JP2021026244A - Autonomous travel work device - Google Patents

Abstract

To facilitate restarting of a learning mode without complexity of an operator, and to obtain travel data and work data intended by the operator.SOLUTION: An autonomous travel work device 1 includes: a device main body 2; a traveling unit 3; a cleaning unit 5; a learning control unit 21 that obtains the travel data and cleaning data on learnt traveling and cleaning; a cleaning plan creating unit 24 that creates a cleaning plan which includes the travel data and the cleaning data; a reproduction control unit 26 that causes the traveling unit 3 and the cleaning unit 5 to perform autonomous traveling and automatic cleaning, respectively, on the basis of the cleaning plan; and a reverse-reproduction control unit 25. The learning control unit 21 intermits the learnt traveling and cleaning at an intermittent position that satisfies an intermittent condition. The reverse-reproduction control unit 25 executes the reverse-reproduction traveling of the device main body 2 on the basis of the travel data from the intermittent position to a restart position during this intermission. The learning control unit 21 stores, instead of the travel data from the restart position to the intermittent position, the travel data obtained by the restarted learnt traveling and cleaning.SELECTED DRAWING: Figure 2

Description

The present invention relates to an autonomous traveling work device capable of performing autonomous traveling and automatic work.

Conventionally, the autonomous traveling work device is a learning mode in which traveling data and work data (cleaning data) are acquired and stored by executing learning traveling cleaning including manual traveling and manual work (manual cleaning) according to an operator's operation. And an automatic mode (reproduction mode) for executing automatic running cleaning including autonomous running and automatic work based on the running data and work data stored in advance. The autonomous traveling work device is configured as, for example, an industrial (commercial) cleaning robot (autonomous traveling cleaning device), and is used for cleaning the floor surface of a commercial facility such as a shopping mall.

For example, the autonomous traveling bogie (autonomous traveling work device) of Patent Document 1 is a teaching traveling mode (learning mode) that teaches a planned traveling route, which is a traveling route when traveling from a traveling start position to a traveling end position by an operator's operation. ) And the reproduction driving mode (automatic mode) in which the vehicle autonomously travels while reproducing the planned traveling route. This autonomous traveling bogie acquires a sub-goal point which is information on the position in the traveling environment in which the bogie portion has passed from the traveling start position to the traveling end position when the teaching driving mode is executed, and expresses the planned traveling route. Store the data as a collection of subgoal points. Further, one subgoal point included in the planned travel route data is set as the attention subgoal point, and is formed by the attention subgoal point and a predetermined number of subgoal points existing before and after the planned travel route data as viewed from the attention subgoal point. Calculate the radius of curvature, which is the radius of curvature at the subgoal point of interest, of the partially planned travel path. Then, when the radius of curvature of interest is equal to or less than the first value, the process of moving the subgoal point is performed so that the radius of curvature of interest is larger than the first value.

JP-A-2015-060388

The conventional autonomous traveling work device as described above deviates from the planned traveling route even if the planned traveling route represented by the aggregate of subgoal points (planned traveling route data) stored in the learning mode includes a sharp curve. In order to drive autonomously without any problem, the subgoal point is moved so that the radius of curvature becomes large, that is, the planned travel route data is corrected. However, in the learning mode, when the autonomous traveling work device is driven on a traveling path having a sharp curve, it is difficult for the operator to control the manual operation of the autonomous traveling working device.

For example, when turning the autonomous driving work device in the learning mode, the operator turns the steering wheel too much, so that the vehicle travels along a curve route that is steeper than the operator intended. I get the data. Therefore, the manual running and the manual work cannot be performed as intended by the operator, and the running data and the work data as intended by the operator may not be acquired. Further, if the manual traveling in the learning mode is continued while deviating from the traveling route intended by the operator, it is difficult to acquire the traveling data of the traveling route appropriately corresponding to the work area. Further, in the autonomous traveling work device as described above, even if the traveling route having a sharp curve can be corrected, it is not possible to correct the incorrect traveling route of another pattern.

In the learning mode, it is difficult to completely eliminate erroneous operations because the vehicle runs and works manually in a large work area. However, in the conventional autonomous traveling work device, it is necessary to re-execute the learning mode from the start position even if the traveling path is partially deviated from the intended traveling path due to an erroneous operation.

The present invention has been made in view of the above-mentioned problems, and the object of the present invention is to easily redo the learning mode without taking the trouble of the operator, and the driving data and the work intended by the operator. The purpose is to provide an autonomous traveling work device capable of acquiring data.

In order to solve the above problems, the first autonomous traveling work device of the present invention has a learning mode for executing learning traveling work and storing traveling data and work data, and automatically based on the traveling data and the working data. An autonomous traveling work device capable of switching between an automatic mode for executing traveling work, the apparatus main body, a traveling unit for traveling the device main body in a work area, and a traveling path for the traveling unit to travel the device main body. A work unit that performs the above work, and a learning control unit that acquires and stores the travel data during manual travel of the travel unit and the work data during manual operation of the work unit while the learning travel work is being executed. When the learning travel work is completed, the plan creation unit that creates a work plan composed of the travel data and the work data, and the travel data and the work data of the work plan while executing the automatic travel work. A reproduction control unit that controls the traveling unit and the working unit to perform autonomous traveling and automatic work, respectively, and a reverse reproduction control unit that controls the traveling unit to execute reverse reproduction traveling of the apparatus main body. The learning control unit interrupts the learning travel work when a predetermined interruption condition is satisfied at a predetermined interruption position on the travel path during the execution of the learning travel work, and the reverse reproduction control is performed. While the learning running work is interrupted, the unit executes reverse reproduction running of the device main body based on the running data before the interruption position, and the reverse reproduction control unit reverse reproduction running at a predetermined restart position. When the learning running work is restarted, the learning control unit stores the running data acquired by the restarted learning running work instead of the running data from the restarting position to the interrupted position. It is characterized by doing.

According to the first autonomous traveling work device of the present invention, when the traveling data that does not match the intention of the operator is acquired during the learning traveling work, the learning traveling work is partially performed by a simple method. It is possible to redo the learning running work from the starting position, and the trouble of the operator can be saved. Therefore, in the autonomous traveling work device, the traveling data and the work data intended by the operator can be appropriately acquired by a simple method.

In order to solve the above problems, in the second autonomous traveling work device of the present invention, the learning control unit may use the interruption operation of the learning traveling work by the operator as the interruption condition.

According to the second autonomous traveling work device of the present invention, when the operator desires to redo the learning traveling work, the learning traveling work is interrupted by a simple method and the reverse reproduction traveling is promptly shifted to. Can be done.

In order to solve the above problem, in the third autonomous traveling work device of the present invention, the learning control unit interrupts the learning traveling work with the detection of a traveling error or a work error in the learning traveling work as the interruption condition. After that, the reverse reproduction mode capable of executing the reverse reproduction running may be automatically set.

According to the third autonomous traveling work device of the present invention, when it is necessary to redo the learning traveling work in order to avoid a traveling error or a work error, the learning traveling work is interrupted without bothering the operator. Therefore, it is possible to quickly shift to reverse reproduction running.

In order to solve the above problems, in the fourth autonomous traveling work device of the present invention, the learning control unit performs the traveling data and the traveling data in a plurality of steps along the traveling path during the execution of the learning traveling work. The work data is acquired and the travel data and the work data are stored in association with the step. In the autonomous travel work device, the learning control unit performs the travel data and the work while the learning travel work is being executed. A save point registration unit for registering a save point is provided in association with the predetermined step in which data is stored, and the reverse reproduction control unit reverse-reproduces the apparatus main body so that the save point becomes the restart position. It is good.

According to the fourth autonomous traveling work device of the present invention, in a place where the operator has a plurality of options in advancing the learning traveling work, by registering a save point in advance, the learning traveling work can be redone. Can be reselected. As a result, it is possible to perform the learning traveling work that realizes the optimum traveling route without taking time and effort for the operator.

In order to solve the above problem, in the fifth autonomous traveling work device of the present invention, the save point registration unit corresponds to the position of the autonomous traveling work device when the operator accepts the save point registration operation. The savepoint may be registered in association with the step to be performed.

According to the fifth autonomous traveling work device of the present invention, save points can be registered by a simple method without bothering the operator, and by promoting the use of save points, more optimal driving is possible. It is possible to perform learning driving work to realize a route.

In order to solve the above problem, in the sixth autonomous traveling work device of the present invention, the save point registration unit immediately before the position of the autonomous traveling work device at the time of detecting a traveling error or a work error in the learning traveling work. The savepoint may be registered in association with the step of.

