JP2008191738A - Autonomous running device, program and recording medium - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an autonomous running device designed to be able to accurately detect the end of a reciprocating running process. <P>SOLUTION: The autonomous running device includes a room information storage means 1 for storing room information; a reciprocation time calculating means 2 for calculating the reference number of times of reciprocation on the basis of the room information and outputting it as a basic number of times of reciprocation; a running time calculating means 3 for calculating basic running time on the basis of the basic number of times of reciprocation; an end time input means 4; a running start time determining means 5 for determining the start time of running based on the basic running time and end time; a measured running time means 6; and a running process end determining means 7 for determining that a running process has ended, at the input of the basic running time and the running time measured by the measured running time means 6. In this way, the basic running time is determined according to room and the end of the running process is determined at the input of the basic running time and the running time, whereby the end of reciprocating running can be accurately determined using a very simple arrangement. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an autonomous traveling device, a program, and a recording medium that travels through the entire room.

Conventionally, it is known that in an autonomous traveling device, the end of a reciprocating process is determined by a preset number of reciprocating processes so that the reciprocating process can be accurately terminated even when the sensor is deviated in the reciprocating process ( For example, see Patent Document 1).
JP 2005-44266 A

  However, although the above-described conventional configuration can detect the end of the reciprocating process, the accuracy of the detection is lacking depending on the state of the room in which the vehicle travels only by the number of reciprocating operations.

  SUMMARY OF THE INVENTION The present invention solves the above-mentioned conventional problems, and an object thereof is to provide an autonomous traveling device, a program, and a recording medium that can accurately detect the end of a reciprocating traveling process.

  In order to solve the above-described conventional problems, an autonomous traveling device of the present invention includes a room information storage unit that stores information on a traveling room, and a room direction that is stored in the traveling room information storage unit, and is used as a reference wall direction. A round trip number calculating means for calculating the number of round trips and outputting as a basic round trip number, a running time calculating means for calculating a basic running time from a basic round trip number by the round trip number calculating means, and an end time input means for inputting an end time; The travel start time determining means for determining the travel start time from the basic travel time of the travel time calculating means and the end time of the end time input means, the measured travel time means for measuring the travel time, and the basic travel time by the travel time calculating means And travel process end judging means for judging the end of the travel process using the travel time by the measured travel time means as an input.

  As a result, the basic travel time is determined according to the room, and the end of the travel process is determined using the basic travel time and the travel time measured by the travel time means as inputs, so the end of the round trip with a very simple configuration and high accuracy. Can be judged.

  In addition, the program and recording medium of the autonomous mobile device of the present invention can realize at least a part of the functions of the autonomous mobile device on a computer, and can easily distribute / update and install the program.

  The autonomous traveling device, the program, and the recording medium of the present invention can determine the end of the reciprocating traveling with a very simple configuration and with high accuracy.

  The first invention calculates the number of reciprocations in the reference wall direction from the room information stored in the traveling room information storage means and the room information storage means for storing information on the traveling room, and outputs it as the basic number of reciprocations. Reciprocating frequency calculating means, traveling time calculating means for calculating basic traveling time from basic reciprocating times by the reciprocating frequency calculating means, end time inputting means for inputting end time, and basic traveling time and end time of traveling time calculating means A travel start time determining means for determining the travel start time from the end time of the input means, a measured travel time means for measuring the travel time, a basic travel time by the travel time calculating means and a travel time by the measured travel time means as inputs The autonomous traveling device is provided with traveling process end judging means for judging the end of the process. As a result, the basic travel time is determined according to the room, and the end of the travel process is determined using the basic travel time and the travel time measured by the travel time means as inputs, so the end of the round trip with a very simple configuration and high accuracy. Can be judged.

  In the second invention, in particular, in the first invention, the round trip number calculating means is configured to calculate the round trip number from the size of the traveling room, so that the optimal number of round trips can be obtained without waste in any room, It saves time and energy while traveling on all floors.

  According to a third aspect of the present invention, in particular, in the first or second aspect of the invention, the round trip number calculating means is configured to calculate the number of round trips from the area of the traveling room. Since it is possible to detect the end of the reciprocating process in consideration of sensor deviation, it is possible to detect the end of the reciprocating process more stably.

