JP2021105764A - Autonomous traveling work device - Google Patents

Abstract

To enable traveling or work to continue as appropriate while improving convenience for an operator with respect to various steps on a floor surface.SOLUTION: An autonomous traveling work device 1 comprises: a device body 2; a traveling unit 3 that causes the device body 2 to travel; a cleaning unit 4 that executes cleaning on a traveling road of the device body 2; a control unit 10 that controls the traveling unit 3 or the cleaning unit 4 so that the device body 2 can manually or automatically execute traveling or cleaning in a cleaning area; and a storage unit 11 that stores one or more floor types each of which is formed by combining one or more step types for identifying steps existing on a floor surface of the cleaning area, and one or more parameters regarding traveling or cleaning with respect to the steps for the step types of the respective floor types. The control unit 10 controls the traveling unit 3 or the cleaning unit 4 to execute traveling or cleaning with respect to the steps in accordance with manually or automatically set floor types.SELECTED DRAWING: Figure 1

Description

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

The autonomous traveling work device is configured to be capable of executing automatic operation in which traveling and work (cleaning) are automatically performed in a predetermined work area (cleaning area). For example, an autonomous traveling work device is equipped with a rotary brush that is rotationally driven by an electric motor, a water supply mechanism that sprays the cleaning liquid on the floor surface, and a suction mechanism that sucks the cleaning sewage on the floor surface, so that the cleaning liquid is sprayed. By rotating the rotating brush on the floor surface, the dirt on the floor surface is scraped off and the cleaning sewage is sucked in, thereby cleaning the floor surface in the cleaning area. Further, the autonomous traveling work device is equipped with drive wheels driven by an electric motor, and travels in the cleaning area by driving the drive wheels. In this way, the autonomous traveling work device travels in the cleaning area while automatically cleaning the floor surface of the cleaning area.

For example, Patent Document 1 is a traveling robot that moves from a starting point to a destination based on route information consisting of a series of paths and landmarks, and when it encounters an obstacle on the route or a place under road construction. Discloses a traveling robot that interrupts traveling based on route information, restarts traveling, and then returns to the original route.

Japanese Unexamined Patent Publication No. 2012-187698

Conventionally, in the case of an autonomous traveling work device that automatically operates a device that performs cleaning and cleaning work while traveling on the floor surface, when there are steps such as irregularities and grooves on the floor surface, a rotating brush or suction member and the floor surface Poor contact with the cleaning spots and suction leakage of cleaning sewage may occur. In addition, the autonomous traveling work device may vibrate when traveling on a step, and a failure may occur due to the vibration. Furthermore, there is a height difference such as a high protrusion or a deep groove on the floor surface. If there is a large step, the wheels may come off or the drive wheels may slip, resulting in rollover or inability to drive. Since various steps such as Braille blocks, drainage ditches, gratings, and boundaries of floor members can be considered on the floor surface, it is difficult to perform automatic operation in response to these steps. Therefore, in the autonomous driving work device, it is desired to provide a means for avoiding cleaning spots and suction leakage of cleaning sewage when there is a step on the floor surface in automatic operation, and a means for running and cleaning in response to the step. It is rare. The traveling robot of Patent Document 1 described above interrupts traveling when there is a step or unevenness on the route, so that the step or unevenness and its surroundings leak from the cleaning portion.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to appropriately continue running or working on various steps on the floor surface while improving the convenience of the operator. The purpose is to provide an autonomous traveling work device that can be made to operate.

In order to solve the above problems, the first autonomous traveling work device of the present invention is an autonomous traveling work device capable of performing automatic driving that automatically travels and works, and includes the device main body and the device main body. Control that controls the traveling unit or the working unit so that the traveling unit to be traveled, the working unit that performs work on the traveling path of the device main body, and the device main body manually or automatically performs traveling or work in the work area. As a floor type by combining the unit and one or more step types that identify the steps existing on the floor surface of the work area, one or more of the floor types are stored in advance, and each step type of each floor type is described. The control unit includes a storage unit that stores one or more parameters related to traveling or working on the step, and the control unit performs traveling or working on the step according to the floor type set manually or automatically. It is characterized in that it controls the traveling unit or the working unit.

According to the first autonomous traveling work device of the present invention, parameters related to traveling and work can be set individually for various steps, and further, parameters related to various floor types can be set individually, so that the floor type can be set individually. By simply setting, it is possible to run and work appropriately in response to various steps on various work floors. In this way, it is possible to appropriately continue running or work while improving the convenience of the operator with respect to various steps on the floor surface.

In order to solve the above-mentioned problems, in the second autonomous traveling work apparatus of the present invention, the control unit acquires a traveling condition or a peripheral condition while traveling in the working area, and obtains the traveling condition or the peripheral condition. The floor type is determined based on the situation and automatically set.

According to the second autonomous traveling work device of the present invention, the floor type is automatically selected in consideration of the traveling condition and the surrounding condition, so that the operator does not need to confirm the work area or examine the floor type. Since it is not necessary for the operator to manually set the floor type, the convenience of the operator can be greatly improved.

In order to solve the above problems, in the third autonomous traveling work device of the present invention, the control unit automatically sets the main body of the device on the traveling path that fills the working area based on the environmental map of the working area. A test running control unit that controls the running unit or the working unit so as to execute a test running from the start point to the end point and creates a driving plan including running data or working data at the time of the test running. The test travel control unit includes the travel unit or an automatic operation control unit that controls the travel unit or the work unit so as to execute the automatic operation according to the travel data or the work data of the operation plan. The floor type is determined, automatically set, and associated with the operation plan.

According to the third autonomous traveling work device of the present invention, the traveling condition and the surrounding conditions are taken into consideration in the test traveling in which the entire work area can be confirmed, so that a more appropriate floor type can be selected.

In order to solve the above problems, the fourth autonomous traveling work apparatus of the present invention makes it possible to set the parameters of the step types of the floor types according to the manual operation.

According to the fourth autonomous traveling work device of the present invention, the operator can freely adjust the parameters suitable for each floor type and the parameters suitable for each step, which greatly improves the convenience of the operator. be able to.

In order to solve the above problems, in the fifth autonomous traveling work device of the present invention, the storage unit registers one or more of the work areas and is manually or automatically set for each of the one or more work areas. The floor type is associated and stored, and the autonomous traveling work device makes it possible to set each parameter of each step type of the corresponding floor type for each one or more work areas according to a manual operation.

According to the fifth autonomous traveling work device of the present invention, the operator can freely adjust appropriate parameters for each step for each work area, so that the convenience of the operator can be greatly improved. For example, even if the same type of floor type with the same combination of step types is associated with different work areas, the same type of floor type is prepared separately for each work area instead of associating the same common floor type. Therefore, each parameter of each step type of the floor type can be set for each work area.

In order to solve the above problems, in the sixth autonomous traveling work apparatus of the present invention, the parameter includes a traveling rule for the step.

According to the sixth autonomous traveling work device of the present invention, various traveling patterns can be set as traveling rules for the step, for example, a pattern of traveling on the step as it is or avoiding the step. It is possible to set a pattern of traveling along a step, a pattern of traveling along a step, and the like. Then, the autonomous traveling work device can set a traveling rule as a parameter of each step so as to take an appropriate traveling pattern for the step. Therefore, the safety and accuracy of running for each step can be improved, and the running can be performed using the step as a mark, and the convenience of the operator can be further improved.

In order to solve the above problems, the seventh autonomous traveling work device of the present invention further includes a step detection unit that detects the step on the floor surface, and the control unit is while traveling in the work area. When the step is detected by the step detecting unit, the traveling rule of the parameter set for the step type of the step is acquired, and the traveling unit or the working unit is controlled according to the traveling rule. The driving condition when traveling on a step is acquired, and it is determined based on the traveling condition whether or not the traveling according to the traveling rule is successful, and when the traveling according to the traveling rule is not successful. , The parameter is reset based on the traveling situation.

According to the seventh autonomous traveling work device of the present invention, when traveling according to the traveling rule is not successful for a predetermined step, the parameter for the step is reset based on the traveling situation, so that the next time When the step is detected, the vehicle can travel in a more appropriate traveling pattern for the step, whereby the safety and accuracy of traveling for each step can be improved. For example, in resetting the parameters, it is possible to adjust the step threshold value, set the step running flag, the step avoidance flag, or the running disabled flag during running.

In order to solve the above problems, the eighth autonomous traveling work device of the present invention further includes a step detection unit that detects the step on the floor surface, and the control unit is while traveling in the work area. When the step is detected by the step detecting unit, the traveling rule of the parameter set for the step type of the step is acquired, and the traveling unit or the working unit is controlled according to the traveling rule. The driving condition when traveling on a step is acquired, and it is determined based on the traveling condition whether or not the traveling according to the traveling rule is successful, and when the traveling according to the traveling rule is not successful. , Notifies the operator of information prompting the resetting of the parameters while indicating the failure of the running according to the running rules.

According to the eighth autonomous traveling work device of the present invention, when traveling according to the traveling rule is not successful for a predetermined step, the operator can confirm the failure of traveling for the step. In addition, more appropriate parameters can be set for the step. Therefore, when the step is detected next time, the vehicle can travel in a more appropriate traveling pattern for the step, and thus the safety and accuracy of traveling for each step can be improved.

In order to solve the above problems, in the ninth autonomous traveling work apparatus of the present invention, the working part is composed of a cleaning part that cleans the floor surface as work, and the parameter is that the cleaning part is the step. Alternatively, the cleaning conditions for cleaning the floor surface are included.

According to the ninth autonomous traveling work device of the present invention, various cleaning patterns can be set as cleaning rules for a step, for example, a cleaning pattern when traveling on a step as it is, or a step. It is possible to set a cleaning pattern when traveling while avoiding the above, a cleaning pattern when traveling along a step, and the like. Then, the autonomous traveling work device can set a cleaning rule as a parameter of each step so as to take an appropriate cleaning pattern for the step. Therefore, the safety and accuracy of cleaning for each step can be improved, and cleaning can be performed using the step as a mark, and the convenience of the operator can be further improved.

