JP2021168183A - Autonomous driving work device - Google Patents

Abstract

To appropriately suppress noise and perform autonomous driving work safely without obstructing a traffic of users.SOLUTION: An autonomous driving work device 1 capable of performing autonomous driving work includes a device body 2, a traveling unit 3 that causes the device body 2 to travel in a cleaning area, a cleaning unit 4 that performs cleaning on a travel route in the cleaning area, and a control unit 8. While autonomous driving cleaning is being executed in a predetermined restriction mode, an object is detected for which the functions of the traveling unit 3 and the cleaning unit 4 should be restricted, according to the state of a door and the like around the device body 2, and based on the results of detection, the control unit 8 controls the traveling unit 3 and the cleaning unit 4 to restrict the functions of the traveling unit 3 and the cleaning unit 4 .SELECTED DRAWING: Figure 1

Description

The present invention relates to an autonomous traveling work device capable of performing autonomous traveling work that autonomously travels and automatically works according to a program input in advance.

Conventionally, an autonomous driving work device is stored by inputting a program or the like in advance to create or set an environmental map, a driving route, a driving setting and a cleaning setting (work setting), and automatically operates based on the stored result. It has the function of autonomous driving and automatic cleaning. For example, the autonomous traveling device is applied to an industrial (commercial) cleaning robot (autonomous traveling cleaning device) that cleans the floor surface of a work area such as a commercial facility, an office, a hotel, or a hospital.

The autonomous driving work device may perform work within the usage time when the user travels to and from the work area. Therefore, the autonomous driving work device is required to work in the work area without disturbing the traffic of the user as much as possible, such as decelerating or suppressing noise.

For example, the automatic cleaning system of Patent Document 1 includes a receiving antenna that receives radio waves transmitted from a radio wave generator and a radio wave strength measuring circuit that measures the strength of the radio waves received by the receiving antenna. When the radio wave intensity measured by It is configured to reduce the number of rotations of the suction motor and further reduce the volume of the speaker. The radio wave generator increases or decreases the strength of the radio wave according to the operation of the remote controller by the user.

Japanese Unexamined Patent Publication No. 2006-263192

A conventional autonomous driving work device such as Patent Document 1 can decelerate or suppress noise according to a user's remote control operation, but decelerates or makes noise so as not to obstruct the traffic of the user. It does not suppress. In work areas such as hotels and hospitals, cleaning time is provided during the daytime instead of at night, so work is done during times when users come and go, but such autonomous driving work equipment is a work area. There is a risk of collision with users without considering the traffic of users.

Further, in a hotel or a hospital, the autonomous driving work device may use a passage or the like along a plurality of adjacent rooms as a work area. Therefore, the autonomous driving work device corresponds to the usage situation of each room, for example, a user in a room with an open door, or a quiet tag (door sign plate) that promotes quietness by a notation such as "Do not diesel". ), It is required to work while decelerating and suppressing noise.

However, a conventional autonomous driving work device such as Patent Document 1 cannot automatically respond to the usage status of each room. In addition, such an autonomous traveling work device needs to be equipped with a remote controller and a radio wave generator for each room in a work area along a plurality of adjacent rooms, and even in a large work area, a remote controller and a radio wave generator are generated in a plurality of places. Since it is necessary to equip the equipment, the equipment cost increases. Then, it is necessary to identify the intensities of the plurality of radio waves transmitted from the plurality of radio wave generators, and there is a possibility that the plurality of radio waves interfere with each other and the intensities cannot be measured accurately. It ends up.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to appropriately suppress noise in a work area where there are a plurality of adjacent rooms and the user comes and goes, and the user's problem. An object of the present invention is to provide an autonomous driving work device capable of safely performing autonomous driving work without obstructing traffic.

In order to solve the above problems, the first autonomous driving work device of the present invention is an autonomous driving work device capable of performing autonomous driving work that autonomously travels and automatically works according to a program input in advance. , The device main body, the traveling unit that runs the device main body in the work area, the work unit that performs the work on the traveling path in the work area of the device main body, and the autonomous driving work is being executed in a predetermined restriction mode. In addition, based on the measurement result of the measuring unit, a restriction target that limits the functions of at least one of the traveling unit and the working unit is detected according to the situation of the entrance and exit around the apparatus main body, and based on the detection result. It is characterized by including a control unit that controls the traveling unit and the working unit so as to limit the functions of at least one of the traveling unit and the working unit.

According to a first autonomous working device of the present invention, it is possible to consider or to noise suppression caused by the work unit, the consideration of safety does not interfere with the traffic of people. This reduces the discomfort of noise and obstruction associated with autonomous driving and automatic work for areas such as rooms adjacent to the work area and people who come and go in the work area, and improves the safety of collision avoidance. be able to.

In order to solve the above problems, the second autonomous traveling work apparatus of the present invention is further provided with a muffling unit that mute the noise generated by the working part.

According to the second autonomous traveling work device of the present invention, the noise of the work unit can be muted with a simple configuration without stopping the work.

In order to solve the above problems, the third autonomous driving work device of the present invention further includes a measurement unit that measures the positional relationship between the device body and a non-working object around the device body, and the control unit When a spread portion where the measurement range, which is the measurement result of the measurement unit, is wider than the range regulated by the wall around the apparatus main body is detected as the restriction target, the spread portion is within the predetermined limit range. The traveling unit is controlled so as to decelerate.

According to the third autonomous traveling work device of the present invention, it is possible to predict in advance the entry and exit of a person or a trolley from a space connected to a spread area, for example, a room adjacent to the work area to the work area, and then the person or the trolley. It is possible to perform autonomous driving and automatic work while reducing the discomfort caused by the obstruction of traffic and improving the safety of traffic of people and trolleys.

In order to solve the above problems, the fourth autonomous working device of the present invention further comprises a measuring unit for measuring a positional relationship between the non-operation target around the apparatus main body and said apparatus main body, wherein the control unit When a spread portion where the measurement range, which is the measurement result of the measurement unit, is wider than the range restricted by the wall around the apparatus main body is detected as the restriction target, the spread portion is within the predetermined limit range. The traveling unit is controlled so as to decelerate, the working unit is controlled so as to weaken the intensity of the work, and the muffling unit is activated.

According to the fourth autonomous driving work device of the present invention, it is predicted in advance that there will be a person in a space leading to the spread area, for example, a room adjacent to the work area, and autonomous driving will be performed with respect to the person in this room. Autonomous driving and automatic work can be performed while reducing the discomfort of noise associated with automatic work.

In order to solve the above problems, the fifth autonomous driving work device of the present invention further includes an imaging unit that captures an image of the surroundings of the main body of the device, and the control unit obtains a quietness preset from the surrounding image. When a prompting notation is detected, the traveling unit is controlled so as to decelerate within a predetermined limit range from the notation, the working unit is controlled so as to weaken the intensity of the work, and the muffling unit is activated. It is characterized by doing.

According to the fifth autonomous driving work device of the present invention, it is recognized and predicted in advance that a person in a room adjacent to a work area is requesting quietness, and autonomous driving or autonomous driving is performed for a person in this room. Autonomous driving and automatic work can be performed while reducing the discomfort of noise associated with automatic work.

In order to solve the above problems, in the sixth autonomous driving work apparatus of the present invention, the control unit has the limited mode, at least, more than the traveling setting and the working setting preset for the standard mode. Based on a silent priority mode that limits the functions of the traveling unit and the working unit so as to prioritize suppression of noise generated by the working unit, and traveling settings and work settings preset or set for the standard mode. It is characterized in that it is possible to set any of the avoidance priority modes that limit the functions of the traveling unit so as to prioritize the avoidance of the restricted object rather than the continuation of the autonomous driving work.

According to the sixth autonomous traveling work device of the present invention, it is possible to change the operation by giving priority to either consideration for suppressing noise generated by the working part or consideration for safety that does not interfere with the traffic of people. can.