  According to a fourth aspect of the invention, in particular, in any one of the first to third aspects of the invention, the reciprocation number calculating means is configured to calculate the reciprocation number from the floor surface state, so that the autonomous traveling device travels according to the traveling state. Since it is possible to detect the end of the reciprocating process in consideration of the deviation, it is possible to detect the end of the reciprocating process more stably.

  According to a fifth aspect of the invention, in particular, in any one of the first to fourth aspects of the invention, the travel process end determination means may determine the end of the travel process based on the travel distance. Even if the end detection cannot be performed, the end can be completed by the travel distance, and therefore the end detection can be performed in any case.

  According to a sixth aspect of the present invention, in particular, in any one of the first to fifth aspects of the invention, the travel process end determination means is configured to determine the end of the travel process also based on the battery voltage. Even if the end detection cannot be performed, the end detection can be performed in any case by ending the travel time when the battery usage is reduced. Further, since the battery voltage is constantly monitored, the battery capacity is reduced, and the autonomous traveling device can be prevented from stopping during the reciprocating traveling process.

  Since the seventh invention is a program, in particular, by making a program for executing at least a part of the functions of the autonomous mobile device in any one of the first to fifth inventions by a computer, the autonomous mobile device At least part of the functions can be realized on a computer.

  In the eighth aspect of the invention, in particular, by using a computer-readable recording medium on which the program of the seventh aspect is recorded, the program can be easily distributed / updated and installed.

  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)
1-5 has shown the autonomous traveling apparatus in Embodiment 1 of this invention.

  As shown in FIG. 1, the room information storage unit 1 stores information such as a size, an area, a floor surface state, and an obstacle related to a room in which the autonomous traveling device 10 travels. The round trip number calculating means 2 calculates the number of times the autonomous traveling device 10 makes a round trip based on the room information stored in the room information storage means 1 and outputs it as the basic round trip number. The travel time calculation means 3 calculates a basic travel time from the basic reciprocation count by the reciprocation count calculation means 2 and outputs it.

  The end time input means 4 can input the end time of the autonomous mobile device 10 by the user. The travel start time determining means 5 determines the travel start time of the autonomous travel device 10 using the basic travel time and end time input means 4 by the travel time calculating means 3 as inputs. This travel start time is a time obtained by subtracting the basic travel time from the end time by the end time input means 4 and is output to the control means 8. As an example, if the basic travel time is 2 hours and the scheduled end time is 12:00:00, the travel start time is 10:00:00.

  The measured travel time means 6 measures the travel time of the autonomous travel device 10. The travel process end judging means 7 compares the basic travel time by the travel time calculating means 3 and the travel time by the measured travel time means 6 to judge whether or not the travel process is finished, and to make a round trip to finish the round trip process. An end signal is output to the control means 8.

  When the travel start time by the travel start time determining means 5 is reached, the control means 8 drives the travel motor 9 to start the travel of the autonomous traveling device 10, and when the round trip end signal from the travel process end determination means 7 is input. The driving of the traveling motor 9 is stopped and the autonomous traveling device 10 is automatically controlled to stop traveling.

  Next, the operation of the autonomous traveling device 10 will be described with reference to FIGS.

  First, the traveling process of the autonomous traveling device 10 will be described. FIG. 2 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 (0, Y0), and the upper right (X1, Y1).

  For example, the autonomous mobile device 10 travels over the entire room for purposes such as floor cleaning and floor cleaning. That is, for example, the vehicle travels from the room coordinates (0, 0) in FIG. 2 and travels through the entire room while reciprocating to the coordinates (X1, Y1).

  First, the autonomous mobile device 10 performs a turning process of turning counterclockwise along the wall of the room. The autonomous traveling device 10 can know the size of the traveling room, for example, the corner coordinates of the room, by traveling around the wall of the room. Next, a reciprocating process for reciprocating the entire room is performed from the lower left (0, 0) of the room, and the reciprocating process is terminated when the entire room is traveled.

  As shown in FIG. 3, in the reciprocating traveling process, the autonomous traveling device 10 travels parallel to the reference wall and upwards until reaching 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 in 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 traveling apparatus 10. FIG. By repeating this traveling as one traveling in the reciprocating traveling process, the entire room can be traveled without hesitation.

  As a method for detecting the end of the reciprocating traveling process, for example, a method of ending the entire room when the autonomous traveling device 10 reaches the coordinates (X1, Y1) of the room is conceivable.

