JP2020161081A - Autonomous traveling work device - Google Patents

Abstract

To perform an automatic travel work by using appropriate travel data and work data by eliminating time and effort for repeating a learning travel work regardless of a change in working environment and working condition.SOLUTION: An autonomous traveling work device 1 comprises: a device body; a travel unit 3 that causes the device body to travel; a cleaning unit 5 that carries out cleaning work on a travel path; a cleaning plan creation unit 22 that, in learning travel cleaning, creates a cleaning plan including travel data for the travel unit 3 and cleaning data for the cleaning unit 5; a storage unit 11 that stores the cleaning plan for automatic travel cleaning; a reproduction control unit 24 that carries out automatic travel cleaning by controlling the travel unit 3 and the cleaning unit 5 on the basis of the cleaning plan, which is a reproducing plan; and a cleaning plan change unit 23 that changes the reproducing plan. The cleaning plan change unit 23 can change the reproducing plans simultaneously without changing the respective travel paths for the reproducing plans. In a case where the reproducing plans are changed, the reproduction control unit 24 carries out automatic travel cleaning on the basis of the changed reproducing plans.SELECTED DRAWING: Figure 2

Description

The present invention relates to an autonomous traveling work device capable of performing automatic traveling work that autonomously travels and works automatically.

Conventionally, the autonomous driving work device performs learning driving that stores driving data and work data (cleaning data) for automatic driving work (automatic driving cleaning) while performing driving and work (cleaning) by manual operation. It is configured to switch between a mode and an automatic driving mode for performing automatic driving work that controls driving and work according to stored driving data and work data. The autonomous driving work device is configured as, for example, an industrial (commercial) cleaning robot (autonomous driving cleaning device), and is used for cleaning the floor surface of a commercial facility such as a shopping mall.

For example, the floor cleaning robot (autonomous traveling work device) of Patent Document 1 travels while cleaning the floor surface, stores the traveling pattern (traveling data) of each cleaning passage, and cleans the floor surface according to the stored traveling pattern. Make it reproducible. The floor cleaning robot is provided with a memory-only travel switch, and when the memory-only travel switch is operated, the cleaning means is turned off and the traveling process is performed while measuring the width and passage length of each passage, and the passage length and the passage length are measured. Memorize the running pattern such as width.

Japanese Unexamined Patent Publication No. 9-269825

By storing only the driving data, the conventional autonomous driving work device as described above can save the trouble of cleaning work and improve the usability, and autonomously follow the same driving route based on the driving data. Can be run as a target. As for the cleaning work, the cleaning work may be controlled when the vehicle automatically travels based only on the traveling data. Alternatively, traveling may be performed together with the cleaning work, the work data related to the cleaning work may be stored together with the traveling data, and the automatic traveling work may be performed based on the traveling data and the work data.

However, the autonomous driving work device may have different work environments and work conditions even if the work area is the same. For example, in an autonomous driving cleaning device that cleans the floor of a commercial facility, the working environment and working conditions change, such as the presence or absence of events and sales, and changes in the weather, even if the cleaning area (working area) does not change. I have something to do. When the working environment and working conditions change in this way, the way the floor surface gets dirty differs, so it is not possible to perform proper cleaning with the cleaning data stored together with the driving data, and it is necessary to perform cleaning according to the way of getting dirty. is there. That is, since it is necessary to control the conventional autonomous driving cleaning device to perform different cleaning work or to redo the learning driving work and prepare different cleaning data, it is necessary to control the cleaning work and finish the learning driving work. It takes time to fix it.

The present invention has been made in view of the above-mentioned problems, and the subject of the present invention is suitable driving data without the trouble of reworking the learning driving work regardless of changes in the working environment and working conditions. It is an object of the present invention to provide an autonomous driving work device capable of performing automatic driving work using work data.

In order to solve the above problems, the first autonomous traveling work device of the present invention is an autonomous traveling work device capable of performing automatic traveling work that autonomously travels and automatically works, and the device main body and the device. Learning of the autonomous traveling work device by manually operating the traveling unit for traveling the main body in the work area, the working unit for performing work on the traveling path in the working area of the device main body, and the traveling unit and the working unit. While the traveling work is performed, the plan creating unit that stores the traveling data of the traveling unit and the work data of the working unit and creates a work plan including the traveling data and the work data, and the plan creation unit. The traveling unit and the work are based on a storage unit that stores the work plan created by the unit for automatic traveling work of the autonomous traveling work device and the work plan read as a reproduction plan from the storage unit. A reproduction control unit that controls a unit to perform the automatic driving work and a plan changing unit that changes the traveling data and / or the work data of the reproduction plan are provided, and the plan changing unit is the reproduction plan of the reproduction plan. The travel data and / or the work data of the reproduction plan can be changed collectively without changing the indicated travel route, and the reproduction control unit has the reproduction plan changed by the plan change unit. In some cases, the automatic traveling work is performed based on the modified reproduction plan.

According to the first autonomous driving work device of the present invention, when the automatic driving work is performed by using the work plan created in the learning driving work as the reproduction plan, the work is performed without changing the traveling route indicated by the reproduction plan. The driving data and work data can be changed collectively according to various uses such as the dirt condition of the floor surface of the area and the convenience of the work schedule. Therefore, even an operator who is not accustomed to operating the autonomous driving work device can easily create a desired reproduction plan without setting driving data and work data one by one. Therefore, when working in the same work area, even if the work area is dirty or the work schedule is changed, if there is no need to change the travel route, the learning travel work can be adapted to various purposes without having to redo it. You can easily set a reproduction plan.

In order to solve the above problems, in the second autonomous driving work device of the present invention, the plan change unit stores the changed reproduction plan as a new work plan in the storage unit.

According to the second autonomous driving work device of the present invention, a plurality of work plans having different uses can be easily created while targeting the same traveling route in the same work area by performing the learning driving work only once. Can be prepared in advance. Therefore, the operator can perform the desired automatic driving work without any trouble by simply selecting a reproduction plan from a plurality of work plans according to the application.

In order to solve the above problems, the third autonomous traveling work device of the present invention is configured such that the work unit selects the cleaning work of one of a plurality of types of cleaning work and performs the work as the work. When the learning running work accompanied by the cleaning work is performed, the plan creation unit stores the cleaning data of the cleaning work as the work data, creates the work plan, and creates the cleaning. When the reproduction control unit performs the automatic traveling work based on the reproduction plan created by the learning traveling work accompanied by the work, when the working unit performs another cleaning work different from one cleaning operation. The plan change unit collectively changes the reproduction plan so as to correspond to the other cleaning work.

According to the third autonomous traveling work device of the present invention, when the same traveling route in the same work area is targeted, it is possible to easily set a work plan with different work without re-doing the learning traveling work. , Work can be easily changed.

In order to solve the above-mentioned problems, in the fourth autonomous traveling work apparatus of the present invention, the working part includes floor cleaning work, wax peeling work, and floor polishing work as the plurality of types of cleaning work. , The above-mentioned cleaning work is selected from the suction cleaning work.

According to the fourth autonomous traveling work apparatus of the present invention, any of floor cleaning work, wax peeling work, floor polishing work and suction cleaning work when targeting the same traveling path in the same work area. After performing the cleaning work and creating a work plan, it is possible to easily set a work plan for performing other cleaning work without having to redo the learning running work. Therefore, the cleaning work can be easily switched between the floor surface cleaning work, the wax peeling work, the floor surface polishing work, and the suction cleaning work.

In order to solve the above problems, in the fifth autonomous traveling work device of the present invention, the work unit is configured to switch and use a plurality of types of cleaning members corresponding to each of the plurality of types of cleaning work. When the reproduction control unit performs the automatic traveling operation based on the reproduction plan created by the learning traveling operation accompanied by the cleaning operation using the cleaning member, the working unit is one. When another cleaning member different from the cleaning member is used, the plan change unit collectively changes the reproduction plan so as to correspond to the other cleaning work using the other cleaning member.

According to the fifth autonomous traveling work device of the present invention, when the same traveling route in the same work area is targeted, a work plan in which the cleaning work is different for each cleaning member can be easily performed without re-doing the learning traveling work. It can be set, and the cleaning work can be easily changed when the cleaning member is changed.

In order to solve the above problem, when the demo running option of the sixth autonomous driving work device of the present invention to run without performing the work is set, the plan changing unit uses the work data to perform the work. The reproduction plan is changed all at once so as to be set to off.

According to the sixth autonomous driving work device of the present invention, if a work plan including the driving data and the work data is prepared in advance, the demonstration driving can be easily performed without re-doing the learning driving work. .. In the demonstration run, no work is performed, so the battery consumption of the power supply unit can be suppressed.

In order to solve the above problems, the seventh autonomous traveling work apparatus of the present invention changes the plan when a strong work option for increasing the work intensity of the work or a weak work option for weakening the work intensity is set. Each unit collectively changes the reproduction plan so as to set the work intensity of the work data to be strong or weak.

According to the seventh autonomous traveling work device of the present invention, when the same traveling route in the same working area is targeted, the work is performed according to the dirt condition of the floor surface of the working area without re-doing the learning traveling work. You can easily change the strength of the data and set a reproduction plan.

In order to solve the above problems, the eighth autonomous driving work apparatus of the present invention is set when a speed-up option for speeding up the work time of the automatic driving work or a speed-down option for speeding up the work time is set. , The plan change unit collectively changes the reproduction plan so as to set the traveling speed of the traveling data to be faster or slower, respectively.

According to the eighth autonomous traveling work apparatus of the present invention, when the same traveling route in the same working area is targeted, the dirt condition, work schedule, and work on the floor surface of the working area are not required to redo the learning traveling work. It is possible to set a reproduction plan by changing the traveling speed of the traveling data according to the time allocation to be provided to the vehicle.

In order to solve the above-mentioned problems, in the ninth autonomous driving work apparatus of the present invention, the plan changing unit includes the supply of working liquid during running in the automatic driving work based on the reproduction plan, and the reproduction. When the traveling speed of the traveling data is changed when the plans are changed all at once, if the total amount constant supply option that keeps the total amount of the supply water of the working liquid constant is set, the original reproduction plan The reproduction plan is collectively changed by setting the supply water amount of the work liquid in the work data so as to maintain the total amount of the supply water amount of the work liquid consumed in the automatic traveling work based on the above.

According to the ninth autonomous traveling work apparatus of the present invention, even if it becomes necessary to change the supply water amount of the work liquid according to the change of the traveling speed, the total amount of the supply water amount of the work liquid is not changed. It is possible to complete the automatic driving work without running out of the remaining amount. Therefore, it is possible to avoid the problem that the floor surface is damaged due to the lack of working liquid and the problem that the working effect of the floor surface is not sufficiently obtained due to the lack of working liquid.

In order to solve the above-mentioned problems, in the tenth autonomous traveling work apparatus of the present invention, the plan changing unit includes the supply of the working liquid during traveling in the automatic traveling work based on the reproduction plan, and the reproduction. When the running speed of the running data is changed when the plan is changed all at once, when the speed tracking supply option for making the supply water amount of the working liquid follow the running speed is set, the running speed of the running speed is changed. The reproduction plan is collectively changed by setting the supply water amount of the work liquid in the work data so as to increase or decrease the supply water amount of the work liquid according to the rate of change.

According to the tenth autonomous traveling work apparatus of the present invention, even when it becomes necessary to change the supply water amount of the working liquid according to the change of the traveling speed, the working liquid is supplied at the supply water amount according to the traveling speed. Can be done. Therefore, even when the traveling speed is set to be slow, it is possible to avoid the problem that the work on the floor surface cannot be completed due to the depletion of the working liquid.