According to the sixth autonomous traveling work device of the present invention, when it is necessary to redo the learning traveling work in order to avoid the traveling error or the work error, the traveling error or the work error does not bother the operator. Since the save point is set at the position before the occurrence of the above, by using the save point, it is possible to perform the learning running work that realizes the optimum running route that does not cause a running error or a work error.

In order to solve the above problem, in the seventh autonomous traveling work device of the present invention, the save point registration unit determines the save point when a predetermined registration prohibition condition is satisfied during the execution of the learning traveling work. Registration may be regulated.

According to the seventh autonomous traveling work device of the present invention, for example, the surrounding environment of the autonomous traveling work device is an environment that is difficult to measure, or the autonomous traveling work device is performing turning or avoiding traveling, or by operation. When the running motion or the working motion is changed, it may not be possible to accurately estimate the self-position, so it is advisable to regulate the registration of save points. As a result, the save point is not registered outside the intention of the operator, so that it is possible to suppress a problem in using the save point.

In order to solve the above problem, in the eighth autonomous traveling work device of the present invention, the reverse reproduction control unit regulates the steering operation of the traveling unit by the operator, and the autonomous driving unit when the learning traveling work is interrupted. While maintaining the orientation of the traveling work device, the traveling unit may be advanced or retracted in response to a forward operation or a backward operation of the traveling unit by the operator.

According to the eighth autonomous traveling work device of the present invention, when the traveling path based on the traveling data from the interrupted position to the restarting position where the reverse reproduction traveling is performed is a straight line, the reverse reproduction traveling can be performed more easily. ..

In order to solve the above problem, in the ninth autonomous traveling work apparatus of the present invention, the reverse reproduction control unit creates reverse reproduction data that reversely traces the traveling data before the interruption position, and the operator causes the said. It is preferable that the traveling unit is advanced or retracted according to the forward operation or the backward operation of the traveling unit, and the traveling unit is rotated according to the reverse reproduction data.

According to the ninth autonomous traveling work device of the present invention, when the traveling route based on the traveling data from the interrupted position to the restarted position where the reverse reproduction traveling is performed is a long distance or includes a curve along a corner or a branch. That is, when the turning speed of the traveling data changes, the reverse reproduction traveling can be performed without taking the trouble of the operator.

In order to solve the above problem, in the tenth autonomous traveling work device of the present invention, the reverse reproduction control unit creates reverse reproduction data that reversely traces the traveling data before the interruption position, and the autonomous traveling work. After the direction of the device is changed from the direction at the time of interruption of the learning traveling work to the opposite direction, the traveling unit is advanced or retracted according to the forward operation or the backward operation of the traveling unit by the operator, and the traveling unit is moved forward or backward. It is preferable to turn the traveling unit according to the reverse reproduction data, and then change the direction of the autonomous traveling work device again to return to the direction at the time of interruption of the learning traveling work.

According to the tenth autonomous traveling work device of the present invention, the reverse reproduction traveling is performed by advancing the autonomous traveling work device 1, so that the risk of the operator who operates the reverse reproduction traveling can be reduced. In addition, when the traveling route based on the traveling data from the interrupted position to the restarting position is a long distance or includes a curve along a corner or a branch, that is, when the turning speed of the traveling data changes, the operator Reverse reproduction running can be performed without any trouble.

In order to solve the above problem, in the eleventh autonomous traveling work device of the present invention, the learning control unit detects the work error in the learning traveling work, interrupts the learning traveling work, and then interrupts the learning traveling work. When the work is restarted, the work unit may be automatically controlled so as to avoid the work error.

According to the eleventh autonomous traveling work apparatus of the present invention, it is possible to suppress the repeated occurrence of work errors.

According to the present invention, the autonomous traveling work device can easily redo the learning mode without taking the trouble of the operator, and can acquire the traveling data and the work data intended by the operator.

It is a schematic diagram which shows the structure of the autonomous traveling work apparatus which concerns on embodiment of this invention. It is a block diagram which shows the structure of the autonomous traveling 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 traveling 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 traveling 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 traveling 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 traveling 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 traveling 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 traveling work apparatus which concerns on embodiment of this invention. It is a front view which shows the example of the reverse reproduction screen displayed on the operation display part of the autonomous traveling work apparatus which concerns on embodiment of this invention. It is a front view which shows the example of the reverse reproduction screen displayed on the operation display part of the autonomous traveling work apparatus which concerns on embodiment of this invention. It is a front view which shows the example of the data setting screen and the reverse reproduction screen at the time of an error, which are displayed on the operation display part of the autonomous traveling 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 traveling work apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation example of the learning run cleaning with reverse reproduction run in the autonomous run work apparatus which concerns on embodiment of this invention. It is a schematic diagram which shows the example of the transition of the learning run cleaning, the reverse reproduction run, and the restart of the learning run cleaning in the autonomous running work apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation example of the learning run cleaning with the registration of a save point and the reverse reproduction run in the autonomous run work apparatus which concerns on embodiment of this invention. It is a schematic diagram which shows the example of the transition of learning running cleaning and resumption of learning running cleaning in the autonomous running 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 traveling 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. In the autonomous traveling work device 1, a work mechanism (working unit) for executing a predetermined work can be mounted on the device main body 2, and for example, a cleaning unit 5 for performing cleaning work on the floor surface FL below the device main body 2. As a work unit, it functions as an autonomous running 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 traveling work device 1 includes an operation display unit 8 including a touch panel 18 (see FIGS. 3 and 4) for operating and displaying various functions of the autonomous traveling work device 1, and each part of the autonomous traveling work device 1. It is provided with a power supply unit 9 for supplying electric power, 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 traveling work device 1 is a vehicle capable of traveling according to manual operation (manual traveling) and autonomous traveling according to automatic operation (autonomous traveling), and is a learning mode, an automatic mode (reproduction mode), and a manual operation. It operates by switching to one of the operation modes.

In the learning mode and the manual mode, the autonomous traveling work device 1 performs learning traveling cleaning (learning traveling work) and manual traveling cleaning (manual traveling work), respectively, and manually performs the traveling operation unit 4 and the operation display unit 8 by the operator. Perform manual driving and manual cleaning (manual work) according to the operation. In the learning running cleaning, an environmental map of the cleaning area is created and stored along with the manual running, and running data showing the running route and running state during manual running and cleaning data showing the cleaning state during manual cleaning are performed. And stores the cleaning plan including the driving data and the cleaning data. In the cleaning plan, an environmental map during manual travel and the type of cleaning member 12 of the cleaning unit 5 during manual cleaning are associated and stored. Further, in the learning running cleaning, when a save point is registered at a predetermined position (step) on the running route, the save point is stored in association with the running data and the cleaning data corresponding to the position.

In the automatic mode, the autonomous driving work device 1 performs automatic driving cleaning (automatic driving work) so as to reproduce the cleaning plan selected by the operator from the cleaning plans memorized in the learning driving cleaning. Based on the cleaning plan and the corresponding environmental map, autonomous driving and automatic cleaning (automatic work) are executed according to the automatic operation by the control unit 10.

Further, the autonomous traveling work device 1 sets the reverse reproduction mode as a lower mode of the interrupted learning mode while the learning traveling cleaning is temporarily interrupted from the start to the completion of the learning mode. Can work. In the reverse reproduction mode, the autonomous traveling work device 1 can execute the reverse operation of the device main body 2 by the reverse reproduction of the traveling data stored until the learning traveling cleaning is interrupted, that is, the reverse reproduction traveling.

Examples of the cleaning plan (work plan) are shown in FIGS. 5 to 8. FIG. 5 (1) shows an example of a cleaning plan when the learning run cleaning is interrupted, and FIG. 5 (2) shows an example of a cleaning plan when the reverse reproduction run is executed. FIG. 6 shows an example of a cleaning plan when learning running cleaning is interrupted while registering a save point, and FIG. 7 shows an example of a cleaning plan when reverse reproduction running is executed with the save point as the restart position. FIG. 8 (1) shows an example of a cleaning plan when the learning run cleaning is interrupted, and FIG. 8 (2) shows an example of a cleaning plan when the reverse reproduction run is executed while adjusting the pad pressure.

As shown in FIGS. 5 to 8, the cleaning plan is configured by associating the traveling data and the cleaning data with each of a plurality of steps along the traveling route. The steps constituting the cleaning plan may be set at predetermined time intervals (for example, every 25 msec) when performing the learning running cleaning, or may be set at a predetermined moving distance (for example, 0) of the autonomous traveling work device 1. It may be set to (every 3 m).

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 the force that presses the cleaning member 12 against the floor FL, the amount of water supplied is the amount of the 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, supply water amount, and 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, supply water amount, and 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.