  The coordinates (X, Y) of the room of the autonomous traveling device 10 are measured using a sensor that measures the coordinates of the room, for example, a traveling sensor that measures the traveling distance using wheels, and a gyro sensor that measures the angular velocity.

  However, there are many cases where the room coordinates (X, Y) of the autonomous traveling device 10 cannot be accurately measured due to the shift of the traveling sensor due to the slip of the floor of the room and the displacement of the gyro sensor due to the impact. That is, the method of detecting the end when the autonomous traveling device 10 reaches the coordinates (X1, Y1) described above cannot be used. In the worst case, the autonomous traveling device 10 continues to travel until the battery of the autonomous traveling device 10 is exhausted. It will be said that.

  Therefore, in the present embodiment, as a method for detecting the end of the round trip process, the number of round trips according to the size of the room is set, and the basic travel time is set from the number of round trips. A method is used in which the traveling time traveled by the autonomous traveling device is compared with the basic traveling time, and when the traveling time reaches the basic traveling time, it is determined that the end of the round-trip traveling has been reached.

  According to the above method, since the basic travel time is set from the number of round trips set in advance, the end of the round trip process is set regardless of the travel state of the round trip process. Even in such a case, the reciprocating traveling process can be surely completed. Moreover, since the number of round trips according to the size of the room is set, the round trip process can be completed without wasteful running. Further, since the determination is made based only on the traveling time, it is possible to determine the end of the reciprocating traveling with a very simple configuration and with high accuracy.

  Next, a method for setting the number of round trips will be described with reference to FIG.

  Assuming that the shape of the room is the size shown in FIG. 2, the basic round trip number Nsx at which the vertical (up and down) round trip process in FIG. 2 ends is set as the size ΔX of the autonomous mobile device 10 as follows: Can be obtained.

Nsx = (X1-0) / ΔX
The round trip number nx in the vertical direction (up and down) in FIG. 2 is measured, and when the round trip number nx and the basic round trip number Nsx are the same, the round trip process is terminated, assuming that the round trip process is finished.

  The round-trip number calculating means 2 calculates the basic round-trip number Nsx using the room information stored in the room information storage means 1, in the above example, the corner coordinates (X1, 0) of the room.

  Next, a method for setting the basic travel time will be described.

  Similarly, assuming that the shape of the room is the size shown in FIG. 2, the basic traveling time Tsx for completing the vertical (up and down) reciprocating traveling process in FIG. 2 is set as the traveling speed V of the autonomous traveling device 10 as follows. It can be obtained as follows.

Tsx = (Nsx−1) × Tun + Nsx × (Y1-0) / V
However, Tun is a time required when the autonomous traveling device 10 turns the traveling direction once on the wall.

Since the number of turns is (Nsx-1) when the autonomous traveling device 10 is traveling reciprocally, the time required for the autonomous traveling device 10 to finish traveling is
(Nsx-1) × Tun.

  In addition, since the time required for one round trip is (Y1-0) / V and the basic number of round trips is Nsx, the time required for traveling inside the room is Nsx × (Y1-0) / V. Become. Therefore, it can be seen that the basic travel time Tsx is the time obtained above.

  The travel time calculation means 3 uses the room information stored in the room information storage means 1, in the above example, the corner coordinates (X1, 0), (0, Y1) of the room, and the basic travel time Tsx is expressed by the above equation. Obtained by substitution.

  The measured travel time means 6 measures the travel time TX using a timer.

  Further, the travel process end judging means 7 inputs the basic travel time Tsx by the travel time calculating means 3 and the travel time TX of the measured travel time means 6 and ends the reciprocating travel process when the basic travel time Tsx becomes the travel time TX. To do.

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

  The autonomous traveling device 10 travels around the room as a round traveling process (step 11). Room information, for example, corner coordinates of the room, is calculated by this round traveling process (step 12), and a basic traveling time Tsx is calculated (step 13).

  The traveling time TX is measured by the measured traveling time means 6 while traveling in a reciprocating manner as the reciprocating traveling step (steps 14 and 15).

  When the basic travel time Tsx of the travel time calculation means 3 becomes the travel time TX of the measured travel time means 6, the reciprocating travel process ends (steps 16 and 17).

  As described above, the present embodiment determines the basic travel time according to the room, and determines the end of the travel process using the basic travel time and the travel time measured by the travel time means as inputs, so a very simple configuration In addition, it is possible to accurately determine the end of the reciprocating travel.