In order to solve the above problems, the seventh autonomous traveling work apparatus of the present invention includes an imaging unit that captures an image of the surroundings of the apparatus main body, an environmental map, a traveling route, and the traveling unit for one or more types of the work areas. The control unit further includes a storage device for storing the traveling setting and the work setting of the work unit, and when the control unit detects a notation relating to the type of the work area from the surrounding image, the work area of the detected type is stored. The traveling unit and the traveling unit and the working unit are read based on the environmental map, the traveling route, the traveling setting, and the working setting, while reading the corresponding environmental map, the traveling route, the traveling setting, and the working setting from the storage device. It is characterized in that it controls a work unit to execute autonomous traveling work.

According to the seventh autonomous driving work device of the present invention, it is possible to prevent a mistake in selecting automatic operation information such as an environmental map, a traveling route, a traveling setting, and a work setting for a work area that is a target of autonomous traveling work.

According to the present invention, the autonomous driving work device can appropriately suppress noise and safely perform autonomous driving work without hindering the traffic of users.

It is a schematic diagram which shows the structure of the autonomous driving work apparatus which concerns on embodiment of this invention. It is a schematic diagram which shows the environment map and the traveling route used in the autonomous driving work apparatus which concerns on embodiment of this invention, and the example of the area layout around them. It is a top view which shows the operation display part of the autonomous driving work apparatus which concerns on embodiment of this invention, and the menu screen of the touch panel. It is a top view which shows the area selection screen of the touch panel of the autonomous driving work apparatus which concerns on embodiment of this invention. It is a top view which shows the restriction mode selection screen of the touch panel of the autonomous driving work apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation example of the function limitation of the traveling part and the cleaning part in the silent priority mode in the autonomous traveling work apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation example of the function limitation of the traveling part and the cleaning part in the avoidance priority mode in the autonomous traveling work apparatus which concerns on embodiment of this invention. It is a schematic diagram which shows the operation example when the moving object is detected in the quiet priority mode in the autonomous driving work apparatus which concerns on embodiment of this invention. It is a schematic diagram which shows the example of the surrounding image which the image pickup part of the autonomous driving work apparatus which concerns on embodiment of this invention has taken. It is a schematic diagram which shows the operation example when the quietness tag is detected in the quietness priority mode in the autonomous driving work apparatus which concerns on embodiment of this invention. It is a schematic diagram which shows the operation example when the moving object is detected in the avoidance priority mode in the autonomous driving work apparatus which concerns on embodiment of this invention. It is a schematic diagram which shows the operation example at the time of detecting the expansion of the measurement range in the avoidance priority mode in the autonomous driving work apparatus which concerns on embodiment of this invention.

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

The autonomous driving work apparatus 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. In the autonomous driving work device 1, a work mechanism (working unit) for executing a predetermined work can be mounted on the device main body 2, and for example, a cleaning unit 4 for performing cleaning work on the floor surface FL below the device main body 2. Is provided as a working unit.

Further, the autonomous traveling work device 1 has a positional relationship between the device main body 2 and a non-working object such as a person, a wall WA, and other obstacles (for example, a figurine) around the device main body 2 (for example, the device main body 2). It is provided with a measuring unit 5 for measuring an angle and a distance with respect to the traveling direction of the device, and an imaging unit 6 for capturing a peripheral image 25 (see FIG. 9) of the apparatus main body 2. Further, the autonomous traveling work device 1 includes a muffling unit 7 that exerts a muffling effect on the noise generated by the cleaning work of the cleaning unit 4. Further, the autonomous driving work device 1 includes various parts and various functions of the autonomous driving work device 1 (traveling by the traveling unit 3, cleaning work by the cleaning unit 4, measurement by the measuring unit 5, imaging by the imaging unit 6, and muffling by the muffling unit 7. Etc.) is provided with a control unit 8 for integrated control. Further, the autonomous driving work device 1 includes an operation display unit 9 including a touch panel 33 for operating and displaying various functions of the autonomous driving work device 1, a wireless communication unit 10 for wireless communication with an external device, and autonomous driving. It is provided with a power supply unit 11 for supplying electric power to each unit of the traveling work device 1 and controlling the remaining amount monitoring and charging of the battery (not shown).

The autonomous traveling work device 1 mainly operates in an automatic mode in which autonomous traveling and automatic cleaning (work) are performed according to a program or data input in advance as an operation mode. When operating in the automatic mode, the autonomous driving work device 1 operates in at least one of a standard mode, a silent priority mode, an avoidance priority mode, and a special mode with respect to the limitation of the functions of the traveling unit 3 and the cleaning unit 4. .. The standard mode is a mode in which cleaning is prioritized and collisions with non-working objects such as people, wall WA and other obstacles are avoided. The silent priority mode is a mode that prioritizes the suppression of noise generated by cleaning. The avoidance priority mode is a mode in which safe avoidance of non-working objects is prioritized over cleaning. The special mode is a mode in which a silent priority mode and an avoidance priority mode are combined. The autonomous traveling work device 1 can also be operated in a setting mode in which traveling and cleaning are performed according to manual operation or remote control, or according to data obtained by modifying previously input data.

The autonomous driving work device 1 is a cleaning area AR (for example) for cleaning a place where cleaning work is required during a time when users come and go, a place such as a passage PA along a plurality of adjacent rooms RO, and the like. Work area). The autonomous traveling work device 1 automatically sets the area layout 20, the environment map 21, the traveling route 22, the traveling setting of the traveling unit 3 and the cleaning setting (work setting) of the cleaning unit 4 as shown in FIG. It is configured to execute autonomous running cleaning (autonomous running work), which is stored by creating or setting operation information, and based on this automatic operation information, running and cleaning by automatic operation. The automatic operation information also includes facility information (names of hotels, hospitals, new buildings, annexes, etc.) and area information (floor display D1 and room number D2) related to the cleaning area AR. In the automatic operation information, a restriction mode may be set in advance for the corresponding cleaning area AR.

The area layout 20 includes, for example, the arrangement of the passage PA, the stairs ST1, the emergency stairs ST2, and the elevator EV, which is the cleaning area AR, the arrangement of area information such as the floor display D1, and the arrangement and number of adjacent rooms RO along the passage PA. , The width of the passage PA side (cleaning area AR side) of each room RO (hereinafter referred to as the wall width WI), the size (range) of each room RO based on the wall width WI, and the position of the door DO of each room RO. Etc. have information about. The arrangement of each room RO and the wall width WI of the area layout 20 can be reflected in the environment map 21. For example, if the range of each room RO is divided based on the area layout 20, the wall WA on the passage PA side is further divided based on the wall width WI of the divided room RO, and the wall information is acquired, the wall information is used as the environment. It can be reflected in the map 21. For example, when the wall information of the wall WA partitioned by the wall width WI of the room RO of the room 304 in the area layout 20 is set to the 304 wall, this 304 wall is reflected as the range of the room RO of the room 304 on the environment map 21. Then, the width of the room RO of the room 304 can be detected by the measuring unit 5.

The traveling unit 3 is provided at the lower part of the device main body 2, and includes a pair of left and right front wheels 3a as driving wheels and rear wheels 3b as auxiliary wheels. Each of the pair of left and right front wheels 3a is provided with a motor (not shown) for driving forward or reverse rotation and an encoder (not shown) for detecting rotation. The traveling unit 3 can move the device main body 2 forward or backward by simultaneously rotating the pair of left and right front wheels 3a in the forward or reverse direction. Further, the traveling unit 3 can rotate the device main body 2 to the left or right by rotating one front wheel 3a at the same time as stopping or rotating the other front wheel 3a at a high speed. The traveling unit 3 can also be rotated on the spot around the minimum turning axis A by rotating the pair of left and right front wheels 3a in opposite directions.

