JP2017182175A - Autonomous travel device and start position determination program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To widen a tolerance limit in a start position of a work travel map, facilitate a recognition work, and perform a work following to a reproduction travel, without increase of cost.SOLUTION: An autonomous travel device 1 comprises: a mode switching part 28 for switching an operation mode; a teaching travel control part 30 for generating a travel path 52 from a start position 54 to a finish position 55 and a work travel map 53 in a teaching travel mode execution time; a reproduction travel control part 31 for making a device body travel from the start position 54 by an automatic operation input according to the travel path 52 and the work travel map 53 in a reproduction travel mode execution; a pre-learning map creation part 32 for creating a pre-learning map 61 in a surrounding of a movement path 60 during a period in which, the device body 2 is made to move to a preparation position 58 by a manual operation input in a manual travel mode execution; and a position determination part 33 for acquiring a tolerance between the start position 54 on the work travel map 53 and the preparation position 58 on the pre-learning map 61, with a corresponding position where a position of the pre-learning map 61 corresponds to a position on the work travel map 53, as a reference.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an autonomous traveling device capable of traveling according to manual operation and automatic operation, and a start position determination program thereof.

  Conventionally, autonomous traveling devices such as industrial (business) cleaning robots, unlike autonomous traveling devices such as household cleaning robots, have a large work area (cleaning area) and a long working time (cleaning time). Since the working time is limited, the moving speed is set fast. For this reason, an industrial autonomous traveling device requires a large working mechanism (cleaning unit having a cleaning pad or the like) and a large battery, and when a wet cleaning unit for cleaning the floor surface with a cleaning liquid is provided, a cleaning liquid tank Since a sewage tank is provided inside, it is larger and heavier than a home-use autonomous traveling device. Therefore, when the autonomous traveling device collides with a product shelf, a wall, or even a person during the autonomous traveling, there is a high risk of causing damage or injury, and thus high accuracy is required for autonomous traveling.

  The industrial autonomous traveling device teaches to execute and memorize the traveling route and work contents (cleaning method etc.) in advance in order to satisfy the high accuracy of autonomous traveling and reduce the burden of programming work at the work site Those equipped with functions of traveling (teaching) and reproducible traveling (trace) are suitable. Then, the autonomous traveling device performs reproduction traveling (autonomous traveling) using the work traveling map created in the teaching traveling. In order to increase the accuracy of autonomous traveling and avoid the risk of collision, the autonomous traveling device teaches on the work traveling map when it is accurately placed at the start position (starting position) set with respect to the work traveling map. Autonomous travel (reproduction travel) is performed along the travel route.

  For example, the autonomous mobile body (autonomous traveling device) of Patent Document 1 outputs a control amount of a motor from a traveling command input by an operator in the teaching traveling mode, estimates a self-position on an environmental map, and The position information of the obstacle in the vicinity of the vehicle is acquired, and the position information of the obstacle is stored in the storage unit as the environmental map restoration data corresponding to the time when the position information of the obstacle is acquired, and a travel schedule is created and stored. Store in the department.

JP 2014-219721 A

  The operator of the autonomous traveling device as described above moves the autonomous traveling device to the start position and arranges it in order to prepare for the reproduced traveling. In the autonomous traveling device, in order to determine the actual self-position after the movement (hereinafter referred to as a preparation position), environmental information around the preparation position is acquired using a laser range finder (LRF) or the like. Then, a local map around the preparation position is created based on this environmental information.

  However, even if environmental information is acquired by fixed point observation at this preparation position, many blind spots are included. Further, if the preparation position is slightly deviated from the taught start position, a local map deformed as compared with the work travel map is created. In order to create an accurate local map, an LRF having a measurable range that is more than half the length of the work area is required. However, the larger the work area, the larger the measurable range must be provided. This will lead to cost increase.

  Further, the autonomous traveling device matches the local map having the preparation position with the work traveling map having the start position, and determines whether or not the preparation position matches the start position. Here, if the coincidence rate (score) of the reference for determining the coincidence between the local map and the work travel map is set high, it is not possible to easily shift to the reproducible travel (automatic cleaning work), which takes time. On the other hand, if the matching rate (score) of the standard is set low, it will be easy to match even in the wrong preparation position, and the autonomous traveling device that has deviated from the starting position will be reproduced (automatic cleaning work), and the accuracy of the reproduced traveling will be Will fall. For this reason, the autonomous traveling device cannot travel along the travel route of the work travel map, and there is a high risk that the autonomous travel device will deviate from the travel route or collide with an obstacle such as a wall or a product shelf.

  Furthermore, in a work area with a monotonous and similar shape such as a gymnasium with a long straight wall, there are few feature points for recognizing the start position in the work travel map, so the preparation position and start before the recreational travel It becomes difficult to determine the coincidence with the position. In such a work area, the setting of the start position is limited to the vicinity of the feature point.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to increase the allowable range of the start position of the work travel map and increase the start position recognition work without increasing the cost. Another object of the present invention is to provide an autonomous traveling device and its start position determination program that can smoothly proceed with work associated with reproduction traveling.

  In order to solve the above problems, a first autonomous traveling device of the present invention is an autonomous traveling device capable of traveling based on manual operation input and autonomous traveling based on automatic operation input, the device main body, A travel unit that travels the apparatus body, a measurement unit that measures a distance and an angle between the apparatus body and an object around the apparatus body, a mode switching unit that switches between a teaching travel mode and a reproduction travel mode, and the measurement A map creation unit that coordinates the distance and angle measured by the unit to create a local map around the device body, and the travel unit is configured to respond to a manual operation input when the teaching travel mode is executed. By operating the measurement unit and the map creation unit while driving the vehicle, the local map is joined to thereby travel the travel path from the start position to the end position of the device body and the travel path A teaching travel control unit that creates and stores a surrounding work travel map, and the apparatus main body at the start position by automatic operation input according to the travel route and the work travel map when the reproduction travel mode is executed. A reproduction travel control unit that controls the travel unit to travel, and when neither the teaching travel mode nor the reproduction travel mode is executed, the travel unit moves the apparatus main body to a preparation position in response to a manual operation input. A pre-learning map creation unit that activates the measurement unit and the map creation unit to create and store a pre-learning map around a movement route that the apparatus body reaches to the preparation position during the movement, and the work A matching process of the pre-learning map with respect to the travel map is performed, and the pre-learning map corresponds on the work travel map as a result of the matching process. A position determination unit that compares the start position on the work travel map with the preparation position on the pre-learning map on the basis of the response position, and obtains an error from the start position of the preparation position; It is characterized by providing.

  According to the first autonomous traveling device of the present invention, the feature points such as the arrangement and shape of objects such as walls and figurines around the start position on the work travel map and the actual preparation position moved in the preparation stage of the reproduction travel Even when there are few, it can grasp | ascertain the environment around the preparation position which cannot be grasped only by the local map obtained at a preparation position using a pre-learning map. And the actual preparation position after moving for reproduction driving | running | working can be correctly recognized with a pre-learning map. Therefore, the autonomous traveling device can accurately recognize the actual preparation position on the work travel map by the matching process between the work travel map and the pre-learning map. Further, since the autonomous traveling device can recognize the start position with respect to the preparation position by acquiring the error between the start position on the work travel map and the actual preparation position, the operator is notified of the error by display or announcement. Thus, the operator can accurately move the autonomous mobile device to the start position. For this reason, the autonomous traveling device can be accurately reproduced on the traveling route of the work traveling map, the autonomous traveling device is off the traveling route, or the autonomous traveling device collides with an obstacle such as a wall or a shelf. The risk of doing so can be avoided. In this manner, the autonomous traveling device can maintain the accuracy of the reproduced traveling favorably.

  In order to solve the above problem, the second autonomous traveling device of the present invention acquires an error between the preparation position and the start position by the position determination unit in the first autonomous traveling device of the present invention described above. In some cases, the apparatus further includes a position correction unit that controls the traveling unit to move the apparatus main body from the preparation position to the start position.

