JP2019106060A - Autonomous travel body - Google Patents

Abstract

To provide an autonomous travel body capable of informing installation of a sign setting a travel impossible area to a user.SOLUTION: An autonomous travel body 11 comprises a self-propelled main body case, a travel control part 61, a detection sensor 42 or a sign detection part 69, and a communication part 26. The travel control part 61 controls traveling of the main body case. The detection sensor 42 or the sign detection part 69 detects a sign installed in a travel target area and indicating a travel impossible position. The communication part 26 outputs information indicating that the sign is installed.SELECTED DRAWING: Figure 1

Description

  An embodiment of the present invention relates to a self-propelled autonomous traveling body.

  Conventionally, in a robot capable of autonomous traveling, such as an autonomous traveling type vacuum cleaner, for example, a virtual boundary by infrared rays or a boundary by tape is set at a place where the robot does not want to enter, and an entry prohibition area is set. There is known a system that prevents a robot that detects these boundaries from traveling beyond the boundaries.

  In recent years, a camera may be mounted on a robot, and map data of a room or the like may be created using an image captured by the camera. At this time, the above-mentioned entry prohibited area is reflected in the map data only as a wall or the like because the robot can not enter, and the user may set the entry prohibited area or forget the setting place etc. I am concerned.

JP, 2009-301247, A JP, 2016-220823, A

  The problem to be solved by the present invention is to provide an autonomous vehicle that can notify a user of the installation of a sign that sets a non-travelable area.

  The autonomous traveling body of the embodiment includes a self-propelled main body, a traveling control means, a detection means, and an output means. The traveling control means performs traveling control of the main body. The detection means detects a sign which is installed in the travel target area and which indicates the travel impossible position. An output means outputs the information which shows that the label | marker is installed.

It is a block diagram which shows the internal structure of the autonomous traveling body of one Embodiment. It is a perspective view which shows an autonomous traveling body same as the above. It is a top view which shows an autonomous traveling body same as the above from the bottom. It is explanatory drawing which shows typically the autonomous traveling body system provided with an autonomous traveling body same as the above. It is a perspective view which shows an example of the label | marker detected by the detection means of an autonomous traveling body same as the above. (a) is a perspective view which shows the further another example of the label | marker detected by the detection means of an autonomous traveling body same as the above, (b) is a perspective view which shows the further another example of the label | marker detected by the same detection means. It is a flowchart which shows driving control of an autonomous traveling body same as the above. It is a top view which shows typically the detection operation of the boundary by the detection means of an autonomous traveling body same as the above. (a) is a top view which shows typically an example of an actual traveling object area | region, (b) is a top view which shows the map data corresponding to (a). (a) is a top view which shows typically an example of an actual traveling object area | region, (b) is a top view which shows the map data corresponding to (a). It is explanatory drawing which shows an example of a notification when the installation period of the label | marker in an autonomous traveling body same as the above becomes more than predetermined.

  Hereinafter, the configuration of one embodiment will be described with reference to the drawings.

  In FIGS. 1 to 4, reference numeral 11 denotes an autonomous vehicle. The autonomous traveling body 11 constitutes an autonomous traveling body device together with a charging device (charging stand) (not shown) as a base device serving as a base portion for charging the autonomous traveling body 11. And in this embodiment, the autonomous traveling body 11 is a so-called self-propelled electric vacuum cleaner or robot that cleans the floor surface while autonomously traveling (self-propelled) on the floor surface which is a surface to be cleaned as a traveling surface. It is a cleaner (cleaning robot). The self-propelled autonomous traveling body 11 is not limited to one that travels completely autonomously, but includes one that travels by being remotely operated by an external device such as a remote control. And this autonomous traveling body 11 is wired communication or Wi-Fi (registered trademark) or Bluetooth (registration) with home gateway (router) 14 as a relay means (relay unit) arranged, for example, in a cleaning area etc. General-purpose server 16 as data storage means (data storage unit) via a (external) network 15 such as the Internet, and display means (display unit) by communicating (transmitting and receiving) using wireless communication such as trademark) Wired or wireless communication with a general-purpose external device 17 or the like having the function of. In addition, the autonomous mobile body 11 can wirelessly communicate with the external device 17 via the home gateway 14 if it is, for example, inside a building (in a house). Therefore, the autonomous traveling body 11 and the external device 17 constitute an autonomous traveling body system 18 via the home gateway 14, the network 15, the server 16, and the like.