While the operation mode of the autonomous traveling work device 1 is set to the automatic mode, the traveling unit 3 operates the motors of the pair of left and right front wheels 3a of the traveling unit 3 according to the stored traveling path 22 and the traveling setting. Therefore, the operation and stop of traveling (forward and backward) of the device main body 2, adjustment of traveling speed (acceleration / deceleration), and left and right turning are automatically operated. While the automatic mode is set, the traveling unit 3 does not accept any manual operation other than the operation of the emergency stop button 32 (see FIG. 2) of the operation display unit 9.

The data stored as the traveling path 22 of the traveling unit 3 is, for example, the coordinates of the traveling path 22 (X coordinate and Y coordinate on the environment map 21), the turning angle with respect to the traveling direction, and the count number of the encoders of the pair of left and right front wheels 3a. Etc., and the traveling route 22 can be plotted based on these data. Further, the traveling setting of the traveling unit 3 is operation / stop of traveling, traveling speed, etc. For example, data on the operating state (off, low speed, medium speed, high speed) of each motor of the pair of left and right front wheels 3a travels. It is stored for each position of the route 22. Alternatively, the operating state of the traveling motor may be set in a plurality of stages by numbers (1 to 5 or 1 to 7, etc.). The traveling settings of the traveling unit 3 may be initially set, or may be stored in advance in a storage device (not shown) of the control unit 8 by the operator, and may be stored in advance when the environment map 21 or the traveling route 22 is newly created. It may be automatically created based on the environment map 21 or the traveling route 22 according to the input program, or may be set manually via the operation display unit 9. When the operation mode of the autonomous driving work device 1 is set to the setting mode, it is possible to newly create or modify the traveling path 22 and the traveling setting.

The traveling unit 3 may include a manual operation unit (not shown) such as a handle that accepts a manual operation by an operator. In the autonomous traveling work device 1, the motors of the pair of left and right front wheels 3a of the traveling unit 3 are operated according to the manual operation of the manual operation unit by the operator to operate and stop the traveling (forward or backward) of the device main body 2. The adjustment of the traveling speed (acceleration / deceleration) and the left turn and the right turn may be manually operated. Further, the autonomous driving work device 1 may be configured to accept a remote driving operation using an operation display unit 9 composed of a tablet terminal or the like, and the traveling unit 3 may travel in response to the remote driving operation. The operator displays the operation while visually observing the autonomous driving work device 1 existing in the cleaning area AR, or visually recognizing the area layout 20 and the environment map 21 displayed on the touch panel 33 of the operation display unit 9 of the tablet terminal or the like. By operating the unit 9, the traveling unit 3 can be driven by a remote traveling operation.

The cleaning unit 4 is provided in the lower front portion of the apparatus main body 2, and is composed of, for example, a mechanism for cleaning the floor surface FL by a dry cleaning method. The cleaning unit 4 includes a brush 4a that collects dust on the floor FL by rotating, a brush motor (not shown) that rotationally drives the brush 4a, and a blower that sucks the dust collected by the brush 4a (FIG.). (Not shown), a suction nozzle 4b serving as a suction port to the blower, a bucket for collecting dust sucked by the blower (not shown), and an exhaust duct 4c for discharging the exhaust generated by the suction of the blower. The brush 4a of the cleaning unit 4 is provided on the front and lower surfaces of the apparatus main body 2, and cleans the floor surface FL by contacting and rotating the floor surface FL. The suction nozzle 4b of the cleaning unit 4 is arranged behind the brush 4a with its tip facing the vicinity of the floor surface, and a blower is provided on the base end side. The exhaust duct 4c of the cleaning unit 4 extends from the lower front blower in the apparatus main body 2 to the back side.

The cleaning unit 4 is configured to perform cleaning work on the floor surface FL by operating a brush motor or a blower according to the stored cleaning setting while the operation mode of the autonomous traveling work device 1 is set to the automatic mode. Will be done. The cleaning settings of the cleaning unit 4 are the operation / stop of the brush motor, the rotation speed, the operation / stop of the blower, the suction strength, and the like. Data such as the operating state of the blower (off, small amount, medium amount, large amount) is stored for each position of the traveling path 22. Alternatively, the operating state of the brush motor or blower may be set in a plurality of stages by numbers (1 to 5 or 1 to 7, etc.). The cleaning setting may be initially set or may be stored in advance in the storage device (not shown) of the control unit 8 by the operator, and is a program input in advance when the environment map 21 or the traveling route 22 is newly created. According to the above, the program may be automatically created based on the environment map 21 or the travel route 22, or may be manually set via the operation display unit 9. When the operation mode of the autonomous traveling work device 1 is set to the setting mode, it is possible to newly create or modify the cleaning setting.

The measuring unit 5 uses an obstacle sensor 5a such as a laser range finder (LRF) that measures the distance and angle between the apparatus main body 2 and a surrounding person, a wall WA, and other non-working objects such as obstacles. Be prepared. Further, the measuring unit 5 may be provided with a step sensor (not shown) for detecting a step on the floor surface FL near the device main body 2, a contact sensor (not shown) for detecting contact with a non-working object, and the like. good. The obstacle sensor 5a is provided, for example, on the outside (for example, the front surface) of the apparatus main body 2 and can transmit and receive measurement light to and from a predetermined scanning range R1 as shown in FIG. 8 (1), and is capable of transmitting and receiving measurement light to the floor surface. Within a predetermined measurable height from the FL, the obstacle sensor 5a detects a non-working object existing within the predetermined measurable range R2.

When the non-working object detected by the obstacle sensor 5a of the measuring unit 5 is a stationary object, the traveling unit 3 travels the distance between the autonomous traveling work device 1 and the stationary object during each unit time. It can be estimated and calculated based on the speed. On the other hand, when the non-working object detected by the obstacle sensor 5a of the measuring unit 5 is a moving object M such as a person or a trolley approaching the autonomous traveling work device 1 side, the running autonomous traveling work device 1 and the moving object With respect to the distance to M for each unit time elapsed, the distance measured by the obstacle sensor 5a is shorter than the distance calculated based on the traveling speed of the traveling unit 3 like a stationary object. In other words, the moving object M approaching the autonomous driving work device 1 side can be detected based on the detection result of the obstacle sensor 5a of the measuring unit 5. In the present embodiment, the moving object M approaching the autonomous traveling work device 1 side in the cleaning area AR is a restriction target that limits the functions of at least one of the traveling unit 3 and the cleaning unit 4.

Further, as shown in FIG. 8 and the like, the measurement range which is the measurement result of the obstacle sensor 5a of the measurement unit 5 is a predetermined measurement as long as it is not obstructed by a non-working object such as a person, a wall WA and other obstacles. It has a range up to the possible range R2. By comparing the measurement range with the predetermined measurable range R2, it is possible to determine whether or not the measurement range is regulated by the wall WA, and it is possible to estimate the range regulated by the wall WA. .. Further, when the measurement range is regulated by the wall WA while the autonomous driving work device 1 is traveling, the measurement range is wider than the range regulated by the wall WA as shown in FIGS. 12 (2) and 12 (3). It is possible to detect the spreading point SP. This spreading portion SP is, for example, an entrance / exit of a room RO such as an opening of a door DO or an opening of a wall WA, or a corner of a passage PA, and is a restriction target that limits at least one of the functions of the traveling unit 3 and the cleaning unit 4. be.

The image pickup unit 6 includes a camera 6a such as a CCD (Charge Coupled Device) that captures a peripheral image 25 of the apparatus main body 2. The camera 6a is provided, for example, on the outside of the device main body 2 (for example, the front upper surface) so as to capture a peripheral image 25 in a predetermined imaging range R3 in front of the device main body 2. The surrounding image 25 by the imaging unit 6 is used for recording a work situation by, for example, a drive recorder provided in the autonomous driving work device 1.

