JP4127700B2 - Autonomous vehicle - Google Patents

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JP4127700B2
JP4127700B2 JP2005176464A JP2005176464A JP4127700B2 JP 4127700 B2 JP4127700 B2 JP 4127700B2 JP 2005176464 A JP2005176464 A JP 2005176464A JP 2005176464 A JP2005176464 A JP 2005176464A JP 4127700 B2 JP4127700 B2 JP 4127700B2
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traveling
obstacle detection
obstacle
main body
detection sensor
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JP2006346178A (en
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仁志 飯坂
雅仁 佐野
修 土屋
隆志 冨山
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Toshiba Corp
Toshiba Lifestyle Products and Services Corp
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Toshiba Corp
Toshiba Consumer Electronics Holdings Corp
Toshiba Home Appliances Corp
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Description

本発明は、自律走行は勿論、手動走行させることもできる自律走行体に関する。   The present invention relates to an autonomous traveling body that can be manually traveled as well as autonomous traveling.

従来、無人で行う自律走行と手動で行う手動走行の両方ができる自律走行体としては、例えば、本体周囲に設けた障害物検知手段からの検知信号を自律走行時のみ有効とし、手動走行時に接触しても反応しないようにすることで、使用者が本体を移動させるとき本体が自分の足や壁などに接触させてもその都度異常処理を行うことが無く、使用性を向上した自走式掃除機が知られている（例えば、特許文献１参照）。
特開平１０−２０６０３８号公報 Conventionally, as an autonomous traveling body capable of both autonomous traveling manually and manually traveling manually, for example, the detection signal from the obstacle detection means provided around the main body is valid only during autonomous traveling, and is contacted during manual traveling. Self-propelled with improved usability without causing abnormal handling each time the main body touches your feet or walls when the user moves the main body A vacuum cleaner is known (see, for example, Patent Document 1).
Japanese Patent Laid-Open No. 10-206038

しかしながら、この特許文献１記載のものは、手動走行時に障害物検知手段が全く機能を果たさないので、本体を障害物の間を移動させるような場合には移動中に本体が障害物に頻繁に接触するようになり、スムーズな移動ができないという問題があった。   However, since the obstacle detection means does not function at all during manual travel, the body described in Patent Document 1 is frequently used as an obstacle during movement when the body is moved between obstacles. There was a problem that it became in contact and could not be moved smoothly.

そこで、本発明は、手動走行時においても障害物検知センサで障害物を検知して障害物の回避走行ができ、しかも、手動走行時に使用する障害物検知センサを自律走行時に使用する障害物検知センサの一部を兼用できて障害物検知センサを有効に使用でき、また、経済性も向上できる自律走行体を提供する。   Therefore, the present invention can detect obstacles with an obstacle detection sensor even during manual driving and can avoid obstacles. Further, the obstacle detection sensor uses an obstacle detection sensor used during manual driving during autonomous driving. Provided is an autonomous traveling body that can also be used as part of a sensor, can effectively use an obstacle detection sensor, and can also improve economy.