In order to solve the above problems, in the eleventh autonomous driving work device of the present invention, when the running unit and the silent driving option for suppressing the volume generated by the working unit are set, the plan changing unit performs the traveling. The traveling data and the work data are set so as to suppress the operation of the unit and the work unit, and the reproduction plan is changed collectively.

According to the eleventh autonomous driving work device of the present invention, when it becomes necessary to perform automatic driving work during the business hours of a commercial facility to be worked on or the working hours of an office due to a change in a work schedule or the like, It is possible to set a reproduction plan so as to suppress the running noise of the running part and the operating noise of the working part without having to redo the learning running work, and the autonomous driving work device reduces the noise to the surroundings and automatically runs. You can work.

In order to solve the above-mentioned problems, in the twelfth autonomous driving work apparatus of the present invention, when the restriction flag for limiting the change of the reproduction plan is set in the reproduction plan, the plan change unit may perform the reproduction plan. Restrict changes to.

According to the twelfth autonomous driving work device of the present invention, by setting a restriction flag in advance for a part of the driving data or work data that is not desired to be changed, even if the reproduction plan is changed all at once. , The original reproduction plan settings can be maintained.

In order to solve the above problem, in the thirteenth autonomous traveling work device of the present invention, the plan changing unit uses the turning flag as the limiting flag to limit the change of the traveling speed of the traveling data in the reproduction plan. When the step of the turning running section is set, the running speed at the time of creating the reproduction plan is maintained even when the step of the turning running section is instructed to change the running speed of the running data. ..

According to the thirteenth autonomous traveling work device of the present invention, even when the traveling speed is increased for the purpose of shortening the working time, the speed is not increased in the turning traveling section, so that the automatic traveling or the automatic work can be performed in the turning traveling section. Problems that occur can be prevented in advance, and safety can be ensured for automatic driving work. For example, it is possible to prevent a fall and insufficient collection of sewage in a turning section. In addition, it is possible to save the operator the trouble of making detailed settings for safety in the turning traveling section.

In order to solve the above-mentioned problems, in the fourteenth autonomous traveling work apparatus of the present invention, the plan creating unit has a radius of curvature threshold value in which the radius of curvature of the traveling locus of the traveling unit is a predetermined radius of curvature in the traveling data of the work plan. The following section, or a section in which the steering angle of the traveling unit is equal to or greater than a predetermined steering angle threshold value, is determined to be the turning traveling section, and the turning flag is set.

According to the fourteenth autonomous traveling work device of the present invention, it is possible to easily recognize the turning traveling section of the traveling route and set it in the work plan in advance.

According to the present invention, the autonomous driving work device performs automatic driving work using suitable driving data and work data without the trouble of reworking the learning driving work regardless of changes in the working environment and working conditions. be able to.

It is a schematic diagram which shows the structure of the autonomous driving work apparatus which concerns on embodiment of this invention. It is a block diagram which shows the structure of the autonomous driving work apparatus which concerns on embodiment of this invention. It is a table which shows the example of the cleaning plan created by the learning traveling cleaning in the autonomous driving work apparatus which concerns on embodiment of this invention. It is a front view which shows the example of the operation display part and the mode selection screen of the autonomous driving work apparatus which concerns on embodiment of this invention. It is a front view which shows the example of the data setting screen displayed on the operation display part of the autonomous driving work apparatus which concerns on embodiment of this invention. It is a front view which shows the example of the cleaning plan selection screen displayed on the operation display part of the autonomous driving work apparatus which concerns on embodiment of this invention. It is a front view which shows the example of the cleaning plan change screen displayed on the operation display part of the autonomous driving work apparatus which concerns on embodiment of this invention. It is a front view which shows the example of the cleaning member list and the change option list displayed on the operation display part of the autonomous driving work apparatus which concerns on embodiment of this invention. It is a flowchart which shows the example of the operation of the automatic traveling cleaning in the autonomous traveling work apparatus which concerns on embodiment of this invention. It is a table which shows the example of the reproduction plan which changed based on the time saving cleaning option in the automatic traveling cleaning in the autonomous traveling work apparatus which concerns on embodiment of this invention. It is a table which shows the example of the reproduction plan which changed according to the change from the floor surface cleaning work to the floor surface polishing work in the automatic running cleaning in the autonomous traveling work apparatus which concerns on embodiment of this invention. It is a schematic diagram which shows the example of the transition of the traveling speed when the traveling speed is increased in the traveling path including a turning traveling section in the autonomous traveling work 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 preferred specific examples of the present invention and disclose various preferred techniques, but the technical scope of the present invention is not limited to these embodiments.

The autonomous driving work device 1 according to the embodiment of the present invention will be described. As shown in FIG. 1, the autonomous traveling work device 1 includes a device main body 2 for accommodating each unit, a traveling unit 3 for traveling the device main body 2, and a traveling operation unit 4 for receiving a manual operation of the traveling unit 3. Be prepared. The autonomous driving work device 1 can mount a work mechanism (working unit) for executing a predetermined work on the device main body 2, and for example, a cleaning unit 5 for performing a cleaning work on the floor surface FL below the device main body 2. As a working unit, it functions as an autonomous driving cleaning device. The autonomous traveling work device 1 cleans the floor FL of the cleaning area, for example, by using all or a part of commercial facilities such as shopping malls, offices, hotels, hospitals, schools, factories, etc. as cleaning areas (work areas). The target of.

Further, the autonomous traveling work device 1 includes a measuring unit 6 that measures the positional relationship between the device main body 2 and a non-working object such as a surrounding wall or an obstacle (for example, a figurine), and a wall or an obstacle within a predetermined distance. It is provided with an obstacle detection unit 7 for detecting the above. Further, the autonomous driving work device 1 supplies electric power to an operation display unit 8 including a touch panel 28 (see FIG. 4) for operating and displaying various functions of the autonomous driving work device 1 and each part of the autonomous driving work device 1. It also includes a power supply unit 9 for monitoring the remaining amount of the battery (not shown) and controlling charging. Further, the autonomous traveling work device 1 includes a control unit 10 that comprehensively controls each part of the autonomous traveling work device 1 and various functions (traveling by the traveling unit 3, cleaning work by the cleaning unit 5, measurement by the measuring unit 6, etc.). A storage unit 11 for storing a cleaning plan (work plan) composed of running data of unit 3 and cleaning data (work data) of cleaning unit 5 is provided (see FIG. 2).

Next, the outline of the operation of the autonomous traveling work device 1 will be described.

The autonomous driving work device 1 is a vehicle capable of driving by manual operation and autonomous driving by automatic operation, and operates by being switched to any operation mode of learning driving mode, automatic driving mode, and manual driving mode. ..

In the learning running mode and the manual running mode, the autonomous running work device 1 performs learning running cleaning (learning running work) and manual running cleaning (manual running work), respectively, and the running operation unit 4 and the operation display unit 8 by the operator. Perform manual driving and manual cleaning (manual work) according to the manual operation of. In the learning running cleaning, an environmental map of the cleaning area is created and stored along with the learning running, and running data showing the running route and running state during the learning run and cleaning data showing the cleaning state during the learning cleaning are performed. And stores the cleaning plan including the driving data and the cleaning data. In the cleaning plan, an environmental map during learning running and the type of cleaning member 12 of the cleaning unit 5 during learning cleaning are associated and stored.

In the automatic driving mode (see step S1 in FIG. 9), the autonomous driving work device 1 performs automatic driving cleaning (automatic driving work) and is selected by the operator from the cleaning plans memorized in the learning driving cleaning. Based on the reproduction plan and the corresponding environmental map, automatic running and automatic cleaning (automatic work) are performed according to the automatic operation by the control unit 10 so as to reproduce the cleaning plan (reproduction plan). In the automatic driving mode, the reproduction plan can be collectively changed according to the operation of the operator before starting the automatic driving cleaning. Details of the batch change of the reproduction plan will be described later.

As shown in FIG. 3, the cleaning plan (work plan) is configured by associating running data and cleaning data for each predetermined step. The steps of the cleaning plan may be set at predetermined time intervals (for example, every 25 m / s) in the learning running cleaning, or may be set at predetermined moving distances (for example, every 0.5 m) of the autonomous traveling work device 1. ) May be set.

The traveling data includes, for example, self-position data on the traveling path of the traveling unit 3 (X-coordinate and Y-coordinate indicating the self-position on the environmental map, an angle with respect to the direction of the start position), a steering flag (straight ahead, left turn, right turn). The traveling route can be plotted based on the traveling data, including the traveling speed [m / s] and the turning speed [deg / s] in the traveling direction. Alternatively, the traveling speed may be switched to any of a plurality of stages of speed, and the traveling data may be stored by converting the stepwise speed of the traveling speed into a number (for example, 8 stages of 0 to 7).

The cleaning data includes, for example, the pad pressure of the cleaning member 12 of the cleaning unit 5, the amount of water supplied by the cleaning liquid supply unit 13, and the suction amount of the suction unit 14. The pad pressure is a force that presses the cleaning member 12 against the floor FL, the amount of water supplied is the amount of cleaning liquid (working liquid) supplied to the floor FL by the cleaning liquid supply unit 13, and the suction amount is the suction unit 14. It is the operating strength of the suction blower (not shown) when sucking the sewage after cleaning from the floor surface FL. The pad pressure, the amount of water supplied, and the suction amount may be switched to any of a plurality of levels of strength, and the cleaning data indicates the stepwise strength of the pad pressure, the amount of water supplied, and the suction amount (for example, 0 to 2). It is good to convert and memorize in 3 steps of, 5 steps of 0 to 4, etc.). The cleaning data may include operation / stop and rotation speed of the cleaning member 12.

The cleaning plan includes driving data and cleaning data, as well as restriction flags that limit changes to the cleaning plan. As a limiting flag, for example, a turning flag indicating whether or not each step is a turning traveling section of the traveling unit 3 is set to 1 or 0, respectively. The step in which the turning flag is set to 1, that is, the step in the turning traveling section is stored at the time of creating the cleaning plan because the change in the acceleration of the traveling speed of the traveling data is restricted even if the cleaning plan is changed. The maximum running speed is maintained. In addition to the above, the cleaning plan may store the elapsed time from the start of learning running cleaning in association with each step.

Next, each part of the autonomous driving work apparatus 1 will be described.

The traveling unit 3 is provided in the lower part of the device main body 2, and includes one front wheel 3a as a driving wheel and a pair of rear wheels 3b as auxiliary wheels. The front wheel 3a is provided in the center in the width direction of the device on the front side in the traveling direction, and includes a traveling drive motor (not shown) and a front wheel rotation encoder (not shown). The traveling unit 3 drives the traveling drive motor to rotate the front wheels 3a to advance the device main body 2, and stops the rotation of the front wheels 3a to stop the device main body 2. By controlling the drive of the travel drive motor, the travel speed of the autonomous travel work device 1 (travel unit 3) is adjusted (acceleration / deceleration). In the traveling unit 3, the traveling drive motor may reverse the front wheels 3a to retract the device main body 2.

Further, the front wheel 3a includes a steering shaft (not shown), a steering motor (not shown), and a steering rotation encoder (not shown). The traveling unit 3 drives the steering motor to rotate the steering shaft to change the direction of the front wheels 3a to steer the device main body 2, and advances the device main body 2 while changing the direction of the front wheels 3a to autonomously move forward. Turn the traveling work device 1 (traveling unit 3) to the left (turn left) or turn right (turn right). By controlling the drive of the steering motor, the steering angle of the autonomous traveling work device 1 (traveling unit 3) is adjusted.