  According to the second autonomous traveling device of the present invention, when performing reproducible traveling, the operator can reduce the troublesome work of accurately placing the autonomous traveling device at the start position, and lighten the burden on the operator. Is possible.

  In order to solve the above-described problem, the third autonomous traveling device of the present invention is the above-described first or second autonomous traveling device of the present invention, wherein the position determination unit obtains the highest matching rate as a result of the matching process. When the value is equal to or smaller than a predetermined lower limit value, the matching process is determined to have failed.

  According to the third autonomous traveling device of the present invention, when there is an error in the selection of the work traveling map, the matching process fails because the highest matching rate is equal to or lower than the predetermined lower limit value in the matching process by the position determination unit. Thus, it is possible to avoid reproducible travel using an incorrect work travel map. In addition, it is possible to notify the operator of a matching process failure, that is, an error in selecting a work travel map by displaying or making an announcement, and an erroneous selection of a work area such as a cleaning area can be avoided.

  In order to solve the above problems, the fourth autonomous traveling device of the present invention is the above-described autonomous traveling device of any one of the first to third aspects of the present invention, wherein the position determination unit is on the work traveling map. The matching process between the candidate map of each position and the comparison map narrowed down to a predetermined size from the pre-learning map with the preparation position as a reference, the first corresponding position where the highest matching rate was obtained, and the highest matching When there is at least one second corresponding position where a matching rate that approximates the rate is obtained, the matching process is repeated while enlarging the comparison map.

  According to the fourth autonomous traveling device of the present invention, it is possible to accurately recognize the preparation position on the work traveling map by eliminating the approximate matching rate and narrowing down only to the highest matching rate.

  In order to solve the above-described problem, a fifth autonomous traveling device of the present invention is the above-described autonomous traveling device of any one of the first to fourth aspects of the present invention, wherein the position determination unit is connected to the pre-learning map. The range in the work travel map for performing the matching process is narrowed down to a measurable range of the measurement unit with the start position as a reference.

  According to the fifth autonomous traveling apparatus of the present invention, the matching process of the position determination unit can shorten the time for the calculation process compared with the case where the entire area of the work travel map is used, and the work travel can be performed in a short time. The preparation position on the map can be recognized.

  In order to solve the above-described problem, a sixth autonomous traveling device of the present invention is the above-described autonomous traveling device of any one of the first to fourth aspects of the present invention, wherein the position determination unit is connected to the pre-learning map. The range in the work travel map for performing the matching process is narrowed down to a size according to a predetermined condition with the start position as a reference.

  According to the sixth autonomous traveling device of the present invention, the matching process of the position determination unit can reduce the time of the calculation process according to a predetermined condition as compared with the case where the entire area of the work traveling map is used. The preparation position on the work travel map can be recognized in a short time.

  In order to solve the above-described problem, a seventh autonomous traveling device of the present invention is the above-described autonomous traveling device of any one of the first to sixth aspects of the present invention, wherein the position determination unit is connected to the work traveling map. The pre-learning map for performing the matching process is narrowed down to a size corresponding to the number of feature points with the preparation position as a reference.

  According to the seventh autonomous traveling device of the present invention, by changing the range for performing the matching process according to the complexity of the shape of the created pre-learning map, the preparation position (self-position) on the work traveling map is changed. Appropriate recognition and a reduction in the calculation processing time of the matching process, that is, a reduction in the time for shifting to the reproduction running can be achieved. For example, if the shape of the pre-learning map is complex and has many feature points, the range used for the matching process is reduced. If the shape of the pre-learning map is simple and there are few feature points, the range used for the matching process is increased. To do.

  In order to solve the above-described problem, an eighth autonomous traveling device of the present invention is the above-described autonomous traveling device of any one of the first to seventh aspects of the present invention, wherein the corresponding position on the work traveling map is set to the preset position. It is further characterized by further comprising a map recreating unit that reconstructs using the learning map and recreates the work travel map.

  According to the eighth autonomous traveling apparatus of the present invention, it is possible to create a more appropriate work travel map by using the feature of the pre-learning map in addition to the feature of the work travel map. For this reason, even if there are few features around the start position of the work travel map created in the teaching travel mode, the work travel map combined with the features of the pre-learning map can be used, so the actual preparation position on the work travel map can be reliably determined. Can be recognized.

  In order to solve the above-described problems, a ninth autonomous traveling device according to the present invention is the above-described autonomous traveling device according to any one of the first to eighth aspects of the present invention, in which a cleaning operation based on a manual operation input and an automatic operation input is performed. The teaching travel control unit further stores a cleaning condition of the cleaning unit, which is set according to a manual operation input, in association with a position on the travel route when the teaching travel mode is executed. The reproduction travel control unit performs automatic operation according to the cleaning condition corresponding to the position of the device body while the travel unit travels the device body along the travel route when the reproduction travel mode is executed. The cleaning unit is controlled to perform the cleaning operation by an input.

  According to the ninth autonomous traveling apparatus of the present invention, the floor surface can be cleaned quickly and accurately by performing the cleaning operation autonomously, and the labor required for the floor surface cleaning can be reduced.

  In order to solve the above-described problem, a tenth autonomous traveling device of the present invention is the above-described autonomous traveling device according to any one of the first to ninth aspects of the present invention. A power source remaining amount detecting unit for detecting a remaining amount of capacity; and a power source capacity calculating unit for calculating a power source capacity necessary for reproduction traveling based on the power required during teaching traveling, the power remaining amount detecting unit Is compared with the power capacity required for the reproduction travel calculated by the power capacity calculation unit, and when the power remaining capacity is less than the power capacity required for the reproduction travel, It is characterized in that it is judged that the reproduction run cannot be completed and an error is displayed.

  In order to solve the above-described problem, an eleventh autonomous traveling device of the present invention is the above-described ninth autonomous traveling device of the present invention, in which the liquid amount detection sensor provided in the cleaning liquid tank and the sewage tank of the cleaning unit, A liquid amount calculation unit that calculates the amount of cleaning liquid in the cleaning liquid tank and the amount of sewage that can be collected in the sewage tank, and the liquid amount calculation unit is required during teaching traveling detected by the liquid amount detection sensor. Based on the amount of cleaning liquid and the amount of sewage collected during the teaching travel, the amount of cleaning liquid required for the reproduction travel and the amount of sewage collected during the reproduction travel are calculated and output to the control unit. Compare the amount of cleaning liquid in the cleaning liquid tank and the amount of sewage that can be collected in the sewage tank with the amount of cleaning liquid and the amount of sewage collected for reproduction travel, and the amount of cleaning liquid in the cleaning liquid tank is used for reproduction travel When fewer, or the when wastewater amount that can be collected in the sewage tank is less than the recovery amount of wastewater generated in the reproduced traveling, and determines that it can not complete the reproduced travel, characterized in that for error display.

  According to the tenth or eleventh autonomous traveling device of the present invention, whether or not the autonomous traveling device can reproduce and travel is autonomously determined in advance, and the operator can be notified of the determination result by display or announcement. it can. For this reason, the operator can cope with a problem that may occur during the reproduction travel in advance, and can perform the reproduction travel more reliably.

  In order to solve the above-described problem, a first start position determination program of the present invention is the start of determining the start position of the autonomous traveling device in any of the first to eleventh autonomous traveling devices of the present invention described above. A position determination program, wherein the mode switching unit, the map creation unit, the teaching travel control unit, the reproduction travel control unit, the pre-learning map creation unit, and the position determination unit are stored in a computer. It is made to perform.

  According to the present invention, the autonomous traveling device and its start position determination program increase the allowable range of the start position of the work travel map without increasing the cost, facilitate the recognition work of the start position, Can be carried out smoothly.