In order to solve the above problems, in the tenth autonomous traveling work apparatus of the present invention, the storage unit stores one or more floor surface types that identify the material of the floor surface, and one or more floor surfaces. The cleaning condition set for each surface type is stored, and when the material of the floor surface changes with the step as a boundary line, the cleaning unit performs the cleaning unit according to the material of the floor surface. Change to the cleaning conditions and perform cleaning.

According to the tenth autonomous traveling work apparatus of the present invention, various cleaning patterns can be set as cleaning rules for the material of the floor surface, for example, a resin-based floor such as ceramic is set as a cleaning target. , Carpets and other textile floors can be excluded from cleaning. When the floor surfaces of different materials are continuous in the cleaning area, the cleaning rules can be automatically switched according to the materials, and the convenience of the operator can be improved.

In order to solve the above problems, the eleventh autonomous traveling work device of the present invention includes an optical sensor that detects a non-working object around the device body, a camera that captures an image of the surroundings of the device body, and the like. A vibration sensor for detecting vibration from the floor surface is further provided, and the control unit is based on a combination of two or more of the detection result of the optical sensor, the imaging result of the camera, and the detection result of the vibration sensor. , The step is identified.

According to the eleventh autonomous traveling work apparatus of the present invention, a combination of an optical sensor, a camera, and a vibration sensor suitable for detecting each step can be applied. Further, by comparing the results of each combination, it is possible to appropriately detect the step. Therefore, the detection rate of the step can be improved, and the safety and accuracy of cleaning for the step can be improved.

According to the present invention, the autonomous traveling work device appropriately continues traveling or working on various steps on the floor surface while improving the convenience of 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 table which shows the combination of the floor type and the step type in the autonomous traveling work apparatus which concerns on embodiment of this invention. It is a table which shows the step type and a parameter in the autonomous traveling work apparatus which concerns on embodiment of this invention. It is a table which shows the cleaning area and the floor type in the autonomous traveling work apparatus which concerns on embodiment of this invention. It is a table which shows the floor surface type and the parameter in the autonomous traveling work apparatus which concerns on embodiment of this invention. It is a table which shows the step type and the image of a step pattern in the autonomous traveling work apparatus which concerns on embodiment of this invention. It is a top view which shows the outline of the scan run in the autonomous running work apparatus which concerns on embodiment of this invention. It is a top view which shows the outline of the environment map created by the scan run in the autonomous running work apparatus which concerns on embodiment of this invention. It is a top view which shows the outline of the test run in the autonomous running work apparatus which concerns on embodiment of this invention. It is a schematic diagram which shows the measuring part, the step detection part, and the detection range of these in the autonomous traveling work apparatus which concerns on embodiment of this invention from the side. It is a schematic diagram which shows the step detection part and these detection ranges from above in the autonomous traveling work apparatus which concerns on embodiment of this invention. It is a schematic diagram which shows the image of the floor surface including the laser line taken by the camera of the step detection part in the autonomous traveling work apparatus which concerns on embodiment of this invention. FIG. 5 is an enlarged schematic view showing an example of an image of a floor surface including a laser line taken by a camera of a step detection unit in the autonomous traveling work apparatus according to the embodiment of the present invention. FIG. 5 is an enlarged schematic view showing an example of an image of a floor surface including a laser line taken by a camera of a step detection unit in the autonomous traveling work apparatus according to the embodiment of the present invention. FIG. 5 is an enlarged schematic view showing an example of an image of a floor surface including a laser line taken by a camera of a step detection unit in the autonomous traveling work apparatus according to the embodiment of the present invention. It is a flowchart which shows the operation of the scan running in the autonomous running work apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation of the environment map creation of the scan running in the autonomous running work apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation of the step detection of the scan running in the autonomous running work apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation of the traveling determination of the scan traveling in the autonomous traveling work apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation of the process for the step running failure of the scan running in the autonomous running work apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation of the test run in the autonomous running work apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation of the traveling path confirmation of the test traveling in the autonomous traveling working apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation of the automatic operation in the autonomous driving work apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation of the traveling route confirmation of the automatic operation in the autonomous traveling work apparatus which concerns on embodiment of this invention.

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

The autonomous 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 and a traveling unit 3 for traveling the device main body 2. The autonomous traveling work device 1 can mount a work mechanism (working unit) for executing a predetermined work on the device main body 2, and for example, a cleaning unit 4 for performing a cleaning work on the floor surface below the device main body 2. It is provided as a working unit and functions as an autonomous running cleaning device. The autonomous traveling work device 1 cleans the floor surface 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). set to target.

Further, the autonomous traveling work device 1 includes a measuring unit 5 that measures the positional relationship between the device main body 2 and a surrounding wall or a non-working object such as an obstacle (for example, a person or a figurine), and a wall within a predetermined distance. An obstacle detection unit 6 for detecting an obstacle and a step detection unit 7 for detecting a step such as an unevenness or a groove on the floor surface are provided. Further, the autonomous traveling work device 1 supplies electric power to the operation display unit 8 for operating and displaying various functions of the autonomous traveling work device 1 and each part of the autonomous traveling work device 1, and of a battery (not shown). It is provided with a power supply unit 9 for monitoring the remaining amount and controlling charging.

Further, the autonomous traveling work device 1 includes a control unit 10 that collectively 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 4, measurement by the measuring unit 5, etc.) and cleaning. A storage unit 11 for storing a floor type indicating a combination of steps existing on the floor surface of the area and an operation plan registered for the cleaning area, and a communication unit 12 for communicating with an external device are provided. The autonomous traveling work device 1 is communicably connected to the operation terminal 13 owned by the operator via the communication unit 12.

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

The autonomous driving work device 1 operates by being switched to any operation mode of a scan driving mode (manual driving mode), a test driving mode, and an automatic driving mode, and scan traveling (manual driving) according to each mode. It is a vehicle that performs test driving and automatic driving.

Further, as shown in FIG. 2, the autonomous driving work device 1 presets one or more floor types indicating a combination of steps existing on the floor surface of the cleaning area, stores them in the storage unit 11, and scans them. When performing running, test running, or automatic driving, select the floor type corresponding to the cleaning area and run according to the floor type. Various types of Braille blocks, various types of drainage ditches, various types of grating, boundaries of floor members, etc. can be considered for the steps on the floor surface, and the floor type has one or more steps indicating one or more steps. It is registered in association with the step type. As the floor type, one or more step types may be selected and registered according to the operation of the operation display unit 8 or the operation terminal 13 by the operator, or the autonomous traveling work device 1 may step while traveling in the cleaning area. May be detected and registered as a floor type including the step type of the detected step.

Further, as shown in FIG. 3, the autonomous traveling work device 1 presets one or more parameters related to traveling or cleaning with respect to the step for each of the one or more step types of each floor type and stores them in the storage unit 11. .. At this time, in one floor type, the same setting value may be set for the same type of parameter between different step types, or different setting values may be set.

For example, the parameters related to running are the threshold value of the size of the step that can be run (for example, the height, depth, width, etc. set in units of 5 mm), and the running along the step indicating whether or not to run along the step. Includes driving rules related to driving arrangements such as a flag, a step avoidance flag indicating whether or not to drive while avoiding a step, and a running prohibition flag indicating whether or not the vehicle can actually drive. The size of the step is the protruding height of the Braille block or the like, the depth of the groove, the length or depth of the grating pitch, or the like. Further, the parameters related to the cleaning of the step include cleaning rules (work rules) such as the pad pressure and the pad rotation speed of the cleaning member 16 of the cleaning unit 4, the amount of water supplied by the cleaning liquid supply unit 17, and the suction amount of the suction unit 18.

Further, as shown in FIG. 4, the autonomous traveling work device 1 can register one or more cleaning areas, and stores one or more floor types in the storage unit 11 in association with each cleaning area. do. At this time, different floor types may be associated with different cleaning areas, or the same common floor type may be associated with each other.

Alternatively, the autonomous traveling work device 1 may associate a floor type for each cleaning area regardless of whether or not the combination of step types is the same. For example, different cleaning areas may be associated with floor types having the same combination of step types (floor types of the same type), but in this case, instead of associating the same common floor type, each cleaning area Prepare and associate floor types of the same type separately. Then, each parameter of each step type of the floor type can be set for each cleaning area.

Further, as shown in FIG. 5, the autonomous traveling work device 1 may preset one or more floor surface types that identify the material of the floor surface in the cleaning area and store them in the storage unit 11. Then, one or more parameters related to cleaning of the floor surface of each floor surface type are set in advance and stored in the storage unit 11. Further, the parameters related to cleaning by floor surface type include cleaning rules such as pad pressure and pad rotation speed of the cleaning member 16 of the cleaning unit 4, water supply amount of the cleaning liquid supply unit 17, and suction amount of the suction unit 18.

Further, as shown in FIG. 6, the autonomous traveling work device 1 presets a plane image of each step as a step pattern of each step and stores it in the storage unit 11 in order to identify the step detected during traveling. You can. The step pattern may be registered in response to an operation of the operation display unit 8 or the operation terminal 13 by the operator, or an image taken by the camera 7b of the step detection unit 7 during traveling may be registered.

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

The scan running mode is an operation mode for creating a new environmental map of the cleaning area to be cleaned. As shown in FIG. 7, the autonomous traveling work device 1 controls the traveling unit 3 in response to a manual operation of the operation display unit 8 or the operation terminal 13 by the operator in the scan traveling mode, and travels in the environment of the cleaning area. Create a map Perform a scan run. In the scan run, the autonomous running work device 1 basically does not clean the floor surface by the cleaning unit 4 during the running by the running unit 3, but may be accompanied by cleaning as an exception.

Further, in the scan travel mode, the autonomous travel work device 1 adjusts the environmental map and adjusts various areas according to the manual operation of the operation display unit 8 or the operation terminal 13 by the operator after the scan travel, as shown in FIG. The settings are made, and the environment map and area settings are stored in the storage unit 11. The area setting of the environmental map includes, for example, a start point and an end point when traveling in the environmental map, the orientation of the autonomous traveling work device 1 at each position, an entry prohibited area, and the like. FIG. 8 shows an example of setting an entry prohibited area for an obstacle such as a belt partition.