In addition to the traveling data and the cleaning data, the cleaning plan includes the shortest obstacle information indicating the direction and distance of the nearest obstacle (shortest obstacle) from the autonomous traveling work device 1 for each step. The shortest obstacle information may be created by the control unit 10 (cleaning plan creating unit 24) based on the traveling data of the cleaning plan and the environmental map.

Further, as shown in FIGS. 5 and 8, the cleaning plan may include remarks data for each step, and the remarks data includes contact and cleaning with a non-working object in, for example, manual running or manual cleaning in the learning mode. The error information for detecting the defect in the above, the restart position information determined by the reverse reproduction running in the reverse reproduction mode when the learning mode is interrupted, and the like are set.

Further, as shown in FIGS. 6 and 7, the cleaning plan may include savepoint data for each step, and savepoint information is set in the savepoint data for the step in which the savepoint is registered. .. Each savepoint is identified by setting, for example, a different alphabet or the like in the savepoint information. In learning driving cleaning, an upper limit (for example, 20) may be set for the number of registered save points, and if the number of registered save points exceeds the upper limit when registering save points, the oldest save point is saved. You may cancel the setting of point information.

Further, in the cleaning plan, a steering flag indicating whether or not each step is a turning traveling section of the traveling unit 3 is indicated by 1 or 0, and an obstacle indicating whether or not each step is a section avoiding an obstacle is indicated by 1 or 0. Flag information such as an avoidance flag and the elapsed time from the start of learning running cleaning may be included in association with each step.

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

The traveling unit 3 is provided at 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 (accelerated / decelerated). Further, in the traveling unit 3, the traveling drive motor reverses 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 steers the device body 2 by driving the steering motor to rotate the steering shaft to change the direction of the front wheels 3a, and moves the device body 2 forward or backward while changing the direction of the front wheels 3a. , The autonomous traveling work device 1 (traveling unit 3) is turned left (turned left) or turned right (turned 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 amount of rotation. 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 driving wheels may be provided.

When the operation mode is set to the learning mode or the manual mode, the traveling unit 3 operates in response to the manual operation of the traveling operation unit 4 by the operator. Further, when the operation mode is set to the automatic mode, the traveling unit 3 operates according to the control of the control unit 10 (reproduction control unit 26) based on the traveling data of the cleaning plan selected by the operator and the environmental map. To do.

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 accepts manual operations by the operator while the operation mode is set to the learning mode or the manual mode, but other than the operation of the emergency stop button 17 while the operation mode is set to the automatic mode. It is configured not to accept manual operations by the operator of.

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, thereby rotating the steering shaft of the front wheel 3a and turning the device main 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 this pulse number to be an autonomous traveling work device. The steering angle of 1 can be adjusted. The steering angle (deg) indicates a left turn at a positive angle with respect to the traveling direction and a right turning at a negative angle with respect to the traveling direction with reference to the traveling direction of the traveling unit 3 (0 degree). .. 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 main body of the device. Move 2 forward or backward 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 cleaning unit 5 is provided at the lower part of the device main body 2 and is configured to clean the floor surface FL below the device main body 2. When the operation mode is set to the learning mode or the manual mode, the cleaning unit 5 operates in response to the manual operation of the operation display unit 8 by the operator. Further, when the operation mode is set to the automatic mode, the cleaning unit 5 responds to the control (automatic operation) of the control unit 10 (reproduction control unit 26) based on the cleaning data of the cleaning plan selected by the operator. Operate.

The cleaning unit 5 is composed of, for example, a wet cleaning mechanism that cleans the floor FL using a cleaning liquid, and supplies a cleaning member 12 that contacts the floor FL to clean the floor FL and a cleaning liquid to the floor FL. A cleaning liquid supply unit 13 for cleaning the floor surface FL and a suction unit 14 for sucking the used cleaning liquid, that is, sewage, are provided. Further, the cleaning unit 5 includes a cleaning member motor (not shown) that rotates the cleaning member 12 on the floor surface FL, and a cleaning member actuator (not shown) that moves the cleaning member 12 in the vertical direction with respect to the floor surface FL. (Not shown) and. Further, the cleaning unit 5 includes a sewage collection unit (not shown) that collects the sewage sucked by the suction unit 14.

The cleaning member 12 is detachably attached to a cleaning shaft (not shown) protruding downward from the inside of the apparatus main body 2. 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 cleaning pads, a pair of cleaning brushes, and the like, and the pair of cleaning pads or the pair of cleaning brushes are attached side by side in the device width direction (left-right direction) at substantially the center of the traveling direction. The left cleaning pad or cleaning brush rotates clockwise upwards, and the cleaning pad or cleaning brush on the right rotates counterclockwise upwards, rotating from front to rear on the center side in the width direction. As a result, the sewage and dust in front of the pair of cleaning pads or the pair of cleaning brushes are collected toward the center in the width direction and discharged to the rear.

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, for example, 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, a voltage corresponding to this supply water amount is applied to the supply water pump. By doing so, adjust to the required amount of water supply.

The suction unit 14 is composed of a suction blower. The sewage recovery unit includes a squeegee 15, a sewage duct (not shown), and a sewage tank (not shown), and the squeegee 15 is provided in contact with the floor FL behind the cleaning member 12. .. The sewage collection unit receives and collects the sewage discharged rearward from the cleaning member 12 by the squeegee 15, and the suction unit 14 is connected to the sewage duct and sucks the sewage collected by the squeegee 15 into the sewage duct. In the sewage collection unit, the sewage sucked into the sewage duct is collected in the sewage tank connected to the sewage duct.

In such a cleaning unit 5, the cleaning liquid supply unit 13 sprays the cleaning liquid on the floor surface FL, the cleaning pad or the cleaning brush of the cleaning member 12 is rotated by the cleaning member motor, and the cleaning member actuator is applied to the floor surface FL. By urging and pressing, the floor FL is washed, and the sewage recovery unit collects the washed sewage.

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 device main body 2 is running, the measuring unit 6 measures the position information of the non-working object at predetermined timings (for example, every 25 msec).

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. Further, the obstacle detection unit 7 includes a contact sensor 7b that detects a collision (contact) between the bumper 2a or the like of the device main body 2 and a non-working object. 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 device main body 2 in the vicinity of the traveling operation unit 4, and includes a key switch 16, an emergency stop button 17, and a touch panel 18 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 that is 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 traveling work device 1 can be remotely controlled.

The key switch 16 is configured to be switchable on and off. By switching the key switch 16 on, electric power is supplied from the power supply unit 9 to each unit to operate the autonomous traveling work device 1, while by switching the key switch 16 off, electric power is supplied from the power supply unit 9 to each unit. Is stopped and the operation of the autonomous traveling work device 1 is stopped. The emergency stop button 17 forcibly stops (brakes) the operation of each part of the autonomous traveling work device 1 (particularly, automatic traveling cleaning in the automatic mode) by being operated.

The touch panel 18 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 16 is turned on and the autonomous traveling work device 1 is operated, the touch panel 18 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 learning button 32 and the manual button 34 are operated, the operation mode is switched between the learning mode and the manual mode, and the touch panel 18 is shown in FIGS. 4, 11 (1), 12 (1), and 12 (2). As shown in the above, a data setting screen 40 capable of setting and operating data related to manual running and manual cleaning is displayed. Further, when the automatic button 33 is operated, the operation mode is switched to the automatic mode, and the touch panel 18 displays a cleaning plan selection screen (not shown) capable of selecting and operating a cleaning plan for automatic running cleaning. ..

The cleaning plan selection screen is configured to be able to select each cleaning plan stored in the storage unit 11, and is configured to be able to operate automatic running cleaning start, pause, stop, etc. of the selected cleaning plan. .. When the automatic running cleaning of the selected cleaning plan is started, the touch panel 18 displays a screen indicating that the automatic running cleaning is being executed.

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 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, a cleaning switch 42 of the cleaning member 12 of the cleaning unit 5 and a pad pressure adjusting button 43 for adjusting the pad pressure of the cleaning member 12 are displayed. 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, a supply switch 44 of the cleaning liquid supply unit 13 of the cleaning unit 5 and a supply water amount adjusting button 45 for adjusting the supply water amount of the cleaning liquid supply unit 13 are displayed. 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, a suction switch 46 of the suction unit 14 of the cleaning unit 5 and a suction amount adjusting button 47 for adjusting the suction amount of the suction unit 14 are displayed. 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 it is operated.

Further, on the data setting screen 40, in the learning mode, a learning start button 48 for starting learning running cleaning, a learning interrupt button 49 for interrupting learning running cleaning, a learning completion button 50 for completing learning running cleaning, and learning running cleaning A storage button 51 that stores the result as a cleaning plan and a save point registration button 52 that accepts a save point registration operation on the travel route during learning travel cleaning are operably displayed. The learning interrupt button 49, the learning completion button 50, and the save point registration button 52 may be displayed only during the learning running cleaning, and the memory button 51 may be displayed only after the learning running cleaning is completed. You may.