It is a block diagram which shows the structure of the autonomous traveling apparatus which concerns on embodiment of this invention. It is a top view which shows the control panel of the autonomous running apparatus which concerns on embodiment of this invention. It is a top view which shows the work area where the autonomous running apparatus which concerns on embodiment of this invention is used. It is a top view which shows the example of the work traveling map created by the autonomous traveling apparatus which concerns on embodiment of this invention. It is a top view which shows the example of the pre-learning map produced by the autonomous running apparatus which concerns on embodiment of this invention. It is a top view which shows the example of the 1st reference range and 2nd reference range which are used in the work travel map created by the autonomous traveling apparatus which concerns on embodiment of this invention. It is a top view which shows the example of the 1st comparison map and 2nd comparison map which are used in the pre-learning map created by the autonomous traveling apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation | movement in the autonomous running apparatus which concerns on embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The following embodiments are preferable specific examples of the present invention and disclose various preferable techniques, but the technical scope of the present invention is not limited to these embodiments.

  An autonomous traveling device 1 according to an embodiment of the present invention will be described. The autonomous traveling device 1 is a vehicle capable of traveling based on a manual operation input and autonomous traveling based on an automatic operation input, and basically operates in any one of a manual travel mode, a teaching travel mode, and a reproduction travel mode. Works.

  As shown in FIG. 1, the autonomous traveling device 1 includes a device main body 2 for housing each part, a traveling unit 3 that causes the device main body 2 to travel, and a handle unit 4 that receives a manual operation input of the traveling unit 3. . The autonomous mobile device 1 can be equipped with a work mechanism for performing a predetermined work in the device main body 2. For example, the autonomous mobile device 1 includes a cleaning unit 5 that performs a cleaning operation on a floor surface below the device main body 2. It can be realized as a washing machine. The autonomous mobile device 1 also measures the distance and angle (for example, the angle with respect to the forward direction of the device main body 2) between the device main body 2 and obstacles (objects) such as walls and figurines around the device main body 2. A measurement unit 6 is provided. Further, the autonomous traveling device 1 includes a control unit 7 that performs overall control of each part and various functions of the autonomous traveling device 1 (traveling by the traveling unit 3, cleaning work by the cleaning unit 5, measurement by the measuring unit 6, etc.), and various functions. A control panel 8 for operation and display and a power supply device 9 for supplying power to each unit are provided.

  The traveling unit 3 is integrally provided at the lower portion of the apparatus main body 2, and includes one front wheel 11 as a free auxiliary wheel, two left and right rear wheels 12 and 13 as fixed drive wheels, and two rear wheels. Two left and right motors 14 and 15 for driving the wheels 12 and 13 are provided. The front wheel 11 is provided at the center in the left-right direction on the front side of the lower surface of the apparatus main body 2, and the rear wheels 12, 13 are provided on both sides in the left-right direction on the rear side of the lower surface of the apparatus main body 2. Each motor 14 and 15 is provided in the apparatus main body 2, and is connected to the rotating shaft (not shown) of each rear wheel 12 and 13 via the drive gear (not shown). In the traveling unit 3, the two motors 14, 15 can rotate the two rear wheels 12, 13 simultaneously to advance or retract the apparatus body 2, while stopping the left rear wheel 12 or the right rear wheel 13. At the same time, the apparatus main body 2 can be turned left or right by rotating the right rear wheel 13 or the left rear wheel 12.

  In addition, the traveling unit 3 may be, for example, a step sensor (not shown) that detects a dent of a predetermined depth (for example, 4 cm) in the front wheel 11 as an abnormality detecting unit that detects normality or abnormality, and the rear wheels 12 and 13. A slip sensor (not shown) that detects slip is provided, and an abnormality signal is output to the control unit 7 when an abnormality that prevents normal travel is detected.

  The handle portion 4 is provided at the center in the left-right direction on the rear side of the upper surface of the apparatus main body 2. The handle portion 4 is slidable forward and rearward, and further configured to be rotatable counterclockwise (counterclockwise) and clockwise (clockwise) when viewed from above. The handle portion 4 is provided with an accelerator grip (not shown). The device body 2 can be moved forward by sliding the handle portion 4 forward and twisting the accelerator grip forward, and the handle portion 4 is slid rearward to move the accelerator grip. By twisting the back, the apparatus main body 2 can be retracted. The handle portion 4 can adjust the forward and backward speeds of the apparatus main body 2 according to the amount of operation of the accelerator grip. Further, by turning the handle portion 4 counterclockwise, the device body 2 can turn left (the left rear wheel 12 stops), and by turning the handle portion 4 clockwise, the device body 2 can turn right. (Right rear wheel 13 stopped).

  The cleaning unit 5 is configured to clean the floor surface according to an initially set cleaning condition, a cleaning condition set via the control panel 8, or a cleaning condition set by automatic operation input. The cleaning unit 5 is a mechanism for cleaning the floor surface by, for example, a wet cleaning method using liquid, and a cleaning liquid supply for supplying a cleaning liquid to the cleaning member 17 such as a cleaning pad and a cleaning brush, and the cleaning member 17 And a suction part 19 for sucking cleaning liquid after use in the cleaning member 17, that is, sewage.

  The cleaning member 17 is rotatably provided at the center of the lower surface of the apparatus main body 2, and cleans the floor surface by rotating while contacting the floor surface. The cleaning member 17 is detachable from the apparatus main body 2, that is, a replaceable member.

  The cleaning liquid supply unit 18 includes a cleaning liquid tank (not shown) that stores the cleaning liquid, a water supply hose (not shown) that connects the cleaning liquid tank and the cleaning member, a water supply pump (not shown), and the like. The cleaning liquid supply unit 18 supplies the cleaning liquid from the cleaning liquid tank to the cleaning member 17 through the water supply hose by the water supply pump.

  The suction unit 19 includes a squeegee (not shown) that sucks sewage on the floor, a sewage tank (not shown) that collects sewage, a suction pipe (not shown) that connects the squeegee and the sewage tank, and a suction pipe. A suction motor (not shown) or the like for making the inside negative is provided. The squeegee is a member that is long in the left-right direction. The squeegee is provided behind the cleaning member 17 on the lower surface of the apparatus main body 2, and makes contact with the floor surface to allow sewage from the cleaning member 17 to escape to the rear of the apparatus main body 2. Suction without. The suction unit 19 sucks sewage from the squeegee through the suction pipe and collects the sewage into a sewage tank by setting a negative pressure in the suction pipe by a suction motor. The suction unit 19 may be configured to suck sewage with a suction blower.

  The cleaning conditions in the cleaning unit 5 as described above include the operation / stop of the rotation of the cleaning member 17, the operation / stop of the cleaning liquid supply by the cleaning liquid supply unit 18, the operation / stop of the suction by the suction unit 19, and the cleaning member 17. The strength of the ground pressure with respect to the floor surface, the amount of cleaning liquid supplied by the cleaning liquid supply unit 18, the suction strength by the suction unit 19, and the like.

  In addition, the cleaning unit 5 is an abnormality detection unit that detects normality or abnormality, for example, a member attachment sensor (not shown) that detects a state in which the cleaning member 17 is not attached, and the cleaning liquid in the cleaning liquid tank is insufficient. Equipped with a cleaning liquid amount detection sensor (not shown) that can detect the state, a sewage liquid amount detection sensor (not shown) that can detect whether the sewage tank is full, etc., and detected abnormalities that hinder normal cleaning work In this case, an abnormal signal is output to the control unit 7. Further, the cleaning unit 5 calculates the amount of cleaning liquid used for the reproduction travel based on the amount of cleaning liquid required during the teaching travel detected by the cleaning liquid amount detection sensor, and the teaching detected by the sewage liquid amount detection sensor. A liquid amount calculation unit (not shown) is provided that calculates the amount of sewage collected during the reproducible travel based on the amount of sewage collected during travel. The liquid amount calculation unit calculates the amount of the cleaning liquid in the cleaning liquid tank before the start of the reproduction run and the amount of sewage that can be collected in the sewage tank, and outputs the calculated amount to the control unit 7. When the controller 7 determines that the amount of the cleaning liquid in the cleaning liquid tank before the start of the reproduction run is smaller than the amount of the cleaning liquid used for the reproduction run, or the amount of sewage collected in the sewage tank before the start of the reproduction run is reproduced. When it is determined that the amount is less than the amount of collected sewage collected, an error display is displayed indicating that the reproduced travel cannot be completed.