Further, in the scan running mode, after the scanning running, a floor type corresponding to the cleaning area is selected from one or more floor types already registered, and the floor type is associated with the cleaning area (environmental map) in the storage unit 11. You may remember. Alternatively, a floor type including a step detected from the cleaning area during the scanning run may be registered, and the floor type may be associated with the cleaning area (environmental map) and stored in the storage unit 11.

The test run mode is an operation mode for performing a test run of the cleaning area based on the environment map created in the scan run mode. As shown in FIG. 9, the autonomous traveling work device 1 controls the cleaning unit 4 based on predetermined cleaning conditions (working conditions) to automatically clean the floor surface in the test traveling mode, while providing an environmental map and an environmental map. The traveling unit 3 is controlled based on a predetermined traveling condition, and a test traveling is performed in which the traveling unit 3 is automatically traveled from the start point to the end point on a traveling route (see the one-dot chain line in FIG. 9) that fills the cleaning area of the environmental map. FIG. 9 shows an example of traveling while avoiding the set no-entry area and traveling along the Braille block detected as a step. The running conditions and cleaning conditions during the test run may be standard initial settings, but can be set according to the manual operation of the operation display unit 8 or the operation terminal 13 before or during the test run.

During the test run, the autonomous traveling work device 1 acquires the traveling conditions and cleaning conditions for each predetermined step along the traveling route, and sets the traveling conditions and cleaning conditions for each step from the start point to the ending point of the traveling route. Together, it is stored in the storage unit 11 as running data and cleaning data (work data). The step interval may be set to a predetermined time interval (for example, 25 m / s) or a predetermined moving distance (for example, 0.5 m). Further, during the test run, the autonomous running work device 1 acquires and stores the running state or the surrounding situation of each step according to the measurement result and the detection result of the measurement unit 5, the obstacle detection unit 6 or the step detection unit 7. It is stored in the part 11. For example, as the running situation or the surrounding situation, the step information and the running possibility information at the time of step running are acquired.

When the autonomous traveling work device 1 travels from the start point to the end point without causing a problem and succeeds in the test driving, the operation plan corresponding to the cleaning area (environmental map) is registered. In this operation plan, the area setting, the traveling data, and the cleaning data are stored in the storage unit 11 together with the environment map.

On the other hand, when the test run fails due to a problem such as an obstacle or a step during the test run, the autonomous running work device 1 stops the test run and notifies the operator of the error. When the error is notified in this way, the autonomous driving work device 1 can adjust the environment map, set various areas, and set the driving conditions and the cleaning conditions again, and then perform the test driving again. can.

Further, in the test driving mode, after the test driving, the floor type corresponding to the driving plan is selected from one or more floor types already registered, and the floor type is associated with the driving plan, that is, the cleaning area (environmental map). ) May be stored in the storage unit 11. Alternatively, a floor type including a step detected from the cleaning area during the test run is registered, and the floor type is associated with the operation plan, that is, associated with the cleaning area (environmental map) and stored in the storage unit 11. You may.

The automatic operation mode is an operation mode for automatically operating the cleaning area so as to reproduce the driving and cleaning registered as the operation plan. In the automatic driving mode, the autonomous driving work device 1 controls the traveling unit 3 and the cleaning unit 4 based on the environment map, area setting, traveling data and cleaning data of the driving plan, and the floor type, and automatically controls the floor surface. Automatic driving is performed to automatically travel from the start point to the end point on the travel route of the environmental map while cleaning. The driving conditions and cleaning conditions during automatic driving may be set based on the driving data and cleaning data of the driving plan, but depending on the manual operation of the operation display unit 8 or the operation terminal 13 before or during automatic driving. Can be set.

Further, the autonomous driving work device 1 acquires and stores the traveling state or the surrounding situation of each step according to the measurement result and the detection result of the measurement unit 5, the obstacle detection unit 6 or the step detection unit 7 during automatic driving. It is stored in the part 11. For example, as the running situation or the surrounding situation, the step information and the running possibility information at the time of step running are acquired.

The autonomous driving work device 1 may skip the test driving mode and shift to the automatic driving mode so as to perform automatic driving on the environment map in which the driving data and the cleaning data of the driving plan are not registered. In this case, the autonomous traveling work device 1 controls the cleaning unit 4 based on the predetermined cleaning conditions to automatically clean the floor surface, and controls the traveling unit 3 based on the environmental map and the predetermined traveling conditions. Therefore, automatic driving is performed so that the vehicle automatically travels from the start point to the end point on a travel route that fills the cleaning area of the environmental map.

The driving plan is composed of a plurality of steps along the traveling route, and each step is associated with traveling data and cleaning data, as well as step information and travelability information. In addition to the above, the operation plan may store the elapsed time from the start of traveling in association with each step.

The traveling conditions (driving data) include, for example, self-position data on the traveling route 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), and a steering flag (straight ahead, turn left). , Right turn), the traveling speed [m / s] and the turning speed [deg / s] in the traveling direction, and the traveling route can be plotted based on the traveling data consisting of the traveling conditions of each step. Alternatively, the traveling speed may be switched to any of a plurality of stages of speed, and the traveling condition may convert the stepwise speed of the traveling speed into a number (for example, 8 stages of 0 to 7).

The cleaning conditions (cleaning data) include, for example, the pad pressure and the pad rotation speed of the cleaning member 16 of the cleaning unit 4, the amount of water supplied by the cleaning liquid supply unit 17, and the suction amount of the suction unit 18. The pad pressure is a force that presses the cleaning member 16 against the floor surface, the amount of water supplied is the amount of cleaning liquid (working liquid) supplied to the floor surface by the cleaning liquid supply unit 17, and the suction amount is the floor by the suction unit 18. This is the operating strength of the suction blower (not shown) when sucking sewage after cleaning from the surface. The pad pressure, pad rotation speed, water supply amount and suction amount may be switched to any of a plurality of levels of strength, and the cleaning conditions are the pad pressure, pad rotation speed, water supply amount and suction amount stepwise strength. Is converted into a number (for example, 3 steps from 0 to 2 or 5 steps from 0 to 4) and stored. The cleaning conditions may include the operation / stop of the cleaning member 16 and the rotation speed.

Next, each part of the autonomous traveling work device 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 wheels 3a are provided in the center in the width direction of the device on the front side in the traveling direction, and are pivotally supported by the drive wheel unit 3c. The front wheel 3a includes a traveling drive motor (not shown) and a front wheel rotation encoder (not shown). The traveling unit 3 drives the traveling driving motor to rotate the front wheels 3a to advance the device main body 2, and stops the rotation of the front wheels 3a to stop the device main body 2. By controlling the drive of the travel drive motor, the travel speed of the autonomous travel work device 1 (travel unit 3) is adjusted (acceleration / deceleration). The traveling unit 3 may retract the device main body 2 by reversing the front wheels 3a by the traveling driving motor.

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 main body 2 by driving the steering motor to rotate the steering shaft to change the direction of the front wheels 3a together with the drive wheel unit 3c, and advances the device main body 2 while changing the direction of the front wheels 3a. By doing so, the autonomous traveling work device 1 (traveling unit 3) is made to turn left (turn left) or turn right (turn right). By controlling the drive of the steering motor, the steering angle of the autonomous traveling work device 1 (traveling unit 3) is adjusted. For example, by rotating the steering shaft and controlling the steering motor so that the steering angle is tilted 90 degrees to the left or right with respect to the traveling direction, the apparatus main body 2 is turned forward or backward, thereby causing the apparatus main body 2 to rotate. Turn to the left or right.

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 rotate in a driven manner 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 done 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 scan travel mode, the traveling unit 3 operates in response to a manual operation of the operation display unit 8 or the operation terminal 13 by the operator. In the manual operation of the operation display unit 8 or the operation terminal 13, for example, a running instruction for starting, pausing, and ending scan running, a running instruction such as forward, backward, counterclockwise, and clockwise, a running speed, and a turning speed are obtained. The driving conditions are entered. The travel instruction of the operation display unit 8 is input to the control unit 10, the travel instruction of the operation terminal 13 is input to the control unit 10 via the communication unit 12, and the control unit 10 sends the travel unit 3 in response to the travel instruction. It will be controlled.

Further, when the operation mode is set to the test driving mode or the automatic driving mode, the traveling unit 3 has the control unit 10 (test driving control unit 25 or the automatic driving control unit 26) based on the driving data of the environment map or the driving plan. ) Operates according to the control. When controlling the traveling speed and the turning speed, the control unit 10 converts the traveling instruction or the traveling data (traveling conditions) into the driving set values of the traveling driving motor and the steering motor of the traveling unit 3, and drives the driving. The driving drive motor and steering motor are controlled based on the set value.

The cleaning unit 4 is provided at the lower part of the device main body 2 and is configured to clean the floor surface below the device main body 2. The cleaning unit 4 operates in response to a manual operation of the operation display unit 8 or the operation terminal 13 by the operator regardless of whether the operation mode is set to the scan operation mode, the test operation mode, or the automatic operation mode.

In the manual operation of the operation display unit 8 or the operation terminal 13, for example, the rotation of the cleaning member 16 is turned on / off, the pad pressure and the pad rotation speed are increased / decreased, the supply of the cleaning liquid supply unit 17 is turned on / off, and the amount of water supplied is increased / decreased. A cleaning instruction such as turning on / off the suction of the suction unit 18 and increasing / decreasing the suction amount is input. The cleaning instruction of the operation display unit 8 is input to the control unit 10, the cleaning instruction of the operation terminal 13 is input to the control unit 10 via the communication unit 12, and the control unit 10 sends the cleaning unit 4 in response to the cleaning instruction. It will be controlled.

Further, when the operation mode is set to the test driving mode or the automatic driving mode, the cleaning unit 4 has the control unit 10 (test driving control unit 25 or the automatic driving control unit 26) based on the cleaning data of the environmental map or the driving plan. ) Operates according to the control. When the control unit 10 controls the cleaning member 16, the cleaning liquid supply unit 17, and the suction unit 18, the control unit 10 drives the cleaning member 16, the cleaning liquid supply unit 17, and the suction unit 18 for cleaning instructions or cleaning data (cleaning conditions). It is converted into the drive set value of each actuator, and each actuator is controlled based on this drive set value.