Further, the ambient image 25 by the imaging unit 6 is analyzed and used to detect a restricted object that limits the functions of at least one of the traveling unit 3 and the cleaning unit 4. For example, the control unit 8 performs character recognition processing based on the surrounding image 25 by the imaging unit 6 as shown in FIG. 9, and as shown in FIG. 10, the device main body 2 is within the range R4 where character recognition is possible. It is possible to detect DE of the character notation around. Then, if a quiet tag 26 (door sign plate) for promoting quietness is hung on the door DO of the room RO around the device main body 2 by a notation such as "Do not disturb", the quietness is achieved by the character recognition process of the surrounding image 25. By performing the detection DE of the character notation of the tag 26, the quiet tag 26 is detected as a restriction target that restricts the functions of at least one of the traveling unit 3 and the cleaning unit 4. The notation that promotes quietness is not limited to the character notation of "Do not disturb", and may be identified according to other character notations, barcodes, tag colors, shapes, and sizes.

The muffling unit 7 outputs an active muffling sound wave that exerts a muffling effect on the exhaust sound (noise) generated by the blower of the cleaning unit 4 and transmitted through the exhaust duct 4c. The sound deadening unit 7 includes, for example, a microphone (not shown) that collects the exhaust sound of the blower, a sound wave generating unit (not shown) that generates active sound wave, and a speaker (not shown) that outputs active sound wave. ) And. The microphone is arranged in the vicinity of the exhaust duct 4c and collects the exhaust sound of the blower in the vicinity of the exhaust duct 4c. The silencer generation unit generates an active silencer having an opposite phase in which the phase of the exhaust sound is shifted by half based on the exhaust sound collected by the microphone. The speaker is arranged in the vicinity of the exhaust duct 4c and outputs an active sound wave in the vicinity of the exhaust duct 4c. As a result, the muffling unit 7 exerts a muffling effect on the exhaust sound by superimposing the active muffling sound wave on the exhaust sound of the blower and outputting it. The sound deadening unit of the sound deadening unit 7 may be configured as a program of the control unit 8.

The control unit 8 includes a computer (not shown) such as a CPU (Central Processing Unit), and a storage device (not shown) including a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk, and a flash memory. To be equipped. The control unit 8 is attached to each part of the autonomous driving work device 1 such as the traveling unit 3, the cleaning unit 4, the measuring unit 5, the imaging unit 6, the muffling unit 7, the operation display unit 9, the wireless communication unit 10, and the power supply unit 11. It is connected.

The storage device of the control unit 8 stores programs and data for controlling each unit and various functions of the autonomous driving work device 1. The control unit 8 controls each unit and various functions in an integrated manner by the computer reading a program or data stored in the storage device and executing the program. For example, the storage device is provided with an area layout 20, an environment map 21, a travel route 22, and travel settings and cleaning settings as shown in FIG. 2 for a program implemented by autonomous travel cleaning and one or more cleaning area ARs. The combined automatic operation information is stored, and the control unit 8 controls autonomous traveling by the traveling unit 3 and automatic cleaning by the cleaning unit 4 based on this program and the automatic operation information. The automatic operation information may include a restriction mode in advance for the corresponding cleaning area AR. Further, in each restriction mode, the control unit 8 controls determination of a restriction target based on the measurement result of the measurement unit 5 or the imaging result of the imaging unit 6, restriction of the functions of the traveling unit 3 and the cleaning unit 4, and the like.

For example, data on automatic operation information such as the area layout 20 of the cleaning area AR, the environment map 21, the traveling route 22, the traveling setting and the cleaning setting, and the restriction mode can be obtained by the operator using the operation display unit 9 or the wireless communication unit 10. Is input to the control unit 8 and stored in the storage device. As shown in FIG. 2, the traveling path 22 also includes a start position P1 and a stop position P2 for autonomous traveling cleaning.

Alternatively, the environment map 21 is controlled by traveling the cleaning area AR by manual operation by the manual operation unit or remote control by the operation display unit 9 of the tablet terminal or the like when the autonomous driving work device 1 is operated in the setting mode. It may be created by the part 8 as follows. During this run, the measuring unit 5 measures the distance and angle to a non-working object such as a person, a wall WA, or other obstacles around the device main body 2. The control unit 8 uses a technique such as SLAM (Simultaneous Localization and Mapping) that estimates the self-position and creates the environment map 21 in real time, and based on the measurement result of the measurement unit 5, the control unit 8 surrounds the device main body 2. Along with creating a local map, a local map of each position is combined to create an environmental map 21, which is associated with the cleaning area AR and stored in a storage device. Alternatively, the environment map 21 may be created by the control unit 8 by inputting a program based on the area layout 20 of the cleaning area AR.

Further, the travel path 22 may be created by the control unit 8 as follows when the environment map 21 is created based on the measurement result of the measurement unit 5 in the setting mode as described above. The control unit 8 estimates the self-position (coordinates) of the device main body 2 on the environment map 21 based on the environment map 21 and the detection results of the encoders of the pair of left and right front wheels 3a of the traveling unit 3, and on the environment map 21. The travel path 22 of the above is created, and is stored in the storage device in association with the cleaning area AR. Alternatively, the traveling route 22 may be automatically created by the control unit 8 so as to have a predetermined pattern based on the environment map 21. For example, as this predetermined pattern, there is a pattern in which reciprocating travel is repeated while being offset by a certain distance toward the longitudinal direction of the environmental map 21, and a pattern in which reciprocating traveling is repeated while being offset by a constant distance from the wall WA.

Further, as for the traveling setting of the traveling unit 3 and the cleaning setting of the cleaning unit 4, the setting at the time of operation in the setting mode may be stored in the storage device in association with the cleaning area AR by the control unit 8.

The operation display unit 9 is provided on the rear upper surface of the device main body 2, and includes a main switch 31, an emergency stop button 32, and a touch panel 33 (display unit) as shown in FIG. 3, and each part of the operation display unit 9 is provided. Is connected to the control unit 8. The operation display unit 9 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 9 composed of a tablet terminal or the like may be attached as a built-in, or may be connected to the control unit 8 via the wireless communication unit 10, whereby the autonomous driving work device 1 can be remotely controlled. It becomes.

The main switch 31 is configured to be able to switch on and off. By switching the main switch 31 on, power is supplied from the power supply unit 11 to each part to operate the autonomous driving work device 1, while by switching the main switch 31 off, power is supplied from the power supply unit 11 to each part. Is stopped and the operation of the autonomous traveling work device 1 is stopped. When the emergency stop button 32 is operated, the operation of each part of the autonomous traveling work device 1 (particularly, autonomous traveling) is forcibly stopped, and the power supply from the power supply unit 11 to each part is also forcibly stopped.

The touch panel 33 displays various screens according to the control signal from the control unit 8, and transmits the operation signal based on the touch operation on each screen to the control unit 8. Details of each screen displayed on the touch panel 33 will be described later.

Based on the control signal from the control unit 8, the wireless communication unit 10 wirelessly communicates with the operation display unit 9 such as a tablet terminal or an external device according to a communication standard such as a wireless LAN such as Wi-Fi or Bluetooth (registered trademark). I do. For example, the wireless communication unit 10 transmits a control signal for displaying each screen from the control unit 8 to the operation display unit 9 of the tablet terminal, and receives the operation signal from the operation display unit 9 of the tablet terminal to the control unit 8. conduct.

The power supply unit 11 includes a battery (power supply) and a charging circuit mounted inside the device main body 2, and the battery is charged by connecting to an external power source, and power is supplied to each part of the autonomous driving work device 1. ..

Next, the operation of the autonomous traveling cleaning in each operation mode of the autonomous traveling work device 1 of the present embodiment will be described with reference to FIGS. 3 to 5. When the autonomous driving work device 1 is operated to clean the predetermined cleaning area AR, the control unit 8 displays the menu screen 35 shown in FIG. 3 on the touch panel 33.

On the menu screen 35, the automatic mode button 35a and the setting mode button 35b are displayed as touch-operable operation mode switching buttons. The operation mode of the autonomous traveling work device 1 is switched to the automatic mode by operating the automatic mode button 35a, and is switched to the setting mode by operating the setting mode button 35b.