  The measurement unit 6 measures the distance and angle between the movement amount sensor 21 that measures the physical movement amount of the device main body 2 by the traveling unit 3 and the obstacle (object) around the front of the device main body 2. An obstacle sensor 22 is provided. In addition to the front obstacle sensor 22, the measurement unit 6 includes a rear obstacle sensor (not shown) that measures a distance and an angle with an obstacle (object) around the rear of the apparatus body 2. Also good.

  The movement amount sensor 21 includes, for example, a pair of encoders corresponding to the left and right rear wheels 12 and 13, an acceleration sensor, and the like. The front obstacle sensor 22 is provided on the front surface of the apparatus main body 2, and is composed of, for example, a laser range finder (LRF) or the like, within a predetermined measurable height (for example, 30 cm) from the floor surface, An obstacle existing within a predetermined measurable range 22a (for example, a radius of 20 m) from the front obstacle sensor 22 is detected. The measurement unit 6 is connected to the control unit 7 and transmits a measurement result to the control unit 7.

  The measurement unit 6 also functions as an abnormality detection unit when the autonomous traveling device 1 operates in the teaching travel mode, and the front obstacle sensor 22 is within a predetermined limit range (for example, a radius of 50 cm) from the device main body 2. When an obstacle is detected, an abnormal signal is output to the control unit 7.

  The control unit 7 includes a CPU (Central Processing Unit) and the like. The control unit 7 is connected to the memory 24 via a bus 25, and the bus 25 is further connected to an interface 26. The control unit 7 is connected to the travel unit 3, the handle unit 4, the cleaning unit 5, the measurement unit 6, the control panel 8, and the power supply device 9 through the bus 25 and the interface 26. The memory 24 includes a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk, a flash memory, and the like, and stores programs and data for controlling each part and various functions of the autonomous mobile device 1. The control unit 7 reads each program and data stored in the memory 24 and executes the program to control each unit and various functions.

  Further, the control unit 7 includes a mode switching unit 28, a map creation unit 29, a teaching travel control unit 30, a reproduction travel control unit 31, a pre-learning map creation unit 32, a position determination unit 33, and a position correction unit. 34 and a map re-creation unit 35. The mode switching unit 28, the map creation unit 29, the teaching travel control unit 30, the reproduction travel control unit 31, the pre-learning map creation unit 32, the position determination unit 33, the position correction unit 34, and the map recreation unit 35 are stored in the memory 24. The program may be configured to be stored in and executed by the control unit 7. For example, in the autonomous traveling device 1, a start position determination program for determining the start position 54 (see FIG. 3) of the autonomous traveling device 1 is stored in the memory 24. The start position determination program includes a mode switching unit 28, a map creation unit 29, a teaching travel control unit 30, a reproduction travel control unit 31, a pre-learning map creation unit 32, and a position determination unit 33. Run on a computer like Each unit provided in the control unit 7 will be described later.

  The control panel 8 is provided on the front side of the handle portion 4 on the upper surface of the apparatus body 2, and as shown in FIG. 2, the main switch 37, the learning switch 38, the cleaning operation switch 39, the display 40, the cross key Each part of the control panel 8 including 41 and a cleaning condition setting key 42 is connected to the control part 7.

  The main switch 37 is configured to be switchable between “OFF”, “MANUAL”, and “AUTO”. By switching the main switch 37 to “manual”, the operation mode of the autonomous traveling device 1 is switched to the manual travel mode by the mode switching unit 28, while the mode switching unit 28 switches the main switch 37 to “automatic”. The operation mode of the autonomous mobile device 1 is switched to the reproduction travel mode.

  The learning switch 38 is configured to be operable in a state where the main switch 37 is set to “manual”. By operating the learning switch 38 (for example, long pressing), the mode switching unit 28 switches the operation mode of the autonomous traveling device 1 to the teaching traveling mode, and the execution of the teaching traveling mode is started. Further, by operating the learning switch 38 again, the execution of the teaching travel mode is completed, and the operation mode of the autonomous travel device 1 is switched to the manual travel mode by the mode switching unit 28.

  The cleaning operation switch 39 is configured to be able to switch between “ON” and “OFF”. By switching the cleaning operation switch 39 to “ON”, the cleaning unit 5 operates according to the cleaning conditions.

  The display device 40 is composed of a liquid crystal panel or the like, and in accordance with a control signal from the control unit 7, the operation state (operation mode) and operation time of the autonomous traveling device 1, various setting items in the teaching travel mode and the reproduction travel mode, and the reproduction Information on the error of the start position 54 and the preparation position 58 (see FIG. 3) in the traveling mode, the cleaning condition of the cleaning unit 5, a warning, an error code, and the like are displayed. The cross key 41 receives a selection operation of various setting items displayed on the display 40 and transmits a signal related to the selection operation to the control unit 7.

  The cleaning condition setting key 42 receives a cleaning condition setting operation such as switching of the operation of each part of the cleaning unit 5, and transmits a signal related to the setting operation to the control unit 7. The cleaning condition setting key 42 includes, for example, a rotation switch 44, a water spray switch 45, a suction switch 46, a ground pressure switch 47, a water spray amount switch 48, a suction strength switch 49, and the like.

  The rotation switch 44 is used to switch the rotation of the cleaning member 17 between operation and stop, and “ON” and “OFF” are switched each time it is operated. The watering switch 45 switches between the operation and stop of the cleaning liquid supply by the cleaning liquid supply unit 18 and is switched between “ON” and “OFF” each time it is operated. The suction switch 46 switches between the operation and stop of suction by the suction unit 19. The ground pressure switch 47 that is switched between “ON” and “OFF” each time it is operated is the strength of the ground pressure with respect to the floor surface of the cleaning member. Is switched to one of a plurality of stages, and the intensity is cyclically switched every time the operation is performed. The sprinkling amount switch 48 switches the cleaning liquid supply amount from the cleaning liquid supply unit 18 to any one of a plurality of stages, and the supply amount is cyclically switched every time it is operated. The suction strength switch 49 switches the suction strength of the suction portion 19 to any one of a plurality of stages, and the strength is cyclically switched every time it is operated.

  The power supply device 9 includes a battery (power supply) mounted inside the device main body 2 and is configured to be rechargeable by being connected to an external power supply. The power supply device 9 includes a remaining power source detection unit that detects the remaining capacity of the battery, a power source capacity calculation unit that calculates power (power source capacity) required for the reproduction travel based on the power consumed during the teaching travel, Is provided. Then, the power supply device 9 determines whether or not the reproducible travel is possible by comparing the remaining battery level detected by the remaining power level detection unit with the power capacity calculated by the power source capacity calculation unit. For example, the power supply device 9 determines that the reproduction traveling cannot be completed when the remaining amount of the battery is less than the power capacity required for the reproduction traveling. If it is determined that the reproducible travel is possible, the process proceeds to the reproducible travel as it is, and if it is determined that the reproducible travel is impossible, a signal indicating that the reproducible travel is impossible is output to the control unit 7 to display an error.

  Next, each part with which the control part 7 is provided is demonstrated.

  The mode switching unit 28 switches the operation mode of the autonomous traveling device 1 to any one of the manual traveling mode, the teaching traveling mode, and the reproduction traveling mode in accordance with the operation of the main switch 37 and the learning switch 38 of the control panel 8. While the operation mode is set to the manual travel mode or the teaching travel mode by the mode switching unit 28, manual operation input of the handle unit 4 is possible. In the teaching travel mode, the operation input to the autonomous traveling device of the operator in the work area is stored in accordance with the storage operation by the operator in the manual travel mode, and a work travel map associated with the work information is created. Mode. The reproduction travel mode is a mode for autonomously traveling according to a travel route and associated work information based on a work travel map to be executed in the automatic travel mode.