Further, on the data setting screen 40, the reverse reproduction button 53 is operably displayed while the learning running cleaning is interrupted. That is, when the learning interrupt button 49 is operated on the data setting screen 40, the reverse reproduction button 53 can be operated. When the reverse reproduction button 53 is operated, the reverse reproduction mode is set as a lower mode of the interrupted learning mode, and the touch panel 18 displays the reverse reproduction running state and reverse reproduction as shown in FIG. A reverse reproduction screen 60 capable of operating the running is displayed.

On the reverse reproduction screen 60, the reverse run of the device main body 2 by the reverse reproduction of the running data, that is, the reverse reproduction run button 61 for starting the reverse reproduction run and the reverse reproduction completion button 62 for completing the reverse reproduction run can be operated. Is displayed. The reverse reproduction running button 61 may display the state of the reverse reproduction running in characters.

Further, on the reverse reproduction screen 60, if a save point has been registered before the learning running cleaning is interrupted, the save point display button 63 is operably displayed. When the savepoint display button 63 is operated, the savepoint item 64 is displayed in a list for each registered savepoint on the reverse reproduction screen 60, as shown in FIG. The save point item 64 may be displayed in ascending order of the distance between the current self-position of the autonomous traveling work device 1 and the save point. In the save point item 64, the remaining distance from the current self-position of the autonomous traveling work device 1 to the save point, along with the save point information such as alphabets, is such as "A: 10 m return", "B: 13 m return", etc. May be displayed in. The remaining distance may be displayed by fixing the distance calculated at the start of the reverse reproduction running, or may be displayed while changing according to the self-position that changes due to the reverse reproduction running of the autonomous running work device 1. ..

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 traveling 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 traveling 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 learning control unit 21, a map creation unit 22, a save point registration unit 23, and a cleaning plan creation unit 24 (plan creation). Unit), it operates as a reverse reproduction control unit 25 and a reproduction control unit 26. 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 either a learning mode, an automatic mode, or a manual mode. For example, on the mode selection screen 30 described above, the mode switching unit 20 switches the operation mode between the learning mode, the automatic mode, and the manual mode according to the operation of the learning button 32, the automatic button 33, and the manual button 34, respectively. Further, the mode switching unit 20 can set the reverse reproduction mode as a lower mode of the learning mode while the operation mode is the learning mode and the learning running cleaning is temporarily interrupted. For example, the mode switching unit 20 sets the reverse reproduction mode according to the operation of the reverse reproduction button 53 on the above-mentioned data setting screen 40.

In the learning mode, the learning control unit 21 starts learning running cleaning in response to the operation of the learning start button 48 on the data setting screen 40, and starts acquiring the running data of the running unit 3 and the cleaning data of the cleaning unit 5. .. The learning control unit 21 acquires travel data and cleaning data at predetermined step intervals and temporarily stores them in the storage unit 11 while the learning travel cleaning is performed.

For example, the learning control unit 21 acquires self-position data (X-coordinate, Y-coordinate, angle) as travel 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.

When a running error of learning running cleaning, that is, a running error is detected in each step, the learning control unit 21 stores the content of the running error in the storage unit 11 as remarks data of the step. For example, when the obstacle sensor 7a of the obstacle detection unit 7 detects the approach between the device main body 2 and the non-working object, the learning control unit 21 inputs the approach detection result from the obstacle sensor 7a and causes a running error. Detect approach errors. Further, when the contact sensor 7b of the obstacle detection unit 7 detects a collision (contact) between the bumper 2a of the device main body 2 and the non-working object, the learning control unit 21 inputs the contact detection result from the contact sensor 7b. Then, a contact error is detected as a running error.

For example, as cleaning data, the learning control unit 21 has set 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 via the data setting screen 40. Get gradual strength.

When the learning control unit 21 detects a cleaning error in learning running cleaning, that is, a cleaning error (work error) in each step, the content of the cleaning error is stored in the storage unit 11 as remarks data for that step. Remember. For example, when the rotation of the cleaning member 12 of the cleaning unit 5 is locked and an abnormality occurs in the control current for controlling the cleaning member motor that rotates the cleaning member 12, the cleaning unit 5 detects a rotation failure of the cleaning member 12. Then, the learning control unit 21 inputs the detection result of the rotation failure of the cleaning member 12 from the cleaning unit 5 and detects the cleaning unit error as a cleaning error.

Further, the learning control unit 21 interrupts the learning running cleaning in response to the operation of the learning interrupt button 49 on the data setting screen 40 (interruption operation of the learning running cleaning), and forcibly performs the manual running and the manual cleaning in the learning mode. At the same time as stopping, the acquisition of driving data and cleaning data is stopped.

Further, when the above-mentioned running error or cleaning error of the learning running cleaning is detected, the learning control unit 21 automatically interrupts the learning running cleaning regardless of the operation of the learning break button 49 on the data setting screen 40. To do. At this time, the mode switching unit 20 automatically interrupts the learning mode and sets the reverse reproduction mode. In this way, when the learning running cleaning is automatically interrupted in response to a running error or a cleaning error, the contents of the running error or the cleaning error are displayed in characters on the data setting screen 40 as shown in FIG. 11 (1). You can do it. Further, when the reverse reproduction mode is automatically set in response to a running error or a cleaning error, the touch panel 18 displays the reverse reproduction screen 60 instead of the data setting screen 40 as shown in FIG. 11 (2). You may.

The learning control unit 21 stores the position (interruption position) at which the learning running cleaning is interrupted in the storage unit 11. If the interruption position does not match any of the steps during learning running cleaning, the learning control unit 21 generates a new step corresponding to the interruption position and stores the traveling data and cleaning data at the time of interruption. You may. When the reverse reproduction mode is set and the reverse reproduction traveling of the autonomous traveling work device 1 from the interrupted position to the predetermined restart position is completed while the learning traveling cleaning is interrupted, the learning control unit 21 starts from the interrupted position. The running data and cleaning data of each step up to the restart position (including the step at the stop position but not including the step at the restart position) are deleted from the storage unit 11, or another storage unit 11 is stored as the interruption section data. It may be stored in the area.

Further, after interrupting the learning running cleaning, the learning control unit 21 restarts the learning running cleaning in response to the operation of the learning start button 48 on the data setting screen 40, and restarts the manual running and the manual cleaning in the learning mode. , Resume acquisition of driving data and cleaning data. In addition, the learning control unit 21 has shown FIG. 12 (1) in order to clarify that when the autonomous traveling work device 1 is reversely reproduced when the learning traveling cleaning is interrupted, the restarted learning traveling cleaning is redone. ) May indicate on the data setting screen 40 that the learning mode is being redone, or the notation of the learning start button 48 may be changed to "learning resume".

Even when the learning running cleaning is interrupted and restarted after the reverse reproduction running, the running data and cleaning data acquired from the restarting position are stored in the storage unit 11 instead of the running data and cleaning data from the interrupted position to the restarting position. Since it is stored in the storage unit 11, continuous running data and cleaning data are stored in the storage unit 11. For example, the travel data and cleaning data of step numbers "30" to "36" in FIG. 5 (1) are replaced with the travel data and cleaning data of step numbers "30" to "36" in FIG. 5 (2). The traveling data and cleaning data of step numbers "27" to "45" in FIG. 6 are replaced with the traveling data and cleaning data of step numbers "0" to "70" in FIG. The traveling data and cleaning data of step numbers "30" to "36" in FIG. 8 (1) are replaced with the traveling data and cleaning data of step numbers "30" to "36" in FIG. 8 (2). Regardless of whether the restart position is a save point or not, the self-position data of the travel data is acquired with reference to the start position of the learning travel cleaning.

Then, the learning control unit 21 completes the learning running cleaning in response to the operation of the learning completion button 50 on the data setting screen 40, and stops the acquisition of the running data and the cleaning data.

The map creation unit 22 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 control unit 21 performs the learning running cleaning in the learning mode.

Specifically, the map creation unit 22 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 22 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, when the learning control unit 21 completes the learning travel cleaning, the map creation unit 22 creates an environmental map of the cleaning area by connecting (synthesizing) each local map. Further, the map creation unit 22 creates a traveling route by connecting (synthesizing) the self-positions (each position information measured by the measurement unit 6) in the local map.

The save point registration unit 23 registers a save point at a position on the travel route that satisfies a predetermined registration condition while the learning control unit 21 performs learning travel cleaning in the learning mode. Specifically, when the step on the travel route in which the learning control unit 21 stores the travel data and the work data satisfies a predetermined registration condition, a save point is registered in association with the step and stored in the storage unit 11.