The pair of rear wheels 3b are provided at intervals in the device width direction (left-right direction) on the rear side in the traveling direction, and each includes an encoder (not shown) for grasping the mileage from the rotation amount. The pair of rear wheels 3b are driven to rotate in response to the movement of the device main body 2 driven by the front wheels 3a. For the adjustment (acceleration / deceleration) and steering of the traveling speed of the autonomous traveling work device 1 (traveling unit 3), the traveling drive motor feeds back the rotation amount of each of the rear wheels 3b using the encoder provided on the rear wheels 3b. It may be performed by controlling the steering motor. In the present embodiment, an example including the front wheels 3a of the driving wheels and the rear wheels 3b of the auxiliary wheels has been described, but the present invention is not limited to this example. For example, in other embodiments, the front wheels of the auxiliary wheels are provided. 3a and a pair of rear wheels 3b of drive wheels may be provided.

When the operation mode is set to the learning travel mode or the manual travel mode, the travel unit 3 operates in response to the manual operation of the travel operation unit 4 by the operator. Further, when the operation mode is set to the automatic driving mode, the traveling unit 3 responds to the control of the control unit 10 (reproduction control unit 24) based on the traveling data of the cleaning plan selected by the operator and the environmental map. Operate.

The traveling operation unit 4 is provided on the rear upper side of the device main body 2, and includes a handle (not shown) and a throttle (not shown) that can be manually operated by the operator. The traveling operation unit 4 converts the steering amount of the steering wheel by the operator into an electric signal, outputs the electric signal to the steering motor, and drives the steering wheel to rotate the steering shaft of the front wheel 3a and turn the device body 2 to the left ( Turn left) or turn right (turn right). The steering angle of the autonomous traveling work device 1 (traveling unit 3) is adjusted according to the steering amount of the steering wheel of the traveling operation unit 4. Specifically, by counting the number of pulses of the steering rotation encoder during steering wheel operation, the steering amount of the steering wheel is replaced with the number of pulses, and the steering motor is controlled according to the number of pulses to make the autonomous traveling work device. The steering angle of 1 can be adjusted. The steering angle may be detected by converting it into an electric signal using a variable resistor.

Further, the traveling operation unit 4 converts the amount of rotation (opening) of the throttle by the operator into an electric signal, outputs the electric signal to the traveling drive motor, and drives the vehicle to rotate the front wheel 3a and rotate the device main body. Advance 2 in the direction of travel. The traveling speed of the autonomous traveling work device 1 (traveling unit 3) is adjusted according to the amount of rotation of the throttle of the traveling operation unit 4. The driving operation unit 4 accepts a manual operation by the operator while the operation mode is set to the learning driving mode or the manual driving mode, but the emergency stop button 27 is pressed while the automatic driving mode is set. It is configured not to accept manual operations by operators other than operations.

The cleaning unit 5 is provided at the lower part of the device main body 2, and is configured to switch between a plurality of types of cleaning operations for cleaning the floor surface FL below the device main body 2 and perform any of the cleaning operations. The cleaning unit 5 is configured to switch between a plurality of types of cleaning members 12 corresponding to each of the plurality of types of cleaning operations, and to attach and use any of the cleaning members 12. In other words, the cleaning unit 5 attaches and uses one cleaning member 12 selected by the operator or the like from the plurality of types of cleaning members 12, and performs cleaning work corresponding to the attached cleaning member 12. Do.

For example, the cleaning unit 5 includes a floor cleaning work, a wax peeling work, and a tile cleaning work as wet cleaning work, and includes a floor polishing work and a suction cleaning work as dry cleaning work. ..

As a cleaning member 12 corresponding to the floor surface cleaning work, the cleaning unit 5 includes a first cleaning pad normally used for cleaning, a second cleaning pad formed of a material harder than the first cleaning pad, or a floor surface FL such as a carpet. Use a cleaning brush that targets. Further, the cleaning unit 5 uses a peeling pad as a cleaning member 12 corresponding to the wax peeling work, and uses a polishing pad as a cleaning member 12 corresponding to the floor surface polishing work, and corresponds to the tile cleaning work. A melamine pad is used as the cleaning member 12, and a dust removing brush is used as the cleaning member 12 corresponding to the suction cleaning work. Hereinafter, the first cleaning pad, the second cleaning pad, the peeling pad, the polishing pad, and the melamine pad are collectively referred to as a pad, and the cleaning brush and the dust removing brush are collectively referred to as a brush.

The cleaning unit 5 includes the above-mentioned removable cleaning member 12, a cleaning member motor (not shown) that rotates the cleaning member 12 on the floor FL, and the cleaning member 12 in the vertical direction with respect to the floor FL. It is equipped with an actuator (not shown) for a cleaning member to be moved. Further, the cleaning unit 5 includes a cleaning liquid supply unit 13 that supplies the cleaning liquid to the floor FL in the case of wet cleaning work, a sewage collection unit (not shown) that collects sewage in the case of wet cleaning work, and a dry type. Dust collection unit (not shown) that collects dust in the case of cleaning work, and sewage is sucked from the floor FL in the case of wet cleaning work, and dust is sucked from the floor FL in the case of dry cleaning work. A suction unit 14 is provided.

The cleaning unit 5 has, for example, a cleaning shaft (not shown) that is perpendicular to the floor surface FL and projects downward from the inside of the apparatus main body 2, and the cleaning member 12 is detachably attached to the lower end of the cleaning shaft. When the cleaning member motor rotates the cleaning shaft, the cleaning member 12 rotates around the cleaning shaft as a rotation axis, and when the cleaning member actuator moves the cleaning shaft in the vertical direction, the cleaning member 12 also moves in the vertical direction.

The cleaning member 12 is composed of a pair of pads or brushes, and the pair of pads or brushes are attached side by side in the device width direction (left-right direction) at substantially the center of the traveling direction. The pad or brush on the left rotates clockwise upwards, and the pad or brush on the right rotates counterclockwise upwards, rotating from front to rear on the center side in the width direction. As a result, sewage and dust in front of the pair of pads or brushes are collected toward the center in the width direction and discharged backward.

The cleaning member actuator and the cleaning shaft also serve as a attachment / detachment mechanism for the cleaning member 12. A mounting mechanism for switching between a mutually mounted state and a non-mounted state is provided at the center of the cleaning member 12 and at the lower end of the cleaning shaft. When the cleaning member 12 is not mounted, the cleaning member actuator retracts the unmounted cleaning shaft upward.

Then, when the cleaning member 12 is placed below the cleaning shaft and the pad mounting button 31 (see FIG. 4) on the mode selection screen 30 is operated, the cleaning member actuator moves the cleaning shaft downward and the cleaning shaft. Is attached, and the cleaning member 12 is attached to the cleaning shaft. Further, when the pad mounting button 31 is operated when the cleaning member 12 is mounted, the cleaning shaft is not mounted, the cleaning member 12 is removed from the cleaning shaft, and the cleaning member actuator moves the cleaning shaft upward. Move.

The cleaning liquid supply unit 13 includes a cleaning liquid tank for accommodating the cleaning liquid and a supply pump connected to the cleaning liquid tank, and supplies the cleaning liquid from the cleaning liquid tank to the floor FL by using the supply pump to spray the cleaning liquid. The cleaning liquid supply unit 13 supplies the cleaning liquid by applying a voltage to the supply pump to rotate the impeller (impeller) of the supply pump. By changing this voltage and adjusting the rotation speed of the impeller, the amount of water supplied to the cleaning liquid is adjusted. For example, by storing the correlation data between the voltage and the supply water amount of the cleaning liquid in the storage unit 11 in advance, when a predetermined supply water amount is requested, the voltage corresponding to this supply water amount is acquired and the acquired voltage is obtained. Is applied to the feed water pump to adjust to the required feed water volume.

The sewage collection unit includes a squeegee, a sewage duct (not shown), and a sewage tank (not shown), and the squeegee is provided in contact with the floor FL behind the cleaning member 12. The sewage collection unit receives and collects sewage discharged rearward from the cleaning member 12 with a squeegee, and collects it in a sewage tank via a sewage duct.

The dust collecting unit includes a suction port (not shown), a dust duct (not shown), and a dust bucket (not shown), and the suction port is provided behind the cleaning member 12. The dust collecting unit sucks and collects the dust discharged rearward from the cleaning member 12 by the suction port, and collects the dust to the dust bucket through the dust duct. The sewage duct and the sewage tank and the dust duct and the dust bucket may be common parts. Further, the squeegee and the suction port may be interchangeable parts.

The suction unit 14 is composed of a suction blower and is connected to a sewage duct or a dust duct to suck sewage or dust.

In the floor cleaning work, the cleaning unit 5 uses the first cleaning pad, the second cleaning pad, or the cleaning brush mounted as the cleaning member 12 for the cleaning member while the cleaning liquid supply unit 13 sprays the cleaning liquid on the floor FL. As the motor rotates and the cleaning member actuator urges and presses against the floor FL, the floor FL is cleaned and the cleaned sewage is collected by the sewage recovery unit.

In the wax peeling work, in the cleaning unit 5, the cleaning liquid supply unit 13 sprays the cleaning liquid (stripping agent) on the floor FL, while the cleaning member motor rotates the release pad attached as the cleaning member 12 and the cleaning member. When the actuator is urged and pressed against the floor FL, the wax applied on the floor FL is peeled off, and the sewage collecting unit collects the sewage containing the peeled wax.

In the floor polishing work, the cleaning unit 5 presses the polishing pad mounted as the cleaning member 12 against the floor FL by rotating the cleaning member motor and the cleaning member actuator. The surface FL is polished. In the floor polishing work, the cleaning liquid supply unit 13 does not spray the cleaning liquid and the sewage collecting unit does not collect the sewage.

In the tile cleaning work, in the cleaning unit 5, the cleaning liquid supply unit 13 sprays the cleaning liquid on the floor surface FL, while the cleaning member motor rotates the melamine pad mounted as the cleaning member 12 and the cleaning member actuator moves to the floor. By urging and pressing the floor FL with a force weaker than the surface cleaning work, the floor FL such as ceramic tiles is cleaned, and the sewage recovery unit collects the cleaned sewage.

In the suction cleaning work, the cleaning unit 5 presses the dust removing brush mounted as the cleaning member 12 from the floor surface FL by rotating the cleaning member motor and the cleaning member actuator urging and pressing the floor surface FL. Dust is collected, and the collected dust is collected by the dust collection unit. In the suction cleaning operation, the cleaning liquid supply unit 13 does not spray the cleaning liquid.

When the operation mode is set to the learning travel mode or the manual travel mode, the cleaning unit 5 operates in response to the manual operation of the travel operation unit 4 by the operator. Further, when the operation mode is set to the automatic traveling mode, the cleaning unit 5 operates according to the control of the control unit 10 based on the cleaning data of the cleaning plan selected by the operator and the environment map.

When the cleaning unit 5 performs one cleaning operation in the learning driving mode to generate a cleaning plan, and then selects this cleaning plan as the reproduction plan for the automatic driving cleaning in the automatic driving mode to perform the automatic driving cleaning. In addition, the cleaning unit 5 may perform automatic cleaning by using other cleaning operations as reproduction operations. As described above, in the automatic driving mode, when the cleaning work at the time of generating the reproduction plan and the reproduction work at the time of executing the reproduction plan are different, the reproduction plan is collectively changed so as to correspond to the reproduction work. Then, the traveling unit 3 and the cleaning unit 5 operate based on the changed reproduction plan. The batch change of the reproduction plan based on such a change of cleaning work will be described later.

The measuring unit 6 is a laser range finder (LRF: Laser Range Finder) that measures position information (for example, an angle or distance with respect to the traveling direction of the device main body 2) between the device main body 2 and a non-working object such as a surrounding wall or an obstacle. ) 6a and the like are provided. While the apparatus main body 2 is traveling, the measuring unit 6 measures the position information of the non-working object at predetermined timings (for example, every 25 m / s).