  The autonomous traveling body 11 includes a main body case 20 which is a main body. Further, the autonomous traveling body 11 is provided with a driving wheel 21 which is a traveling drive unit. Furthermore, the autonomous traveling body 11 may include a cleaning unit 22 that cleans dust on the floor surface. The autonomous traveling body 11 also includes a sensor unit 23. Furthermore, the autonomous traveling body 11 may include an imaging unit 24. Further, the autonomous traveling body 11 includes a communication unit 26 as an output unit (output unit) having functions of a receiving unit (receiving unit) and a transmitting unit (transmission unit). Furthermore, this autonomous traveling body 11 is provided with a control unit 28 as a control means that is a controller. And this autonomous traveling body 11 may be provided with the battery for electric supply used as a power supply part. Hereinafter, the direction along the traveling direction of the autonomous traveling body 11 (body case 20) is referred to as the front and back direction (arrows FR and RR shown in FIG. 2), and the left and right direction The description will be made assuming that the both sides direction is the width direction.

  The main body case 20 is formed in a shape that can store various devices and parts. In the main body case 20, a suction port 31 or the like, which is a dust collection port, may be provided in a lower portion facing the floor surface or the like.

  The driving wheel 21 travels (autonomously travels) the autonomous traveling body 11 (main body case 20) in the forward direction and the backward direction on the floor surface, that is, for traveling. In the present embodiment, a pair of drive wheels 21 is provided, for example, on the left and right of the main body case 20. The drive wheels 21 are independently driven by motors 33 as drive means. In addition, it may replace with this drive wheel 21, and an endless track etc. can be used as a drive part.

  The cleaning unit 22 is, for example, for removing dust on the floor surface. The cleaning unit 22 has, for example, a function of collecting and collecting dust on the floor surface from the suction port 31, and wiping and cleaning the floor surface and the like. The cleaning unit 22 includes an electric blower 35 for sucking dust with air from the suction port 31, a rotary brush 36 as a rotary cleaning body rotatably attached to the suction port 31 and scraping the dust, and rotationally driving the rotary brush 36 Brush motor 37, a side brush 38 as an auxiliary cleaning means (auxiliary cleaning portion) as a pivot cleaning portion rotatably attached to the peripheral portion of the main body case 20 and scraping dust, and a side for driving the side brush 38 At least one of the brush motor 39 may be provided. Further, the cleaning unit 22 is configured to collect dust from the suction port 31 to the dust collection unit 40.

  The sensor unit 23 includes, for example, a detection sensor 42 as a (one) detection unit (detection unit). That is, the autonomous traveling body 11 includes the detection sensor 42 as (one) detection means (detection unit). The sensor unit 23 is, for example, an obstacle detection unit (an obstacle sensor such as an infrared sensor or an ultrasonic sensor for sensing a wall or an obstacle which is an obstacle (step) of the floor surface or an obstacle of traveling of the autonomous traveling body 11). Object sensor) may be further provided. Furthermore, the sensor unit 23 may further include, for example, a dust amount detection unit (dust sensor) that detects the amount of dust sucked.

  The detection sensor 42 detects a sign placed in a traveling target area such as a room. As the detection sensor 42, for example, an infrared sensor that is an infrared detection unit that detects infrared light may be used, or a magnetic sensor that is a magnetic detection unit that detects magnetism may be used. Good.

  The sign detected by the detection sensor 42 indicates a non-travelable position on the map data of the travel target area. This sign MA1 may be, for example, a virtual wall by an infrared signal IR which is linearly output in a predetermined direction from an intrusion prevention device (virtual guard) VG installed in the traveling target area A (FIG. 5) ), Magnetic tape attached to the traveling surface, or the like. In other words, the label MA1 detected by the detection sensor 42 is detectable by at least one of infrared light and magnetism. Further, the mark MA1 detected by the detection sensor 42 is detected at a position close to the main body case 20 (the autonomous traveling body 11) or less than a predetermined distance. That is, when the marker is detected by the detection sensor 42, the position of the autonomous traveling body 11 in which the marker is detected is referred to as a non-travelable position. And although the details will be described later, the boundary can be acquired by connecting a plurality of non-travelable positions indicated by the mark MA1. This boundary refers to a line that divides the travelable area and the travel impossible area in the travel target area of the autonomous traveling body 11 (main body case 20). Therefore, by detecting a plurality of non-travelable positions and acquiring a boundary based on these, it is possible to acquire a non-travelable area.

  The imaging unit 24 includes a camera 51 as an imaging unit main body (imaging unit main body). In addition, the imaging unit 24 may include a lamp 53 as an illumination unit (illumination unit) that illuminates the imaging range of the camera 51. Therefore, the autonomous traveling body 11 includes the camera 51 as an imaging unit (imaging unit main body). Moreover, the autonomous traveling body 11 may be provided with the lamp | ramp 53 which is a detection assistance means (detection assistance part) as an illumination means (illumination part).

  The camera 51 is directed forward, which is the traveling direction of the main body case 20, and is digital at a predetermined horizontal angle of view (for example, 105 ° or the like) with respect to a direction parallel to the floor surface on which the main body case 20 is mounted. The digital camera captures an image (moving image) of In the present embodiment, for example, two cameras 51 are mounted on the main body case 20 in a pair. For example, the cameras 51 are disposed at the front of the main body case 20 so as to be laterally separated. Although not shown, each camera 51 includes a lens, an aperture, a shutter, an imaging device such as a CCD, an imaging control circuit, and the like.