For example, the save point registration unit 23 determines that the step when the operation (registration operation) of the save point registration button 52 on the data setting screen 40 is accepted satisfies the registration condition. In this case, the save point registration unit 23 may register the save point in association with the step closest to the position on the travel path when the save point registration button 52 is operated. That is, the savepoint registration unit 23 manually registers savepoints in response to the operation of the savepoint registration button 52.

The save point registration unit 23 determines that the registration condition is satisfied for each step in which a predetermined time interval or a predetermined distance interval elapses after starting the learning running cleaning, and automatically registers the save points. In this case, the save point registration unit 23 may register the save point in association with the step closest to the position on the travel path at the elapsed time of the predetermined time interval or the predetermined distance interval.

When the save point registration unit 23 continuously determines the shape of the cleaning area around the autonomous traveling work device 1 during the learning travel cleaning, and the autonomous traveling work device 1 arrives immediately before the entrance of the corner or the branch. It is judged that the registration condition is satisfied in the step of, and the save point is automatically registered. Immediately before the entrance of the corner or branch, it may be several steps to several tens of steps before the entrance of the corner or branch, several tens of cm to several meters before, or several seconds to several tens of seconds before. In this case, the save point registration unit 23 may register the save point in association with the step closest to the position on the traveling route immediately before the entrance of the corner or the branch. The save point registration unit 23 has, for example, the shape of the cleaning area around the autonomous traveling work device 1 based on the measurement result of the measurement unit 6 (for example, among the areas divided in the local map, the autonomous traveling work device 1). The shape of the region where is present) may be determined. Alternatively, the save point registration unit 23 captures an image of the surroundings of the autonomous traveling work device 1 with a camera (not shown), and determines the shape of the cleaning area around the autonomous traveling work device 1 based on the image. May be good.

When a running error or a cleaning error of learning running cleaning is detected as described above, the save point registration unit 23 determines that the step immediately before the error detection satisfies the registration condition, and automatically registers the save point. .. Immediately before the error is detected, it may be several steps to several tens of steps before the error is detected, several tens of centimeters to several meters before, or several seconds to several tens of seconds before. For example, when a running error or a cleaning error is detected, the save point registration unit 23 may register a save point in association with a step that goes back from the step at the time of error detection.

Further, when the predetermined registration prohibition condition is satisfied during the execution of the learning running cleaning, the save point registration unit 23 restricts the registration of the save point regardless of the above registration conditions. For example, FIG. 12 (2). As shown in the above, the savepoint registration button 52 is disabled, and the savepoint is not registered even when the registration condition is satisfied.

For example, the save point registration unit 23 detects the fluctuation rate of the surrounding environment of the autonomous traveling work device 1, and when the fluctuation rate of the surrounding environment is out of a predetermined range (for example, when the fluctuation of the surrounding environment is extremely drastic or remarkably significant). If the number is small, or if the same surrounding environment is repeated), it is considered that the self-position cannot be estimated normally, so it is judged that the registration prohibition condition is satisfied. At this time, the save point registration unit 23 detects the change rate of the surrounding environment by determining the change in the shape of the cleaning area around the autonomous traveling work device 1 which is determined based on the measurement result of the measurement unit 6. You can do it.

Further, in the save point registration unit 23, when the traveling unit 3 is performing turning or avoiding obstacles, or when the traveling operation unit 4 or the data setting screen 40 is operated, the traveling data or cleaning data other than the self-position data is obtained. If is being changed, it will not be possible to register stable and accurate savepoints due to the effects of changes in running and cleaning operations, so it is determined that the registration prohibition condition is met.

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 24 stores the running data and the cleaning data temporarily stored in the storage unit 11 by the learning control unit 21. Create a cleaning plan (work plan) in association with each step. As described above, the cleaning plan creation unit 24 stores continuous running data and cleaning data even when the learning running cleaning is interrupted and restarted after the reverse reproduction running. Therefore, the cleaning plan creation unit 24 can create a cleaning plan including a series of continuous steps. The cleaning plan creation unit 24 displays an inquiry screen on the touch panel 18 for inquiring the operator to input a plan name for the created cleaning plan, and adds the plan name input by the operator to the created cleaning plan. After inputting the plan name, the cleaning plan creation unit 24 associates the created cleaning plan with the environment map created by the map creation unit 22 in the same learning running cleaning in response to the operation of the storage button 51 on the data setting screen 40. It is stored in the storage unit 11.

Further, the cleaning plan creation unit 24 detects the nearest obstacle (shortest obstacle) from the autonomous traveling work device 1 for each step based on the running data and the environmental map of the created cleaning plan, and the shortest obstacle. The direction is detected and the shortest distance of the shortest obstacle is calculated. For example, the shortest obstacle is an obstacle such as a wall existing on the left side or the right side with respect to the traveling direction of the autonomous traveling work device 1. The cleaning plan creation unit 24 stores the direction and the shortest distance of the shortest obstacle for each step in the cleaning plan as the shortest obstacle information.

Further, the cleaning plan creation unit 24 may create flag information such as a steering flag and store it in the cleaning plan. For example, the cleaning plan creation unit 24 calculates the travel path (travel locus) of the travel unit 3 based on the travel data of the created cleaning plan, and sets a section in which the radius of curvature is equal to or less than a predetermined radius of curvature threshold in this travel locus. It is determined as a turning traveling section, and the steering flag of the step corresponding to this section is set to 1. Alternatively, the cleaning plan creation unit 24 detects the steering angle of the traveling operation unit 4 (steering wheel) based on the travel data of the created cleaning plan, and this steering angle is equal to or higher than a predetermined steering angle threshold value (for example, 30 degrees). Is determined as a turning section, and the steering 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 (handle). The pulse value of the encoder may be measured and the pulse value may be converted into an angle (deg).

The reverse reproduction control unit 25 is the traveling operation unit 4 when the operation mode is the learning mode and the reverse reproduction mode is set as a lower mode of the learning mode while the learning driving cleaning is temporarily interrupted. In response to the operation of the above and the operation of the reverse reproduction screen 60 displayed on the touch panel 18, the reverse run of the device main body 2 by the reverse reproduction of the running data, that is, the reverse reproduction running is controlled. At this time, the reverse reproduction control unit 25 is based on the travel data of the reverse reproduction section from the interrupted position of the learning travel cleaning to the predetermined restart position on the travel route based on the travel data stored in the learning travel cleaning. Reverse reproduction running of 2. The reverse reproduction control unit 25 may automatically reverse-reproduce the device main body 2 based on the travel data from the interrupted position to the restart position.

When the reverse reproduction completion button 62 on the reverse reproduction screen 60 is operated, the reverse reproduction control unit 25 determines the self-position of the autonomous traveling work device 1 as the restart position, completes the reverse reproduction running, and sets the reverse reproduction mode. The data setting screen 40 is displayed on the touch panel 18 instead of the reverse reproduction screen 60. Further, the reverse reproduction control unit 25 sets the self-position of the autonomous traveling work device 1 as the restart position when the operation of the travel operation unit 4 for executing the reverse reproduction travel and the operation of the reverse reproduction screen 60 are completed. May be confirmed. The reverse reproduction control unit 25 stores the restart position information in the storage unit 11 as remarks data of the step corresponding to the restart position.

If the restart position does not match any of the steps during the learning run cleaning, the reverse reproduction control unit 25 runs corresponding to the restart position based on the run data and the cleaning data of the steps before and after the restart position. It is preferable to create a new step (for example, a step that is intermediate or averaged between the steps before and after the restart position) including the data and the cleaning data and store it in the storage unit 11.

The reverse reproduction control unit 25 can control the reverse reproduction running by various reverse reproduction methods. For example, as the first reverse reproduction method, the reverse reproduction control unit 25 maintains the direction of the device main body 2 in the traveling direction when the learning travel cleaning is interrupted, and does not steer (turn) the traveling unit 3 to the left or right. , The device main body 2 (traveling unit 3) is linearly retracted in response to the retracting operation of the throttle of the traveling operation unit 4. If the turning speed of the traveling data is 0 in the continuous steps before the interruption position, the inverse reproduction control unit 25 can perform the first inverse reproduction method without deviating from the traveling path. If the turning speed of the traveling data is other than 0 in the step before the interruption position, the reverse reproduction control unit 25 may end the first reverse reproduction method without retreating to the step. The first reverse reproduction method can be effectively used when the travel path based on the travel data of the reverse reproduction section from the interrupt position to the restart position where the reverse reproduction travel is performed is a straight line.