The cleaning unit 4 is composed of, for example, a wet cleaning mechanism for cleaning the floor surface using a cleaning liquid, a cleaning member 16 that contacts the floor surface to clean the floor surface, and a cleaning liquid supply unit that supplies the cleaning liquid to the floor surface. 17 is provided with a cleaning liquid after use that has cleaned the floor surface, that is, a suction unit 18 that sucks sewage. Further, the cleaning unit 4 includes a cleaning member motor (not shown) that rotates the cleaning member 16 on the floor surface, and a cleaning member actuator (not shown) that moves the cleaning member 16 in the vertical direction with respect to the floor surface. ) And. Further, the cleaning unit 4 includes a sewage collection unit (not shown) that collects the sewage sucked by the suction unit 18.

The cleaning member 16 is detachably attached to a cleaning shaft (not shown) protruding downward from the inside of the device main body 2. When the cleaning member motor rotates the cleaning shaft, the cleaning member 16 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 16 also moves in the vertical direction.

The cleaning member 16 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 17 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 surface by using the supply pump to spray the cleaning liquid. The cleaning liquid supply unit 17 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 18 is composed of a suction blower. The sewage collection unit includes a squeegee 19, a sewage duct (not shown), and a sewage tank (not shown), and the sewage 19 is provided in contact with the floor surface behind the cleaning member 16. The sewage collection unit receives and collects the sewage discharged rearward from the cleaning member 16 by the squeegee 19, and the suction unit 18 is connected to the sewage duct and sucks the sewage collected by the squeegee 19 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 4, the cleaning liquid supply unit 17 sprays the cleaning liquid on the floor surface, the cleaning pad or the cleaning brush of the cleaning member 16 is rotated by the cleaning member motor, and the cleaning member actuator is urged on the floor surface. The floor surface is cleaned by pressing the floor surface, and the sewage recovery unit collects the cleaned sewage.

The measuring unit 5 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. ) 5a and the like are provided. For example, the LRF5a is provided on the front upper part of the apparatus main body 2 and detects non-working objects existing in the front and side. The measuring unit 5 measures the position information with the non-working object at predetermined timings, for example, while the device main body 2 is traveling.

The obstacle detection unit 6 includes an ultrasonic sensor 6a that detects the presence or absence of a wall or an obstacle within a predetermined distance from the device main body 2. For example, the ultrasonic sensor 6a is provided at the front portion of the device main body 2. The obstacle detection unit 6 may be constantly operating while the device main body 2 is running.

The step detection unit 7 includes an infrared sensor 7a and a camera 7b as optical sensors for detecting a step on the floor surface on the traveling direction side of the apparatus main body 2, a line marker 7c for irradiating the step with a line, and a moving floor surface. It is equipped with a vibration sensor 7d or the like that detects a step. The step detection unit 7 may be constantly operating while the device main body 2 is traveling. The optical sensor does not have to be an infrared sensor, and may be a visible light sensor.

The infrared sensor 7a and the camera 7b are provided on the front side of the device main body 2 as shown in FIGS. 1 and 10, and the line marker 7c is provided on the front wheel 3a on the front side of the device main body 2 as shown in FIGS. 1 and 10. It is attached to the drive wheel unit 3c of. As shown in FIG. 11, the irradiation position and irradiation range of the line marker 7c can be changed by changing the direction of the drive wheel unit 3c, that is, the direction of the front wheels 3a. Alternatively, the line marker 7c does not have to be attached to the drive wheel unit 3c as long as the irradiation position and irradiation range can be taken on the front side of the device main body 2, and the line marker 7c may be attached to the front wheel 3a by a mechanism different from the drive wheel unit 3c. It may be configured to change the irradiation position and irradiation range according to the direction. The infrared sensor 7a and the camera 7b may be attached to the drive wheel unit 3c of the front wheel 3a. In this case, the infrared sensor 7a is detected by changing the direction of the drive wheel unit 3c, that is, the direction of the front wheel 3a. The range and the shooting range of the camera 7b can be changed. Further, the infrared sensor 7a and the camera 7b may be configured to change the detection range and the photographing range according to the direction of the front wheels 3a by a mechanism different from the drive wheel unit 3c. The vibration sensor 7d is provided on a driven wheel unit 3c of the front wheels 3a or a driven wheel unit (not shown) that pivotally supports the rear wheels 3b.

The infrared sensor 7a includes a light emitting unit and a light receiving unit, irradiates the floor surface in front of the light emitting unit with infrared rays, and the light receiving unit receives the infrared rays reflected from the floor surface. For example, a convex portion such as a Braille block reflects infrared rays earlier than the floor surface, and a concave portion such as a drain groove or grating does not reflect infrared rays or reflects infrared rays later than the floor surface. The step is detected based on the result of receiving infrared rays reflected on the floor surface, and the step identification unit 22 of the control unit 10 identifies the step type and the step size based on the detection result.

The camera 7b captures an image of the surroundings of the apparatus main body 2, and the step identification unit 22 of the control unit 10 determines whether or not the image includes a step pattern, detects the step, and determines the step type and the like. Identify the size of the step.

Further, the camera 7b captures an image including the line irradiated by the line marker 7c, and the step identification unit 22 of the control unit 10 detects the step based on the shape of the line in the image, and also detects the step type and the step. Identify the size of. The line marker 7c is a so-called line laser, which projects a laser line on an irradiation unit by diffusing it in one direction with a lens on the optical axis of the laser pointer. As shown in FIG. 12, the apparatus main body 2 By irradiating the laser beam toward the traveling direction side (direction of the front wheel 3a), a laser line having a predetermined line length orthogonal to the traveling direction is irradiated on the floor surface at a position separated from the line marker 7c by a predetermined distance. In addition, the camera 7b takes an image of the floor surface together with the laser line. The line marker 7c is not limited to the one that irradiates the laser beam, and may be the one that irradiates other light.

The vibration sensor 7d is composed of an acceleration sensor or the like, detects vibration from the floor surface while the autonomous traveling work device 1 is traveling, and detects a step on the floor surface or a change in the material of the floor surface based on the change in the amount of vibration. Upon detection, the step identification unit 22 of the control unit 10 identifies the step type, the step size, or the floor surface type based on the detection result. For example, the vibration sensor 7d detects vibration when descending from a floor surface to a step such as a groove or a recess, vibration when ascending from a floor surface to a step such as a convex portion, and vibration when traveling so as to sink. Detects steps on the floor surface and detects vibration due to an increase in running load when moving to a fiber-based floor such as carpet, and vibration due to a decrease in running load when moving to a resin-based floor such as ceramic. Detects the surface material.

The operation display unit 8 is provided at the rear upper part of the device main body 2, and includes, for example, a key switch, an emergency stop button, and a touch panel, and each part of the operation display unit 8 is connected to the control unit 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 by the communication unit 12, and the autonomous traveling work device 1 can be remotely controlled.

The key switch is configured to be switchable on and off. By switching the key switch on, power is supplied from the power supply unit 9 to each part to operate the autonomous traveling work device 1, while by switching the key switch off, the power supply from the power supply unit 9 to each part is stopped. Then, the operation of the autonomous traveling work device 1 is stopped. When the emergency stop button is operated, the operation of each part of the autonomous driving work device 1 (particularly, automatic operation in the automatic operation mode) is forcibly stopped (braking).

The touch panel 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 is turned on and the autonomous traveling work device 1 is operated, the touch panel displays a mode selection screen (not shown) in which an operation mode can be selected.

On the mode selection screen, for example, although not shown, a scan run button, a test run button, and an automatic run button are operably displayed. When the scan driving button, the test driving button or the automatic driving button is operated, the operation mode is switched to the scan driving mode, the test driving mode or the automatic driving mode.

In the scan running mode, the touch panel is set so that running instructions such as start, pause and end of scanning running, running instructions such as forward, backward, counterclockwise and clockwise, and running conditions such as running speed and turning speed can be set. Display the screen.

When the scan run is completed and the environmental map is created, the test run button can be operated to perform a test run on the environmental map, and in the test run mode, the touch panel displays each run instruction and each run condition of the test run. , And a setting screen on which cleaning instructions and cleaning conditions of the cleaning member 16, the cleaning liquid supply unit 17, and the suction unit 18 of the test run can be set are displayed. The test run button may be operable when the environment map is stored in the storage unit 11. In this case, the touch panel displays a selection screen on which an environmental map can be selected according to the operation of the test run button, and when the environmental map is selected, each run instruction and each run condition of the test run, and each of the test runs Display a setting screen where you can set cleaning instructions and each cleaning condition.

The automatic operation button can be operated when the operation plan is stored in the storage unit 11. In the automatic driving mode, the touch panel displays a selection screen on which a driving plan can be selected according to the operation of the automatic driving button, and when the driving plan is selected, each driving instruction and each driving condition of automatic driving, and automatic driving are performed. Displays a setting screen where each cleaning instruction and each cleaning condition can be set.

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 is connected to a storage unit 11 including a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk, a flash memory, and the like. Further, the control unit 10 is an autonomous traveling work device such as the traveling unit 3, the cleaning unit 4, the measuring unit 5, the obstacle detection unit 6, the step detection unit 7, the operation display unit 8, the power supply unit 9, and the communication unit 12. It is connected to each part of 1.

Further, the control unit 10 is communicably connected to an external device such as an operation terminal 13 via the communication unit 12. The communication unit 12 performs wireless communication with an external device such as an operation terminal 13 according to a communication standard such as a wireless LAN such as Wi-Fi, Bluetooth (registered trademark), or an LTE line.

The operation terminal 13 is provided with an operation display such as a touch panel, and can operate and display various functions of the autonomous traveling work device 1 together with the operation display unit 8 or instead of the operation display unit 8. In other words, like the touch panel of the operation display unit 8, the operation terminal 13 has a mode selection screen on which an operation mode can be selected, each running instruction for scanning running in the scanning running mode, a setting screen for each running condition, and a test. Environmental map selection screen in driving mode, each driving instruction and each driving condition of test driving, setting screen of each cleaning instruction and each cleaning condition, selection screen of driving plan in automatic driving mode, and each driving of automatic driving The instruction, each running condition, each cleaning instruction, and each cleaning condition setting screen are displayed, and the input various settings and various selections are transmitted to the communication unit 12.