  The communication unit 26 can communicate with the external device 17 outside the house (outside the house) via the server 16 via the home gateway 14 and the network 15. The communication unit 26 can also communicate with the external device 17 inside the house (in the house) via the home gateway 14. The communication unit 26 can transmit data to the external device 17 and can receive signals from the external device 17. For example, the communication unit 26 includes a wireless communication unit (wireless communication unit) for wireless communication with the external device 17 and a wireless LAN device as a cleaner signal reception unit (cleaner signal reception unit). For example, an access point function may be installed in the communication unit 26, and direct wireless communication may be performed with the external device 17 without passing through the home gateway 14. Also, for example, a web server function may be added to the communication unit 26.

  The control unit 28 is, for example, a microcomputer including a CPU as a control unit main body (control unit main body), a ROM, a RAM, and the like. The control unit 28 is electrically connected to the motor 33, the cleaning unit 22, the sensor unit 23, the imaging unit 24, the communication unit 26, and the like. More specifically, the control unit 28 includes a traveling control unit 61 which is traveling control means. Further, the control unit 28 includes a cleaning control unit 62 which is a cleaning control unit. Further, the control unit 28 includes a sensor connection unit 63 which is a sensor control unit. Further, the control unit 28 includes a communication control unit 64 which is a communication control unit. Furthermore, the control unit 28 includes an image data acquisition unit 66 that acquires image data from the imaging unit 24 (camera 51). Further, the control unit 28 includes a processing unit 67. Furthermore, the control unit 28 includes a memory 68 as a storage unit (storage unit). Also, the control unit 28 is electrically connected to the battery. Furthermore, the control unit 28 may include a charge control unit that controls charging of the battery. Therefore, the autonomous traveling body 11 is provided with the traveling control unit 61 which is traveling control means. Moreover, the autonomous traveling body 11 may be equipped with the cleaning control part 62 which is a cleaning control means. Furthermore, the autonomous traveling body 11 is provided with a sensor connection unit 63 which is a sensor control unit. The autonomous traveling body 11 also includes a communication control unit 64 which is a communication control unit. Furthermore, the autonomous traveling body 11 includes an image data acquisition unit 66. The autonomous traveling body 11 further includes a processing unit 67. Furthermore, the autonomous traveling body 11 includes a memory 68 as a storage unit (storage unit). Moreover, the autonomous traveling body 11 may be equipped with the charge control part which controls charge of a battery.

  The travel control unit 61 controls the drive of the drive wheel 21 by controlling the drive of the motor 33. The travel control unit 61 sets a travel route based on map data (corresponding to the travelable area) indicating a travelable area in a travel target area such as a room in which the autonomous traveling body 11 is disposed, and the driving wheel 21 By controlling the driving of (motor 33), a traveling mode (cleaning mode) is provided in which the main body case 20 (the autonomous traveling body 11) is autonomously traveled in the travelable area along the traveling path.

  The cleaning control unit 62 controls the operation of the cleaning unit 22. In the present embodiment, the cleaning control unit 62 controls the output (power) of the electric blower 35, the brush motor 37 (the rotating brush 36), and the side brush motor 39 (the side brush 38).

  The sensor connection unit 63 is electrically connected to the sensor unit 23. The sensor connection unit 63 can acquire the detection result by the sensor unit 23 and can output the detection result to the traveling control unit 61 and the processing unit 67.

  The communication control unit 64 is electrically connected to the communication unit 26. The communication control unit 64 is also electrically connected to the processing unit 67. The communication control unit 64 processes signals and data transmitted from the communication unit 26 and signals and data received by the communication unit 26.

  The image data acquisition unit 66 acquires an image captured by the camera 51 and outputs the image to the processing unit 67. The image data acquisition unit 66 corrects distortion of the raw image data captured by the camera 51 caused by the lens of the camera 51, removes noise, adjusts contrast, and matches the center of the image, for example. It may have a function of an image correction unit (image correction unit) that performs primary image processing.

  The processing unit 67 is electrically connected to the sensor connection unit 63, the communication control unit 64, and the image data acquisition unit 66. The processing unit 67 performs various types of image processing based on the data of the image captured by the camera 51.