The obstacle detection unit 7 provides an obstacle sensor 7a such as an ultrasonic sensor that detects the presence or absence of a wall or an obstacle within a predetermined distance from the device main body 2 and an infrared sensor that detects a step on the floor surface FL near the device main body 2. Be prepared. The obstacle detection unit 7 may be constantly operating while the device main body 2 is running.

The operation display unit 8 is provided on the rear upper side of the apparatus main body 2 in the vicinity of the traveling operation unit 4, and includes a key switch 26, an emergency stop button 27, and a touch panel 28 as shown in FIG. Each part of 8 is connected to the control part 10. The operation display unit 8 may be composed of an operation display panel or the like attached to the device main body 2, or may be composed of a tablet terminal or the like detachably attached to the device main body 2. The operation display unit 8 composed of a tablet terminal or the like is connected to the control unit 10 via wireless communication so that the autonomous driving work device 1 can be remotely controlled.

The key switch 26 is configured to be switchable on and off. By switching the key switch 26 on, power is supplied from the power supply unit 9 to each part to operate the autonomous driving work device 1, while by switching the key switch 26 off, power is supplied from the power supply unit 9 to each part. Is stopped and the operation of the autonomous traveling work device 1 is stopped. By being operated, the emergency stop button 27 forcibly stops (brakes) the operation of each part of the autonomous traveling work device 1 (particularly, automatic traveling cleaning).

The touch panel 28 displays various screens according to the control signal from the control unit 10, and transmits the operation signal based on the touch operation on each screen to the control unit 10. For example, when the key switch 26 is turned on and the autonomous driving work device 1 is operated, the touch panel 28 displays a mode selection screen 30 in which an operation mode can be selected, as shown in FIG.

On the mode selection screen 30, a pad mounting button 31 for attaching / detaching the cleaning member 12, a learning button 32, an automatic button 33, and a manual button 34 are operably displayed.

When the cleaning member 12 is attached by operating the pad attachment button 31, the member names of the plurality of types of cleaning members 12 can be selected on the touch panel 28 by a pull-down menu or the like, as shown in FIG. 8 (1). The enumerated cleaning member list 80 is popped up on the mode selection screen 30. At this time, when the operator selects the member name corresponding to the mounted cleaning member 12 from the cleaning member list 80, the control unit 10 recognizes that the cleaning member 12 corresponding to the member name is the cleaning member 12 being mounted. The type of the cleaning member 12 being mounted is stored in the storage unit 11.

When the learning button 32 and the manual button 34 are operated, the operation mode is switched between the learning driving mode and the manual driving mode, and the touch panel 28 can set and operate data related to manual driving and manual cleaning as shown in FIG. The data setting screen 40 is displayed. Further, when the automatic button 33 is operated, the operation mode is switched to the automatic traveling mode, and the touch panel 28 displays the cleaning plan selection screen 60 in which the cleaning plan can be selected and operated as shown in FIG.

On the data setting screen 40, a speed change button 41 for changing the traveling speed of the traveling unit 3 is displayed. The speed change button 41 is displayed so as to be operable during automatic driving in the automatic driving mode, but is displayed or not displayed as inoperable during manual driving in the learning driving mode and the manual driving mode. The speed change button 41 includes, for example, an upper button that gradually increases the traveling speed each time it is operated, and a lower button that gradually decreases the traveling speed each time it is operated.

On the data setting screen 40, the cleaning switch 42 of the cleaning member 12 of the cleaning unit 5 and the pad pressure adjusting button 43 for adjusting the pad pressure of the cleaning member 12 are operably displayed regardless of the operation mode. Each time the cleaning switch 42 is operated, the cleaning operation / stop by the cleaning member 12 is switched. Each time the pad pressure adjusting button 43 is operated, the pad pressure of the cleaning member 12 is switched stepwise and cyclically.

On the data setting screen 40, the supply switch 44 of the cleaning liquid supply unit 13 of the cleaning unit 5 and the supply water amount adjustment button 45 for adjusting the supply water amount of the cleaning liquid supply unit 13 are operably displayed regardless of the operation mode. Each time the supply switch 44 is operated, the operation / stop of the cleaning liquid supply by the cleaning liquid supply unit 13 is switched. The water supply amount adjusting button 45 switches the water supply amount of the cleaning liquid supply unit 13 stepwise and cyclically each time it is operated.

On the data setting screen 40, the suction switch 46 of the suction unit 14 of the cleaning unit 5 and the suction amount adjustment button 47 for adjusting the suction amount of the suction unit 14 are operably displayed regardless of the operation mode. The suction switch 46 switches the operation / stop of suction by the suction unit 14 each time it is operated. The suction amount adjusting button 47 switches the suction amount of the suction unit 14 stepwise and cyclically each time the operation is performed.

Further, on the data setting screen 40, in the learning running mode, a learning start button 48 for starting learning running cleaning, a learning stop button 49 for stopping learning running cleaning, a learning completion button 50 for completing learning running cleaning, and learning running cleaning A storage button 51 or the like that stores the result of the above as a cleaning plan is displayed operably.

Further, on the data setting screen 40, the reproduction start button 52 for starting the automatic driving cleaning after changing the reproduction plan which is the target of the automatic driving cleaning, and the traveling data and / or the cleaning data of the reproduction plan are collectively collected. The option button 53 for selecting and operating the change option to be changed is displayed. The reproduction start button 52 and the option button 53 are displayed so as to be operable before the execution of the automatic driving cleaning in the automatic driving mode, but are displayed inoperable in the learning driving mode and the manual driving mode. Or is not displayed.

In the automatic driving mode, the driving data of the reproduction plan can be individually changed by operating the speed change button 41 on the data setting screen 40 before the start of the automatic driving cleaning. Cleaning switch 42, pad pressure adjustment button By operating the 43, the supply switch 44, the supply water amount adjustment button 45, the suction switch 46, and the suction amount adjustment button 47, the cleaning data of the reproduction plan can be changed individually.

Further, in the automatic driving mode, when the option button 53 of the data setting screen 40 is operated before the start of the automatic driving cleaning, the touch panel 28 has a plurality of types of change options as shown in FIG. 8 (2). A list of change options 81 in which each option name is listed so as to be selectable by a pull-down menu or the like is popped up on the data setting screen 40.

For example, in the change option list 81, weak cleaning option, strong cleaning option, short-time cleaning option, slow cleaning option, demo driving option, water supply amount change option, silent driving option, rainy weather cleaning option, simple cleaning option, firm cleaning option, etc. Multiple types of change options can be selected. As the water supply amount change option, either the total amount constant supply option or the speed-following supply option can be selected, and when the supply water amount change option is selected from the change option list 81, the total amount constant supply option and the speed-following supply option are further selected. The speed tracking supply options are listed in a selectable manner using a pull-down menu or the like and displayed in a pop-up.

Then, when the operator selects one of the change options from the change option list 81 (see step S5: Yes in FIG. 9), the driving data and / or the cleaning data of the reproduction plan are collectively collected based on the selected change option. (See step S6 in FIG. 9). The batch change of the reproduction plan based on the change option will be described later.

Further, when the reproduction start button 52 on the data setting screen 40 is operated, the process shifts to the execution of the automatic running cleaning of the reproduction plan (see step S7 in FIG. 9), and the touch panel 28 indicates that the automatic running cleaning is being executed. Display the screen.

On the cleaning plan selection screen 60, a cleaning plan list 61 in which plan items 62 of each cleaning plan stored in the storage unit 11 are listed in a selectable manner is displayed. In the plan item 62, for example, the plan name of the cleaning plan, the time required for automatic running cleaning, the creation date, the previous implementation date, and the like are displayed.

On the cleaning plan selection screen 60, a back button 63, a decision button 64, and the like are operably displayed. When the back button 63 is operated, the automatic driving mode is terminated without shifting to the automatic driving cleaning, and the touch panel 28 returns to the mode selection screen 30. When the enter button 64 is operated, the cleaning plan corresponding to the selected plan item 62 is used as a reproduction plan for the target of automatic running cleaning (see step S2 in FIG. 9), and the touch panel 28 is shown in FIG. The cleaning plan change screen 70, which can operate the execution start of the automatic running cleaning of the reproduction plan and each data change of the reproduction plan, is displayed.

When the selection of the reproduction plan is decided in this way, the type of the cleaning member 12 of the cleaning unit 5 associated with the reproduction plan, that is, the type of the cleaning member 12 at the time of generating the reproduction plan is attached to the cleaning unit 5 this time. If it is different from the type of the cleaning member 12 inside (see step S3: Yes in FIG. 9), the reproduction plan is collectively changed based on the type of the cleaning member 12 currently installed (step S4 in FIG. 9). reference). Further, the touch panel 28 indicates that when the decision button 64 on the cleaning plan selection screen 60 is operated, the type of the cleaning member 12 at the time of generating the reproduction plan and the type of the cleaning member 12 currently mounted are different, and the cleaning is performed. An inquiry screen may be displayed asking the operator whether or not the reproduction plan may be collectively changed based on the type change of the member 12. The batch change of the reproduction plan based on the change of the type of the cleaning member 12 is an example of the batch change of the reproduction plan based on the change of the cleaning work described above. The batch change of the reproduction plan based on the change of the type of the cleaning member 12 will be described later.

On the cleaning plan change screen 70, a back button 71, an execute button 72, a change button 73, and the like are operably displayed. When the back button 71 is operated, the selection of the reproduction plan is canceled, and the touch panel 28 returns to the cleaning plan selection screen 60. When the execution button 72 is operated, the process shifts to the execution of the automatic running cleaning of the reproduction plan (see step S7 in FIG. 9), and the touch panel 28 displays a screen indicating that the automatic running cleaning is being executed. When the change button 73 is operated, the touch panel 28 displays the above data setting screen 40 in order to change the reproduction plan before the start of the automatic running cleaning. The change of the cleaning plan on the data setting screen 40 is as described above.

The power supply unit 9 includes a battery (power supply) and a charging circuit mounted inside the device main body 2, and the battery is charged by connecting to an external power source, and power is supplied to each part of the autonomous driving work device 1. .. The power supply unit 9 may output a signal indicating the remaining battery level to the control unit 10.

The control unit 10 is composed of a computer such as a CPU (Central Processing Unit), and as shown in FIG. 2, a storage unit 11 including a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk, a flash memory, and the like. It is connected. Further, the control unit 10 is attached to each part of the autonomous driving work device 1 such as the traveling unit 3, the traveling operation unit 4, the cleaning unit 5, the measuring unit 6, the obstacle detection unit 7, the operation display unit 8, and the power supply unit 9. It is connected.

The storage unit 11 stores programs and data for controlling each unit and various functions of the autonomous traveling work device 1, and the control unit 10 executes arithmetic processing based on the programs and data stored in the storage unit 11. By doing so, each part and various functions are controlled in an integrated manner. For example, the control unit 10 executes a program stored in the storage unit 11 to execute a mode switching unit 20, a map creation unit 21, a cleaning plan creation unit 22 (plan creation unit), and a cleaning plan change unit 23 (plan change). Unit) and the reproduction control unit 24. As a result, the autonomous traveling work device 1 can autonomously travel and work automatically according to a program stored in advance. In addition, the storage unit 11 stores one or more cleaning plans and also stores an environmental map corresponding to each cleaning plan.

The mode switching unit 20 switches the operation mode to any one of the learning driving mode, the automatic driving mode, and the manual driving mode. For example, on the mode selection screen 30 described above, the mode switching unit 20 switches the operation mode between the learning driving mode, the automatic driving mode, and the manual driving mode according to the operation of the learning button 32, the automatic button 33, and the manual button 34.

The map creation unit 21 estimates the self-position and creates an environmental map in real time by using a technique such as SLAM (Simultaneus Localization and Mapping) while the learning running cleaning is performed in the learning running mode.