The storage unit 11 stores programs and data for controlling each unit and various functions of the autonomous traveling work device 1, and the control unit 10 executes arithmetic processing based on the programs and data stored in the storage unit 11. By doing so, each part and various functions are controlled in an integrated manner. For example, the control unit 10 executes a program stored in the storage unit 11 to execute a mode switching unit 20, a map creation unit 21, a step identification unit 22, a travel determination unit 23, a scan travel control unit 24, and a test travel control. It operates as a unit 25 and an automatic operation 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 each environmental map of one or more cleaning areas, and also stores an operation plan corresponding to each cleaning area (environmental map).

The mode switching unit 20 switches the operation mode to either a scan driving mode, a test driving mode, or an automatic driving mode. For example, on the mode selection screen, the mode switching unit 20 switches the operation mode to the scan running mode, the test running mode, or the automatic running mode according to the operation of the scan running button, the test running button, and the automatic running button.

The map creating unit 21 estimates the self-position and creates an environmental map in real time by using a technique such as SLAM (Simultaneus Localization and Mapping) while the autonomous traveling work device 1 is traveling. Specifically, the map creation unit 21 acquires the position information of the device main body 2 and the non-working object around the device main body 2 as the measurement result of the measurement unit 5 while traveling in the predetermined cleaning area. Based on the measurement result of the measuring unit 5, a local map around the apparatus main body 2 is created at a predetermined time interval or a predetermined distance interval. Further, the map creation unit 21 estimates the self-position (coordinates) of the autonomous traveling work device 1 in the local map based on the local map and the detection result (movement amount of the traveling unit 3) by each encoder of the traveling unit 3. do.

Then, the map creation unit 21 creates an environmental map of the cleaning area by connecting (combining) each local map. Further, the map creation unit 21 reproduces the travel locus (travel route) on the environmental map by connecting (synthesizing) the self-positions (each position information measured by the measurement unit 5) in the local map.

While the autonomous driving work device 1 is running (for example, during scanning running, test running, or automatic driving), the step identification unit 22 determines the detection result of the step detecting unit 7 regarding the step on the floor surface or the material. Based on this, the step type of the step existing on the traveling direction side or the floor surface and the floor surface type of the running floor surface are identified. Further, the step identification unit 22 determines the self-position of the autonomous traveling work device 1 on the local map or the environmental map based on the position information measured by the measurement unit 5 and the local map or the environmental map created by the map creation unit 21. The step may be identified based on the deviation of the odometry (course or position) that is estimated and calculated based on the self-position of the local map or the environmental map. When the autonomous traveling work device 1 is traveling with a predetermined floor type set, the step identification unit 22 identifies the step type from one or more step types included in the floor type.

When the step detection unit 7 detects a step, the step identification unit 22 calculates the position information of the detected step based on the position information of the measurement result of the measurement unit 5. The step identification unit 22 stores the identified step type and the calculated position information in the storage unit 11. The step identification unit 22 may determine which step of the driving data of the driving plan the step position information responds to, and include the step type and the position information in the corresponding step of the driving plan. ..

Further, the step identification unit 22 identifies the step type and the floor surface type according to the combination of the detection results of the infrared sensor 7a, the camera 7b, and the vibration sensor 7d of the step detection unit 7. For example, the step identification unit 22 is based on a combination of the light reception result of the infrared reflected light detected by the infrared sensor 7a and the vibration amount during traveling detected by the vibration sensor 7d, and the step identification unit 22 is a carpet or the like that is not a cleaning target. Enables detection of fiber-based floors.

Alternatively, the step identification unit 22 performs image processing such as pattern matching on the captured image of the camera 7b using the step pattern stored in the storage unit 11, and obtains a partial image matching the step pattern from the captured image. When it is detected, the step corresponding to the step pattern is detected from the shooting position. Alternatively, when the step identification unit 22 detects a step pattern of different colors as a result of pattern matching of the captured image of the camera 7b, the infrared sensor 7a transmits infrared rays at the position of the floor surface where the step pattern of different colors is detected. When the light reception result of the reflected light is acquired and the unevenness of the floor surface is detected based on the light reception result, the step corresponding to the step pattern of different colors is detected from the shooting position.

Further, as shown in FIG. 12, the step identification unit 22 was irradiated with the laser line based on the shape of the laser line in the image when the camera 7b photographed the laser line irradiated by the line marker 7c on the floor surface. Detects the step at the location and identifies the type of step and the size of the step.

For example, as shown in FIG. 13, when there is no step on the floor surface, the laser line of the image is detected in a straight line, so that the step identification unit 22 does not detect the step. As shown in FIG. 14, when there is a deep concave step such as grating on the floor surface, the laser line of the image is intermittently detected, so that the step identification unit 22 detects the grating step. As shown in FIG. 15, when there is a convex step such as a Braille block on the floor surface, the laser line of the image is detected with a portion protruding in the traveling direction, so that the step identification unit 22 is in Braille. Detects the step of the block. Although not shown, when there is a shallow concave step such as a groove on the floor surface, the laser line of the image is detected with a portion protruding in the direction opposite to the traveling direction. Detect steps.

In the travel determination unit 23, when the autonomous travel work device 1 is traveling with a predetermined floor type set, the step identification unit 22 identifies the step type and floor surface type of the step detected by the step detection unit 7. In that case, it is determined whether the vehicle runs and cleans the step or the floor surface is cleaned. At this time, the travel determination unit 23 acquires the parameters related to travel and cleaning stored in the storage unit 11 for the set floor type and the identified step type, and in particular, the step threshold value, the step along travel flag, and the like. Acquire driving rules such as a step avoidance flag and a driving impossibility flag. Then, the traveling determination unit 23 detects while monitoring the traveling state of the autonomous traveling work device 1 based on the traveling state of the traveling unit 3 and the detection result of the step detection unit 7 by the infrared sensor 7a, the camera 7b or the vibration sensor 7d. The traveling unit 3 is controlled so as to travel according to the acquired traveling rule with respect to the step. Further, the traveling determination unit 23 determines whether or not the traveling of the step by the autonomous traveling work device 1 in accordance with the traveling rules is successful based on the acquired traveling condition.

For example, when the size (height or depth) of the step detected by the step detection unit 7 is larger than the step threshold value of the travel rule, the travel determination unit 23 determines that the step cannot be traveled. In this case, since the traveling determination unit 23 cannot travel on the step according to the traveling rule, it determines that the traveling on the step according to the traveling rule has not succeeded. Then, the traveling determination unit 23 controls the traveling unit 3 so as to travel along the step when the traveling along the step flag is on, or avoids the step when the step avoidance flag is on. The traveling unit 3 is controlled so as to travel. In this way, when it is determined that the vehicle cannot travel on the step before traveling on the step, the travel determination unit 23 controls the traveling unit 3 so as to travel along the step or avoid the step. At this time, the travel determination unit 23 notifies the operator of the failure of the step traveling via the operation display unit 8 and the operation terminal 13.

On the other hand, when the size (height or depth) of the step detected by the step detection unit 7 is equal to or greater than the step threshold value of the traveling rule, the traveling determination unit 23 determines that the step can be traveled and determines that the step can be traveled. The traveling unit 3 is controlled so as to travel.

In addition, when the size (height or depth) of the step is less than or equal to the step threshold value (or more) or when the travel impossible flag during traveling is off, the traveling determination unit 23 may also travel on the step determined to be able to travel. , The traveling determination unit 23 continuously monitors the traveling condition of the autonomous traveling work device 1 and determines whether or not the traveling of the step according to the traveling rule is successful.

For example, when the front wheel 3a of the traveling unit 3 or the traveling drive motor slips with respect to the step and cannot exceed the step, the traveling determination unit 23 determines that the traveling of the step according to the traveling rule has not been successful. .. Further, when an excessive load is generated on the traveling drive motor of the traveling unit 3 due to an increase in the traveling load when traveling on a step, or when the vibration sensor 7d detects an excessive vibration, the traveling determination unit 23 travels. It is determined that the running on the step according to the rules was not successful. In this way, when it is determined that the running of the step is not successful while traveling on the step, the traveling determination unit 23 makes a failure of the step running at the time of the determination or after the running of the autonomous traveling work device 1 is completed. Notify the operator via the operation display unit 8 or the operation terminal 13.

As described above, when it is determined that the traveling on the step according to the traveling rule is not successful, the traveling determination unit 23 sets the traveling impossible flag of the step type during traveling to ON, and also travels according to the traveling rule. Information indicating the failure of the above and information prompting the resetting of the parameter of the step type are issued, and are output as a display or an alert via the operation display unit 8 or the operation terminal 13 to notify the operator. The information prompting the resetting of the parameter of the step type may be displayed on the operation display unit 8 or the operation terminal 13 when it is determined that the step travel is not successful or after the autonomous travel work device 1 has finished traveling. At this time, the parameter is urged to be reset by prompting the resetting of the step threshold value and the setting of turning on the step running flag or the step avoidance flag.

Further, when the traveling determination unit 23 detects a change in the material of the floor surface based on the identified floor surface type, the travel determination unit 23 acquires the cleaning rule stored in the storage unit 11 for the changed floor surface type. Then, the traveling determination unit 23 changes the cleaning conditions of the cleaning unit 4 based on the acquired cleaning rules, and controls the cleaning unit 4 so as to perform cleaning under the changed cleaning conditions. For example, the traveling determination unit 23 controls the cleaning unit 4 so as to perform cleaning when the floor surface is a resin-based floor such as ceramic, but when the floor surface is a fiber-based floor such as a carpet, cleaning is performed. Controls the cleaning unit 4 which does not perform the above.

The scan traveling control unit 24 will be described with reference to the flowcharts of FIGS. 16 to 20. In the scan travel mode, the scan travel control unit 24 starts the scan travel in response to the start operation of the scan travel via the operation display unit 8 or the operation terminal 13 (step S1). When the scan running control unit 24 starts the scanning running, the scan running control unit 24 inputs running instructions such as forward, backward, counterclockwise, and clockwise, and running conditions such as running speed and turning speed via the operation display unit 8 or the operation terminal 13. , The traveling unit 3 is controlled according to the traveling instruction and the traveling conditions to drive the autonomous traveling work device 1.