  That is, the processing unit 67 senses the surroundings and creates an area map indicating an area in which the vehicle can travel, and a function (so-called SLAM (Simultaneous Localization and Mapping) function of acquiring the self position of the autonomous traveling body 11 in the area map ). The SLAM function mounted on the autonomous traveling body 11 of the present embodiment utilizes a stereo camera image. That is, the processing unit 67 according to the present embodiment extracts the same position (feature point such as a corner of furniture) in the captured image of each of the two cameras 51, 51, and uses the binocular parallax of these cameras 51, 51. Thus, the distance from the imaging position to the feature point can be acquired. By repeatedly acquiring the distance in this manner, the situation around the autonomously traveling body 11 such as the shape of the wall, the position of the furniture, or the size can be known. Therefore, based on the situation around this, the processing unit 67 performs autonomous traveling. A map can be created that shows a travelable area in which the body 11 (body case 20) can travel. Then, the processing unit 67 can acquire the self position by associating the created map with the distance measurement information based on the captured image. That is, the processing unit 67 has functions of a map creating unit and a self position acquiring unit. In addition, when acquiring a self-position by the process part 67, it is not necessary to necessarily produce a map itself, and the map acquired from the outside may be used. Also, in order to realize the SLAM function, in addition to using stereo camera images, known techniques such as using an infrared sensor or using an angular velocity sensor and an acceleration sensor in combination can be used, so a detailed explanation will be given. I omit it. The map data created by the processing unit 67 can be stored in the memory 68. The processing unit 67 can appropriately correct the map data when the shape or arrangement of an obstacle or the like in the already created map data does not match the detected peripheral shape or arrangement.

  Furthermore, the processing unit 67 detects a label included in the image data (image data output from the image data acquisition unit 66) captured by the camera 51, and analyzes the information indicated by the detected label. That is, the processing unit 67 and the camera 51 constitute a marker detection unit 69 as a detection unit (detection unit) that detects a marker installed in the traveling target area. Therefore, the autonomous traveling body 11 is provided with the marker detection part 69 as (other) detection means (detection part).

  Here, the sign detected by the sign detection unit 69 indicates a non-travelable position (an entry prohibited area) on the map data of the travel target area. The marker MA2 may be, for example, the setting device BS installed in the traveling target area A, or the marker MK such as an AR marker or QR code (registered trademark) installed on the housing or wall of the setting device BS. It may be a tape (FIG. 6 (a) or FIG. 6 (b)), a tape having a predetermined pattern set in advance and installed on the traveling surface. That is, it is assumed that the marker detected by the marker detection unit 69 is detected based on the image data, such as a feature point in the image data or a color tone in the image data. Specifically, the marker detection unit 69 detects the shape of the marker based on, for example, the feature points in the image data. A feature point in image data is a point at which a predetermined position on an object can be identified by a change in color information of each pixel. Further, the label detection unit 69 can detect the position of the detected label, that is, the direction and the distance relative to the self position of the autonomous traveling body 11 based on the image data.

  The setting device BS shown in FIGS. 6A and 6B includes a housing 71. The housing 71 is formed in, for example, a rectangular shape. That is, the housing 71 has four side surface portions 72 to 75 rising from each side of the rectangular lower surface installed on the traveling surface. Markers MK may be installed on these side sections 72 to 75, respectively. By not installing markers MK on any of the side sections 72 to 75, it is possible to distinguish from the rest of the side sections 72 to 75. You may Further, the setting device BS can set a plurality of boundaries BO between the travelable area A1 and the non-travelable area A2 by disposing a plurality of the setting devices in the travel target area A. It is also possible to set a boundary BO surrounding the periphery of the arranged position, and set a predetermined region surrounded by the boundary BO as the non-travelable region A2.

  The marker MK is formed in, for example, a two-dimensional barcode or an arbitrary shape or color tone that can be recognized by analysis of image data captured by the camera 51. The marker MK is attachable to and detachable from, for example, the side surface portions 72 to 75 of the setting device BS, a wall, and the like.

  The processing unit 67 shown in FIG. 1 estimates the position of the marker detected by the detection sensor 42 or the marker detection unit 69, that is, the non-travelable position which is the position where the vehicle did not travel (enter) by detection of the marker. It has a function of an information processing means (an information processing unit) which associates the position with the map data. Here, the non-travelable position is detected by the detection sensor 42, for example, an infrared signal IR in which the sign is output from the entry prevention device VG or a magnetic tape attached to the traveling surface, in other words, the autonomous traveling body 11 When it is detected when it is located at a position close to or less than a predetermined distance with respect to the self position of (body case 20), the self of autonomous traveling body 11 (body case 20) when this sign is detected The position can be directly associated with the non-travelable position on the map data. Also, for example, the marker is a marker or the like, which is detected by the marker detection unit 69, in other words, within the imaging range of the camera 51 with respect to the self position of the autonomous traveling body 11 (main body case 20) If the position is detected even when it is in position, the relative position of the marker from the self position of the autonomously traveling body 11 (body case 20) can be associated with the non-travelable position. That is, in this case, the self-location of the autonomously traveling body 11 (main body case 20) when the marker is detected can be indirectly associated with the non-travelable location on the map data. Further, the processing unit 67 acquires a boundary that distinguishes between the travelable area and the non-travelable area on the map data of the travel target area based on the position of the sign detected by the detection sensor 42 or the sign detection unit 69. And in this process part 67, the period which can not be traveled continues and exists in the same position is acquired. The acquisition of the boundary and the like in the processing unit 67 will be described later.