The operation of the automatic mode of the autonomous traveling work device 1 will be described. When the automatic mode button 35a on the menu screen 35 is operated and the automatic mode is set, the control unit 8 can select an area to be automatically cleaned instead of the menu screen 35. Area selection as shown in FIG. The screen 37 is displayed on the touch panel 33.

On the area selection screen 37, the area key 37a can be selected and displayed for each automatic operation information of one or more cleaning areas AR stored in the storage device of the control unit 8. Further, the area selection screen 37 is provided with a facility column 37b and an area column 37c, and the area key 37a is divided into a facility column 37b for each common facility information, and an area column 37c corresponding to the facility column 37b. Listed in. When any of the area keys 37a displayed on the area selection screen 37 is selected, the automatic operation information corresponding to the selected area key 37a is selected as the automatic operation information to be subject to autonomous driving cleaning, and the control unit 8 controls the area. Instead of the selection screen 37, the restriction mode selection screen 39 is displayed on the touch panel 33.

Further, the menu button 37d is displayed on the area selection screen 37 so as to be touch-operable, and when the menu button 37d is operated, the automatic mode ends and the operation mode of the autonomous driving work device 1 is turned off, and the control unit 8 displays the menu screen 35 on the touch panel 33 instead of the area selection screen 37.

Further, the automatic selection button 37e is displayed on the area selection screen 37 so as to be touch-operable, and when the automatic selection button 37e is operated, the control unit 8 displays the surrounding image 25 of the autonomous traveling work device 1 by the imaging unit 6. Based on this, the character notation related to the type of cleaning area AR such as facility information (names of hotels, hospitals, new buildings, annexes, etc.) and area information (floor display D1 and room number D2) of the cleaning area AR is detected. Then, when the control unit 8 detects the character notation relating to the type of the cleaning area AR, the automatic operation information (area layout 20, environment map 21, travel route 22, travel setting and cleaning setting, and restriction mode corresponding to the cleaning area AR) ) Is selected as the automatic operation information for autonomous driving cleaning. When the restriction mode is preset in the automatic operation information, the traveling unit 3 and the cleaning unit 4 are controlled based on the read automatic operation information without displaying the restriction mode selection screen 39 to perform autonomous driving cleaning. Will be done.

On the restricted mode selection screen 39, standard mode buttons 39a, silent priority mode buttons 39b, avoidance priority mode buttons 39c and corresponding to each of the standard mode, silent priority mode, avoidance priority mode and special mode are displayed as restriction mode switching buttons. The special mode button 39d is displayed in a selectable manner. When any of the standard mode button 39a, the silent priority mode button 39b, the avoidance priority mode button 39c, and the special mode button 39d is selected, the corresponding restriction mode is set, and the control unit 8 sets the automatic mode selected above. The operation information is read from the storage device, and autonomous driving cleaning in the set restricted mode is executed based on the automatic operation information.

Further, on the restriction mode selection screen 39, the menu button 39e is displayed in a touch-operable manner as in the area selection screen 37, and when the menu button 39e is operated, the automatic mode is terminated and the autonomous driving work device 1 is operated. The operation mode is turned off, and the control unit 8 displays the menu screen 35 on the touch panel 33 instead of the restriction mode selection screen 39.

The control unit 8 reads the automatic operation information selected as described above from the storage device, and when the restriction mode is selected, controls the traveling unit 3 and the cleaning unit 4 based on the read automatic operation information to autonomously. Running cleaning will be performed. In the autonomous driving cleaning, the area layout 20, the environment map 21, and the traveling route 22 as shown in FIG. 2 may be displayed on the touch panel 33. Further, when performing this autonomous driving cleaning, the control unit 8 newly creates an environmental map 21, a traveling route 22, a traveling setting, and a cleaning setting of the cleaning area AR, and updates and stores the previous automatic operation information. It may be stored in the device.

The operation of the setting mode of the autonomous driving work device 1 will be described. When the setting mode button 35b of the menu screen 35 is operated to set the setting mode, the control unit 8 displays a setting start screen (not shown) on the touch panel 33 instead of the menu screen 35. On the setting start screen, it is possible to select the new creation mode and the correction mode of the automatic operation information as described above.

When the new creation mode is set on the setting start screen, as described above, the autonomous driving work device 1 can be operated by manual operation by the manual operation unit or remote control by the operation display unit 9 of the tablet terminal or the like. .. Then, the control unit 8 creates an environment map 21 of the cleaning area AR based on this traveling operation and stores it in the storage device. Further, as described above, the control unit 8 automatically creates the traveling route 22 based on the created environment map 21, or automatically based on the data of the traveling unit 3 at the time of creating the environment map 21. The traveling path 22 is created and stored in the storage device.

After the creation of the environment map 21 and the traveling route 22 is completed, the control unit 8 can set the traveling setting and the cleaning setting of the automatic operation information in the state where the autonomous traveling work device 1 is stopped (not shown). ) Is displayed on the touch panel 33. On the detailed setting screen, for example, the environment map 21 and the traveling route 22 are displayed on the touch panel 33, and the start position P1 and the stop position P2 can be set on the displayed traveling route 22. Further, on the detailed setting screen, it is possible to set the traveling setting and the cleaning setting at each position on the displayed traveling route 22. At this time, on the detailed setting screen, a button that can set the operating state of the motors of the pair of left and right front wheels 3a regarding forward, backward, turning, etc. of the traveling unit 3 and a display indicating the operating state are displayed. Further, on the detailed setting screen, a button that can set the operating state of the brush motor and the blower of the cleaning unit 4 and a display indicating the operating state are displayed.

Then, the control unit 8 stores the environment map 21 and the traveling route 22 created as described above, and the automatic operation information including the traveling setting and the cleaning setting set on the detailed setting screen in association with the cleaning area AR. Store in the device. Further, the control unit 8 selects the newly created automatic operation information as the automatic operation information to be subject to autonomous driving cleaning, and displays the above-mentioned restriction mode selection screen 39 on the touch panel 33 instead of the detailed setting screen. The operation after selecting the restricted mode is the same as that of the automatic mode.

Further, when the correction mode is set on the setting start screen, the control unit 8 has the same correction area selection screen as the area selection screen 37 (not shown) in order to select the cleaning area AR to be corrected and the automatic operation information. ) Is displayed on the touch panel 33. On the correction area selection screen, one or more cleaning area ARs stored in the storage device of the control unit 8 are displayed so as to be selectable. The control unit 8 targets the automatic operation information of the cleaning area AR selected on the correction area selection screen as a correction target, and the information correction screen capable of correcting the environment map 21, the travel route 22, the travel setting, and the cleaning setting of the automatic operation information. (Not shown) is displayed on the touch panel 33.

On the information correction screen, the environment map 21, the travel route 22, and the start position P1 and the stop position P2 on the travel route 22 are displayed on the touch panel 33 in a correctable manner, as in the detailed setting screen. Further, on the information correction screen, it is possible to correct the travel setting and the cleaning setting at each position on the displayed travel route 22 in the same manner as the detailed setting screen.

Then, the control unit 8 overwrites the modified environment map 21 and travel path 22 on the detailed setting screen, and automatic operation information including the travel setting and the cleaning setting, and stores the information in the storage device. Further, the control unit 8 selects the automatic operation information corrected on the information correction screen as the automatic operation information to be subject to autonomous driving cleaning, and displays the above-mentioned restriction mode selection screen 39 on the touch panel 33 instead of the information correction screen. do. The operation after selecting the restricted mode is the same as that of the automatic mode.

Next, the operation of limiting the functions of the traveling unit 3 and the cleaning unit 4 in each restriction mode of the autonomous traveling work device 1 will be described with reference to FIGS. 6 to 12.