The scan travel control unit 24 creates an environmental map while traveling the autonomous travel work device 1 (step S2), and specifically, the measurement unit 5 surrounds the vehicle at predetermined time intervals or predetermined distance intervals. While measuring the position information of the non-working object (step S21), the map creation unit 21 creates a local map of the surrounding area. The scan travel control unit 24 creates an environmental map of the cleaning area by connecting each time a local map is created by the map creation unit 21 (step S22).

When the environmental map of the cleaning area is completed (step S3: YES), the scan run control unit 24 ends the scan run in response to the end operation of the scan run via the operation display unit 8 or the operation terminal 13 (step S4). ), The created environment map is stored in the storage unit 11. If the environmental map of the cleaning area is not completed (step S3: NO), the scan travel control unit 24 continues the scan travel.

The scan travel control unit 24 sets the floor type for the cleaning area when the scan travel is started, so that the step identification unit 22 identifies the step and the travel determination unit 23 determines the floor type according to the floor type. It is possible to perform scan running while determining running on a step. For example, a floor type is selected and set from one or more floor types stored in the storage unit 11 via the operation display unit 8 or the operation terminal 13.

Specifically, the scan travel control unit 24 detects the step on the floor surface during the scan travel (step S5), and specifically, the step detection unit 7 detects the step on the floor surface (step). S31), the step type is identified by the step identification unit 22 (step S32). When the step is not detected (step S6: NO), the scan run control unit 24 continues the scan run as it is.

On the other hand, when a step is detected (step S6: YES), the scan travel control unit 24 determines the travel with respect to the step according to the floor type by the travel determination unit 23 (step S7). At this time, the travel determination unit 23 acquires the parameters set in the storage unit 11 for the step type of this floor type (step S41), and from the parameters, the step threshold value, the step along travel flag, and the step avoidance. A running rule such as a flag and a running impossible flag during running is acquired, and running with respect to a step is determined based on the running rule (step S42).

Then, the scan travel control unit 24 controls the travel unit 3 so as to travel with respect to the step according to the acquired travel rule by the travel determination unit 23 (step S8). For example, when the step avoidance flag is on, the travel determination unit 23 controls the travel unit 3 so as to avoid the step (step S9). In this case, when the running avoiding the step is completed, that is, when the step is passed, the scan running control unit 24 continues the scanning running.

Alternatively, when the traveling along the step flag is on, the traveling determination unit 23 controls the traveling unit 3 so as to travel along the step (step S10). In this case, when the running along the step is completed, that is, when the step is passed, the scan running control unit 24 continues the scanning running.

Alternatively, when the step avoidance flag, the running along the step flag, and the running impossible flag during running are all off and the size of the step identified by the step identification unit 22 is equal to or less than the step threshold value, the traveling determination unit 23 refers to the step. The traveling unit 3 is controlled so as to travel as it is (step S11). At this time, if the running on the step is successful (step S12: YES), the scan running control unit 24 continues the test running.

On the other hand, when the step running is not successful (step S12: YES), the scan running control unit 24 performs a process for the step running failure (step S13), and specifically, the running determination unit 23 fails to run. The operator is notified by outputting the information indicating the above and the information prompting the resetting of the parameters (step S51), and the running non-running flag, which is the parameter of the step, is set to on (step S52). Then, when passing through the step, the scan travel control unit 24 continues the scan travel.

Further, when the scan run control unit 24 finishes the scan run, it adjusts the created environment map (rotates the map, adds or deletes obstacles or walls, etc.) and adjusts the created environment map via the operation display unit 8 or the operation terminal 13. Various area settings (start point, end point, entry prohibited area setting, etc.) are urged, and the environment map and area settings are stored in the storage unit 11.

Further, after the scan run is completed, the scan run control unit 24 performs a scan run from one or more floor types stored in the storage unit 11 via the operation display unit 8 or the operation terminal 13 (environment). The floor type corresponding to the map) may be selected and the floor type may be associated with the cleaning area. Alternatively, the scan travel control unit 24 may newly register a floor type including the step detected by the step identification unit 22 during the scan travel, and associate the floor type with the cleaning area.

The test running control unit 25 will be described with reference to the flowcharts of FIGS. 21 to 22 and 18 to 20. In the test run mode, the test run control unit 25 stores the environmental map created by the scan run or stored in the storage unit 11 in response to the start operation of the test run via the operation display unit 8 or the operation terminal 13. A test run is started for the environmental map selected from the above environmental map via the operation display unit 8 or the operation terminal 13 (step S61). In the following, an example of cleaning the floor surface in the test run will be described, but the cleaning of the floor surface may be stopped.

At this time, the test travel control unit 25 determines the travel conditions such as the travel speed and the turning speed of the travel unit 3 and the pad pressure and pad rotation of the cleaning member 16 of the cleaning unit 4 via the operation display unit 8 or the operation terminal 13. The cleaning conditions such as the number, the amount of water supplied by the cleaning liquid supply unit 17, and the amount of suction of the suction unit 18 are input, and the traveling unit 3 and the cleaning unit 4 are controlled according to the traveling conditions and the cleaning conditions to test the autonomous traveling work device 1. Run.

Further, the test running control unit 25 performs a test running while confirming the running route based on the environment map and various area settings (setting of the start point and the end point, etc.) (step S62). Specifically, the measuring unit 5 measures the position information of the surrounding non-working object, the map creating unit 21 creates a local map of the surroundings, and the self-position of the autonomous traveling work device 1 in the local map is further determined. Estimate (step S81). The test travel control unit 25 determines a travel route to travel from the start point to the end point so as to fill the cleaning area of the environmental map, and follows this travel route while confirming the self-position of the autonomous travel work device 1 on the environmental map. The traveling unit 3 is controlled (step S82).

During the test run, the test run control unit 25 acquires the running conditions, the cleaning conditions, and the step type at each predetermined step interval and stores them in the storage unit 11 from the start point of the running route. The running data and the cleaning data including the running conditions and the cleaning conditions up to the end point are stored in the storage unit 11.

For example, the test running control unit 25 acquires its own position (X coordinate, Y coordinate, angle) based on the position information measured by the measuring unit 5 as a running condition. 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. The test running control unit 25 is set as cleaning conditions, for example, with respect to the pad pressure and pad rotation speed of the cleaning member 16 of the cleaning unit 4, the amount of water supplied by the cleaning liquid supply unit 17, and the suction amount of the suction unit 18. Get strength. Further, the test run control unit 25 acquires the step type detected by the step detection unit 7 and identified by the step identification unit 22 during the test run.

When the autonomous travel work device 1 travels from the start point to the end point and the painting of the cleaning area is completed (step S63: YES), the test travel control unit 25 ends the test travel (step S64) and cleans the area (environmental map). ) Is created and stored in the storage unit 11. When the autonomous traveling work device 1 has not reached the end point or the cleaning area has not been completely filled (step S63: NO), the test traveling control unit 25 continues the test traveling.

When the test run is started, the test run control unit 25 sets the floor type for the cleaning area, so that the run determination unit 25 identifies the step by the step identification unit 22 in the same manner as the scan run. A test run can be performed while determining the run against a step according to the floor type according to the 23. For example, a floor type associated with an environment map for test driving is set, or a floor type is selected and set from one or more floor types via the operation display unit 8 or the operation terminal 13.

Specifically, the test run control unit 25 detects the step on the floor surface during the test run (step S65), and specifically, the step detection unit 7 detects the step on the floor surface (step). S31), the step type is identified by the step identification unit 22 (step S32). When the step is not detected (step S66: NO), the test run control unit 25 continues the test run as it is.

On the other hand, when a step is detected (step S66: YES), the test travel control unit 25 determines the travel with respect to the step according to the floor type by the travel determination unit 23 (step S67). At this time, the traveling determination unit 23 acquires the parameters set in the storage unit 11 for the step type of this floor type (step S41), and from the parameters, the pad pressure of the cleaning member 16 of the cleaning unit 4 And the cleaning rules such as the number of rotations of the pad, the amount of water supplied by the cleaning liquid supply unit 17, and the amount of suction of the suction unit 18, and the running rules such as the step threshold, the running flag along the step, the step avoidance flag, and the running impossible flag during running. Then, the running and cleaning of the step are determined based on the running rule and the cleaning rule (step S42).

Then, the test travel control unit 25 controls the travel unit 3 so as to travel with respect to the step according to the acquired travel rule by the travel determination unit 23, and cleans the step so as to clean according to the acquired cleaning rule. The unit 4 is controlled (step S68). For example, when the step avoidance flag is on, the travel determination unit 23 controls the travel unit 3 so as to avoid the step (step S69). In this case, the cleaning unit 4 is controlled so as to stop cleaning the floor surface while avoiding the step. Then, when the running avoiding the step is completed, that is, when the step is passed, the test running control unit 25 continues the test running.

Alternatively, when the traveling along the step flag is on, the traveling determination unit 23 controls the traveling unit 3 so as to travel along the step (step S70). In this case, the cleaning unit 4 is controlled so as to clean the floor surface in accordance with the cleaning rules while traveling along the step. Then, when the running along the step is completed, that is, when the step is passed, the test running control unit 25 continues the test running.

Alternatively, when the step avoidance flag, the running along the step flag, and the running impossible flag during running are all off and the size of the step identified by the step identification unit 22 is equal to or less than the step threshold value, the traveling determination unit 23 refers to the step. The traveling unit 3 is controlled so that the vehicle travels as it is, and the cleaning unit 4 is controlled so that the cleaning unit 4 is cleaned according to the cleaning rules (step S71). At this time, if the step running is successful (step S72: NO), the test running control unit 25 continues the test running.

On the other hand, when the step running is not successful (step S72: YES), the test running control unit 25 performs a process for the step running failure (step S73), and specifically, the running determination unit 23 fails to run. The operator is notified by outputting the information indicating the above and the information prompting the resetting of the parameters (step S51), and the running non-running flag, which is the parameter of the step, is set to on (step S52). Then, when passing through the step, the test run control unit 25 continues the test run.