  The memory 68 is, for example, a non-volatile memory such as a flash memory. In the memory 68, map data of the traveling target area created by the processing unit 67 is stored. The map data can be transmitted as data that can be displayed by the external device 17 via the communication unit 26.

  The battery supplies power to the cleaning unit 22, the sensor unit 23, the imaging unit 24 (the camera 51 and the lamp 53), the communication unit 26, the control unit 28, and the like. In this embodiment, for example, a rechargeable secondary battery is used as this battery. For this reason, in the present embodiment, for example, the charging terminal 77 for charging the battery is exposed and arranged at the bottom of the main body case 20.

  The charging device is a base unit that returns when the autonomous traveling body 11 finishes traveling (cleaning). The charging device may incorporate a charging circuit such as a constant current circuit, for example. Further, the charging device is provided with a charging terminal for charging the battery. The charging terminal is electrically connected to the charging circuit. Then, the charging terminal is mechanically and electrically connected to the charging terminal 77 of the autonomous traveling body 11 returned to the charging device.

  The home gateway 14 is also called an access point or the like, installed in a building, and connected to the network 15 by, for example, a wire.

  The server 16 is a computer (cloud server) connected to the network 15, and can store various data.

  The external device 17 is capable of wired or wireless communication with the network 15 via, for example, the home gateway 14 inside the building, and wired or wireless communication with the network 15 outside the building, for example, a PC (tablet It is a general-purpose device such as a terminal (tablet PC)) or a smartphone (mobile phone). The external device 17 is provided with a display 79 such as liquid crystal, and has at least the function of display means for displaying an image on the display 79. The display 79 can also have a touch panel function, for example. That is, the display 79 has a function of an input unit. In addition, an application (program) for displaying the map data transmitted from the communication unit 26 of the autonomous traveling body 11 may be installed in the external device 17. Furthermore, the external device 17 may be provided in advance with a function of transmitting and receiving an electronic mail.

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

  First, an outline from the start to the end of the cleaning by the autonomous traveling body 11 will be described with reference to the flowchart shown in FIG. For example, when the autonomous traveling body 11 separates from the charging device and starts cleaning (step S1), the floor travels along a predetermined traveling route such as zigzag traveling based on the map data stored in the memory 68, for example. The surface is cleaned (step S2). Next, it is judged whether or not an object or sign such as an obstacle is detected (step S3), and if it is judged that it has been detected, the map data is updated (step S4) and it is judged that it has not been detected. When the map data is updated, it is determined whether the cleaning is ended based on whether the entire travelable area has been traveled (step S5). When it is determined that the cleaning is not completed (the entire travelable area is not traveled), the cleaning is continued (proceeds to step S2), and it is determined that the cleaning is completed (the entire travelable area is traveled). If it is determined, the process returns to the charging device (step S6) to end the cleaning. When cleaning is completed, for example, charging of the battery is started at a predetermined timing.

  More specifically, the autonomous traveling body 11 receives the control command of the cleaning start transmitted by the external device 17 or the like by the communication unit 26 when, for example, the cleaning start time set in advance is reached. The control unit 28 is switched to the traveling mode at the timing when the vehicle has run, and starts cleaning. At this time, when map data of the drivable area is not stored in the memory 68, a predetermined operation such as zigzag travel is performed to detect the detection sensor 42 of the sensor unit 23, the obstacle detection means, the camera 51 and the processing unit 67. The map data is created by the processing unit 67 by detecting an obstacle or the like around the autonomous traveling body 11 (main body case 20) or the like.

  That is, the image data acquisition unit 66 takes in image data from the camera 51 and performs image processing such as lens distortion correction. When an image is taken by the camera 51, it can be illuminated by the lamp 53 as needed.

  Then, in the processing unit 67, SLAM is performed based on the detection results of the detection sensor 42 or the obstacle detection unit of the sensor unit 23 acquired via the sensor connection unit 63, and the image data acquired via the image data acquisition unit 66. Perform processing and carry out self-location acquisition and map creation.

  When the processing unit 67 detects a sign by the detection sensor 42 or the sign detection unit 69 at the time of creating the map, the travelable area and the impassable area in the map data of the travel target area are detected based on the position of the sign. While acquiring the distinction boundary, based on this boundary, the travelable area and the non-travelable area are acquired.

  The following two methods can be considered for acquiring the boundary, the travelable area, and the non-travelable area by the processing unit 67.

  First, when a plurality of positions of the sign are detected by the detection sensor 42, the processing unit 67 acquires a boundary that distinguishes the travelable area and the travel impossible area of the travel target area based on these positions. The self-location side of the autonomous traveling body 11 (body case 20) with respect to this boundary is a travelable area, and the side opposite to the self-position of the autonomous traveling body 11 (body case 20) with respect to the boundary is a travel impossible area. It is a method.