First, a case where the standard mode is set on the restriction mode selection screen 39 will be described. When a restricted object on the traveling path 22 is detected based on the measurement result of the measuring unit 5 or the imaging result of the imaging unit 6 during the execution of the autonomous driving cleaning, the control unit 8 separates the restricted object from the restricted object by a predetermined safety distance. The traveling unit 3 is controlled so as to travel along the traveling path 22. At this time, the control unit 8 controls the autonomous traveling of the traveling unit 3 and the automatic cleaning of the cleaning unit 4 without changing the traveling speed setting of the traveling unit 3 or the cleaning setting of the cleaning unit 4 . As a result, in the standard mode, the autonomous traveling work device 1 can clean the cleaning area in a short time by giving priority to cleaning and avoiding the restricted object without reducing the traveling speed.

Next, the case where the silent priority mode is set on the restriction mode selection screen 39 will be described with reference to the flowchart of FIG. In the silent priority mode, when a restricted object is detected based on the measurement result of the measuring unit 5 or the imaging result of the imaging unit 6 during the execution of autonomous driving cleaning, the control unit 8 describes the following according to the type of the restricted object. The functions of the traveling unit 3 and the cleaning unit 4 are restricted as described above.

For example, in the silent priority mode, as shown in FIG. 8 (1), when the measuring unit 5 detects a moving object M approaching the autonomous traveling work device 1 side as a restriction target (step S1: Yes), control is performed. When the distance between the device main body 2 and the moving object M is within a predetermined distance, the unit 8 lowers the traveling setting of the traveling unit 3 and the cleaning setting of the cleaning unit 4 as shown in FIG. 8 (2), and further, further The muffling unit 7 is activated (step S2). In FIG. 8, the size of the solid arrow indicates the strength of the running setting and the cleaning setting. For example, the control unit 8 reduces the rotation speed of the motors of the pair of left and right front wheels 3a of the traveling unit 3 to decelerate, and lowers the rotation speed of the brush motor of the cleaning unit 4 and the suction strength of the blower to weaken the cleaning work strength. Further, the muffling unit 7 executes active muffling for the exhaust sound of the blower. When the moving object M is detected on the traveling path 22, the control unit 8 controls the traveling unit 3 so as to travel along the traveling path 22 while keeping a predetermined safety distance from the restricted target. May be good.

After that, as shown in FIG. 8 (3), the autonomous traveling work device 1 passes through the moving object M (the moving object M moves to the side away from the autonomous traveling work device 1), and the moving object M moves to the measuring unit. After the autonomous traveling work device 1 has traveled a predetermined distance or a predetermined time for a predetermined distance or a predetermined time (step S3: Yes) after being detected by 5, the control unit 8 is based on the traveling setting of the traveling unit 3 and the cleaning setting of the cleaning unit 4. Then, the muffling unit 7 is stopped (step S2).

Further, in the silent priority mode, when the measurement unit 5 detects a widening point SP whose measurement range is wider than the range restricted by the wall as a restriction target (step S5: Yes), the control unit 8 is the device main body. When the distance between 2 and the spreading portion SP is within a predetermined distance, the traveling setting of the traveling unit 3 and the cleaning setting of the cleaning unit 4 are lowered, and the muffling unit 7 is further activated (step S6).

After that, after the autonomous traveling work device 1 has passed the spread portion SP and the spread portion SP is no longer detected by the measuring unit 5, after the autonomous traveling work device 1 has traveled a predetermined distance or a predetermined time (step S7: Yes). ), The control unit 8 restores the traveling setting of the traveling unit 3 and the cleaning setting of the cleaning unit 4, and further stops the muffling unit 7 (step S8). For this predetermined distance or predetermined time, the distance or time required for the autonomous traveling work device 1 to pass the width of the passage PA side (cleaning area AR side) of the room RO corresponding to the spread portion SP is set.

Further, in the silent priority mode, as shown in FIGS. 10 (1) to 10 (3), when the quiet tag 26 is detected based on the surrounding image 25 (see FIG. 9) by the imaging unit 6 as the restriction target (step). S9: Yes), the control unit 8 lowers the traveling setting of the traveling unit 3 and the cleaning setting of the cleaning unit 4 within the range corresponding to the door DO (door DO subject to restriction) on which the quiet tag 26 is hung. , The muffling unit 7 is activated (step S6). In FIG. 10, the size of the solid arrow indicates the strength of the running setting and the cleaning setting.

For example, the control unit 8 calculates the direction and distance from the autonomous traveling work device 1 to the restricted door DO based on the surrounding image 25. Then, the control unit 8 is based on the calculation result of the direction and distance of the door DO to be restricted, the local map created from the measurement result of the measurement unit 5, and the position of the autonomous driving work device 1 on the local map. Estimate the restricted door DO on the local map. When the distance between the device main body 2 and the restricted door DO is within a predetermined distance, the control unit 8 lowers the traveling setting of the traveling unit 3 and the cleaning setting of the cleaning unit 4, and further activates the muffling unit 7.

After that, after the autonomous driving work device 1 has passed the restricted door DO and the quiet tag 26 is no longer detected by the measuring unit 5, the autonomous driving work device 1 has traveled a predetermined distance or a predetermined time (step S7: Yes), the control unit 8 restores the traveling setting of the traveling unit 3 and the cleaning setting of the cleaning unit 4, and further stops the muffling unit 7 (step S8).

Alternatively, the control unit 8 determines the section for which the function is restricted, the calculation result of the direction and distance of the door DO to be restricted, the local map created from the measurement result of the measurement unit 5, and the environment map stored in the storage device. The restricted door DO in the environmental map 21 is estimated based on the position of the autonomous traveling work device 1 in 21, and the position and passage of the room RO corresponding to the restricted door DO are estimated based on the area layout 20 and the environmental map 21. The width on the PA side may be extracted. In this case, the control unit 8 lowers the traveling setting of the traveling unit 3 and the cleaning setting of the cleaning unit 4 and activates the muffling unit 7 within the width of the passage PA side of the room RO corresponding to the restricted door DO.

Alternatively, the control unit 8 determines an image of the restricted door DO and its surroundings based on the calculation result of the direction and distance of the restricted door DO and the surrounding image 25 by the imaging unit 6 as a determination of the section for which the function is restricted. The room number D2 may be extracted by performing character recognition processing on the character notation of the room number D2. Then, the control unit 8 may extract the position of the room RO of the extracted room number D2 and the width on the passage PA side based on the area layout 20 and the environment map 21.

Next, the case where the avoidance priority mode is set on the restriction mode selection screen 39 will be described with reference to the flowchart of FIG. 7. Even in the avoidance priority mode, if a restricted object is detected based on the measurement result of the measuring unit 5 during the execution of autonomous driving cleaning, the control unit 8 moves the traveling unit 3 as shown below according to the type of the restricted object. And the function of the cleaning unit 4 is restricted.

For example, in the avoidance priority mode, as shown in FIG. 11 (1), when the measuring unit 5 detects a moving object M approaching the autonomous traveling work device 1 side as a restriction target (step S11: Yes), control is performed. When the moving object M is detected, the unit 8 controls the cleaning unit 4 so as to stop the cleaning operation (rotation of the brush motor and suction of the blower) (step S12). In FIG. 11, the size of the solid line arrow indicates the strength of the traveling setting and the cleaning setting. Further, the control unit 8 stores the position on the travel path 22 at which the avoidance of the autonomous travel work device 1 is started as the avoidance start position, and the autonomous travel work in the local map created from the measurement result of the measurement unit 5. Based on the position of the device 1, the wall WA closest to the autonomous traveling work device 1 is detected as an avoidance position that does not interfere with the moving object M (step S12). At this time, the control unit 8 may use the area layout 20 or the environment map 21.