(Embodiment 2)
6-8 has shown the autonomous traveling apparatus in Embodiment 2 of this invention. Since the overall configuration is the same as that of the first embodiment, the description thereof will be omitted, and the description will focus on the differences.

  As shown in FIG. 6, the round-trip number calculating means 2 calculates a basic round-trip number calculating means 11 for calculating the basic round-trip number, and a correction amount based on the floor area of the room stored in the room information storage means 1 and a floor area correction value. Traveling area correction amount storage means 12 to be performed, first correction means 13 for correcting the basic number of round trips by inputting the floor area correction value by the traveling area correction amount storage means 12, and the floor of the room stored in the room information storage means 1 And a second correction means 15 for calculating a correction amount according to the state and a floor state correction value. Thereby, the round-trip number calculation means 2 corrects the calculation of the basic round-trip number.

  Next, the operation of the present embodiment will be described based on FIG.

  FIG. 7 shows an example of the relationship between the floor area S and the first correction value Nf1, where the horizontal axis is the floor area S and the vertical axis is the first correction value Nf1.

  When the floor area S is large, the travel distance required to travel all over the floor of the room is also increased. Therefore, the traveling deviation of the autonomous traveling device 10 that performs autonomous traveling with the sensor also increases.

  As shown in FIG. 7, when the floor area S is large, the traveling deviation of the autonomous traveling device 10 also increases. Therefore, the correction value Nf1 of the basic reciprocating frequency Nsx is also increased, thereby completing the reciprocating traveling process of the autonomous traveling device 10. Make sure.

  The travel area correction amount storage means 12 stores, for example, a relational expression between the travel area S and the first correction value shown in FIG. 7 and is calculated from the floor area S of the room stored in the room information storage means 1. One correction value Nf1 is obtained.

  Further, the first correction means 13 corrects the basic reciprocation number Nsx according to the following equation for the first correction value Nf1 stored in the travel area correction amount storage means 12.

Nsx ← Nsx + Nf1
Thus, in the present embodiment, the basic number of reciprocations Nsx is corrected according to the room area. That is, the end of the reciprocating process can be detected in consideration of the sensor deviation of the autonomous traveling device 10 due to the increase of the travel distance, so that the end of the reciprocating process can be detected more stably.

  Next, FIG. 8 shows the relationship between the floor friction coefficient μ and the second correction value Nf2, as an example, with the horizontal axis representing the floor friction coefficient μ and the vertical axis representing the second correction value Nf2. However, the floor friction coefficient μ is set to be small when the floor is slippery and large when the floor is slippery.

  When the floor friction coefficient μ is small, since the floor is slippery, the wheels of the autonomous traveling device 10 are also slippery. That is, as the floor friction coefficient μ is smaller, the difference between the distance due to the rotation of the wheels of the autonomous traveling device 10 and the actual traveling distance of the autonomous traveling device 10 becomes larger.

  As shown in FIG. 8, when the floor friction coefficient μ is small, the traveling deviation of the autonomous traveling device 10 also increases. Therefore, the correction value Nf2 of the basic reciprocating frequency Nsx is also increased, so that the autonomous traveling device 10 performs a reciprocating traveling process. Make sure to finish.

  For example, the traveling state correction amount storage unit 14 stores a relational expression between the traveling friction coefficient μ and the second correction value shown in FIG. 8, and the room floor friction coefficient μ stored in the room information storage unit 1. To obtain a second correction value Nf2.

  The second correction means 15 corrects the basic reciprocation number Nsx according to the following equation for the second correction value Nf2 stored in the travel state correction amount storage means 14.

Nsx ← Nsx + Nf2
Thus, in this embodiment, the basic number of reciprocations is corrected according to the floor state of the room. That is, the end of the reciprocating process can be detected in consideration of the traveling deviation of the autonomous mobile device 10 depending on the traveling state, so that the end of the reciprocating process can be detected more stably.

(Embodiment 3)
FIG. 9 shows an autonomous mobile device according to Embodiment 3 of the present invention. Since the overall configuration is the same as that of the first embodiment, the description thereof will be omitted, and the description will focus on the differences.