Further, as the second reverse reproduction method, the reverse reproduction control unit 25 creates reverse reproduction data that reversely traces the travel data before the interruption position when the reverse reproduction run button 61 of the reverse reproduction screen 60 is operated. The device main body 2 (traveling unit 3) is retracted according to the throttle retreating operation of the traveling operation unit 4, and the traveling unit 3 (front wheel 3a) is steered (turned) according to the reverse reproduction data. For example, the reverse reproduction control unit 25 calculates the turning speed when traveling in reverse in these two steps based on the self-position data and the turning speed of the running data of two consecutive steps, and creates the reverse reproduction data. .. The reverse reproduction control unit 25 displays the characters "reverse running" on the reverse reproduction driving button 61 on the reverse reproduction screen 60 while retreating in the reverse reproduction driving. The second reverse reproduction method is used when the travel route based on the travel data of the reverse reproduction section from the interrupt position to the restart position where the reverse reproduction travel is performed is a long distance or includes a curve along a corner or a branch, that is, , Can be effectively used when the turning speed of the traveling data in the reverse reproduction section changes.

In the first reverse reproduction method and the second reverse reproduction method, the reverse reproduction control unit 25 does not accept the steering operation (turning operation) of the steering wheel of the traveling operation unit 4. The reverse reproduction control unit 25 accepts only the retracting operation of the throttle of the traveling operation unit 4 so as to cause the device main body 2 to move backward only, but does not have to accept the forward operation of the throttle of the traveling operation unit 4, or advances and forwards. Both forward and backward operations of the throttle of the traveling operation unit 4 may be accepted so that the backward operation can be finely adjusted. The reverse reproduction control unit 25 may limit the traveling speed of the traveling unit 3 to a low speed.

Further, as a third reverse reproduction method, the reverse reproduction control unit 25 creates reverse reproduction data that reversely traces the travel data before the interruption position, and turns the device main body 2 180 degrees from the traveling direction at the time of learning travel cleaning ( The direction is changed to the opposite direction (reverse direction), and the device main body 2 (traveling unit 3) is advanced according to the forward operation of the throttle of the traveling operation unit 4, and the traveling unit 3 (reverse direction) is moved according to the reverse reproduction data. The front wheels 3a) are steered (turned), and the device main body 2 is turned 180 degrees (direction change) again to be oriented in the direction of travel during learning running cleaning. For example, the reverse reproduction control unit 25 calculates the turning speed when traveling in reverse in these two steps based on the self-position data and the turning speed of the running data of two consecutive steps, and creates the reverse reproduction data. .. The reverse reproduction control unit 25 displays the characters "forward traveling" on the reverse reproduction travel button 61 of the reverse reproduction screen 60 while advancing in the reverse reproduction travel.

In the third reverse reproduction method, as in the second reverse reproduction method, the travel route based on the travel data of the reverse reproduction section from the interrupt position to the restart position where the reverse reproduction travel is performed is a long distance, or a corner or a branch. It can be effectively used when a curve along the above is included, that is, when the turning speed of the traveling data in the reverse reproduction section changes.

The reverse reproduction control unit 25 may provide a 180-degree turn button (not shown) on the reverse-reproduction screen 60, and may turn the device main body 2 by 180 degrees according to the operation of the 180-degree turn button, or may travel. The device main body 2 may be turned 180 degrees according to the operation of the handle of the operation unit 4. The reverse reproduction control unit 25 may set the reverse flag when the device main body 2 is in the opposite direction from the traveling direction during the learning running cleaning, and the reverse reproduction screen 60 is reversed while the reverse flag is set. The reproduction completion button 62 may be disabled.

In the third reverse reproduction method, the reverse reproduction control unit 25 does not accept the steering operation (turning operation) of the steering wheel of the travel operation unit 4 while the throttle of the travel operation unit 4 is being moved forward. The reverse reproduction control unit 25 accepts only the forward operation of the throttle of the traveling operation unit 4 so as to move the device main body 2 forward only, but does not have to accept the backward operation of the throttle of the traveling operation unit 4, or advances and Both forward and backward operations of the throttle of the traveling operation unit 4 may be accepted so that the backward operation can be finely adjusted. The reverse reproduction control unit 25 may limit the traveling speed of the traveling unit 3 to a low speed.

The reverse reproduction control unit 25 may perform only one of the above-mentioned first reverse reproduction method, second reverse reproduction method, and third reverse reproduction method, or combine two or more. You may. Further, the reverse reproduction control unit 25 may perform a reverse reproduction method other than the above-mentioned first reverse reproduction method, second reverse reproduction method and third reverse reproduction method.

Further, when the save points are registered before the learning running cleaning is interrupted, the reverse reproduction control unit 25 saves each registered save point according to the operation of the save point display button 63 on the reverse reproduction screen 60. The point item 64 is displayed in a list on the reverse reproduction screen 60. At this time, the reverse reproduction control unit 25 controls the reverse reproduction running so that any save point becomes the restart position. Note that the reverse reproduction control unit 25 uses the above-mentioned first reverse reproduction method, second reverse reproduction method, third reverse reproduction method, or other reverse reproduction method even when the save point is set to the restart position. The reverse reproduction run may be performed.

The reverse reproduction control unit 25 sets the save point to the restart position by causing the autonomous traveling work device 1 to reversely reproduce and stop at the save point. For example, the reverse reproduction control unit 25 has a save point item 64 corresponding to the save point when the autonomous traveling work device 1 during the reverse reproduction traveling approaches the save point or is arranged on the save point. By changing the display color of, blinking, and outputting announcements such as voice, the operator is notified of the approach to the save point and the placement on the save point. Based on such notification, the operator stops (places) the autonomous traveling work device 1 on the desired save point, and operates the reverse reproduction completion button 62 to set the desired save point to the restart position. be able to. If two or more save points are registered, the reverse reproduction control unit 25 performs the above notification every time the autonomous traveling work device 1 approaches or arranges each save point. At this time, if the operator does not desire the save point approached or placed by the autonomous traveling work device 1 as the restart position, the operator passes (through) the save point and continues the reverse reproduction traveling, and the desired save point. The reverse reproduction run may be performed until the vehicle reaches.

Further, when any of the save point items 64 is selected, the reverse reproduction control unit 25 causes the autonomous traveling work device 1 during the reverse reproduction run to approach the save point corresponding to the selected save point item 64. Only in this case or when it is placed on the savepoint, the above notification should be performed. In this case, the reverse reproduction control unit 25 may notify the selection operation by changing the display color or blinking the selected save point item 64, and the autonomous traveling work device 1 may select the selected save point. When the save point corresponding to item 64 is separated by a predetermined distance or more, it is advisable to notify to that effect.

When the operation mode is the automatic mode and the cleaning plan is selected according to the operation of the cleaning plan selection screen displayed on the touch panel 18, the reproduction control unit 26 reads the selected cleaning plan from the storage unit 11. Based on the running data and the cleaning data of this cleaning plan, the running unit 3 and the cleaning unit 5 are controlled to perform automatic running cleaning. At this time, the reproduction control unit 26 executes automatic running cleaning while estimating the self-position of the autonomous traveling work device 1 on the environment map corresponding to the cleaning plan. For example, the reproduction control unit 26 creates a local map using a technique such as SLAM using the map creation unit 22, estimates the self-position of the autonomous traveling 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 26 controls the traveling unit 3 by matching the self-position data for each step of the traveling data of the cleaning plan with the self-position estimated on the environmental map, and is based on the cleaning data of the cleaning unit 5. The cleaning work is controlled for each step.

In the autonomous traveling work device 1 as described above, a first operation example of learning traveling cleaning accompanied by reverse reproduction traveling will be described with reference to the flowchart of FIG. 13 and FIG.

First, when the operator turns on the key switch 16 of the operation display unit 8, the autonomous traveling work device 1 operates, and the mode selection screen 30 is displayed on the touch panel 18. When the learning button 32 on the mode selection screen 30 is operated, the mode switching unit 20 switches the operation mode to the learning mode, and the data setting screen 40 is displayed on the touch panel 18. Then, when the learning start button 48 on the data setting screen 40 is operated, the learning control unit 21 starts the learning running cleaning (step S1).

While the learning running cleaning is being executed, the learning control unit 21 acquires the running data of the running unit 3 and the cleaning data of the cleaning unit 5 and stores them in the storage unit 11 at each step interval (step S2). Further, when a predetermined interruption condition is satisfied during the learning running cleaning, for example, when the learning interruption button 49 of the data setting screen 40 is operated, or as shown in FIG. 14 (1). When the autonomous traveling work device 1 comes into contact with an obstacle and the contact sensor 7b detects the contact and a traveling error is detected, the learning control unit 21 interrupts the learning traveling cleaning (step S3: Yes). The autonomous traveling work device 1 is arranged at a predetermined interruption position when the learning traveling cleaning is interrupted.