  The map creation unit 29 uses a technique such as SLAM (Simultaneous Localization and Mapping) that performs self-position estimation and environmental map creation in real time. The map creation unit 29 creates a local map around the device body 2 by converting the distance and angle from the obstacle (object) measured by the measurement unit 6 for the device body 2 at a predetermined position. The self-position of the apparatus main body 2 in the local map is estimated based on the local map and the movement amount of the apparatus main body 2 measured by the measurement unit 6.

  In the predetermined work area 51 (cleaning area) (see FIG. 3), the teaching travel control unit 30 causes the traveling unit 3 to travel the apparatus main body 2 in response to a manual operation input of the handle unit 4 when the teaching traveling mode is executed. A work travel map 53 (see FIG. 4) around the travel route 52 is created and stored in the memory 24. Specifically, the teaching travel control unit 30 operates the measurement unit 6 and the map creation unit 29 to create a local map at each position on the travel route 52 of the apparatus main body 2, and further, the local map at each position. To create a work travel map 53. In the work travel map 53, in addition to the map data, position information obtained based on the self-position estimation of the apparatus body 2 (the travel route 52, the start position 54 and the end position 55 on the travel route 52, and the start position 54). Start angle 56 in the forward direction), and movement amount information (speed, turning angle, etc.) of the apparatus main body 2 at each position on the travel route 52 are also included.

  Further, the teaching travel control unit 30 uses the cleaning condition of the cleaning unit 5 set according to the manual operation input of the cleaning condition setting key 42 of the control panel 8 when the teaching traveling mode is executed, as the travel route of the work travel map 53. The data is stored in the memory 24 in association with the position at 52.

  The teaching travel control unit 30 can store a plurality of work travel maps 53 in the memory 24 and can not only create a new work travel map 53 but also edit a work travel map 53 that has already been stored.

  When the work travel map 53 is newly created, the teaching travel control unit 30 displays an input instruction for the map name of the work travel map 53 on the display 40 of the control panel 8 at the start of execution of the teaching travel mode. Then, when the map name is input using the display 40 and the cross key 41 of the control panel 8, the teaching travel control unit 30 executes the teaching traveling mode for creating the work traveling map 53 for the map name. Start.

  When editing the work travel map 53, the teaching travel control unit 30 can select the map name of the work travel map 53 already stored in the memory on the display 40 of the control panel 8 at the start of execution of the teaching travel mode. Display a list. When the map name is selected using the display 40 and the cross key 41 of the control panel 8, the teaching travel control unit 30 executes the teaching traveling mode for creating the work traveling map 53 for the map name. Start.

  The teaching travel control unit 30 may create the work traveling map 53 by combining the local maps at the end of execution of the teaching traveling mode after the apparatus main body 2 has traveled to the end position 55. The work travel map 53 may be created in real time by synthesizing the local maps created so far in parallel with the travel.

  The reproduction travel control unit 31 reads the work travel map 53 to be executed from the memory 24 and executes automatic operation input to the travel unit 3 based on the work travel map 53 when executing the reproduction travel mode. 2 controls the traveling unit 3 so as to perform reproducible traveling according to the traveling route 52 of the work traveling map 53.

  Further, the reproduction travel control unit 31 performs the reproduction travel on the travel route 52 of the device main body 2 while the travel unit 3 causes the device main body 2 to perform the reproducible travel according to the travel route 52 of the work travel map 53 when the reproduction travel mode is executed. The cleaning condition corresponding to the position is read from the memory 24, and the cleaning unit 5 is controlled to perform the cleaning operation by an automatic operation input according to the cleaning condition.

  Specifically, the reproduction travel control unit 31 selects a work travel map 53 in which the reproduction travel mode is to be executed from a plurality of work travel maps 53, so that the work travel map already stored in the memory 24 is selected. A list of 53 map names is displayed in a selectable manner on the display 40 of the control panel 8. When the map name is selected using the display 40 and the cross key 41 of the control panel 8, the reproduction travel control unit 31 starts executing the reproduction travel mode according to the work travel map 53 of the map name. .

  The operator moves the autonomous traveling device 1 from the storage location such as a warehouse toward the start position 54 when preparing the replicated traveling of the autonomous traveling device 1. The actually moved position and the angle in the forward direction at that position are referred to as a preparation position 58 (actual self position) and a preparation angle 59. The reproduction travel control unit 31 prepares the preparation position 58 and the preparation angle 59 (the preparation position 58 and the preparation angle 59 in the pre-learning map 61) of the apparatus main body 2 at the start of execution of the reproduction travel mode, and the start on the work travel map 53. The position determination unit 33 compares the position 54 and the start angle 56 as will be described later, and if the result of the comparison is that there is an error that is greater than or equal to the allowable range, the reproduction run is not executed.

  When the manual travel mode is set (when neither the teaching travel mode nor the reproduction travel mode is executed), the pre-learning map creation unit 32 causes the travel unit 3 to respond to the manual operation input of the handle unit 4 according to the manual operation input. A pre-learning map 61 (see FIG. 5) around the movement path 60 while moving 2 to the preparation position 58 is created in the background and stored in the memory 24. The pre-learning map is created by combining a local map created at each position on a movement route when a manual travel mode is set in the autonomous travel device and the operator manually operates. Specifically, the pre-learning map creation unit 32 operates the measurement unit 6 and the map creation unit 29 in the same manner as the teaching travel control unit 30, and creates a local map at each position on the movement path 60 of the apparatus body 2. Further, the pre-learning map 61 is created by synthesizing the local maps at the respective positions. Further, the pre-learning map creation unit 32 stores only map data in the vicinity of the preparation position 58 (for example, map data within a predetermined time or a predetermined distance before the preparation position 58) as the pre-learning map 61, and other maps. Delete the data. In addition to the map data, the pre-learning map 61 includes position information (preparation position 58, preparation angle 59, etc.) obtained based on self-position estimation when the apparatus main body 2 is stopped. The pre-learning map is created in the background and stored in the memory when the manual travel mode is set and neither the teaching travel mode nor the reproduction travel mode is executed. You may call the setting memorize | stored in preparation driving mode.

  The pre-learning map creation unit 32 may create the pre-learning map 61 by synthesizing the local maps at the start of execution of the reproduction travel mode after the device main body 2 has moved to the preparation position 58. The pre-learning map 61 may be created in real time by combining the local maps created so far in parallel with the movement of 2.

  The position determination unit 33 performs matching processing of the pre-learning map 61 with respect to the work travel map 53 at the start of execution of the reproduction travel mode, and a position where the pre-learning map 61 corresponds on the work travel map 53 (hereinafter referred to as a corresponding position). ) Is detected.

  For example, the position determination unit 33 extracts a candidate map from each position (each coordinate) on the work travel map 53, and further extracts a comparison map narrowed down to a predetermined size from the pre-learning map 61 with the preparation position 58 as a reference. Then, the matching rate (score) of each position may be calculated by matching processing between each candidate map and the comparison map, and as a result, the position where the highest matching rate is obtained may be determined as the corresponding position. Alternatively, as a result of the matching process, the position determination unit 33 includes at least one second corresponding position having a matching rate approximate to the highest matching rate in addition to the first corresponding position having the highest matching rate. In this case, the comparison map is enlarged and matching processing with the candidate map is performed again. The matching process is repeated while making the comparison map larger until there is no matching rate to be approximated. Thereby, it is possible to narrow down to only the first corresponding position where the highest matching rate is obtained. Each time the comparison map is repeated, the size of the comparison map may be enlarged according to the movement path 60 with the preparation position 58 as a reference, and the size may be enlarged by 10% and 20% in the XY direction with the preparation position 58 as a reference. May be.

  Note that the position determination unit 33 may determine that the matching process has failed when the highest matching rate is equal to or lower than a predetermined lower limit value as a result of the matching process.