  Specifically, when the processing unit 67 detects a sign by approaching the sign by the detection sensor 42, the processing unit 67 links it with the estimated self position and plots it on map data, and acquires a line connecting the plotted positions as a boundary . For example, when the autonomous traveling body 11 detects a sign by the detection sensor 42, the position is plotted, and the traveling control unit 61 drives the driving wheel 21 (so that the autonomous traveling body 11 (body case 20) is temporarily detached from the sign. It controls the drive of the motor 33). Next, when the traveling control unit 61 controls the driving of the drive wheel 21 (motor 33) so that the autonomous traveling body 11 (body case 20) travels toward the sign again, and the sign is detected by the detection sensor 42, the position The travel control unit 61 controls the drive of the drive wheel 21 (motor 33) so that the autonomous traveling body 11 (body case 20) is once detached from this sign. By repeating this operation, a plurality of positions P of the sign are detected, and by connecting these positions P, the processing unit 67 acquires the boundary (for example, FIG. 8) and the autonomous traveling body 11 with respect to this boundary It is possible to register the map data as the non-travelable area on the side opposite to the self-position of the autonomous traveling body 11 (main body case 20) with respect to the boundary. That is, the processing unit 67 can indicate the direction in which the autonomous traveling body 11 (main body case 20) has not entered, as the travel impossible area, in the map data because the marker is installed.

  An example of the map data MP created by this method for the actual traveling target area A shown in FIG. 9 (a) is shown in FIG. 9 (b). In the map data MP, for example, the drivable area A1 is surrounded by a solid line, the boundary BO is indicated by a broken line, and the drivable area A2 is indicated only by a predetermined mark M. The map data MP is transmitted from the communication unit 26 to the external device 17 and can be displayed on the display 79 of the external device 17.

  Second, based on the markers detected by the marker detection unit 69 based on the image data captured by the cameras 51, 51, the processing unit 67 can travel and not travel on the map data of the travel target region. And the self-position side of the autonomous traveling body 11 (main case 20) with respect to this boundary as the travelable area, and the self-position of the autonomous traveling body 11 (main case 20) with respect to the boundary And the other side is a method of making it impossible to drive.

  Specifically, the processing unit 67 identifies the position of the marker detected by the marker detection unit 69 based on the image data captured by the cameras 51, 51, and the type and direction of the boundary indicated by the marker. For example, as shown to Fig.6 (a), when traveling impossible area A2 is set up bordering on two setting devices BS, autonomous traveling body 11 is a side part of this setting device BS by processing part 67. 72 to 75 identify the signs MA2 and based on the signs MA2, the boundary BO is set between the setting devices BS and BS, and the side of the setting devices BS and BS not facing each other The fact that the boundary BO is set along the position of the department is acquired and registered in the map data. For example, when the detected marker MA2 is an upward arrow or a horizontal arrow, it is possible to indicate that entry is prohibited in the direction of the arrow when viewed from the autonomous traveling body 11 (main body case 20). That is, the processing unit 67 can indicate the direction in which the autonomous traveling body 11 (main body case 20) has not entered by the installation of the sign MA2 in the map data as a travel impossible area. At this time, for example, a line extending between the side portions of a plurality of setting devices BS including upward arrows as signs MA2, or extension of the side direction of setting devices BS including horizontal arrows as signs MA2 in the arrow direction A line (extension plane) is obtained as the boundary BO. Also, for example, when the detected sign MA2 is a downward arrow, it can be shown that the self-position of the autonomous traveling body 11 (main body case 20) is in the non-travelable area A2. As described above, even when the autonomous traveling body 11 (body case 20) has already entered into the non-travelable area A2, it can be determined that it is in the non-travelable area A2 based on the type of the sign MA2. The traveling control unit 61 can also control the driving of the driving wheel 21 (motor 33) so that the traveling body 11 (main body case 20) stops traveling or goes out of the non-travelable area A2.

  Furthermore, in the sign MA2, the non-travelable area A2 can be set by surrounding the setting device BS in which the sign MA2 is installed. For example, as shown in FIG. 6 (b), when the marker MA2 has a shape different from the marker MA2 shown in FIG. 6 (a), such as a circle, the marker MA2 may be detected as a marker When detected by the unit 69, the processing unit 67 acquires a boundary BO of a predetermined shape surrounding the marker MA2 (setting device BS), and acquires the inside of the boundary BO as a non-travelable area A2 and registers them in map data. it can.