When the reverse reproduction button 53 of the data setting screen 40 is operated while the learning running cleaning is interrupted, the reverse reproduction mode is set and the reverse reproduction screen 60 is displayed on the touch panel 18. In the reverse reproduction mode, the reverse reproduction control unit 25 executes the reverse reproduction operation as shown in FIG. 14 (2) in response to the operation of the travel operation unit 4 and the reverse reproduction screen 60 (step S4).

When the reverse reproduction completion button 62 of the reverse reproduction screen 60 is operated while the reverse reproduction operation is executed and the autonomous travel work device 1 is arranged at a predetermined restart position, the reverse reproduction control unit 25 performs the reverse reproduction. The running is completed, the reverse reproduction mode is canceled, and the data setting screen 40 is displayed on the touch panel 18.

Then, when the learning start button 48 of the data setting screen 40 is operated, the learning control unit 21 restarts the learning running cleaning (step S5), and the operator causes an obstacle as shown in FIG. 14 (3). Perform learning running cleaning so as to avoid. After resuming the learning running cleaning, the learning control unit 21 acquires and stores the running data and the cleaning data in the same manner as described above. After restarting the learning running cleaning, only the running data may be acquired and stored for a predetermined time or a predetermined distance, and the cleaning data before the reverse reproduction running may be adopted. This is effective, for example, when the cleaning area to be cleaned may include a traveling-only portion that does not include cleaning, and it is desired to correct the traveling-only portion.

After that, when the learning completion button 50 on the data setting screen 40 is operated without interrupting the learning running cleaning, the learning control unit 21 completes the learning running cleaning (step S6: Yes). Then, the cleaning plan creation unit 24 creates a cleaning plan composed of running data and cleaning data stored in the storage unit 11, adds a plan name input by the operator, and stores the cleaning plan in the storage unit 11. Store (step S7). Further, at this time, the learning mode is canceled and the mode selection screen 30 is displayed on the touch panel 18.

In addition, in the autonomous traveling work device 1 as described above, a second operation example of learning traveling cleaning accompanied by save point registration and reverse reproduction traveling will be described with reference to the flowchart of FIG. 15 and FIG.

In the second operation example as well, the autonomous traveling work device 1 operates in the same manner as in the first operation example, and the learning traveling cleaning is started from a predetermined start position as shown in FIG. 16 (1) (step S11). Then, during the execution of the learning running cleaning, the learning control unit 21 acquires the running data and the cleaning data at each step interval and stores them in the storage unit 11 (step S12).

Further, when a predetermined registration condition is satisfied during the learning run cleaning, for example, when the save point registration button 52 on the data setting screen 40 is operated, or as shown in FIG. 16 (1), the learning run When the autonomous traveling work device 1 to be cleaned arrives immediately before the entrance of the branch, the save point registration unit 23 stores the save point information in association with a predetermined step for storing the travel data and the cleaning data (step S13). For example, in the example shown in FIG. 16 (1), points A and B are registered as save points.

Further, when a predetermined interruption condition is satisfied during the learning running cleaning, for example, when the learning interruption button 49 of the data setting screen 40 is operated, or as shown in FIG. 14 (1). When the autonomous traveling work device 1 approaches the wall surface and the obstacle sensor 7a detects the approach and a traveling error is detected, the learning control unit 21 interrupts the learning traveling cleaning (step S14). The autonomous traveling work device 1 is arranged at a predetermined interruption position when the learning traveling cleaning is interrupted.

After interrupting the learning run cleaning, the reverse reproduction control unit 25 executes the reverse reproduction run in the same manner as in the first operation example. In this second operation example, since the points A and B are registered as save points, the save point display button 63 is displayed on the reverse reproduction screen 60. When the savepoint display button 63 is operated, the reverse reproduction screen 60 displays the savepoint item 64 corresponding to the savepoints at points A and B, as shown in FIGS. 10 (1) and 10 (2). Is listed. Here, when the save point item 64 at point A is selected as the restart position (step S15), the save point item 64 at point A is highlighted.

When the autonomous traveling work device 1 approaches or arranges the save point at point A by executing the reverse reproduction running, the reverse reproduction control unit 25 notifies the operator to that effect, so that the autonomous traveling work device 1 moves to the point A. The reverse reproduction running is guided so as to be a save point of (step S16). When the reverse reproduction complete button 62 on the reverse reproduction screen 60 is operated while the autonomous traveling work device 1 is arranged with the save point at point A as the restart position, the reverse reproduction control unit 25 completes the reverse reproduction operation. To do.

Then, in the same manner as in the first operation example, the learning running cleaning is restarted with the save point at point A as the restart position (step S17), and the operator saves point A as shown in FIG. 16 (2). From the point, perform learning running cleaning so that it progresses to a branch different from the previous one. Further, when the learning running cleaning is completed without interrupting the learning running cleaning (step S18: Yes), the cleaning plan creating unit 24 creates a cleaning plan and stores it in the storage unit 11 (step S19).

As described above, according to the present embodiment, there is a learning mode in which learning running cleaning (learning running work) is executed and running data and cleaning data (work data) are stored, and automatic running is performed based on the running data and cleaning data. The autonomous traveling work device 1 capable of switching between the automatic mode for executing cleaning (automatic traveling work) includes the device main body 2, the traveling unit 3 for running the device main body 2 in the cleaning area (work area), and the traveling unit 3. Is provided with a cleaning unit 5 (working unit) that performs cleaning (working) on a traveling path on which the device main body 2 travels. Further, the autonomous traveling work device 1 acquires and stores the traveling data at the time of manual traveling of the traveling unit 3 and the cleaning data at the time of manual cleaning (during manual work) of the cleaning unit 5 while executing the learning traveling cleaning. Cleaning while executing automatic running cleaning with the control unit 21 and the cleaning plan creating unit 24 (plan making unit) that creates a cleaning plan (work plan) consisting of running data and cleaning data when the learning running cleaning is completed. A reproduction control unit 26 that controls the traveling unit 3 and the cleaning unit 5 to perform autonomous traveling and automatic cleaning (automatic work) based on the traveling data and the cleaning data of the plan, and the device main body 2 that controls the traveling unit 3 It includes a reverse reproduction control unit 25 that executes reverse reproduction travel. The learning control unit 21 interrupts the learning travel cleaning when a predetermined interruption condition is satisfied at a predetermined interruption position on the travel route during the execution of the learning travel cleaning. While the learning running cleaning is interrupted, the reverse reproduction control unit 25 executes the reverse reproduction running of the device main body 2 based on the running data before the interruption position. After the reverse reproduction control unit 25 completes the reverse reproduction running at the predetermined restart position, when the learning running cleaning is restarted, the learning control unit 21 converts the running data from the restarting position to the interrupted position, or running data and cleaning data. Instead, the running data or the running data and the cleaning data acquired by the restarted learning running cleaning are stored.

With such a configuration, in the autonomous traveling work device 1, when the traveling data or the cleaning data that does not match the intention of the operator is acquired during the learning traveling cleaning, the learning traveling cleaning is performed by a simple method. It is possible to partially redo, and it is not necessary to redo the learning running cleaning from the start position, which saves the trouble of the operator. Therefore, the autonomous traveling work device 1 can appropriately acquire the traveling data and the cleaning data intended by the operator by a simple method.

In the present embodiment, the learning control unit 21 may use the operation of the learning interruption button 49 (interruption operation of learning running cleaning) of the data setting screen 40 by the operator as an interruption condition.

With such a configuration, when the operator wishes to redo the learning running cleaning, the learning running cleaning can be interrupted by a simple method, and the reverse reproduction running can be promptly shifted to.

Further, in the present embodiment, the learning control unit 21 sets the detection of a running error or a cleaning error (work error) in the learning running cleaning as an interruption condition, and after interrupting the learning running cleaning, the reverse reproduction running can be executed. The mode should be set automatically.

With such a configuration, when it is necessary to redo the learning running cleaning in order to avoid running errors and cleaning errors, the learning running cleaning is interrupted without bothering the operator, and the reverse reproduction running is promptly started. Can be migrated.

In the present embodiment, the learning control unit 21 acquires running data and cleaning data at a plurality of steps along the running path and stores running data and cleaning data in association with the steps during execution of learning running cleaning. .. The autonomous travel work device 1 includes a save point registration unit 23 that registers save points in association with a predetermined step in which the learning control unit 21 stores travel data and cleaning data during execution of learning travel cleaning. Then, the reverse reproduction control unit 25 may reverse-reproduce the device main body 2 so that the save point becomes the restart position.

With such a configuration, in a place where the operator has a plurality of options in advancing the learning running cleaning, by registering a save point in advance, the options can be reselected by re-doing the learning running cleaning. As a result, it is possible to perform learning running cleaning that realizes an optimum running route without taking time and effort for the operator.