  Further, the position determination unit 33 can narrow a range (hereinafter referred to as a reference range) in the work travel map 53 that performs the matching process with the pre-learning map 61 to a predetermined size with the start position 54 as a reference. . For example, the position determination unit 33 may narrow the reference range to the size of the measurable range of the measurement unit 6 (the front obstacle sensor 22 and the rear obstacle sensor).

  Alternatively, the position determination unit 33 may narrow the reference range to a size according to a predetermined condition such as a user condition. For example, the position determination unit 33 determines the user condition based on identification information such as an ID input by the operator, As shown in FIG. 6, the lower (first) reference range 62 is set as the operator's proficiency level is lower, while the smaller (narrow) second reference range 63 is set as the operator's proficiency level is higher. Also good.

  Furthermore, the position determination unit 33 can narrow down the pre-learning map 61 that performs the matching process with the work travel map 53 to a map of a predetermined size (hereinafter referred to as a comparison map) with the preparation position 58 as a reference. For example, the position determination unit 33 may narrow down the comparison map to a size corresponding to the number of feature points around the preparation position 58 (intersections where L-shaped corner figures or straight lines intersect), as shown in FIG. As shown in FIG. 7, the larger (wide) first comparison map 64 is set as the number of feature points is smaller, while the smaller (narrower) second comparison map 65 is set as there are more feature points as shown in FIG. 7B. May be.

  In addition, the position determination unit 33 determines the start position 54 and the start angle 56 on the work travel map 53 and the pre-learning map on the basis of the corresponding position corresponding to the pre-learning map 61 on the work travel map 53 as a result of the matching process. The preparation position 58 and the preparation angle 59 on 61 are respectively compared. Then, the position determination unit 33 recognizes the start position 54 with respect to the preparation position 58 by acquiring the error from the start position 54 of the preparation position 58 and the error from the start angle 56 of the preparation angle 59.

  When the position correction unit 34 acquires an error between the preparation position 58 and the start position 54 and an error between the preparation angle 59 and the start angle 56 by the position determination unit 33, the position correction unit 34 controls the traveling unit 3 by an automatic operation input. The apparatus main body 2 is moved from the preparation position 58 to the start position 54 and position correction is performed so that the preparation angle 59 coincides with the start angle 56. The position correction unit 34 displays an inquiry as to whether automatic travel of the apparatus main body 2 is permitted before performing position correction on the display 40 of the control panel 8, and performs position correction only when it is permitted. It is good to. Further, after the position correction, it may be transferred to the reproduction run as it is.

  When the pre-learning map creation unit 32 creates the pre-learning map 61, the map re-creation unit 35 reconstructs the map data corresponding to the corresponding position on the work travel map 53 using the pre-learning map 61, For example, the work travel map 53 is recreated by replacing the pre-learning map 61.

  Next, the operation of the autonomous mobile device 1 will be described with reference to the flowchart of FIG.

  First, the autonomous mobile device 1 operates when the operator operates the main switch 37 of the control panel 8. When the main switch 37 is switched to “manual” (step S1: YES), the operation mode of the autonomous mobile device 1 is switched to the manual travel mode by the mode switching unit 28 of the control unit 7 (step S2).

  In the manual travel mode, the autonomous traveling device 1 can travel by a manual operation input using the handle portion 4. For example, the operator manually moves the autonomous traveling device 1 from the warehouse or the like to the work area 51 (cleaning area). It is moved by operation (step S3).

  Thus, until the autonomous mobile device 1 moves and stops in the manual travel mode, the pre-learning map creation unit 32 of the control unit 7 operates the measurement unit 6 and the map creation unit 29 along the movement route 60. The pre-learning map 61 is created and stored in the memory 24 (step S4).

  Next, when the operator operates the learning switch 38 of the control panel 8 to create the work travel map 53 (step S5: YES), the operation mode of the autonomous mobile device 1 is changed by the mode switching unit 28 of the control unit 7. The mode is switched to the teaching travel mode (step S6).

  In the teaching traveling mode, teaching traveling relating to traveling of the autonomous traveling device 1 according to manual operation of the handle portion 4 and cleaning of the floor surface according to operation of the cleaning operation switch 39 and the cleaning condition setting key 42 of the control panel 8. Can be executed (step S7). At this time, the teaching travel control unit 30 of the control unit 7 operates the measurement unit 6 and the map creation unit 29 to create a work travel map 53 along the travel route 52 and store it in the memory 24 (step S8). ).

  On the other hand, when the main switch 37 is not “manual” (step S1: NO) or when the learning switch 38 is not operated (step S5: NO), the main switch 37 is switched to “automatic” (step S9: YES), the reproduction travel control unit 31 confirms the existence of the work travel map 53. If the work travel map 53 does not exist, an error is displayed on the control panel 8 to prompt the operator to respond. When the work travel map 53 exists, the operation mode of the autonomous mobile device 1 is switched to the reproduction travel mode by the mode switching unit 28 of the control unit 7 (step S10).

  In the reproduction travel mode, first, the work travel map 53 stored in the memory 24 is displayed on the display 40 of the control panel 8, and the work travel map 53 to be executed is selected by operating the cross key 41. Then, an error between the preparation position 58 of the pre-learning map 61 and the start position 54 of the work travel map 53 is determined by the position determination unit 33 of the control unit 7.

  If there is an error between the preparation position 58 and the start position 54 (step S11: YES), the autonomous traveling device 1 can be operated by manual operation using the handle unit 4 or automatic operation by the position correction unit 34. Position correction for moving the self position to the start position 54 is performed (step S12). Thereafter, the reproduction travel control unit 31 of the control unit 7 starts to execute the reproduction travel mode according to the work travel map 53 (step S13).

  When there is no error between the preparation position 58 and the start position 54 (step S11: NO), it is not necessary to perform position correction, and the reproduction travel control unit 31 of the control unit 7 displays the work travel map 53. The execution of the reproduction driving mode is started (step S13).

  As described above, according to the present embodiment, the autonomous traveling device 1 capable of traveling based on manual operation input and autonomous traveling based on automatic operation input includes the device main body 2 and traveling that causes the device main body 2 to travel. A measurement unit 6 for measuring a distance and an angle between the unit 3, the apparatus main body 2 and an obstacle (object) around the apparatus main body 2, a mode switching unit 28 for switching between the teaching travel mode and the reproduction travel mode, and measurement A map creation unit 29 for creating a local map around the apparatus main body 2 by converting the distance and angle measured by the unit 6, and the traveling unit 3 in response to a manual operation input when the teaching travel mode is executed. 2, the measurement unit 6 and the map creation unit 29 are operated to connect the local maps, so that the apparatus main body 2 travels from the start position 54 to the end position 55 and the travel route 52 Surrounding work The teaching travel control unit 30 that creates and stores the travel map 53 and the automatic operation input according to the travel route 52 and the work travel map 53 cause the apparatus main body 2 at the start position 54 to travel when the reproduction travel mode is executed. When the reproduction travel control unit 31 that controls the travel unit 3 and the teaching travel mode and the reproduction travel mode are not executed, the travel unit 3 moves the apparatus main body 2 to the preparation position 58 in response to a manual operation input. In the meantime, the pre-learning map creation unit 32 that activates the measurement unit 6 and the map creation unit 29 to create and store a pre-learning map 61 around the movement route 60 where the apparatus main body 2 reaches the preparation position 58, and the work A matching process of the pre-learning map 61 with respect to the travel map 53 is performed, and the corresponding position corresponding to the pre-learning map 61 on the work travel map 53 as a result of the matching process. As a reference, provided by comparing the ready position 58 on the start position 54 on work running map 53 pre learning map 61, a position determination unit 33 for obtaining an error from the start position 54 of the standby position 58, the.