  As described above, the processing unit 67 recognizes the image of the marker MA2 in any mode in which the user can set the marker MA2 by visual display in the traveling target region of the autonomous traveling body 11 and the traveling impossible region is set. The driving impossible area is acquired by doing. That is, in the processing unit 67, the sign MA2 is image-recognized, and the content of the sign MA2 is analyzed to acquire the non-travelable area in the traveling target area. Acquiring the non-travelable area means acquiring a boundary that distinguishes the travelable area and the non-travelable area. Then, if the boundary is acquired, when the autonomous traveling body 11 (main body case 20) travels to the boundary, the traveling direction is switched as the self position at that time is the travel impossible position.

  In addition, in order to instruct the traveling object area (the travel impossible position) to the autonomous traveling body 11 by visual display of the sign MA 2, a display of a predetermined mode which can be distinguished by the autonomous traveling body 11 such as shape and color tone is performed. do it.

  In addition, since the cameras 51 and 51 can capture images up to a predetermined distance in the traveling direction of the autonomous traveling body 11 by the angle of view, the cameras 51 and 51 can not travel to the shape of the non-travelable area located opposite to the self position with respect to the boundary BO. Can also be acquired by the processing unit 67 based on feature points etc., and can be shown in map data.

  The map data MP in which the boundary BO, the travelable area A1, and the travel impossible area A2 are registered can be transmitted (output) from the communication unit 26 to the external device 17 via the home gateway 14. That is, the autonomous traveling body 11 outputs, from the communication unit 26, information (the boundary, the travelable area, and the travel impossible area) indicating that the sign for setting the travel impossible area is installed in the travel target area. it can. In the present embodiment, the information output from the communication unit 26 is map data or the like that can be browsed by the external device 17, but may be, for example, character information displayed on the external device 17.

  An example of the map data MP created by this method for the actual traveling target area A shown in FIG. 10 (a) is shown in FIG. 10 (b). In the map data MP, for example, the travelable area A1 and the non-travelable area A2 are each surrounded by a solid line, and the boundary BO is indicated by a broken line. Further, a predetermined mark M is shown in the non-travelable area A2. The map data MP is transmitted from the communication unit 26 to the external device 17 and can be displayed on the display 79 of the external device 17.

  In addition, in the process part 67, the period which can not drive | work a driving | running | working impossible position (marker) continuously exists in the same position can be acquired.

  Next, based on the map data, the traveling control unit 61 creates a traveling route. When the map data is stored in advance in the memory 68, the travel control unit 61 creates a travel route based on the map data stored in the memory 68, omitting the creation of the map data. For the boundary shown on the map data, the travel route is set so as not to enter the non-travelable area from this boundary.

  Then, the traveling control unit 61 controls the driving wheel 21 (motor 33) to autonomously travel along the traveling route in which the main body case 20 is set, and the cleaning control unit 62 operates the cleaning unit 22 to travel the travelable area Clean the floor surface (cleanable area). In the cleaning unit 22, dust on the floor surface is collected via the suction port 31 by, for example, the electric blower 35 driven by the cleaning control unit 62, the brush motor 37 (rotating brush 36), or the side brush motor 39 (side brush 38). The dust is collected to the dust collection unit 40. In addition, when the autonomous traveling body 11 newly detects a sign for setting an impassable area which is not described in the map data during autonomous traveling, the processing unit 67 is a boundary, traveling as described above. The impossible area and the travelable area are acquired, reflected on the map data, and stored in the memory 68. Similarly, when the autonomous traveling body 11 detects three-dimensional coordinates of an object such as an obstacle in the travelable area not described in the map data by the sensor unit 23, the camera 51 and the processing unit 67, the processing unit 67 reflects the map data and stores it in the memory 68.

  Then, the map data is transmitted from the communication control unit 64 and the communication unit 26 to the external device 17 directly via the network 15 or directly by the external device 17 and displayed on the display 79 in a mode that can be viewed by the user.

  When cleaning is completed, the autonomous vehicle 11 returns to the charging device and is connected to the charging device.

  According to the embodiment described above, the autonomous traveling body 11 outputs, by the communication unit 26, information indicating that the sign indicating the impassable position is installed in the travel target area. The user can easily be informed of the placement of the sign indicating. As a result, if the user forgets to install the sign, it is possible to avoid the occurrence of an area where the autonomous traveling body 11 does not travel for a long time. In particular, when the autonomous traveling body 11 has a cleaning function, it is possible to avoid the occurrence of an area which is not cleaned for a long time.

  For example, in the map data, the self position of the autonomous traveling body 11 (main body case 20) in the map data indicating the travel target area is associated with the position of the sign detected by the detection sensor 42 or the sign detection unit 69 The user can know the non-travelable position by the external device 17 by outputting the information indicating the non-travelable position on the map data to the external device 17 by the communication unit 26 having the communication function to communicate. Therefore, even if, for example, the user temporarily forgets the position where the sign was placed, the sign can be easily found without searching for the sign by referring to the non-travelable position.