In the present embodiment, the save point registration unit 23 saves in association with the step corresponding to the position of the autonomous traveling work device 1 when the operation of the save point registration button 52 (save point registration operation) by the operator is accepted. You should register points.

With such a configuration, save points can be registered by a simple method without bothering the operator, and by promoting the use of save points, learning driving cleaning that realizes a more optimal driving route can be performed. It can be carried out.

Further, in the present embodiment, the save point registration unit 23 may register the save point in association with the step immediately before the position of the autonomous traveling work device 1 when the traveling error or the cleaning error is detected in the learning traveling cleaning.

With such a configuration, when learning running cleaning needs to be redone in order to avoid running errors and cleaning errors, it is saved in the position before the running error or cleaning error occurs without bothering the operator. Since points are set, by using save points, it is possible to perform learning running cleaning that realizes an optimum running route that does not cause running errors or cleaning errors.

In the present embodiment, the save point registration unit 23 may restrict the registration of save points if a predetermined registration prohibition condition is satisfied during the execution of the learning running cleaning.

With such a configuration, for example, the surrounding environment of the autonomous traveling work device 1 is an environment in which it is difficult for the measuring unit 6 to measure, the autonomous traveling working device 1 is performing turning or avoiding traveling, or the traveling operation unit 4 When the running operation or the cleaning operation is changed by the operation of the data setting screen 40 or the data setting screen 40, it may not be possible to accurately estimate the self-position, so it is advisable to restrict the registration of save points. As a result, the save point is not registered outside the intention of the operator, so that it is possible to suppress a problem in using the save point.

In the present embodiment, the reverse reproduction control unit 25 regulates the steering operation of the traveling unit 3 by the operator to maintain the orientation of the autonomous traveling work device 1 when the learning traveling cleaning is interrupted, while the traveling unit 3 by the operator. It is preferable to move the traveling unit 3 forward or backward according to the forward operation or the backward operation of.

With such a configuration, when the traveling path based on the traveling data from the interrupted position to the restarting position where the reverse reproduction traveling is performed is a straight line, the reverse reproduction traveling can be performed more easily.

Further, in the present embodiment, the reverse reproduction control unit 25 creates reverse reproduction data that reversely traces the traveling data before the interruption position, and causes the traveling unit 3 to respond to the forward operation or the backward operation of the traveling unit 3 by the operator. It is preferable to move the traveling unit 3 forward or backward and turn the traveling unit 3 according to the reverse reproduction data.

With such a configuration, when the traveling route based on the traveling data from the interrupted position to the restarting position where the reverse reproduction traveling is performed is a long distance or includes a curve along a corner or a branch, that is, the turning speed of the traveling data. When is changed, reverse reproduction running can be performed without the trouble of the operator.

Further, in the present embodiment, the reverse reproduction control unit 25 creates reverse reproduction data that reversely traces the travel data before the interruption position, and changes the direction of the autonomous travel work device 1 from the direction at the time of interruption of the learning travel cleaning. Then, the traveling unit 3 is moved forward or backward according to the forward operation or the backward operation of the traveling unit 3 by the operator, and the traveling unit 3 is turned according to the reverse reproduction data, and further autonomously traveled. It is preferable to change the direction of the work device 1 again to return to the direction when the learning running cleaning is interrupted.

With such a configuration, the reverse reproduction traveling is performed by advancing the autonomous traveling work device 1, so that the danger of the operator who operates the reverse reproduction traveling can be reduced. In addition, when the traveling route based on the traveling data from the interrupted position to the restarting position is a long distance or includes a curve along a corner or a branch, that is, when the turning speed of the traveling data changes, the operator Reverse reproduction running can be performed without any trouble.

Further, in the present embodiment, the learning control unit 21 automatically detects a cleaning error in the learning running cleaning, interrupts the learning running cleaning, and then automatically restarts the learning running cleaning to avoid the cleaning error. Controls the cleaning unit 5.

With such a configuration, it is possible to suppress the repeated occurrence of cleaning errors.

In the present invention, the work data is not necessarily recorded corresponding to the travel data from the interrupted position to the restart position of the autonomous traveling work device 1, and even if the configuration is such that only the traveling data is re-recorded after the reverse reproduction traveling. Needless to say, it is included in the scope of rights of the present invention.

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 traveling work device accompanied by such a modification is also a technique of the present invention. Included in the idea.

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 20 Mode switching unit 21 Learning control unit 22 Map creation unit 23 Savepoint registration unit 24 Cleaning plan creation unit 25 Reverse reproduction control unit 26 Reproduction control unit

Claims (11)

An autonomous driving work device capable of switching between a learning mode for executing learning driving work and storing running data and work data, and an automatic mode for executing automatic running work based on the running data and the work data.
With the device body
A traveling unit that allows the device body to travel within the work area,
A work unit in which the traveling unit performs work on a traveling path on which the device main body travels,
While executing the learning running work, the learning control unit that acquires and stores the running data during the manual running of the running unit and the work data during the manual work of the working unit, and
When the learning travel work is completed, a plan creation unit that creates a work plan composed of the travel data and the work data, and
While executing the automatic traveling work, a reproduction control unit that controls the traveling unit and the working unit based on the traveling data and the work data of the work plan to perform autonomous driving and automatic work, respectively.
A reverse reproduction control unit that controls the traveling unit and executes reverse reproduction running of the apparatus main body is provided.
The learning control unit interrupts the learning travel work when a predetermined interruption condition is satisfied at a predetermined interruption position on the travel route during the execution of the learning travel work.
While the learning travel work is interrupted, the reverse reproduction control unit executes the reverse reproduction travel of the apparatus main body based on the travel data before the interruption position.
When the learning running operation is restarted after the reverse reproduction control unit completes the reverse reproduction running at a predetermined restart position, the learning control unit replaces the running data from the restarting position to the interrupted position. An autonomous traveling work device characterized in that the traveling data acquired by the restarted learning traveling work is stored. The autonomous traveling work device according to claim 1, wherein the learning control unit sets the interruption operation of the learning traveling work by the operator as the interruption condition. The learning control unit automatically sets a reverse reproduction mode capable of executing the reverse reproduction running after interrupting the learning running work, with the detection of a running error or a work error in the learning running work as the interruption condition. The autonomous traveling work device according to claim 1. The learning control unit acquires the travel data and the work data in a plurality of steps along the travel route during the execution of the learning travel work, and obtains the travel data and the work data in association with the steps. Remember,
A save point registration unit for registering a save point in association with a predetermined step in which the learning control unit stores the travel data and the work data during execution of the learning travel work is provided.
The autonomous traveling work device according to any one of claims 1 to 3, wherein the reverse reproduction control unit reversely reproduces the apparatus main body so that the save point is in the restart position. .. The claim is characterized in that the save point registration unit registers the save point in association with the step corresponding to the position of the autonomous traveling work device when the operator accepts the save point registration operation. 4. The autonomous traveling work device according to 4. The claim is characterized in that the save point registration unit registers the save point in association with the step immediately before the position of the autonomous traveling work device at the time of detecting a traveling error or a work error in the learning traveling work. 4. The autonomous traveling work device according to 4. Any of claims 4 to 6, wherein the save point registration unit regulates registration of the save point if a predetermined registration prohibition condition is satisfied during the execution of the learning running work. The autonomous traveling work device according to item 1. The reverse reproduction control unit regulates the steering operation of the traveling unit by the operator to maintain the orientation of the autonomous traveling work device when the learning traveling work is interrupted, while the operator advances the traveling unit or operates the traveling unit forward. The autonomous traveling work device according to any one of claims 1 to 7, wherein the traveling unit is advanced or retracted according to a backward operation. The reverse reproduction control unit creates reverse reproduction data that reversely traces the travel data before the interruption position, and advances or retracts the traveling unit in response to an operator's forward or backward operation of the traveling unit. The autonomous traveling work device according to any one of claims 1 to 8, wherein the traveling portion is rotated according to the reverse reproduction data. The reverse reproduction control unit creates reverse reproduction data that reversely traces the travel data before the interruption position, and changes the direction of the autonomous travel work device from the direction at the time of interruption of the learning travel work to reverse the direction. Then, the traveling unit is advanced or retracted according to the forward operation or the backward operation of the traveling unit by the operator, and the traveling unit is swiveled according to the reverse reproduction data, and further, the autonomous traveling work device is used. The autonomous traveling work apparatus according to any one of claims 1 to 9, wherein the direction is changed again to return to the orientation at the time of interruption of the learning traveling work. When the learning control unit detects the work error in the learning running work, interrupts the learning running work, and then restarts the learning running work, the learning control unit automatically avoids the work error. The autonomous traveling work device according to claim 3, wherein the work unit is controlled.

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