Further, after the test run is completed, the test run control unit 25 changes the operation plan created in the test run from one or more floor types stored in the storage unit 11 via the operation display unit 8 or the operation terminal 13. The corresponding floor type may be selected and the floor type may be associated with the operation plan. Alternatively, the test run control unit 25 detects a step existing in the cleaning area by the step identification unit 22 during the test run, registers the floor type including the detected step, and associates the floor type with the operation plan. May be good.

The automatic operation control unit 26 will be described with reference to the flowcharts of FIGS. 23 to 24 and 18 to 20. In the automatic operation mode, the automatic operation control unit 26 stores the operation plan created in the test run or the storage unit 11 in response to the start operation of the automatic operation via the operation display unit 8 or the operation terminal 13. Automatic operation is started for the operation plan selected from one or more operation plans via the operation display unit 8 or the operation terminal 13 (step S91).

At this time, the automatic operation control unit 26 determines the traveling conditions such as the traveling speed and the turning speed of the traveling unit 3 and the pad pressure and pad rotation of the cleaning member 16 of the cleaning unit 4 via the operation display unit 8 or the operation terminal 13. Cleaning conditions such as the number, the amount of water supplied by the cleaning liquid supply unit 17, and the amount of suction by the suction unit 18 are input, and the traveling unit 3 and the cleaning unit 4 are controlled according to the traveling conditions and the cleaning conditions to automatically perform the autonomous traveling work device 1. Drive.

Further, the automatic driving control unit 26 performs automatic driving while confirming the traveling route based on the environmental map of the driving plan, the traveling data, and the cleaning data (step S92). Specifically, the measurement unit 5 measures the position information of the surrounding non-working object, and the map creation unit 21 creates a local map of the surrounding area to estimate the self-position of the autonomous traveling work device 1 in the local map. Further, by matching the local map with the environmental map, the self-position on the environmental map is estimated (step S111). The automatic driving control unit 26 controls the traveling unit 3 so as to follow the traveling route shown in the traveling data while confirming the self-position of the autonomous traveling working device 1 on the environmental map (step S112), and also displays the cleaning data. The cleaning unit 4 is controlled so as to perform the indicated cleaning (step S113).

The automatic operation control unit 26 acquires the step type and stores it in the storage unit 11 at each predetermined step interval while the automatic operation is performed. The automatic operation control unit 26 acquires, for example, the step type detected by the step detection unit 7 during automatic operation and identified by the step identification unit 22.

When the autonomous driving work device 1 travels from the start point to the end point based on the traveling data (step S93: YES), the automatic driving control unit 26 ends the automatic driving (step S94). When the autonomous traveling work device 1 has not reached the end point (step S93: NO), the automatic operation control unit 26 continues the automatic operation.

When the automatic operation control unit 26 starts the automatic operation, the floor type is set for the cleaning area, so that the step identification unit 22 identifies the step in the same manner as in the scan run and the test run. The traveling determination unit 23 can perform automatic operation while determining traveling against a step according to the floor type. For example, a floor type associated with an operation plan for performing automatic operation is set, or a floor type is selected and set from one or more floor types via the operation display unit 8 or the operation terminal 13.

Specifically, the automatic operation control unit 26 detects a step on the floor surface during automatic operation (step S95), and specifically, the step detection unit 7 detects a step on the floor surface (step). S31), the step type is identified by the step identification unit 22 (step S32). When the step is not detected (step S96: NO), the traveling determination unit 23 controls the cleaning unit 4 so as to clean according to the cleaning rule (step S102), and the automatic operation control unit 26 continues the automatic operation as it is. do.

On the other hand, when the step is detected (step S96: YES), the automatic driving control unit 26 determines the traveling with respect to the step according to the floor type by the traveling determination unit 23 (step S97). At this time, the traveling determination unit 23 acquires the parameters set in the storage unit 11 for the step type of this floor type (step S41), and from the parameters, the pad pressure of the cleaning member 16 of the cleaning unit 4 And the cleaning rules such as the number of rotations of the pad, the amount of water supplied by the cleaning liquid supply unit 17, and the amount of suction of the suction unit 18, and the running rules such as the step threshold, the running flag along the step, the step avoidance flag, and the running impossible flag during running. Then, the running and cleaning of the step are determined based on the running rule and the cleaning rule (step S42).

Then, the automatic driving control unit 26 controls the traveling unit 3 so as to travel on the step according to the acquired traveling rule by the traveling determination unit 23, and cleans the traveling unit 3 so as to clean the step according to the acquired cleaning rule. The unit 4 is controlled (step S98). For example, when the step avoidance flag is on, the travel determination unit 23 controls the travel unit 3 so as to avoid the step (step S99). In this case, the cleaning unit 4 is controlled so as to stop cleaning the floor surface while avoiding the step. Then, when the running avoiding the step is completed, that is, when the step is passed, the automatic operation control unit 26 continues the automatic operation.

Alternatively, when the traveling along the step flag is on, the traveling determination unit 23 controls the traveling unit 3 so as to travel along the step (step S100). In this case, the cleaning unit 4 is controlled so as to clean the floor surface in accordance with the cleaning rules while traveling along the step (step S102). Then, when the traveling along the step is completed, that is, when the step is passed, the automatic operation control unit 26 continues the automatic operation.

Alternatively, when the step avoidance flag, the running along the step flag, and the running impossible flag during running are all off and the size of the step identified by the step identification unit 22 is equal to or less than the step threshold value, the traveling determination unit 23 refers to the step. The traveling unit 3 is controlled so as to travel as it is (step S101). At this time, if the step travel is successful (step S103: NO), the travel determination unit 23 controls the cleaning unit 4 so as to clean according to the cleaning rules (step S102), and the test travel control unit 25 determines. Continue the test run.

On the other hand, when the step running is not successful (step S103: YES), the automatic driving control unit 26 performs a process for the step running failure (step S104), and specifically, the running determination unit 23 fails to run. The operator is notified by outputting the information indicating the above and the information prompting the resetting of the parameters (step S51), and the traveling non-driving flag, which is the parameter of the step, is set to on (step S52). Then, when passing through the step, the automatic operation control unit 26 continues the automatic operation.

As described above, according to the present embodiment, the autonomous traveling work device 1 capable of performing automatic operation for automatically traveling and cleaning includes the device main body 2, the traveling unit 3 for running the device main body 2, and the device. A cleaning unit 4 that cleans on the traveling path of the main body 2, a control unit 10 that controls the traveling unit 3 or the cleaning unit 4 so that the device main body 2 manually or automatically cleans the cleaning area, and a cleaning area. One or more floor types are stored in advance as a floor type by combining one or more step types that identify the steps existing on the floor surface of the floor, and one or more related to running or cleaning for each step type of each floor type. A storage unit 11 for storing parameters is provided. The control unit 10 controls the traveling unit 3 or the cleaning unit 4 so as to travel or clean the step according to the floor type set manually or automatically.

With such a configuration, the autonomous traveling work device 1 can individually set parameters related to traveling and cleaning for various steps, and further can be individually set for various floor types, so that the floor type can be set. Just by setting, it is possible to run and clean properly in response to various steps on various cleaning floors. In this way, it is possible to appropriately continue running or cleaning with respect to various steps on the floor surface while improving the convenience of the operator.

Further, in the present embodiment, in the autonomous traveling work device 1, the control unit 10 acquires the traveling condition or the surrounding condition while traveling in the cleaning area, and determines the floor type based on the traveling condition or the surrounding condition. And set automatically.

With such a configuration, the autonomous traveling work device 1 automatically selects the floor type in consideration of the traveling situation and the surrounding situation, so that the operator does not need to check the cleaning area or examine the floor type and operate the device. Since it is not necessary to manually set the floor type by a person, the convenience of the operator can be greatly improved.

Further, in the present embodiment, in the autonomous traveling work device 1, the control unit 10 automatically travels the device main body 2 from the start point to the end point on a traveling path that fills the cleaning area based on the environmental map of the cleaning area. According to the test driving control unit 25 that controls the traveling unit 3 or the cleaning unit 4 so as to execute the driving and creates a driving plan including the driving data or the cleaning data at the time of the test driving, and the driving data or the cleaning data of the driving plan. The automatic operation control unit 26 that controls the traveling unit 3 or the cleaning unit 4 so as to execute the automatic operation is included. The test run control unit 25 determines the floor type during the test run, automatically sets the floor type, and associates it with the operation plan.

With such a configuration, the autonomous traveling work device 1 considers the traveling condition and the surrounding conditions in the test traveling in which the entire cleaning area can be confirmed, so that a more appropriate floor type can be selected.

Further, in the present embodiment, the autonomous traveling work device 1 makes it possible to set each parameter of each step type of each floor type according to a manual operation.

With such a configuration, in the autonomous traveling work device 1, the operator can freely adjust the parameters appropriate for each floor type and the parameters appropriate for each step, which greatly improves the convenience of the operator. Can be done.

Further, in the present embodiment, in the autonomous traveling work device 1, the storage unit 11 registers one or more cleaning areas and stores the floor type set manually or automatically for each one or more cleaning areas in association with each other. .. Then, the autonomous traveling work device 1 makes it possible to set each parameter of each step type of the corresponding floor type according to the manual operation for each one or more cleaning areas.

With such a configuration, in the autonomous traveling work device 1, the operator can freely adjust appropriate parameters for each step for each cleaning area, so that the convenience of the operator can be greatly improved. For example, even if the same type of floor type with the same combination of step types is associated with different cleaning areas, the same type of floor type is prepared separately for each cleaning area instead of associating the same common floor type. Therefore, each parameter of each step type of the floor type can be set for each cleaning area.

Further, in the present embodiment, in the autonomous traveling work device 1, the parameter includes a traveling rule for a step.

With such a configuration, the autonomous traveling work device 1 can set various traveling patterns as traveling rules for the step, for example, avoiding a pattern of traveling on the step as it is or avoiding the step. It is possible to set a running pattern, a running pattern along a step, and the like. Then, the autonomous traveling work device 1 can set a traveling rule as a parameter of each step so as to take an appropriate traveling pattern for the step. Therefore, the safety and accuracy of running for each step can be improved, and the running can be performed using the step as a mark, and the convenience of the operator can be further improved.