本発明は、駆動源により左右に設けた駆動車輪を回転駆動して自律走行し、駆動源による駆動車輪の回転駆動が解除されて手動により走行される走行体本体と、自律走行時に少なくとも前方を含む周囲の障害物を検知する複数の障害物検知センサと、自律走行の動作モードにするか手動走行の動作モードにするかを切替える動作モード切替え手段と、この動作モード切替え手段が手動走行の動作モードへの切替えを行うと、各障害物検知センサのうち、所定の障害物検知センサを使用するセンサとして選択するセンサ選択手段と、動作モード切替え手段により自律走行の動作モードへの切替えを行ったときには、複数の障害物検知センサを全て使用し、いずれかの障害物検知センサが障害物を検知したときその検知した障害物を回避するように走行体本体を自律走行制御し、動作モード切替え手段により手動走行の動作モードへの切替えを行ったときには、走行体本体を手動走行させ、センサ選択手段で選択された障害物検知センサが障害物を検知したときその検知した障害物を回避する期間、走行体本体を自律走行制御する走行制御手段を備えた自律走行体にある。そして、走行体本体を手動走行させる操作部材をその走行体本体の走行方向前面に着脱自在に取付け、走行体本体を手動走行させるときには操作部材を引っ張って走行体本体を前方に走行させ、走行体本体を自律走行させるときには操作部材を離脱させる構成とし、走行体本体の走行方向前面に、前方の障害物を検知する障害物検知センサを配置するとともに左右斜め前方の障害物をそれぞれ検知する障害物検知センサを配置し、手動走行時にはセンサ選択手段は前方の障害物を検知する障害物検知センサを使用するセンサとして選択しないようにした。
The present invention comprises a traveling body that is driven autonomously by rotationally driving drive wheels provided on the left and right sides by a drive source, and that is driven manually by releasing the rotational drive of the drive wheels by the drive source, A plurality of obstacle detection sensors for detecting surrounding obstacles, an operation mode switching means for switching between an operation mode for autonomous driving or an operation mode for manual driving, and the operation mode switching means for manual driving operation When switching to the mode, the sensor selection means for selecting as a sensor using the predetermined obstacle detection sensor among the obstacle detection sensors, and the operation mode switching means switched to the operation mode of autonomous traveling Sometimes, use all the obstacle detection sensors and avoid any detected obstacles when any obstacle detection sensor detects the obstacle. When the traveling body is autonomously controlled and the operation mode switching means switches to the manual operation mode, the traveling body is manually driven, and the obstacle detection sensor selected by the sensor selection means detects the obstacle. When detected, the vehicle is in an autonomous traveling body provided with traveling control means for autonomously controlling the traveling body for a period of avoiding the detected obstacle. An operating member for manually traveling the traveling body main body is detachably attached to the front surface of the traveling body main body in the traveling direction, and when the traveling body main body is manually traveled, the operating body is pulled forward to travel the traveling body body forward. When the main body is autonomously operated, the operation member is configured to be detached, and an obstacle detection sensor that detects an obstacle in front is arranged on the front of the traveling body in the traveling direction, and obstacles that detect obstacles in front of the left and right sides are detected. A detection sensor is arranged so that the sensor selection means is not selected as a sensor that uses an obstacle detection sensor that detects an obstacle ahead in manual driving.

本発明によれば、手動走行時においても障害物検知センサで障害物を検知して障害物の回避走行ができ、しかも、手動走行時に使用する障害物検知センサを自律走行時に使用する障害物検知センサの一部を兼用できて障害物検知センサを有効に使用でき、また、経済性も向上できる。   According to the present invention, the obstacle detection sensor can detect obstacles even during manual driving and can avoid obstacles, and the obstacle detection sensor used during manual driving uses obstacle detection during autonomous driving. Part of the sensor can also be used, and the obstacle detection sensor can be used effectively, and the economy can be improved.

以下、本発明の一実施の形態を、図面を参照して説明する。なお、この実施の形態は、本発明を、清掃作業を行う自律走行体に適用したものについて述べる。
図１乃至図４は自律走行体の構成を示す図で、図１は自律走行時の正面外観を示す図、図２は自律走行用作業部材を取付けたときの内部構成を示す図、図３は図２のＡ−Ａ線に沿って断面した平面図、図４は手動操作用作業部材を取付けたときの内部構成を示す図である。 Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In this embodiment, the present invention is applied to an autonomous traveling body that performs a cleaning operation.
1 to 4 are diagrams showing a configuration of an autonomous traveling body, FIG. 1 is a diagram showing a front appearance during autonomous traveling, FIG. 2 is a diagram showing an internal configuration when a working member for autonomous traveling is attached, FIG. FIG. 4 is a plan view taken along line AA in FIG. 2, and FIG. 4 is a view showing an internal configuration when a manual operation member is attached.

立方体形状の走行体本体１の走行方向前面中央に設けた吸気パイプ２に、床面側に吸込み口、床ブラシを設けた清掃部材３を先端部に取付けた自律走行用作業部材４を取付けている。この自律走行用作業部材４は前記吸気パイプ２に対して着脱自在になっている。前記吸気パイプ２は走行体本体１内において集塵室５に連通している。前記集塵室５の後方にはフィルタ（図示せず）を介してファン６が配置され、このファン６をクリーナモータ７によって回転するようになっている。   A work member 4 for autonomous traveling is attached to a suction pipe 2 provided in the center of the traveling direction of the cube-shaped traveling body main body 1 and a cleaning member 3 provided with a suction port and a floor brush on the floor side is attached to the tip. Yes. The autonomous traveling work member 4 is detachable from the intake pipe 2. The intake pipe 2 communicates with the dust collection chamber 5 in the traveling body main body 1. A fan 6 is disposed behind the dust collection chamber 5 through a filter (not shown), and the fan 6 is rotated by a cleaner motor 7.

