the operation principle diagram in the flooring (c) Same as the operation principle diagram in the folding

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Start position of autonomous traveling device 2 Turn position of autonomous traveling device 3 End position of reciprocating traveling of autonomous traveling device 4 Start position of autonomous traveling device 5 Predicted position of autonomous traveling device without correction 6 Direction of traveling of autonomous traveling device 7 Position of actual autonomous traveling device 8 Measuring range 9 Traveling room 10 Cargo sensor 11 Sensor value calculating means 12 Side shift calculating means 13 Floor information storage means 14 Traveling sensor 15 Autonomous traveling apparatus 16 Gyro 17 Position determining means 18 Section determining means 19 Section Width storage means 20 Correction value calculation means 21 Control means 22 Motor control means 23 Sensor 24 Wheel 25 Motor 37 Lateral displacement speed storage means 38 Speed control means 39 Use floor information selection means 40 Floor threshold value storage means 41 Carpet 42 Flooring 43 Vertical fluctuation Quantity sensor 44 Traveling floor determination means 4 Floor shift amount storage means

Claims (9)

Motors and wheels for moving the main body, a carpet sensor for detecting a lateral shift that occurs on the floor when traveling the main body, a lateral shift amount calculating means for calculating a lateral shift amount from the value of the carpet sensor, and a lateral shift for each section Floor information storage means for storing the amount as floor information, correction value calculation means for calculating a correction value in the traveling direction from floor information stored in the floor information storage means, correction values by the correction value calculation means, and distance around the body An autonomous traveling device provided with a control means for performing traveling control of the main body by using a sensor for measuring as input. The autonomous traveling device according to claim 1, wherein the control means changes the traveling speed of the main body according to the floor information in the floor information storage means. The correction value calculation means receives the floor information from the floor information storage means and the lateral deviation amount of the lateral deviation amount calculation means, and the floor threshold value storage means stores the difference between the predicted lateral deviation amount and the lateral deviation amount predicted from the floor information. The autonomous traveling device according to claim 1 or 2, wherein when the threshold value is exceeded, a correction value for the traveling direction of the main body is calculated using a lateral deviation amount. The autonomous traveling device according to any one of claims 1 to 3, wherein the floor information storage means is configured to change the section according to the size of the traveling room. A vertical movement sensor for measuring the vertical fluctuation amount of the carpet sensor, and a traveling floor determination for determining the floor type on which the main body is traveling from the vertical fluctuation amount by the vertical fluctuation sensor and the floor fluctuation amount by the floor fluctuation storage means. 5. The autonomous traveling device according to claim 1, further comprising floor information storage means for storing the floor type as floor information in addition to the means and the lateral displacement amount for each section. 6. The autonomous traveling device according to claim 5, wherein the correction value determining means is configured to calculate a correction value of the traveling direction of the main body using the lateral deviation amount and floor type for each section by the floor information storage means. The control means is configured to change the traveling speed of the main body assuming that the main body exceeds the step when the vertical fluctuation amount sensor amount for measuring the vertical fluctuation amount of the carpet sensor exceeds the step threshold value. Or the autonomous traveling apparatus of 6. The correction value determining means is configured to change the section because the main body exceeds the step when the vertical fluctuation amount sensor amount for measuring the vertical fluctuation amount of the carpet sensor exceeds the step threshold value. 8. The autonomous traveling device according to any one of items 7. The control means is configured to stop the correction by the carpet sensor because it cannot be corrected by the carpet sensor of the main body when the vertical fluctuation sensor amount that measures the vertical fluctuation amount of the carpet sensor exceeds the maximum vertical threshold The autonomous traveling device according to any one of claims 5 to 8.

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