Then, as shown in FIG. 11 (2), the control unit 8 controls the traveling unit 3 so as to move the autonomous traveling work device 1 to the detected nearest wall WA side. Further, as shown in FIG. 11 (3), the control unit 8 is oriented toward the passage PA side (moving object M side) where the autonomous traveling work device 1 moved to the wall WA side can continue to detect the moving object M (moving object M side). The traveling unit 3 is controlled so that the obstacle sensor 5a of the measuring unit 5 turns and stops until the obstacle sensor 5a faces the cleaning area AR (step S13). The movement and turning of the autonomous traveling work device 1 toward the wall WA side are performed so as to avoid a collision with a surrounding restricted object based on the measurement result of the measuring unit 5.

Even after the autonomous driving work device 1 is stopped on the wall WA side, the control unit 8 continues to detect the moving object M by the measuring unit 5, and after a predetermined time has elapsed after the moving object M is no longer detected. (Step S14: Yes), the control unit 8 controls the traveling unit 3 so as to move the autonomous traveling work device 1 to the avoidance start position on the traveling path 22, and then restarts the autonomous traveling work. And the cleaning unit 4 is controlled (step S15).

In the above description, an example in which the control unit 8 detects the wall WA closest to the autonomous driving work device 1 as an avoidance position that does not interfere with the moving object M has been described, but the avoidance position is not limited to this. For example, the control unit 8 estimates and calculates the movement route of the moving object M based on the position and the traveling direction of the moving object M on the local map calculated by estimating from the measurement result of the measuring unit 5, and calculates the moving object. The wall WA on the side far from the movement path of M may be estimated and detected as an avoidance position. Then, the control unit 8 controls the traveling unit 3 so as to move the autonomous traveling work device 1 to the avoidance position in the same manner as described above.

Further, in the avoidance priority mode, as shown in FIGS. 12 (1) to 12 (3), as a restriction target, an expansion point SP in which the measurement range is wider than the range regulated by the wall WA is detected by the measurement unit 5. In the case (step S16: Yes), when the distance between the device main body 2 and the spreading portion SP is within a predetermined distance (step S17: Yes), the control unit 8 lowers the traveling setting of the traveling unit 3 (step S18). In FIG. 12, the size of the solid arrow indicates the strength of the running setting and the cleaning setting. Further, as shown in FIG. 12 (4), after the autonomous traveling work device 1 has passed the spread portion SP and the spread portion SP is no longer detected by the measuring unit 5, the autonomous traveling work device 1 is set to a predetermined distance or a predetermined distance. After traveling for a time (step S19: Yes), the control unit 8 restores the traveling setting of the traveling unit 3 (step S20).

When the special mode is set on the limited mode selection screen 39, on the limited mode selection screen 39, the ratio setting switch 39f such as the volume control for setting the ratio of the silent priority mode and the avoidance priority mode executed in the special mode is touch-operated. Displayed as possible. The ratio of the silent priority mode and the avoidance priority mode of the special mode is quiet with respect to a predetermined maximum limit distance between the autonomous traveling work device 1 and the restricted target when the functions of the traveling unit 3 and the cleaning unit 4 are started to be restricted. It is the ratio of the distance to execute the priority mode to the distance to execute the avoidance priority mode. For example, if the priority ratio of the silent priority mode is 70% and the priority ratio of the avoidance priority mode is 30%, the silent priority mode is executed at 70% of the maximum limit distance, and the avoidance priority mode is executed at the remaining 30%. Will be done. It is possible to select whether to execute the silent priority mode or the avoidance priority mode first.

When the special mode is set, the control unit 8 causes the traveling unit 3 to execute the silent priority mode and the avoidance priority mode based on the priority ratios of the silent priority mode and the avoidance priority mode set as described above. And controls the cleaning unit 4. In addition, on the restriction mode selection screen 39, when the special mode of the predetermined priority ratio of the silent priority mode and the avoidance priority mode is executed in the predetermined facility or the cleaning area AR, the special mode of the predetermined priority ratio is given a different name. It may be attached and memorized. For example, a special mode with a priority ratio that was effective for operation in a hospital may be stored as a hospital mode. On the restricted mode selection screen 39, the buttons corresponding to the modes separately named in this way are displayed side by side separately from the special mode button 39d so that they can be selected.

As described above, according to the present embodiment, the autonomous traveling work device 1 capable of executing the autonomous traveling work that autonomously travels and automatically works according to the program input in advance is the device main body 2 and the device main body 2. A traveling unit 3 that travels in the cleaning area AR (working area), a cleaning unit 4 (working unit) that performs cleaning (working) on the traveling path 22 in the cleaning area AR of the device main body 2, and the device main body 2. Based on the measurement results of the measuring unit 5 that measures the positional relationship with the non-working object around the device main body 2 and the autonomous running cleaning (autonomous running work) in a predetermined restriction mode, the measuring unit 5 is being executed. A restriction target for restricting the functions of at least one of the traveling unit 3 and the cleaning unit 4 is detected from the periphery of the device main body 2, and the functions of at least one of the traveling unit 3 and the cleaning unit 4 are restricted based on the detection result. It includes a control unit 8 that controls a traveling unit 3 and a cleaning unit 4. Then, as the limiting mode, the control unit 8 gives priority to at least a silent priority mode in which the functions of the traveling unit 3 and the cleaning unit 4 are restricted so as to prioritize suppression of noise generated by the cleaning unit 4, and avoidance of the restriction target. As described above, it is possible to set any of the avoidance priority modes that limit the functions of the traveling unit 3.

With such a configuration, the autonomous driving work device 1 according to the present embodiment operates by giving priority to either consideration for suppressing noise generated by the cleaning unit 4 or consideration for safety that does not interfere with the traffic of people. Can be changed. This reduces the discomfort of noise and obstruction associated with autonomous driving and automatic cleaning for areas such as room RO adjacent to the cleaning area AR and people (moving objects M) who come and go in the cleaning area AR. The safety of collision avoidance can be improved.

Further, in the present embodiment, the autonomous traveling work device 1 further includes a muffling unit 7 that mute the noise generated by the cleaning work of the cleaning unit 4 that performs the cleaning work of the floor surface FL as a work.

With such a configuration, the noise of the cleaning unit 4 can be muted with a simple configuration without stopping the cleaning work.

Further, in the present embodiment, when the control unit 8 detects a restricted object (moving object M) that moves in a direction approaching the device main body 2 around the device main body 2 when the silent priority mode is set, Until the restricted object is no longer detected, the traveling unit is controlled so as to decelerate, the cleaning unit 4 is controlled so as to weaken the strength of the cleaning work, and the muffling unit is activated.

With such a configuration, it is possible to perform autonomous driving and automatic cleaning while reducing the discomfort of noise associated with autonomous driving and automatic cleaning for people who come and go in the cleaning area AR.

Further, in the present embodiment, when the silent priority mode is set, the measurement range of the measurement result of the measurement unit 5 is wider than the range regulated by the wall WA around the apparatus main body 2. When the spread portion SP is detected as a restriction target, the traveling unit 3 is controlled so as to decelerate within a predetermined limit range from the spread portion SP, and the cleaning unit 4 is controlled so as to weaken the strength of the cleaning work. Further, the muffling unit 7 is activated.

With such a configuration, it is predicted in advance that there will be a person in the space leading to the spread area SP, for example, the room RO adjacent to the cleaning area AR, and the person in this room RO can be autonomously driven or automatically cleaned. Autonomous driving and automatic cleaning can be performed while reducing the discomfort of the accompanying noise. For example, when it is detected that the door DO of a predetermined room RO is open, the range of the wall WA on the passage PA side of the room RO is recognized based on the measurement result of the measuring unit 5, and the range of the wall WA is within the range. By limiting the functions of the traveling unit 3 and the cleaning unit 4, it is possible to reduce the discomfort of noise to the person who entered the room RO.

Further, in the present embodiment, the autonomous driving work device 1 further includes an imaging unit 6 that captures a peripheral image 25 of the device main body 2. When the quiet priority mode is set, the control unit 8 detects a notation such as a quiet tag 26 that promotes quietness from the surrounding image 25, so that the control unit 8 decelerates within a predetermined limit range from this notation. In addition to controlling the traveling unit 3, the cleaning unit 4 is controlled so as to weaken the strength of the cleaning work, and the muffling unit 7 is further activated.