  With such a configuration, in the autonomous traveling device 1 according to the present embodiment, objects such as walls and figurines are located around the start position 54 on the work travel map 53 and the actual preparation position 58 that has moved in the preparation stage for reproduction travel. Even when there are few feature points such as the arrangement and shape of the image, the environment around the preparation position 58 that cannot be grasped only by the local map obtained at the preparation position 58 can be grasped using the pre-learning map 61. Then, the actual preparation position 58 after moving for reproduction travel can be accurately recognized by the pre-learning map 61. Therefore, the autonomous traveling device 1 can accurately recognize the actual preparation position 58 on the work travel map 53 by the matching process between the work travel map 53 and the pre-learning map 61. Further, the autonomous mobile device 1 can acquire the error between the start position 54 on the work travel map 53 and the actual preparation position 58 and recognize the start position 54 with respect to the preparation position 58. Announcement can notify the operator, and the operator can accurately move the autonomous mobile device 1 to the start position 54. For this reason, the autonomous traveling device 1 can be accurately reproduced and traveled on the traveling route 52 of the work traveling map 53, and the autonomous traveling device 1 comes off the traveling route 52, or the autonomous traveling device 1 becomes a wall or a product shelf. The risk of colliding with an obstacle can be avoided. In this way, the autonomous traveling device 1 can maintain the accuracy of the reproduced traveling favorably.

  Further, the autonomous mobile device 1 according to the present embodiment moves the device main body 2 from the preparation position 58 to the start position 54 when the position determination unit 33 acquires an error between the preparation position 58 and the start position 54. A position correction unit 34 for controlling the traveling unit 3 is further provided.

  With such a configuration, it is possible to reduce the burden on the operator by reducing the troublesome work for the operator to accurately place the autonomous mobile device 1 at the start position 54 when performing the reproducible travel.

  Furthermore, in the autonomous traveling device 1 according to the present embodiment, the position determination unit 33 determines that the matching process is unsuccessful when the highest matching rate is equal to or lower than a predetermined lower limit as a result of the matching process.

  With such a configuration, when there is an error in the selection of the work travel map 53, the matching process fails because the highest matching rate is equal to or lower than a predetermined lower limit value in the matching process by the position determination unit 33, and the wrong work Reproduction travel using the travel map 53 can be avoided. In addition, it is possible to notify the operator of a matching process failure, that is, an error in the selection of the work travel map 53 by display or announcement, and it is possible to avoid a selection error in the work area 51 (cleaning area).

  In the autonomous traveling device 1 according to the present embodiment, the position determination unit 33 compares the candidate map of each position on the work traveling map 53 and the pre-learning map 61 with a predetermined size based on the preparation position 58. When matching processing with a map is performed and there is at least one second corresponding position that has a matching rate that approximates the highest matching rate, the matching processing is repeated while enlarging the comparison map, and the matching rate to be approximated And only the highest match rate.

  With such a configuration, it is possible to eliminate the approximate matching rate and narrow down to only the highest matching rate, and the preparation position 58 can be accurately recognized on the work travel map.

  Furthermore, in the autonomous traveling device 1 according to the present embodiment, the position determination unit 33 can measure the range in the work traveling map 53 that performs the matching process with the pre-learning map 61 by using the measurement unit 6 as a reference. Refine to the range.

  With such a configuration, the matching process of the position determination unit 33 can shorten the calculation processing time compared with the case where the entire area of the work travel map 53 is used, and preparation on the work travel map 53 can be performed in a short time. The position 58 can be recognized.

  Further, in the autonomous traveling device 1 according to the present embodiment, the position determination unit 33 determines the range in the work traveling map 53 that performs the matching process with the pre-learning map 61 according to a predetermined condition with the start position 54 as a reference. Narrow down to size.

  With such a configuration, the matching process of the position determination unit 33 can reduce the time of the calculation process according to a predetermined condition as compared with the case where the entire area of the work travel map 53 is used, and the work can be performed in a short time. The preparation position 58 on the travel map 53 can be recognized. As the predetermined condition, for example, there is a proficiency level of an operation (for example, a cleaning operation) using the autonomous traveling device 1 by an operator. When the operator is an experienced worker familiar with the work, the range for narrowing down the work travel map 53 is narrowed to give priority to shortening the calculation processing time, while when the operator is an unfamiliar worker such as a part-time worker, The range for narrowing down the work travel map 53 is widened to give priority to the reliable recognition of the preparation position 58 (self position) on the work travel map 53. In this way, according to the difference in conditions such as the proficiency level of the worker, it is possible to automatically and appropriately determine whether to prioritize self-position recognition or prioritize shortening the time to shift to reproduction driving, Convenience at the work site (cleaning site) is improved.

  Furthermore, in the autonomous traveling device 1 according to the present embodiment, the position determination unit 33 sets the pre-learning map 61 for performing the matching process with the work traveling map 53 according to the number of feature points with the preparation position 58 as a reference. Refine to.

  With such a configuration, it is possible to appropriately recognize the preparation position 58 (self-position) on the work travel map 53 by changing the range in which the matching process is performed according to the complexity of the shape of the created pre-learning map 61. Thus, it is possible to achieve both a reduction in the calculation processing time of the matching process, that is, a reduction in the time for shifting to the reproduction running. For example, when the shape of the pre-learning map 61 is complicated and there are many feature points, the reference range used for the matching process is made small as in the second comparison map 65, and the shape of the pre-learning map 61 is simple and has few feature points. In this case, the reference range used for the matching process is enlarged as in the first comparison map 64.

  The autonomous traveling device 1 according to the present embodiment further includes a map re-creating unit 35 that reconstructs the corresponding position on the work travel map 53 using the pre-learning map 61 and re-creates the work travel map 53.

  With such a configuration, it is possible to create a more appropriate work travel map 53 using the features of the pre-learning map 61 in addition to the features of the work travel map 53. For this reason, even if there are few features around the start position 54 of the work travel map 53 created in the teaching travel mode, the work travel map 53 combined with the features of the pre-learning map 61 can be used. The preparation position 58 can be reliably recognized.

  Furthermore, the autonomous traveling device 1 according to the present embodiment further includes a cleaning unit 5 that can perform a cleaning operation based on a manual operation input and an automatic operation input, and the teaching traveling control unit 30 performs a manual operation when executing the teaching traveling mode. The cleaning condition of the cleaning unit 5 set according to the input is stored in association with the position in the travel route 52, and the reproduction travel control unit 31 causes the travel unit 3 to move the device main body 2 to the travel route when the reproduction travel mode is executed. While traveling along the line 52, the cleaning unit 5 is controlled so as to perform the cleaning operation by an automatic operation input according to the cleaning condition corresponding to the position of the apparatus main body 2.

  With such a configuration, the autonomous mobile device 1 can clean the floor surface quickly and accurately by autonomously performing the cleaning work, and can reduce the number of manpower required for floor surface cleaning. In this embodiment, although the cleaning part 5 demonstrated the example comprised by the wet cleaning mechanism which has the member 17 for washing | cleaning, the washing | cleaning liquid supply part 18, and the suction part 19, the cleaning part 5 is not limited to this example. For example, you may be comprised by the dry-type cleaning mechanism which has a brush, a suction blower, a filter, a bucket, etc.

  Moreover, in the autonomous traveling device 1 according to the present embodiment, the power supply device 9 includes the power remaining amount detection unit that detects the remaining amount of the capacity of the power source that supplies power to the traveling unit 3 and each unit, and the power required during the teaching travel. And a power capacity calculation unit that calculates the power capacity required for the reproduction run based on the above. Then, the power supply device 9 compares the remaining amount of power detected by the remaining power detection unit with the power capacity required for the reproduction run calculated by the power capacity calculation unit, and the remaining amount of power is reproduced. When the power supply capacity is less than the required capacity, it is determined that the reproduction run cannot be completed and an error is displayed.