Specifically, the map creation unit 21 has a predetermined time interval based on the position information between the device main body 2 and the non-working object, which is the measurement result of the measurement unit 6, during the learning running cleaning of the predetermined cleaning area. A local map around the device main body 2 is created every time or at a predetermined distance interval. Further, the map creation unit 21 estimates the self-position (coordinates) of the autonomous traveling work device 1 in the local map based on the local map and the detection result (movement amount of the traveling unit 3) by each encoder of the traveling unit 3. To do.

Then, the map creation unit 21 creates an environmental map of the cleaning area by connecting (combining) each local map when completing the learning running cleaning. In addition, the map creation unit 21 creates a traveling route by connecting (synthesizing) each position information measured by the measurement unit 6.

The cleaning plan creating unit 22 acquires the traveling data of the traveling unit 3 and the cleaning data of the cleaning unit 5 at each step interval of the cleaning plan while the learning traveling cleaning is performed in the learning traveling mode, and temporarily stores the cleaning data in the storage unit 11. Remember in. In response to the operation of the learning start button 48 on the data setting screen 40, the learning running cleaning is started, and the cleaning plan creation unit 22 starts acquiring the running data and the cleaning data.

For example, the cleaning plan creation unit 22 acquires self-position data (X-coordinate, Y-coordinate, angle) as running data based on the position information measured by the measurement unit 6. Further, the front wheel rotation encoder of the front wheel 3a of the traveling unit 3 detects the traveling rotation speed of the front wheel 3a, and the traveling speed of the traveling unit 3 is acquired based on the detection result. Further, the steering rotation speed of the front wheel 3a is detected by the steering rotation encoder of the front wheel 3a of the traveling unit 3, and the turning speed of the traveling unit 3 is acquired based on the detection result.

Further, for example, the cleaning plan creation unit 22 uses the data setting screen 40, which will be described later, as cleaning data for the pad pressure of the cleaning member 12 of the cleaning unit 5, the amount of water supplied by the cleaning liquid supply unit 13, and the suction amount of the suction unit 14. To get the stepwise strength that was set.

Further, when the learning running cleaning is completed in response to the operation of the learning completion button 50 on the data setting screen 40, the cleaning plan creation unit 22 stops the acquisition of the running data and the cleaning data, and temporarily stores the running data and the cleaning data in the storage unit 11. A cleaning plan (work plan) is created by associating the running data and cleaning data that have been used for each step.

Further, after creating the cleaning plan, the cleaning plan creating unit 22 calculates the traveling path (traveling locus) of the traveling unit 3 based on the traveling data of each step, and the radius of curvature in this traveling locus is equal to or less than the predetermined radius of curvature threshold value. Is determined as a turning traveling section, and the turning flag of the step corresponding to this section is set to 1. Alternatively, the cleaning plan creation unit 22 detects the steering angle of the traveling operation unit 4 (steering wheel) based on the traveling data of each step, and the section where the steering angle is equal to or greater than a predetermined steering angle threshold value (for example, 30 degrees). Is determined as a turning traveling section, and the turning flag of the step corresponding to this section is set to 1.

When measuring the steering angle, for example, when the traveling operation unit 4 is steered by the steering rotation encoder of the front wheel 3a of the traveling unit 3 or the encoder provided on the turning shaft of the traveling operation unit 4 (steering wheel). The pulse value of the encoder is measured, the left turn is detected at a positive angle with respect to the traveling direction, and the right turning is a negative angle with respect to the traveling direction, with the traveling direction of the traveling unit 3 as a reference (0 degree). The pulse value may be converted into an angle (deg) so as to be detected in.

Then, when the cleaning plan creation unit 22 completes the learning running cleaning, the touch panel 28 displays an inquiry screen for inquiring the operator to input the plan name for the created cleaning plan. After inputting the plan name, in response to the operation of the memory button 51 on the data setting screen 40, the cleaning plan creation unit 22 associates the created cleaning plan with the environment map created by the map creation unit 21 in the same learning running cleaning. It is stored in the storage unit 11.

The cleaning plan changing unit 23 individually changes the driving data and / or cleaning data of the reproduction plan selected for automatic driving cleaning in the automatic driving mode based on the operation of various buttons on the data setting screen 40, and the cleaning unit 5. Make batch changes based on changes in cleaning work, batch changes based on change options, etc. The cleaning plan changing unit 23 does not change the self-position data (X coordinate and Y coordinate, angle on the environmental map) of the autonomous traveling work device 1 indicated by the traveling data in the batch change of the reproduction plan, that is, Change the travel data and / or cleaning data over each step without changing the travel route.

The cleaning plan changing unit 23 may temporarily store the changed reproduction plan (see step S8: Yes in FIG. 9) in the storage unit 11 so as to execute only this automatic running cleaning. It may be stored in the storage unit 11 as a new cleaning plan so that it will be executed for the automatic running cleaning from the next time onward (see step S10 in FIG. 9). For example, the cleaning plan changing unit 23 may display an inquiry screen on the touch panel 28 asking the operator whether or not to store the changed reproduction plan as a new cleaning plan in the storage unit 11 after the automatic running cleaning is completed. Good (see step S9 in FIG. 9).

In the automatic driving mode, when the data setting screen 40 is displayed on the touch panel 28 after selecting the reproduction plan, the cleaning plan change unit 23 accepts individual changes of the reproduction plan based on the operation of various buttons on the data setting screen 40. .. For example, the cleaning plan change unit 23 individually changes the travel data of the reproduction plan according to the operation of the speed change button 41. Further, the cleaning plan changing unit 23 receives the cleaning data of the reproduction plan according to the operation of the cleaning switch 42, the pad pressure adjustment button 43, the supply switch 44, the supply water amount adjustment button 45, the suction switch 46 and the suction amount adjustment button 47. Change individually. The cleaning plan change unit 23 reflects the individually changed running data and cleaning data in the reproduction plan before the start of the automatic running cleaning according to the operation of the reproduction start button 52 on the data setting screen 40. It is good to let it.

Further, when the cleaning work of the cleaning unit 5 at the time of generating the reproduction plan and the reproduction work of the cleaning unit 5 at the time of executing the reproduction plan are different in the automatic traveling mode, the cleaning plan changing unit 23 is based on the change of the cleaning work. Accepts batch changes to the reproduction plan.

For example, when the decision button 64 is operated on the cleaning plan selection screen 60 to determine the selection of the reproduction plan, the cleaning plan changing unit 23 determines the type of the cleaning member 12 at the time of generating the reproduction plan and the cleaning member currently installed. Twelve types are read from the storage unit 11 and compared. Types of the cleaning member 12 include a first cleaning pad, a second cleaning pad, a peeling pad, a polishing pad, a melamine pad, a cleaning brush, and a dust removing brush. Then, when the type of the cleaning member 12 at the time of generating the reproduction plan and the type of the cleaning member 12 currently installed are different, the cleaning plan changing unit 23 performs the cleaning work of the cleaning unit 5 at the time of generating the reproduction plan and the reproduction plan. It is determined that the reproduction work of the cleaning unit 5 at the time of execution is different.

The cleaning plan changing unit 23 can grasp (determine) the type of cleaning work based on the type of the cleaning member 12. For example, when the type of the cleaning member 12 is a first cleaning pad, a second cleaning pad, or a cleaning brush, the type of cleaning work is determined to be floor cleaning work. When the type of the cleaning member 12 is a peeling pad, a polishing pad, a melamine pad, or a dust removing brush, it is determined that the types of cleaning work are wax peeling work, floor polishing work, tile cleaning work, or suction cleaning work, respectively. Will be done.

Below, when a cleaning plan is created by performing learning running cleaning using the first cleaning pad as a cleaning member 12 and then performing automatic running cleaning using this cleaning plan as a reproduction plan, the cleaning plan changing unit 23 performs cleaning work. An example of collectively changing the reproduction plan based on the change or the type change of the cleaning member 12 will be described.

When the cleaning member 12 is changed from the first cleaning pad to the second cleaning pad made of a hard material, the cleaning plan changing unit 23 lowers the pad pressure of the cleaning data by one step in order to prevent the floor FL from being scratched. Make batch changes like this. When the cleaning member 12 is changed from the first cleaning pad to the cleaning brush, the cleaning plan changing unit 23 makes a batch change so as to increase the amount of water supplied for cleaning data by one step.

When the cleaning member 12 is changed from the first cleaning pad to the release pad, the cleaning plan changing unit 23 reliably removes a large amount of wax adhering to the floor surface FL from the floor surface FL, so that the traveling speed of the traveling data is reduced. While lowering it to 1/2, the pad pressure and suction amount of the cleaning data are uniformly raised to the highest level (for example, in the case of 3 steps from 0 to 2, it is raised to 2 level, and 5 steps from 0 to 4 In some cases, raise it to level 4).

When the cleaning member 12 is changed from the first cleaning pad to the polishing pad, as shown in FIG. 11, the cleaning plan changing unit 23 slowly polishes the waxed floor surface FL over time. In addition, the running speed of the running data is reduced to 1/2, and the pad pressure of the cleaning data is uniformly lowered to the lowest step (for example, in the case of 3 steps of 0 to 2 or 5 steps of 0 to 4). , 0), and further set to stop the cleaning liquid supply of the cleaning liquid supply unit 13 and the suction of the suction unit 14 (for example, set the supply water amount and the suction amount to off).

When the cleaning member 12 is changed from the first cleaning pad to the melamine pad, the cleaning plan changing unit 23 lowers the traveling speed setting of the traveling data to 1/2 in order to clean the floor FL of the ceramic tile. , Decrease the pad pressure of the cleaning data to the lowest stage, and raise the supply water amount and suction amount to the highest stage.

When the cleaning member 12 is changed from the first cleaning pad to a dust removing brush, the cleaning plan changing unit 23 reduces the traveling speed of the traveling data by half in order to clean the floor FL of the brushed material such as carpet. At the same time, the pad pressure of the cleaning data is uniformly lowered to the lowest stage, and further, the cleaning liquid supply of the cleaning liquid supply unit 13 and the suction of the suction unit 14 are set to be stopped (for example, the supply water amount and the suction amount are turned off). Set). In this way, the cleaning plan changing unit 23 can collectively change the cleaning plan even when the wet cleaning work is switched to the dry cleaning work.

In addition, the cleaning plan change unit 23 selects a reproduction plan according to the operation of the decision button 64 on the cleaning plan selection screen 60 for the running data and the cleaning data that are collectively changed based on the change of the cleaning work as described above. When it is decided, it may be reflected in the reproduction plan, or may be reflected in the reproduction plan before the start of the automatic running cleaning according to the operation of the execution button 72 of the cleaning plan change screen 70. Further, even when the cleaning plan change unit 23 collectively changes the reproduction plan based on the change of the cleaning work, when the change button 73 is operated on the cleaning plan change screen 70, the reproduction plan is further displayed on the data setting screen 40. May be changed.

Further, the cleaning plan change unit 23 accepts a batch change of the reproduction plan based on the change option when any change option is selected from the plurality of types of change options on the above-mentioned data setting screen 40. The types of change options include, for example, weak cleaning option, strong cleaning option, short-time cleaning option, slow cleaning option, demo driving option, water supply amount change option (total amount constant supply option and speed-following supply option), silent driving option, and rainy weather. There are cleaning options, simple cleaning options, and thorough cleaning options. The cleaning plan change unit 23 collectively changes the reproduction plan according to the selected change option without changing the traveling route. An example of batch change of the reproduction plan for each change option will be described below.