With such a configuration, it is predicted in advance that a person in the room RO adjacent to the cleaning area AR is requesting quietness, and the person in this room RO is noisy due to autonomous driving or automatic cleaning. Autonomous driving and automatic cleaning can be performed while reducing pleasure.

Further, in the present embodiment, when the control unit 8 detects a restricted object (moving object M) that moves in a direction approaching the device main body 2 around the device main body 2 when the avoidance priority mode is set, The traveling unit 3 is controlled so as to detect an avoidance position that does not interfere with the restriction target and move the device main body 2 to this avoidance position to stop, and the cleaning unit 4 is controlled so as to stop cleaning. After stopping the traveling unit 3 and the cleaning unit 4, after the restriction target is no longer detected, the traveling unit 3 and the cleaning unit 4 are moved so as to move the device main body 2 to the original avoidance start point and restart the autonomous driving cleaning. Control. For example, the control unit 8 detects the wall WA closest to the device main body 2 as the avoidance position, or detects the wall WA farther from the movement path to be restricted as the avoidance position.

With such a configuration, people and trolleys that come and go in the cleaning area AR can move to open the way (give way) so that they do not get in the way of coming and going. For example, in a cleaning area AR such as a hospital or an elderly home, it can be appropriately avoided without hindering the movement of patients and elderly people walking along the wall WA. Therefore, it is possible to perform autonomous driving and automatic cleaning while reducing discomfort caused by obstruction of traffic of people and trolleys and improving safety of traffic of people and trolleys.

Further, in the present embodiment, when the avoidance priority mode is set, the measurement range of the measurement result of the measurement unit 5 is wider than the range regulated by the wall WA around the apparatus main body 2. When the spreading point SP is detected as a restriction target, the traveling unit 3 is controlled so as to decelerate within a predetermined limiting range from the spreading point SP.

With such a configuration, it is possible to predict in advance the entry and exit of people and trolleys from the space connected to the spread area SP, for example, the room RO adjacent to the cleaning area AR to the cleaning area AR, and obstruct the traffic of people and trolleys. Autonomous driving and automatic cleaning can be performed while reducing the discomfort caused by the above and improving the safety of traffic of people and trolleys.

Further, in the present embodiment, the autonomous traveling work device 1 stores the environment map 21, the traveling route 22, the traveling setting of the traveling unit 3, the cleaning setting of the cleaning unit 4, and the restriction mode for one or more types of cleaning area AR. The device is provided in the control unit 8. When the control unit 8 detects a notation such as a floor display D1 or a room number D2 regarding the type of the cleaning area AR from the surrounding image 25, the control unit 8 has an environment map 21, a travel route 22, and a travel setting corresponding to the detected type of cleaning area AR. And the cleaning setting and the restriction mode are read from the storage device, and the traveling unit 3 and the cleaning unit 4 are controlled based on the read environment map 21, the traveling route 22, the traveling setting and the cleaning setting, and the restriction mode to execute the autonomous traveling cleaning. do.

With such a configuration, it is possible to prevent mistakes in selecting automatic operation information such as the environment map 21, the traveling route 22, the traveling setting and the cleaning setting, and the restriction mode for the cleaning area AR that is the target of the autonomous traveling cleaning. For example, the floor display D1 shown on the wall WA or floor FL of the cleaning area AR, the door DO of each room RO, or the room number D2 shown in the vicinity thereof can be recognized as a notation relating to the type of the cleaning area AR. The floor display D1 is often in the immediate vicinity of the elevator EV, and it is possible to recognize the floor immediately after starting the autonomous driving cleaning and determine whether the automatic operation information for the cleaning area AR is appropriate.

In the present embodiment described above, an example in which the cleaning unit 4 is configured by a dry cleaning mechanism has been described, but the cleaning unit 4 is not limited to this example and may be configured by a wet cleaning mechanism.

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

The present invention can be suitably used for an autonomous driving work device capable of autonomous driving work and an automatic floor cleaning / cleaning device for business use integrally configured with the autonomous driving work device according to a program input in advance.

1 Autonomous traveling device 2 Device main body 3 Traveling unit 4 Cleaning unit (working unit)
5 Measuring unit 5a Obstacle sensor 6 Imaging unit 6a Camera 7 Silent unit 8 Control unit 9 Operation display unit 10 Wireless communication unit 11 Power supply unit 20 Area layout 21 Environmental map 22 Travel route 25 Surrounding image 26 Quiet tag 31 Main switch 32 Emergency stop Button 33 Touch panel 35 Menu screen 37 Area selection screen 39 Restricted mode selection screen

Claims (7)

It is an autonomous driving work device that can execute autonomous driving work that autonomously travels and works automatically according to a program input in advance.
With the device body
A traveling unit that allows the device body to travel within the work area, and
A work unit that performs work on a traveling path in the work area of the device main body, and
While the autonomous driving work is being executed in the predetermined restriction mode, a restriction target for restricting the functions of the traveling unit and at least one of the working units is detected according to the situation of the entrance and exit around the apparatus main body, and the detection result is used. Based on this, a control unit that controls the traveling unit and the working unit so as to limit the functions of at least one of the traveling unit and the working unit.
An autonomous driving work device characterized by being equipped with. The autonomous driving work device according to claim 1, further comprising a muffling unit for muffling the noise generated by the work of the working part. A measuring unit for measuring the positional relationship between the device main body and a non-working object around the device main body is further provided.
When the control unit detects, as the restriction target, a spread portion in which the measurement range, which is the measurement result of the measurement unit, is wider than the range restricted by the wall around the apparatus main body, the control unit determines from the spread portion. The autonomous driving work apparatus according to claim 1 or 2, wherein the traveling unit is controlled so as to decelerate within the limited range of the above. A measuring unit for measuring the positional relationship between the device main body and a non-working object around the device main body is further provided.
When the control unit detects, as the restriction target, a spread portion in which the measurement range, which is the measurement result of the measurement unit, is wider than the range restricted by the wall around the apparatus main body, the control unit determines from the spread portion. 2. The second aspect of the present invention is characterized in that the traveling unit is controlled so as to decelerate, the working unit is controlled so as to weaken the strength of the work, and the muffling unit is activated. Autonomous driving work equipment. An imaging unit that captures an image of the surroundings of the device body is further provided.
When the control unit detects a preset notation for promoting quietness from the surrounding image, the control unit controls the traveling unit so as to decelerate within a predetermined limitation range from the notation and weakens the intensity of the work. The autonomous driving work apparatus according to any one of claims 2 to 4, wherein the working unit is controlled and the muffling unit is activated. The control unit and the work unit so as to prioritize suppression of noise generated by the work unit as the restriction mode, at least over the travel settings and work settings preset or set for the standard mode. The driving so as to prioritize the avoidance of the restriction target over the silent priority mode that limits the function of the unit and the continuation of the autonomous driving work based on the driving setting and the work setting preset or set for the standard mode. The autonomous driving work apparatus according to any one of claims 1 to 5, wherein any one of the avoidance priority modes that limit the functions of the unit can be set. An imaging unit that captures an image of the surroundings of the device body,
Further, an environmental map, a traveling route, a traveling setting of the traveling unit, a working setting of the working unit, and a storage device for storing the restriction mode for one or more types of the working areas are further provided.
When the control unit detects a notation relating to the type of the work area from the surrounding image, the control unit includes the environment map, the travel route, the travel setting, the work setting, and the restriction mode corresponding to the detected type of the work area. Is read from the storage device, and the traveling unit and the working unit are controlled based on the read environment map, the traveling route, the traveling setting and the working setting, and the limiting mode to execute the autonomous driving work. The autonomous driving work apparatus according to claim 1.

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