  In addition, in the case of using an invisible sign by the user, such as an infrared signal IR output from the entry prevention device VG, for example, it is not easy to determine whether the travel impossible area can be set as intended. Therefore, when the positions of a plurality of signs are detected by the detection sensor 42, a boundary that distinguishes the travelable area and the non-travelable area on the map data of the travel target area is acquired based on these positions, By outputting the information to be shown from the communication unit 26 to the external device 17, it is possible to easily grasp, through the external device 17, the actual effect of the setting of the non-travelable area by the user installing the sign.

  Moreover, since the sign is detected by the sign detection unit 69 based on the image data captured by the cameras 51, 51 for capturing the surroundings of the autonomous traveling body 11 (main body case 20), the autonomous traveling body 11 can be controlled only by simple traveling control. Boundaries can be easily detected based on the type, shape, color tone, etc. of the sign.

  Then, an area on the other side of the boundary is acquired from the own position in the map data of the travel target area as the travel impossible area, and the communication unit 26 outputs information indicating the travel impossible area to the external device 17. The user can easily grasp the region where the autonomous traveling body 11 does not travel (does not clean) by the installation of the sign.

  In addition, the autonomous traveling body 11 can also obtain, in the processing unit 67, a period in which the non-travelable position (boundary) is continuously present at the same position, and can output information on this period from the communication unit 26. In this case, the user can easily grasp the installation period of the sign.

  Specifically, when the impassable position continues and exists in the same position for a predetermined period or longer, by notifying that, there is an area that has not been run (cleaned) for a long time by the installation of the sign Can be notified to the user. As a result, temporary removal of the sign can be promoted, and the area that has not been cleaned for a long time can be cleaned by a vacuum cleaner (such as the cleaning unit 22 of the autonomous traveling body 11). As this notification, for example, as shown in FIG. 11, an arbitrary sentence MSG may be displayed together with the map data MP, or may be notified by e-mail or the like. Note that, depending on the user, it may be possible to keep the sign installed for a long time, so the user may set the notification on / off. In addition, when there are a plurality of boundaries in the travel target area, the user may be able to set notification on / off for each boundary.

  In addition, when the traveling route on which the autonomous traveling body 11 travels is displayed on the external device 17 as map data, map data different from the actual traveling target area is displayed due to the installation of a sign and the presence of an obstacle. It becomes. At this time, it is assumed that it is difficult for the user to distinguish between the non-travelable area set by the installation of the sign and the non-travelable area due to the presence of the obstacle. Therefore, the communication unit 26 outputs the information (for example, the mark M shown in FIG. 9 (b) or the like) indicating the direction in which the map data does not enter due to the marker being installed. It is possible to easily distinguish between the non-travelable area and the non-travelable area due to the presence of the obstacle.

  In addition, in the said one Embodiment, the detection sensor 42 and the label | marker detection part 69 should just be equipped with at least any one.

  While certain embodiments of the present invention have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and the gist of the invention, and are included in the invention described in the claims and the equivalent scope thereof.

11 Autonomous vehicle
17 External device
20 Main unit case is the main unit
26 Communication unit as output means
42 Detection sensor as detection means
51 cameras
61 Traveling control unit as traveling control means
67 Processing unit having functions of self position acquisition means, information processing means, and map creation means
68 Memory as storage means
69 Label Detection Unit A as Detection Means A Driving Target Area
A1 Driveable area
A2 Impossible area
BO boundary
MA1, MA2 signs
MP map data

Claims (7)

Self-propelled main body,
Travel control means for performing travel control of the main body;
A detection means for detecting a sign which is installed in the travel target area and which indicates the travel impossible position;
And an output means for outputting information indicating that the sign is installed. Storage means for storing map data indicating a travel target area;
Self position acquisition means for acquiring the self position of the main body in the map data;
Information processing means for correlating the position of the marker detected by the detection means with the self position acquired by the self position acquisition means on the map data;
The autonomous traveling body according to claim 1, wherein the output means has a communication function of communicating with an external device, and outputs information indicating the immovable position on the map data to the external device. The information processing means, when detecting the positions of the plurality of signs by the detection means, acquires a boundary that distinguishes the travelable area and the non-travelable area on the map data of the travel target area based on the positions.
The autonomous traveling body according to claim 2, wherein the output means outputs the information indicating the boundary to an external device. The information processing means acquires an area on the opposite side of the boundary from the self position in the map data of the travel target area as the travel impossible area,
The autonomous traveling body according to claim 3, wherein the output means outputs the information indicating the non-travelable area in the map data to an external device. The information processing means acquires a period during which the non-travelable position is continuously present at the same position,
The autonomous traveling body according to any one of claims 2 to 4, wherein the output means outputs information on the period. The autonomous traveling body according to any one of claims 2 to 5, wherein the output means outputs information indicating a direction in which the vehicle has not entered due to the installation of the sign in the map data. It has a camera that captures the surroundings of the main unit,
The autonomous traveling body according to any one of claims 1 to 6, wherein the detection means detects a sign based on image data captured by the camera.

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