The weak cleaning option (weak work option) and the strong cleaning option (strong work option) are, for example, the floor of the cleaning area without changing the cleaning time required for automatic running cleaning of the selected reproduction plan from the reproduction plan at the time of creation. It may be selected when removing the dirt on the floor surface FL according to the degree of dirt on the surface FL. The weak cleaning option weakens the work intensity of the cleaning data (work data), and the strong cleaning option increases the work intensity of the cleaning data. If the floor FL is less dirty than usual, the change option of the weak cleaning option should be selected. In this case, the cleaning plan change unit 23 supplies the pad pressure and supply of the cleaning data without changing the driving data. The water amount and suction amount are set to be lowered by one step, or the pad pressure, supply water amount and suction amount are set to be uniformly lowered to the lowest step. On the other hand, if the floor FL is more dirty than usual, it is preferable to select the change option of the strong cleaning option. In this case, the cleaning plan change unit 23 does not change the running data and the pad pressure of the cleaning data. , The supply water amount and suction amount are set to be raised by one step, or the pad pressure, supply water amount and suction amount are set to be uniformly raised to the highest step.

The time-saving cleaning option (high-speed option) and the slow cleaning option (low-speed option) may be selected, for example, to shorten or extend the cleaning time required for automatic running cleaning of the selected reproduction plan. If the cleaning time required to create the reproduction plan cannot be secured and the automatic running cleaning needs to be rounded up quickly, the change option of the time saving cleaning option should be selected. In this case, cleaning as shown in FIG. The plan change unit 23 doubles the running speed of the running data, or sets it uniformly at a higher speed of a plurality of steps (for example, 5 levels in the case of 8 steps from 0 to 7). When there is plenty of cleaning time and the floor FL of stone such as marble is slowly cleaned (for example, polished), the option for changing the slow cleaning option should be selected. In this case, the cleaning plan changing unit 23 The traveling speed of the traveling data is set to be reduced to 1/2, or is uniformly set to a lower level of the speed of a plurality of stages (for example, one level in the case of eight stages of 0 to 7).

The demonstration driving option is, for example, when confirming the traveling route of the cleaning plan learned by the autonomous driving work device 1 at a commercial facility or the like, or when performing a demonstration run for demonstrating the autonomous driving work device 1 at an exhibition or the like. It should be selected. When the demo running option change option is selected, the cleaning plan changing unit 23 stops the cleaning work of the cleaning member 12, the cleaning liquid supply of the cleaning liquid supply unit 13, and the suction of the suction unit 14 without changing the driving data. Set the cleaning data so that (eg, set pad pressure, supply water volume and suction volume to off). Before the start of the automatic running cleaning of the demonstration run, the reproduction plan is executed as it is by operating the speed change button 41 on the data setting screen 40 described above to set the running speed of the running data faster or slower. The time required for automatic running cleaning can be shortened or lengthened as compared with the case, and for example, the demonstration running can be completed earlier by increasing the running speed. When the demo run change option is selected, the data setting screen 40 is set not to accept operations related to changing the cleaning data. For example, the cleaning switch 42, the pad pressure adjustment button 43, and the supply switch. 44, the supply water amount adjusting button 45, the suction switch 46 and the suction amount adjusting button 47 are displayed as inoperable.

The water supply amount change option (total amount constant supply option and speed-following supply option) is, for example, due to individual change of the reproduction plan on the data setting screen 40 or batch change of the reproduction plan based on the change of the cleaning work. It should be selected when the running speed is changed. For example, if the running speed is changed faster, the cleaning time per passing position will be shorter, but if the amount of water supplied by the cleaning liquid is not changed, the amount of water supplied per passing position will be smaller than in the original reproduction plan. Due to the lack of cleaning liquid, the cleaning member 12 may damage the floor FL or the cleaning effect may not be sufficient. Also, if the running speed is changed to a slower speed, the cleaning time per passing position will be longer, but if the amount of water supplied by the cleaning liquid is not changed, the amount of water supplied per passing position will increase compared to the original reproduction plan. Sewage may remain on the floor FL due to excessive supply of cleaning liquid. Furthermore, since the cleaning liquid is consumed more than planned, it may be exhausted by the time the cleaning work is completed.

Therefore, when the change option of the total amount constant supply option is selected, the cleaning plan change unit 23 calculates the total amount of water supplied at each step of the cleaning data of the original reproduction plan, and automatically runs and cleans the changed reproduction plan. In, the water supply amount of each step of the cleaning data of the reproduction plan is changed so as to consume the same total amount of water supply amount as the original reproduction plan. At this time, the supply water amount is calculated and changed so that the supply water amount becomes constant throughout each step in which the supply water amount is set to other than off.

Further, when the change option of the speed tracking supply option is selected, the cleaning plan change unit 23 increases or decreases the amount of water supplied for cleaning data according to the rate of change in the running speed of the running data for each step of the reproduction plan. .. For example, when the running speed of the running data is changed faster, a large amount of water supplied for cleaning data is set according to the rate of speed change, and when the running speed is changed slower, the rate of speed change is set. Set a small amount of water supply according to. As an example, when the traveling speed is changed to 20% increase, the supply water amount is also changed to 20% increase.

In order to change the amount of water supplied as described above, the cleaning unit 5 provides a water level sensor (not shown) in the cleaning liquid tank of the cleaning liquid supply unit 13 and the sewage tank of the sewage recovery unit, and the cleaning plan changing unit 23. Based on the detection result of each water level sensor, the total amount of water supplied by the cleaning liquid supply unit 13 when the cleaning plan is created by the learning running cleaning, and the cleaning liquid supply unit 13 when the cleaning plan is executed by the automatic running cleaning. Understand the total amount of water supplied. When the cleaning plan change unit 23 supplies a larger amount of cleaning liquid than the original reproduction plan, the cleaning liquid tank is filled up so that the cleaning liquid in the cleaning liquid tank is not insufficient by the time the cleaning of the cleaning area is completed. The amount of water supplied may be adjusted so as not to become. When changing the supply water amount, it is necessary to finely change the supply water amount, and the supply water amount is adjusted by changing the voltage applied to the supply pump of the cleaning liquid supply unit 13.

The silent running option suppresses the running noise of the running unit 3, the operating noise of the cleaning member 12, and the suction noise of the suction unit 14, for example, during the business hours of the commercial facility to be cleaned or the working hours of the office. It may be selected when consideration is given to reducing the ambient noise generated by the autonomous traveling work device 1. When the option for changing the silent running option is selected, the cleaning plan changing unit 23 sets the running speed of the running data and the pad pressure, the amount of water supplied, and the suction amount of the cleaning data, respectively. For example, the traveling speed is set to be reduced to 1/2, or is uniformly set to a lower level of the speed of a plurality of stages (for example, a level of 1 in the case of 8 stages of 0 to 7). Further, the pad pressure, the amount of water supplied and the amount of suction are set to be lowered by one step, or the pad pressure, the amount of water supplied and the amount of suction are set to be uniformly lowered to the lowest step. Further, the rotation speed of the cleaning member 12 may be adjusted to be reduced to 1/2 by controlling the cleaning member motor that rotates the cleaning member 12 at a constant speed.

The rainy weather cleaning option may be selected, for example, when the weather on the day of cleaning is excessive and the floor FL is dirty due to rainfall. When the option for changing the rainy weather cleaning option is selected, the cleaning plan changing unit 23 sets the traveling speed of the traveling data by lowering the traveling speed and increasing the suction amount of the cleaning data. For example, the traveling speed is set to be reduced to 2/3 throughout all steps, and the suction amount is set to be uniformly reduced to the highest stage.

The simple cleaning option may be selected, for example, when the floor FL of the cleaning area to be cleaned is not very dirty and it is desired to reduce the work load related to cleaning and shorten the cleaning time. The simple cleaning option is the mode having the lowest ability to remove dirt on the floor FL, and when the change option of the simple cleaning option is selected, the cleaning plan changing unit 23 increases the traveling speed of the traveling data and sets it. At the same time, lower the pad pressure, supply water amount, and suction amount of the cleaning data. For example, the traveling speed is set to be doubled, or is set uniformly at a higher speed of a plurality of stages (for example, 5 levels in the case of 8 stages of 0 to 7). Further, the pad pressure, the amount of water supplied and the amount of suction are set to be lowered by one step, or the pad pressure, the amount of water supplied and the amount of suction are set to be uniformly lowered to the lowest step.

The thorough cleaning option is, for example, when the floor FL of the cleaning area to be cleaned is very dirty and you want to remove the dirt on the floor FL more reliably regardless of the work load and cleaning time related to cleaning. It should be selected. The thorough cleaning option is the mode with the highest ability to remove dirt on the floor FL, and when the option to change the thorough cleaning option is selected, the cleaning plan change unit 23 lowers the traveling speed of the traveling data and sets it. At the same time, increase the pad pressure, supply water amount, and suction amount of the cleaning data. For example, the traveling speed is set to be reduced to 1/2, or is uniformly set to a lower level of the speed of a plurality of stages (for example, a level of 1 in the case of 8 stages of 0 to 7). Further, the pad pressure, the amount of water supplied and the amount of suction are set to be raised by one step, or the pad pressure, the amount of water supplied and the amount of suction are set to be uniformly raised to the highest step.

The cleaning plan change unit 23 may reflect the driving data and the cleaning data collectively changed based on the change option in the reproduction plan when the change option is selected on the data setting screen 40 as described above. Alternatively, depending on the operation of the reproduction start button 52 on the data setting screen 40, it may be reflected in the reproduction plan before the start of the automatic running cleaning.

In addition, the cleaning plan change unit 23 individually changes the reproduction plan based on the operation of various buttons on the data setting screen 40, collectively changes the reproduction plan based on the change in the cleaning work of the cleaning unit 5, and collectively changes the reproduction plan based on the change option. For each of the changes, the change status of the driving data and the cleaning data may be integrated and stored. Then, the cleaning plan change unit 23 reflects the integrated running data and the change status of the cleaning data in the reproduction plan before the start of the automatic running cleaning in response to the operation of the reproduction start button 52 on the data setting screen 40. You may.

By the way, in the above, the individual change of the reproduction plan based on the operation of various buttons on the data setting screen 40, the batch change of the reproduction plan based on the change of the cleaning work of the cleaning unit 5, and the batch change of the reproduction plan based on the change option have been described. However, changes to the reproduction plan are restricted by the restriction flags included in the reproduction plan. For example, the reproduction plan includes, as a restriction flag, a turning flag that restricts a change in the traveling speed of the traveling data.

When changing the reproduction plan, the cleaning plan changing unit 23 refers to the turning flag of each step, that is, determines whether or not each step is a turning traveling section. Then, the cleaning plan changing unit 23 changes the running data based on the operation of the data setting screen 40, the change of the cleaning work, and the change option for the step (step of the turning running section) in which the turning flag is set to 1. Even if a change to increase the running speed or a batch change is instructed, the running speed of the running data (running data at the time of creating the cleaning plan) of the original reproduction plan is maintained for the steps of this turning running section.

For example, as shown in FIG. 12, on the floor FL of a rectangular cleaning area such as a gymnasium, a cleaning plan is performed so as to fill this cleaning area by reciprocating the autonomous driving work device 1 in a zigzag manner to perform learning driving cleaning. May be created. The traveling path of such a cleaning plan is a section that turns 180 degrees, and the radius of curvature becomes equal to or less than a predetermined radius of curvature threshold value, and is determined as a turning traveling section. Then, when this cleaning plan is used as a reproduction plan for automatic running cleaning, the cleaning plan changing unit 23 collectively changes the reproduction plan so as to increase the running speed from the start position to the end position (over all steps). Even in this case, the traveling speed of the turning traveling section is maintained at the traveling speed of the original reproduction plan, or the traveling speed of the turning traveling section is lowered and set. In FIG. 12, the broken line indicates a section in which the traveling speed is increased, and the alternate long and short dash line indicates a section in which the traveling speed is maintained at the traveling speed of the original reproduction plan, that is, a turning traveling section.