  As shown in the figure, the traveling process end judging means 7 includes a round trip number measuring means 16 for measuring the number of round trips of the autonomous traveling device 10 and a round trip that outputs a second round trip end signal when the round trip count reaches the basic round trip count. The number-of-times judging means 17, the battery voltage judging means 18 for measuring the voltage of the battery that drives the autonomous traveling device 10, and outputting a third reciprocating end signal when the battery voltage drops to a voltage that can be judged to have decreased, When any one of the signal from the time calculation means 3, the second round trip end signal from the round trip number judgment means 17, and the third round trip end signal from the battery voltage judgment means 18 is input, the travel is completed. And an end determination means 19 for outputting a reciprocating stop signal to the control means 8.

  Here, the operation of the battery voltage determination means 18 will be described.

  The battery used in the autonomous mobile device 10 is not always fully charged. In that case, the battery may run out during the reciprocating process. Therefore, the voltage of the battery is monitored, and when the voltage of the battery drops to a voltage indicating that the battery capacity has decreased, the reciprocating travel is terminated.

  Thus, in the present embodiment, the signal from the travel time calculation means 3 to the end determination means 19, the second round-trip travel end signal from the round-trip number determination means 17, and the third round-trip from the battery voltage determination means 18. When any one of the travel end signals is input, the travel stop signal is output to the control means 8 because the travel is finished, so that the end of the autonomous travel device 10 can be detected in any case.

  In particular, since the battery voltage is constantly monitored, the battery capacity is reduced, and the autonomous traveling device 10 can be prevented from stopping during the reciprocating traveling process.

  As described above, since the autonomous traveling device, the program, and the recording medium according to the present invention can determine the end of the reciprocating traveling with a very simple configuration and high accuracy, the cleaning robot, the camera-mounted robot, and the lawn mowing robot. It can be used for industrial robots.

The block diagram which shows the structure of the autonomous running apparatus in Embodiment 1 of this invention. The top view which shows the structure of the room where the autonomous traveling device travels The top view which shows the operation | movement of the reciprocating process of the autonomous traveling apparatus Plan view showing how to calculate the basic number of round trips of the autonomous traveling device Flow chart showing the traveling of the autonomous traveling device The block diagram which shows the round-trip number calculation means of the autonomous running apparatus in Embodiment 2 of this invention The figure which shows the relationship between the floor area of the autonomous vehicle, and a 1st correction value The figure which shows the relationship between the floor friction coefficient of the autonomous vehicle, and a 2nd correction value The block diagram which shows the driving process completion | finish judgment means of the autonomous traveling apparatus in Embodiment 3 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Room information storage means 2 Round-trip number calculation means 3 Travel time calculation means 4 End time input means 5 Travel start time determination means 6 Measurement travel time means 7 Travel process end judgment means 8 Control means 9 Travel motor 10 Autonomous travel device 11 Basic reciprocation Number calculation means 12 Traveling area correction amount storage means 13 First correction means 14 Traveling state correction amount storage means 15 Second correction means 16 Reciprocation count measurement means 17 Reciprocation count determination means 18 Battery voltage determination means 19 End determination means

Claims (8)

A room information storage means for storing information on the traveling room, a round trip number calculating means for calculating the number of round trips in the reference wall direction from the room information stored in the running room information storage means, and outputting as a basic round trip number; The travel time calculation means for calculating the basic travel time from the basic round trip number by the round trip number calculation means, the end time input means for inputting the end time, the basic travel time of the travel time calculation means and the end time of the end time input means A travel start time determining means for determining the travel start time, a measured travel time means for measuring the travel time, and a travel for determining the end of the travel process using the basic travel time by the travel time calculation means and the travel time by the measured travel time means as inputs. An autonomous traveling device comprising a process end judging means. The autonomous traveling device according to claim 1, wherein the round-trip number calculating means calculates the number of round-trips from the size of the traveling room. The autonomous traveling device according to claim 1, wherein the round trip number calculating means is configured to calculate the number of round trips from the area of the traveling room. The autonomous traveling device according to any one of claims 1 to 3, wherein the reciprocating frequency calculating means calculates the reciprocating frequency from the floor surface state. The autonomous travel device according to any one of claims 1 to 4, wherein the travel process end determination means determines the end of the travel process based on the travel distance. The autonomous traveling device according to any one of claims 1 to 5, wherein the traveling process end determination means is configured to determine the end of the traveling process based on the battery voltage. The program for performing at least one part of the function in the autonomous running apparatus of any one of Claims 1-6 by a computer. A computer-readable recording medium on which the program according to claim 7 is recorded.