Further, in the present embodiment, the autonomous traveling work device 1 further includes a step detection unit 7 for detecting a step on the floor surface. When the control unit 10 detects a step by the step detection unit 7 while traveling in the cleaning area, the control unit 10 acquires the travel rule of the parameter set for the step type of the step, and cleans the travel unit 3 or the cleaning according to the travel rule. The running condition when traveling on a step while controlling the part 4 was acquired, and it was determined based on the traveling condition whether or not the traveling according to the traveling rule was successful, and the traveling according to the traveling rule was not successful. In that case, the parameters are reset based on the driving situation.

With such a configuration, when the autonomous traveling work device 1 does not succeed in traveling according to the traveling rule with respect to a predetermined step, the parameter for the step is reset based on the traveling situation. When a step is detected, the vehicle can travel in a more appropriate traveling pattern for the step, whereby the safety and accuracy of traveling for each step can be improved. For example, in resetting the parameters, it is possible to adjust the step threshold value, set the step running flag, the step avoidance flag, or the running disabled flag during running.

Further, in the present embodiment, the autonomous traveling work device 1 further includes a step detection unit 7 for detecting a step on the floor surface. When the control unit 10 detects a step by the step detecting unit 7 while traveling in the cleaning area, the control unit 10 acquires the traveling rule of the parameter set for the step type of the step, and cleans the traveling unit 3 or the cleaning according to the traveling rule. The running condition when traveling on a step while controlling the part 4 was acquired, and it was determined based on the traveling condition whether or not the traveling according to the traveling rule was successful, and the traveling according to the traveling rule was not successful. In this case, the operator is notified of information indicating the failure of driving according to the driving rules and prompting the resetting of the parameters.

With such a configuration, when the autonomous traveling work device 1 does not succeed in traveling according to the traveling rule with respect to a predetermined step, the operator can confirm the failure of traveling with respect to the step. , More appropriate parameters can be set for the step. Therefore, when the step is detected next time, the vehicle can travel in a more appropriate traveling pattern for the step, and thus the safety and accuracy of traveling for each step can be improved.

Further, in the present embodiment, the autonomous traveling work device 1 includes a cleaning unit 4 for cleaning the floor surface as a work unit for performing work on the floor surface, and the parameter is that the cleaning unit 4 cleans the step. Includes cleaning rules when doing.

With such a configuration, the autonomous traveling work device 1 can set various cleaning patterns for the step as cleaning rules. For example, the cleaning pattern when traveling on the step as it is and the step can be set. It is possible to set a cleaning pattern when traveling while avoiding, a cleaning pattern when traveling along a step, and the like. Then, the autonomous traveling work device 1 can set a cleaning rule as a parameter of each step so as to take an appropriate cleaning pattern for the step. Therefore, the safety and accuracy of cleaning for each step can be improved, and cleaning can be performed using the step as a mark, and the convenience of the operator can be further improved.

Further, in the present embodiment, in the autonomous traveling work device 1, the storage unit 11 stores one or more floor surface types that identify the material of the floor surface, and cleaning is set for each one or more floor surface types. Remember the rules. When the material of the floor surface changes with the step as the boundary line, the cleaning unit 4 cleans according to the cleaning rules according to the material of the floor surface.

With such a configuration, the autonomous traveling work device 1 can set various cleaning patterns as cleaning rules for the material of the floor surface, for example, while setting a resin-based floor such as ceramic as a cleaning target. Textile floors such as carpets can be excluded from cleaning. When the floor surfaces of different materials are continuous in the cleaning area, the cleaning rules can be automatically switched according to the materials, and the convenience of the operator can be improved.

Further, in the present embodiment, the autonomous traveling work device 1 includes an optical sensor such as an infrared sensor 7a that detects a non-working object around the device body 2, a camera 7b that captures an image of the surroundings of the device body 2. A vibration sensor 7d for detecting vibration from the floor surface is further provided. The control unit 10 identifies the step based on a combination of two or more of the detection result of the optical sensor such as the infrared sensor 7a, the image pickup result of the camera 7b, and the detection result of the vibration sensor 7d.

With such a configuration, the autonomous traveling work device 1 can apply a combination of an optical sensor such as an infrared sensor 7a, a camera 7b, and a vibration sensor 7d, which is suitable for detecting each step. Further, by comparing the results of each combination, it is possible to appropriately detect the step. Therefore, the detection rate of the step can be improved, and the safety and accuracy of cleaning for the step can be improved.

In the above-described embodiment, an example of setting running rules such as a step threshold value, a running flag along a step, a step avoidance flag, and a running impossible flag during running has been described as parameters related to running, but the present invention describes the running rules. It is not limited to, and may include a running rule corresponding to another running pattern. Further, as parameters related to cleaning, an example of setting cleaning rules such as pad pressure and pad rotation speed of the cleaning member 16 of the cleaning unit 4, water supply amount of the cleaning liquid supply unit 17, and suction amount of the suction unit 18 has been described. The invention is not limited to these cleaning rules and may include cleaning rules corresponding to other cleaning patterns.

Further, in the above-described embodiment, an example in which the traveling unit 3 is operated by the operation display unit 8 and the operation terminal 13 has been described, but the present invention is not limited to this example, and the operator can manually operate the handle and the throttle. The traveling unit 3 may be configured to be operated.

Further, the present invention can be appropriately modified within the scope of the 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 thought.

The present invention uses an autonomous traveling work device capable of autonomously traveling and automatically performing automatic traveling work, such as cleaning the floor of a commercial facility such as a shopping mall, or automatically performing a work area such as a factory or a railway terminal. It can be suitably used for industrial (commercial) work robots such as automatic floor cleaning / cleaning devices for performing work and security devices for monitoring with a camera.

1 Autonomous traveling work device 2 Device body 3 Traveling section 4 Cleaning section (working section)
5 Measuring unit 6 Obstacle detection unit 7 Step detection unit 7a Infrared sensor 7b Camera 7c Line marker 7d Vibration sensor 8 Operation display unit 10 Control unit 11 Storage unit 12 Communication unit 13 Operation terminal 20 Mode switching unit 21 Map creation unit 22 Step identification Unit 23 Travel judgment unit 24 Scan travel control unit 25 Test travel control unit 26 Automatic operation control unit

Claims (11)

It is an autonomous driving work device that can execute automatic driving that automatically runs and works.
With the device body
A traveling unit for traveling the main body of the device and
A work unit that performs work on the travel path of the main body of the device, and
A control unit that controls the traveling unit or the working unit so that the apparatus main body manually or automatically travels or works in the work area.
As a floor type by combining one or more step types that identify steps existing on the floor surface of the work area, one or more of the floor types are stored in advance, and each step type of each floor type is relative to the step. A storage unit that stores one or more parameters related to running or work,
The control unit is an autonomous traveling work device that controls the traveling unit or the working unit so as to perform traveling or work on the step according to the floor type set manually or automatically. The control unit acquires the traveling condition or the surrounding condition while traveling in the working area, determines the floor type based on the traveling condition or the peripheral condition, and automatically sets the floor type. The autonomous traveling work device according to claim 1. The control unit may perform a test run in which the apparatus main body automatically travels from a start point to an end point on the travel path that fills the work area based on the environment map of the work area. A test driving control unit that controls the working unit and creates a driving plan including driving data or work data during the test driving,
Including the traveling unit or an automatic driving control unit that controls the traveling unit or the working unit so as to execute the automatic driving according to the traveling data or the working data of the driving plan.
The autonomous running work device according to claim 2, wherein the test running control unit determines the floor type during the test running, automatically sets the floor type, and associates the floor type with the driving plan. The autonomous traveling work apparatus according to any one of claims 1 to 3, wherein each parameter of each step type of each floor type can be set according to a manual operation. The storage unit registers one or more of the work areas and stores the floor type set manually or automatically for each of the one or more work areas in association with each other.
The autonomous traveling work apparatus according to claim 4, wherein each parameter of each step type of the corresponding floor type can be set according to a manual operation for each of the one or more work areas. The autonomous traveling work device according to any one of claims 1 to 5, wherein the parameter includes a traveling rule for the step. Further provided with a step detection unit for detecting the step on the floor surface,
When the step detection unit detects the step while traveling in the work area, the control unit acquires the travel rule of the parameter set for the step type of the step, and travels. The traveling condition when traveling on the step while controlling the traveling unit or the working unit according to the rules is acquired, and whether or not the traveling according to the traveling rules is successful is determined based on the traveling conditions. The autonomous traveling work device according to claim 6, wherein the parameters are reset based on the traveling situation when the traveling according to the traveling rules is not successful. Further provided with a step detection unit for detecting the step on the floor surface,
When the step detection unit detects the step while traveling in the work area, the control unit acquires the travel rule of the parameter set for the step type of the step, and travels. The traveling condition when traveling on the step while controlling the traveling unit or the working unit according to the rules is acquired, and whether or not the traveling according to the traveling rules is successful is determined based on the traveling conditions. The sixth aspect of claim 6 is characterized in that, when the running according to the running rule is not successful, the operator is notified of information indicating the failure of the running according to the running rule and prompting the resetting of the parameter. The autonomous driving work device described. The working part is composed of a cleaning part that cleans the floor surface as work.
The autonomous traveling work apparatus according to any one of claims 1 to 8, wherein the parameter includes a cleaning condition when the cleaning unit cleans the step or the floor surface. .. The storage unit stores one or more floor surface types that identify the material of the floor surface, and stores the cleaning conditions set for each one or more floor surface types.
The ninth aspect of the present invention, wherein when the material of the floor surface changes with the step as a boundary line, the cleaning unit changes the cleaning conditions according to the material of the floor surface to perform cleaning. Autonomous driving work equipment. An optical sensor that detects non-working objects around the device body,
A camera that captures an image of the surroundings of the device body,
Further equipped with a vibration sensor that detects vibration from the floor surface,
Claim 1 to claim 1, wherein the control unit identifies the step based on a combination of two or more of the detection result of the optical sensor, the image pickup result of the camera, and the detection result of the vibration sensor. Item 2. The autonomous traveling work device according to any one of items 10.

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