The reproduction control unit 24 will be described with reference to the flowchart of FIG. 9 showing the operation of automatic running cleaning. When the operation mode is the automatic driving mode (see step S1 in FIG. 9), the reproduction control unit 24 displays the cleaning plan change screen after the reproduction plan is selected on the cleaning plan selection screen 60 (see step S2 in FIG. 9). In response to the operation of the execution button 72 of 70, the automatic running cleaning of the selected reproduction plan is controlled. At this time, if the reproduction plan is not changed (see step S3: No in FIG. 9), the reproduction control unit 24 uses the cleaning plan read from the storage unit 11 as it is as the reproduction plan, or the reproduction plan is cleaned. When a batch change is made based on a change in work (see step S3: Yes and step S4 in FIG. 9), the changed reproduction plan is used.

Further, after the reproduction plan is selected on the cleaning plan selection screen 60 (see step S2 in FIG. 9), the reproduction control unit 24 operates the change button 73 of the cleaning plan change screen 70 to display the data setting screen 40. Then, according to the operation of the reproduction start button 52 of the data setting screen 40, the automatic running cleaning of the selected reproduction plan is controlled. At this time, if the reproduction plan is not changed (see step S5: No in FIG. 9), the reproduction control unit 24 uses the cleaning plan read from the storage unit 11 as it is as the reproduction plan, or the reproduction plan is the data. When the operation of the setting screen 40, the change of the cleaning work, or the change or the batch change is performed based on the change option (see step S5: Yes and step S6 of FIG. 9), the changed reproduction plan is used.

The reproduction control unit 24 controls the traveling unit 3 and the cleaning unit 5 based on the traveling data and the cleaning data of the reproduction plan selected as described above to perform automatic traveling cleaning (see step S7 in FIG. 9). At this time, the reproduction control unit 24 reads the environment map corresponding to the reproduction plan from the storage unit 11 and executes the automatic traveling cleaning while estimating the self-position of the autonomous traveling work device 1 on the environment map. For example, the reproduction control unit 24 creates a local map using a technique such as SLAM using the map creation unit 21, estimates the self-position of the autonomous driving work device 1 in the local map, and creates the local map as an environment. By matching with the map, the self-position on the environmental map is estimated. Then, the reproduction control unit 24 controls the traveling unit 3 by matching the self-position data of the traveling data of the reproduction plan with the self-position estimated on the environmental map, and step by step based on the cleaning data of the cleaning unit 5. Control the cleaning work.

In the above, an example in which the cleaning plan changing unit 23 stores the changed reproduction plan as a new cleaning plan in the storage unit 11 has been described, but the reproduction control unit 24 has after the automatic running cleaning of the changed reproduction plan. , The changed reproduction plan may be stored in the storage unit 11 as a new cleaning plan. For example, when the reproduction plan is changed (see step S8: Yes in FIG. 9), the reproduction control unit 24 operates whether or not to store the changed reproduction plan in the storage unit 11 as a new cleaning plan. Inquire the operator via the inquiry screen of the display unit 8. Then, when the operator desires to store the changed reproduction plan (see step S9: Yes in FIG. 9), the reproduction control unit 24 inputs the plan name of the new cleaning plan to the operation display unit 8. Inquire the operator via the screen or the like. When the plan name is input, the reproduction control unit 24 stores the changed reproduction plan in the storage unit 11 as a new cleaning plan (step S10 in FIG. 9).

As described above, according to the present embodiment, the autonomous traveling work device 1 capable of performing the automatic traveling work that autonomously travels and automatically works has the device main body 2 and the device main body 2 as a cleaning area (work area). Autonomous traveling by manual operation of the traveling unit 3 to be traveled inside, the cleaning unit 5 (working unit) that performs cleaning work (work) on the traveling route in the cleaning area of the device main body 2, and the traveling unit 3 and the cleaning unit 5. While the learning running cleaning (learning running work) of the work device 1 is performed, the running data of the running unit 3 and the cleaning data (work data) of the cleaning unit 5 are stored, and the cleaning including the running data and the cleaning data is performed. The cleaning plan creation unit 22 (plan creation unit) that creates a plan (work plan) and the cleaning plan created by the cleaning plan creation unit 22 are used for automatic travel cleaning (automatic travel work) of the autonomous travel work device 1. Based on the storage unit 11 to be stored and the cleaning plan read from the storage unit 11 as a reproduction plan, the reproduction control unit 24 that controls the traveling unit 3 and the cleaning unit 5 to perform automatic traveling cleaning, the traveling data of the reproduction plan, and / Or a cleaning plan changing unit 23 for changing cleaning data is provided. Further, the cleaning plan changing unit 23 is configured to be able to collectively change the traveling data and / or the cleaning data of the reproduction plan without changing the traveling route indicated by the reproduction plan. Then, when the reproduction plan is changed by the cleaning plan changing unit 23, the reproduction control unit 24 performs automatic running cleaning based on the changed reproduction plan.

With such a configuration, in the autonomous driving work device 1, when the cleaning plan created by the learning driving cleaning is used as a reproduction plan to perform automatic driving cleaning, the cleaning area is not changed without changing the traveling route indicated by the reproduction plan. The running data and the cleaning data can be changed collectively according to various uses such as the dirt condition of the floor FL and the convenience of the cleaning schedule. Therefore, even an operator who is not accustomed to operating the autonomous driving work device 1 can easily create a desired reproduction plan without setting running data and cleaning data one by one. Therefore, when cleaning the same cleaning area, even if the cleaning area is dirty or the cleaning schedule is changed, if there is no need to change the travel route, it can be used for various purposes without having to redo the learning travel cleaning. You can easily set a matching reproduction plan.

In this way, regardless of changes in the cleaning environment (working environment) and cleaning conditions (working conditions) such as the presence or absence of events and sales in commercial facilities and changes in the weather, the labor of reworking the learning driving cleaning is saved. Therefore, it is possible to provide an autonomous traveling work device 1 capable of performing automatic traveling cleaning using suitable traveling data and cleaning data.

Further, in the present embodiment, the cleaning plan changing unit 23 stores the changed reproduction plan in the storage unit 11 as a new cleaning plan.

With such a configuration, the autonomous driving work device 1 can easily create a plurality of cleaning plans for different purposes while targeting the same traveling route in the same cleaning area by performing learning traveling cleaning only once. It can be prepared in advance. Therefore, the operator can perform desired automatic running cleaning without any trouble by simply selecting a reproduction plan from a plurality of cleaning plans according to the application.

Further, in the present embodiment, the cleaning unit 5 is configured to select and perform a cleaning operation of one of a plurality of types of cleaning operations. When such a learning running work involving one cleaning work is performed, the cleaning plan creation unit 22 stores the cleaning data of the one cleaning work as work data and creates a cleaning plan. When the reproduction control unit 24 performs the automatic driving work based on the reproduction plan created by the learning running work involving one cleaning work, the cleaning unit 5 performs another cleaning work different from the one cleaning work. , The cleaning plan change unit 23 collectively changes the reproduction plan so as to correspond to such other cleaning work.

With such a configuration, when the autonomous traveling work device 1 targets the same traveling route in the same cleaning area, it is possible to easily set a cleaning plan having a different cleaning operation without re-doing the learning traveling cleaning. , Cleaning work can be easily converted.

Further, in the present embodiment, the cleaning unit 5 selects one cleaning operation from the floor surface cleaning operation, the wax peeling operation, the floor surface polishing operation, and the suction cleaning operation as a plurality of types of cleaning operations. To do.

With such a configuration, when the autonomous traveling work device 1 targets the same traveling route in the same cleaning area, any one of floor surface cleaning work, wax peeling work, floor surface polishing work, and suction cleaning work. After performing the cleaning work of the above and creating a cleaning plan, it is possible to easily set a cleaning plan for performing other cleaning work without having to redo the learning running cleaning. Therefore, the cleaning work can be easily switched between the floor surface cleaning work, the wax peeling work, the floor surface polishing work, and the suction cleaning work.

Further, in the present embodiment, the cleaning unit 5 is configured to switch and use a plurality of types of cleaning members 12 corresponding to each of the plurality of types of cleaning operations. When the reproduction control unit 24 performs the automatic traveling work based on the reproduction plan created by the learning traveling work accompanied by the one cleaning work using the one cleaning member 12, the cleaning unit 5 is different from the one cleaning member 12. When the cleaning member 12 of the above is used, the cleaning plan changing unit 23 collectively changes the reproduction plan so as to correspond to other cleaning work using the other cleaning member 12.

With such a configuration, when the autonomous traveling work device 1 targets the same traveling route in the same cleaning area, it is easy to perform a cleaning plan in which the cleaning work is different for each cleaning member 12 without having to redo the learning traveling cleaning. It can be set, and the cleaning work can be easily changed when the cleaning member 12 is changed.

Further, in the present embodiment, when the demonstration running option for running without cleaning work is set, the cleaning plan changing unit 23 collectively changes the reproduction plan so that the cleaning data sets the cleaning work to off. To do.

With such a configuration, if the cleaning plan including the traveling data and the cleaning data is prepared in advance, the autonomous traveling work device 1 can easily perform the demonstration traveling without re-doing the learning traveling cleaning. In the demonstration run, the cleaning work is not performed, so that the battery consumption of the power supply unit 9 can be suppressed.

Further, in the present embodiment, when a strong cleaning option (strong work option) for strengthening the work strength of the cleaning work or a weak cleaning option (weak work option) for weakening the work strength of the cleaning work is set, the cleaning plan change unit. 23 changes the reproduction plan collectively so as to set the work intensity of the cleaning data to be strong or weak, respectively.

With such a configuration, when the autonomous driving work device 1 targets the same traveling route in the same cleaning area, the cleaning data is adjusted to the dirt condition of the floor FL of the cleaning area without re-doing the learning traveling cleaning. You can easily change the strength of and set the reproduction plan.

Further, in the present embodiment, a time-saving cleaning option (speed-up option) that speeds up the cleaning time (working time) of the automatic running cleaning or a slow cleaning option (speed-down option) that slows down the cleaning time of the automatic running cleaning is set. If so, the cleaning plan changing unit 23 collectively changes the reproduction plan so as to set the traveling speed of the traveling data faster or slower, respectively.

With such a configuration, when the autonomous traveling work device 1 targets the same traveling route in the same cleaning area, the dirt condition, cleaning schedule, and cleaning of the floor FL of the cleaning area are not required to repeat the learning traveling cleaning. It is possible to set a reproduction plan by changing the traveling speed of the traveling data according to the time allocation for the work.

Further, in the present embodiment, the cleaning plan changing unit 23 includes the supply of the cleaning liquid (working liquid) during running in the automatic running cleaning based on the reproduction plan, and when the reproduction plan is changed collectively, the running data is collected. Keeps the total amount of cleaning liquid supplied constant when the running speed is changed. If the constant supply option is set, the total amount of cleaning liquid supplied in the automatic running cleaning based on the original reproduction plan is calculated. Set the supply water amount of the cleaning liquid in the cleaning data and change the reproduction plan at once so as to maintain it.

With such a configuration, even if it becomes necessary to change the amount of water supplied to the cleaning liquid according to the change in the traveling speed, the total amount of water supplied to the cleaning liquid is not changed, so that the remaining amount of the cleaning liquid remains. Automatic running cleaning can be completed without exhaustion. Therefore, it is possible to avoid the problem that the cleaning member 12 damages the floor FL due to the lack of cleaning liquid and the problem that the cleaning effect of the floor FL cannot be sufficiently obtained due to the lack of cleaning liquid.