  Further, in the autonomous traveling device 1 according to the present embodiment, the cleaning unit 5 calculates a liquid amount detection sensor provided in the cleaning liquid tank and the sewage tank, a cleaning liquid amount in the cleaning liquid tank, and a sewage amount that can be collected in the sewage tank. A liquid amount calculation unit. In addition, the liquid amount calculation unit is generated in the amount of cleaning liquid required for the reproduction run and the reproduction run based on the amount of cleaning liquid required during the teaching run detected by the liquid quantity detection sensor and the amount of sewage collected during the teaching run. The amount of collected sewage is calculated and output to the control unit 7. Then, the control unit 7 compares the amount of cleaning liquid in the cleaning liquid tank and the amount of sewage collected in the sewage tank with the amount of cleaning liquid and the amount of collected sewage necessary for reproduction travel, and the amount of cleaning liquid in the cleaning liquid tank is reproduced. When the amount of cleaning liquid used is less than the amount used, or when the amount of sewage collected in the sewage tank is less than the amount of sewage collected during the reproduction run, it is determined that the reproduction run cannot be completed and an error is displayed.

  With such a configuration, it is possible to autonomously determine in advance whether or not the autonomous traveling device 1 can perform a reproducible traveling, and notify the operator of the determination result by display or announcement. For this reason, the operator can cope with a problem that may occur during the reproduction travel in advance, and can perform the reproduction travel more reliably.

  As described above, according to the autonomous traveling device 1 according to the embodiment of the present invention, the allowable range of the start position 54 of the work travel map 53 is widened and the recognition work of the start position 54 is facilitated and reproduced without increasing the cost. It is possible to smoothly proceed with work such as cleaning work associated with traveling.

  The present invention can be changed as appropriate without departing from the spirit or concept of the invention that can be read from the claims and the entire specification, and an autonomous traveling device and a start position determination program that involve such a change are also included. It is included in the technical idea of the present invention.

  The present invention can be suitably used for an autonomous traveling device capable of traveling according to manual operation and automatic operation.

DESCRIPTION OF SYMBOLS 1 Autonomous traveling apparatus 2 Apparatus main body 3 Traveling part 4 Handle part 5 Cleaning part 6 Measuring part 7 Control part 8 Control panel 9 Power supply 21 Movement amount sensor 22 Front obstacle sensor 24 Memory 28 Mode switching part 29 Map preparation part 30 Teaching traveling control Unit 31 Reproduction travel control unit 32 Pre-learning map creation unit 33 Position determination unit 34 Position correction unit 35 Map re-creation unit 51 Work area 52 Travel route 53 Work travel map 54 Start position 55 End position 56 Start angle 58 Preparation position 59 Preparation angle 60 travel route 61 pre-learning map 62 first reference range 63 second reference range 64 first comparison map 65 second comparison map

Claims (12)

An autonomous traveling device capable of traveling based on manual operation input and autonomous traveling based on automatic operation input,
The device body;
A traveling unit for traveling the apparatus body;
A measuring unit for measuring a distance and an angle between the apparatus main body and an object around the apparatus main body;
A mode switching unit for switching between the teaching travel mode and the reproduction travel mode;
A map creation unit that creates a local map around the apparatus body by converting the distance and angle measured by the measurement unit;
During the execution of the teaching travel mode, while the travel unit travels the apparatus main body in response to a manual operation input, the measurement unit and the map creation unit are operated to connect the local maps, A teaching travel control unit that creates and stores a travel route from the start position to the end position of the apparatus main body and a work travel map around the travel route;
A reproduction travel control unit for controlling the travel unit to travel the apparatus main body at the start position by automatic operation input according to the travel route and the work travel map when the reproduction travel mode is executed;
When neither the teaching travel mode nor the reproduction travel mode is executed, the measurement unit and the map creation unit are operated while the travel unit moves the apparatus main body to the preparation position in response to a manual operation input. A pre-learning map creation unit that creates and stores a pre-learning map around the movement route where the device main body reaches the preparation position;
The pre-learning map is matched with the work travel map, and the start position on the work travel map is based on the corresponding position corresponding to the pre-learning map on the work travel map as a result of the matching process. And a position determination unit that compares the preparation position on the pre-learning map and obtains an error from the start position of the preparation position;
An autonomous traveling device comprising:   And a position correction unit that controls the travel unit to move the apparatus main body from the preparation position to the start position when an error between the preparation position and the start position is acquired by the position determination unit. The autonomous traveling device according to claim 1, wherein:   The autonomous traveling device according to claim 1, wherein the position determination unit determines that the matching process is unsuccessful when a highest matching rate is equal to or lower than a predetermined lower limit value as a result of the matching process.   The position determination unit performs the matching process between a candidate map of each position on the work travel map and a comparison map narrowed down to a predetermined size from the pre-learning map with the preparation position as a reference, and the highest matching rate is When the obtained first corresponding position and at least one second corresponding position having a matching rate that approximates the highest matching rate exist, the matching process is repeated while enlarging the comparison map. The autonomous traveling device according to claim 1.   The position determination unit narrows down a range in the work travel map for performing the matching process with the pre-learning map to a measurable range of the measurement unit with the start position as a reference. The autonomous traveling device according to any one of claims 4 to 5.   The position determination unit narrows a range in the work travel map for performing the matching process with the pre-learning map to a size according to a predetermined condition with the start position as a reference. The autonomous traveling device according to any one of claims 4 to 5.   The said position determination part narrows down the said pre-learning map which performs the said matching process with the said work travel map to the magnitude | size according to the number of feature points on the basis of the said preparation position. Item 7. The autonomous traveling device according to any one of items 6.   The map re-creation unit that re-creates the work travel map by reconstructing the corresponding position on the work travel map using the pre-learning map. The autonomous traveling apparatus of Claim 1. A cleaning unit capable of performing a cleaning operation based on manual operation input and automatic operation input;
The teaching travel control unit stores the cleaning condition of the cleaning unit, which is set according to a manual operation input, in association with the position on the travel route when the teaching traveling mode is executed,
The reproduction travel control unit is configured to perform automatic operation input in accordance with the cleaning condition corresponding to the position of the apparatus body while the travel unit travels the apparatus body along the travel route when the reproduction travel mode is executed. The autonomous traveling device according to claim 1, wherein the cleaning unit is controlled so as to perform the cleaning operation. A power remaining amount detection unit for detecting a remaining amount of capacity of a power source that supplies power to the traveling unit and each unit;
A power capacity calculation unit for calculating a power capacity required for the reproduction travel based on the power required during the teaching travel;
Compare the remaining amount of power detected by the remaining power detection unit and the power capacity required for the reproduction run calculated by the power capacity calculation unit,
10. The method according to claim 1, wherein when the remaining amount of the power source is less than a power supply capacity required for the reproduction travel, it is determined that the reproduction travel cannot be completed, and an error is displayed. Autonomous traveling device. A liquid amount detection sensor provided in a cleaning liquid tank and a sewage tank of the cleaning unit;
A liquid amount calculation unit that calculates the amount of cleaning liquid in the cleaning liquid tank and the amount of sewage that can be collected in the sewage tank; and
The liquid amount calculation unit is generated by the amount of cleaning liquid required for the reproduction run and the reproduction run based on the amount of cleaning liquid required during the teaching run detected by the liquid quantity detection sensor and the amount of sewage collected during the teaching run. Calculate the amount of collected sewage and output it to the control unit.
The control unit compares the amount of cleaning liquid in the cleaning liquid tank and the amount of sewage collected in the sewage tank with the amount of cleaning liquid and the amount of sewage collected for reproduction travel, and the amount of cleaning liquid in the cleaning liquid tank is reproduced. When the amount of cleaning liquid used for traveling is less than that, or when the amount of sewage collected in the sewage tank is less than the amount of collected sewage generated in the reproduced traveling, it is judged that the reproduced traveling cannot be completed and an error is displayed. The autonomous traveling device according to claim 9. In the autonomous traveling device according to any one of claims 1 to 11, a start position determination program for determining a starting position of the autonomous traveling device,
The mode switching unit;
The map creation unit;
The teaching travel control unit;
The reproduction travel control unit;
The pre-learning map creation unit;
The position determination unit;
A start position determination program characterized by causing a computer to execute.

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