Further, in the present embodiment, the cleaning plan changing unit 23 includes the supply of the cleaning liquid during running in the automatic running cleaning based on the reproduction plan, and the running speed of the running data is changed when the reproduction plan is changed collectively. When the speed-following supply option that makes the amount of water supplied by the cleaning liquid follow the running speed is set, the amount of water supplied by the cleaning liquid is increased or decreased according to the rate of change in the running speed. Set the amount of water to be supplied and change the reproduction plan at once.

With such a configuration, the autonomous traveling work device 1 can supply the cleaning liquid with the supply water amount according to the traveling speed even when it becomes necessary to change the supply water amount of the cleaning liquid according to the change of the traveling speed. Therefore, even when the traveling speed is set to be slow, it is possible to avoid the problem that the cleaning effect of the floor FL cannot be completed due to the depletion of the cleaning liquid.

Further, in the present embodiment, when the silent traveling option for suppressing the volume generated by the traveling unit 3 and the cleaning unit 5 is set, the cleaning plan changing unit 23 suppresses the operation of the traveling unit 3 and the cleaning unit 5. Set driving data and cleaning data and change the reproduction plan at once.

With such a configuration, the autonomous driving work device 1 learns when it becomes necessary to perform automatic running cleaning during the business hours of a commercial facility to be cleaned or the working hours of an office due to changes in the cleaning schedule or the like. It is possible to set a reproduction plan so as to suppress the running noise of the running unit 3, the operating noise of the cleaning member 12, and the suction noise of the suction unit 14 without having to redo the running cleaning, and the surroundings emitted by the autonomous driving work device 1. It is possible to reduce the noise to the vehicle and perform automatic running cleaning.

Further, in the present embodiment, when the restriction flag for restricting the change of the reproduction plan is set in the reproduction plan, the cleaning plan change unit 23 restricts the change of the reproduction plan.

With such a configuration, the autonomous driving work device 1 sets a restriction flag in advance for a part of the driving data or cleaning data that is not desired to be changed, so that even if the reproduction plan is changed all at once. The original reproduction plan settings can be maintained.

For example, when the turning flag that limits the change of the traveling speed of the traveling data is set as the limiting flag in the turning traveling section step of the reproduction plan, the cleaning plan changing unit 23 refers to the step of the turning traveling section. Even if you are instructed to change the running speed of the running data, the running speed at the time of creating the reproduction plan is maintained.

With such a configuration, even when the traveling speed of the autonomous driving work device 1 is increased for the purpose of shortening the cleaning time, the speed is not increased in the turning traveling section, so that it occurs in automatic traveling or automatic cleaning in the turning traveling section. Problems can be prevented in advance, and safety can be ensured for automatic driving cleaning. For example, it is possible to prevent a fall and insufficient collection of sewage in a turning section. In addition, it is possible to save the operator the trouble of making detailed settings for safety in the turning traveling section.

Further, in the present embodiment, the cleaning plan creation unit 22 has a section in which the radius of curvature of the traveling locus of the traveling unit 3 is equal to or less than a predetermined radius of curvature threshold value, or a steering angle of the traveling unit 3 is predetermined in the traveling data of the reproduction plan. A section equal to or greater than the steering angle threshold value is determined to be a turning running section, and a turning flag is set.

With such a configuration, the autonomous traveling work device 1 can easily recognize the turning traveling section of the traveling route and set it in the cleaning plan in advance.

In the above-described embodiment, when the cleaning member 12 is mounted by operating the pad mounting button 31, the cleaning member 12 selected from the cleaning member list 80 displayed on the mode selection screen 30 is mounted. Although the example of recognizing the number 12 is described, the means for discriminating the cleaning member 12 being mounted in the present invention is not limited to this example. In another embodiment, a mounting mechanism for switching between a mounted state and a non-mounted state of the cleaning member 12 and a device or means for discriminating the cleaning member 12 being mounted may be provided around the mounting mechanism.

For example, since the cleaning member 12 has different thicknesses between the pad and the brush, the amount of movement of the cleaning member actuator of the mounting mechanism differs when the cleaning member 12 is mounted. Therefore, the mounting height of the cleaning member 12 from the floor surface FL can be detected by the control unit 10 or the like based on the movement amount of the cleaning member actuator, and the cleaning member 12 pads the cleaning member 12 based on this mounting height. It is possible to determine whether the cleaning work is wet or dry by determining whether it is a brush or a brush.

Further, a camera such as a CCD capable of capturing identification information such as a QR code (registered trademark) attached to the cleaning member 12 or the cleaning member 12 may be provided around the mounting mechanism of the cleaning member 12. Then, based on the image captured by this camera, the control unit 10 or the like performs image recognition of the cleaning member 12 or its identification information to determine the cleaning member 12 being mounted and match it with the cleaning member 12. Cleaning work can be determined. When performing image recognition of the cleaning member 12 itself, the color, shape, and thickness of the cleaning member 12 may be determined, and the type of the cleaning member 12 may be determined based on the determination result. For example, if the first wash pad is formed in red, the second wash pad is in green, the release pad is in black, and the polish pad is in white, identify these pads by color. Can be done.

In the above-described embodiment, an example of displaying an option button 53 for selecting and operating a change option for collectively changing the reproduction plan on the data setting screen 40 has been described, but the present invention is not limited to this example. .. For example, in another embodiment, the option button 53 may be displayed on the cleaning plan change screen 70. Further, in the above-described embodiment, an example of changing the reproduction plan of the target of automatic running cleaning on the data setting screen 40 has been described, but the present invention is not limited to this example. For example, in another embodiment, the change of the reproduction plan of the target of the automatic running cleaning may be completed on the cleaning plan change screen 70. In this case, when the change button 73 is operated on the cleaning plan change screen 70, it is preferable to reflect the change in the reproduction plan and shift to the execution of the automatic running cleaning without shifting to the data setting screen 40.

Further, the present invention can be appropriately modified within the scope of claims and within a range not contrary to the gist or idea of the invention that can be read from the entire specification, and an autonomous driving working device accompanied by such a modification is also a technique of the present invention. Included in thought.

INDUSTRIAL APPLICABILITY The present invention can be suitably used for an autonomous traveling work device capable of autonomously traveling and automatically working, and an automatic floor cleaning / cleaning device for business use integrally configured with the autonomous traveling work device.

1 Autonomous traveling work device 2 Device body 3 Traveling section 5 Cleaning section (working section)
10 Control unit 11 Storage unit 12 Cleaning member 13 Cleaning liquid supply unit 14 Suction unit 22 Cleaning plan creation unit 23 Cleaning plan change unit 24 Reproduction control unit

Claims (14)

It is an autonomous driving work device that can execute automatic driving work that runs autonomously and works automatically.
With the device body
A traveling unit that allows the device body to travel within the work area,
A work unit that performs work on a traveling path in the work area of the device main body,
While the learning traveling work of the autonomous traveling work device is performed by the manual operation of the traveling unit and the working unit, the traveling data of the traveling unit and the work data of the working unit are stored, and the traveling data and the said traveling data are stored. A plan creation department that creates a work plan that includes work data,
A storage unit that stores the work plan created by the plan creation unit for the automatic driving work of the autonomous driving work device, and a storage unit.
Based on the work plan read from the storage unit as a reproduction plan, the reproduction control unit that controls the traveling unit and the working unit to perform the automatic traveling work, and
A plan change unit that collectively changes the travel data and / or the work data of the reproduction plan is provided.
The reproduction control unit is an autonomous driving work device characterized in that when the reproduction plan is changed by the plan changing unit, the automatic traveling work is performed based on the changed reproduction plan. The autonomous driving work device according to claim 1, wherein the plan change unit stores the changed reproduction plan as a new work plan in the storage unit. The work unit is configured to select the cleaning work of one of a plurality of types of cleaning work and perform the work as the work.
When the learning running work accompanied by the cleaning work is performed, the plan creation unit creates the work plan by storing the cleaning data of the cleaning work as the work data.
When the reproduction control unit performs the automatic traveling operation based on the reproduction plan created by the learning traveling operation accompanied by the cleaning operation, the other cleaning operation in which the working unit is different from the cleaning operation of one. The autonomous driving work apparatus according to claim 1 or 2, wherein the plan changing unit collectively changes the reproduction plan so as to correspond to the other cleaning work. The working unit is characterized in that, as the plurality of types of cleaning work, one of the cleaning work is selected from the floor surface cleaning work, the wax peeling work, the floor surface polishing work, and the suction cleaning work. The autonomous traveling work device according to claim 3. The working unit is configured to switch and use a plurality of types of cleaning members corresponding to each of the plurality of types of cleaning operations.
When the reproduction control unit performs the automatic traveling operation based on the reproduction plan created by the learning traveling operation accompanied by the cleaning operation using the cleaning member, the working unit performs the cleaning. When another cleaning member different from the member is used, the plan changing unit is characterized in that the reproduction plan is collectively changed so as to correspond to the other cleaning work using the other cleaning member. The autonomous driving work apparatus according to claim 3 or 4. When the demo running option for running without performing the work is set, the plan change unit collectively changes the reproduction plan so that the work data sets the work to off. The autonomous driving work device according to any one of claims 1 to 5. When a strong work option for increasing the work intensity of the work or a weak work option for weakening the work intensity is set, the plan change unit sets the work intensity of the work data to be strong or weak, respectively. The autonomous driving work device according to any one of claims 1 to 6, wherein the reproduction plan is changed collectively. When the speed-up option for speeding up the work time of the automatic driving work or the speed-down option for slowing down the work time is set, the plan change unit sets the travel speed of the travel data to be faster or slower, respectively. The autonomous driving work apparatus according to any one of claims 1 to 7, wherein the reproduction plan is collectively changed so as to be performed. When the automatic traveling work based on the reproduction plan includes the supply of working liquid during traveling and the traveling speed of the traveling data is changed when the reproduction plan is changed collectively. When the total amount constant supply option is set to make the total amount of the supply water of the work liquid constant, the total amount of the supply water of the work liquid consumed in the automatic driving work based on the original reproduction plan is maintained. The autonomous driving work according to any one of claims 1 to 8, wherein the amount of water supplied to the work liquid in the work data is set and the reproduction plan is changed collectively. apparatus. When the automatic traveling work based on the reproduction plan includes the supply of working liquid during traveling and the traveling speed of the traveling data is changed when the reproduction plan is collectively changed. When the speed-following supply option for making the supply water amount of the work liquid follow the running speed is set, the work is carried out so as to increase or decrease the supply water amount of the work liquid according to the rate of change of the running speed. The autonomous driving work apparatus according to any one of claims 1 to 8, wherein the amount of water supplied to the work liquid in the data is set and the reproduction plan is collectively changed. When the silent driving option for suppressing the volume generated by the traveling unit and the working unit is set, the plan changing unit uses the traveling data and the working data so as to suppress the operation of the traveling unit and the working unit. The autonomous driving work apparatus according to any one of claims 1 to 10, wherein the reproduction plan is set and changed collectively.
When the restriction flag for restricting the change of the reproduction plan is set in the reproduction plan, the plan change unit is any one of claims 1 to 11, characterized in that the modification of the reproduction plan is restricted. The autonomous driving work device according to item 1. When the turning flag that limits the change of the running speed of the running data is set as the limiting flag in the step of the turning running section of the reproduction plan, the plan changing unit
The autonomous driving operation according to claim 12, wherein the traveling speed at the time of creating the reproduction plan is maintained even when a change for increasing the traveling speed of the traveling data is instructed for the step of the turning traveling section. apparatus. In the travel data of the work plan, the plan creation unit has a section in which the radius of curvature of the travel locus of the travel unit is equal to or less than a predetermined radius of curvature threshold value, or a section in which the steering angle of the travel unit is equal to or greater than a predetermined steering angle threshold value. 13. The autonomous traveling work device according to claim 13, wherein the turning flag is set.

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