この自律走行体は、クリーナモータ７によってファン６が回転すると、自律走行用作業部材４の吸込み口から空気とともに塵を吸込む。そして、塵を集塵室５に集め、空気をフィルタ、ファン６、クリーナモータ７を介して外部に排気することになる。   When the fan 6 is rotated by the cleaner motor 7, the autonomous traveling body sucks dust together with air from the suction port of the autonomous traveling work member 4. Then, the dust is collected in the dust collection chamber 5 and the air is exhausted to the outside through the filter, the fan 6 and the cleaner motor 7.

前記走行体本体１の底部略中央の左右にそれぞれ走行用の駆動車輪８ａ、８ｂを取り付け、この左右の駆動車輪８ａ，８ｂをそれぞれ駆動源である左車輪走行モータ９ａ、右車輪走行モータ９ｂで個々に回転駆動するようにしている。また、前記走行体本体１の底部後端中央には回転自在で方向が左右に自由に旋回する旋回輪１０が取り付けられている。   Driving wheels 8a and 8b for traveling are attached to the left and right of the center of the bottom of the traveling body 1, respectively, and the left and right driving wheels 8a and 8b are driven by a left wheel traveling motor 9a and a right wheel traveling motor 9b, respectively. It is designed to rotate individually. In addition, a turning wheel 10 is attached to the center of the rear end of the bottom of the traveling body 1 so as to freely rotate and turn right and left.

前記走行体本体１の走行方向前面に、前記自律走行用作業部材４の取付け部の左右上方に位置して、例えば超音波センサからなる左前方障害物検知センサ１１及び右前方障害物検知センサ１２を配置している。また、前記走行体本体１の走行方向前面の左右角部に、例えば超音波センサからなる左斜め前方障害物検知センサ１３及び右斜め前方障害物検知センサ１４を配置している。   A front left obstacle detection sensor 11 and a right front obstacle detection sensor 12 made of, for example, an ultrasonic sensor are located on the front side in the running direction of the traveling body main body 1 and above and to the left and right of the attachment portion of the working member 4 for autonomous running. Is arranged. Further, a left oblique front obstacle detection sensor 13 and a right oblique front obstacle detection sensor 14 made of, for example, an ultrasonic sensor are disposed at the left and right corners of the traveling body front surface of the traveling body 1.

前記左前方障害物検知センサ１１は走行体本体１が走行する前方左側にある壁や物などの障害物を検知し、前記右前方障害物検知センサ１２は走行体本体１が走行する前方右側にある壁や物などの障害物を検知し、前記左斜め前方障害物検知センサ１３は走行体本体１が走行する左斜め前方にある壁や物などの障害物を検知し、前記右斜め前方障害物検知センサ１４は走行体本体１が走行する右斜め前方にある壁や物などの障害物を検知するようになっている。
前記走行体本体１内には、ＣＰＵ、ＲＯＭ、ＲＡＭ等の制御回路部品を組み込んだ回路基板１５及び各部に電源を供給するバッテリ１６が収納されている。 The left front obstacle detection sensor 11 detects an obstacle such as a wall or an object on the left front side where the traveling body main body 1 travels, and the right front obstacle detection sensor 12 is located on the front right side where the traveling body main body 1 travels. An obstacle such as a wall or an object is detected, and the left oblique front obstacle detection sensor 13 detects an obstacle such as a wall or an object that is obliquely forward left where the traveling body 1 travels, and the right oblique forward obstacle. The object detection sensor 14 is configured to detect an obstacle such as a wall or an object located diagonally forward to the right where the traveling body main body 1 travels.
In the traveling body 1, a circuit board 15 in which control circuit components such as a CPU, a ROM, and a RAM are incorporated, and a battery 16 that supplies power to each unit are housed.

前記走行体本体１は、図４に示すように、前記自律走行用作業部材４に代えて手動操作用作業部材１７を前記吸気パイプ２に接続できるようになっている。前記手動操作用作業部材１７は、手元操作部を設けた棒状の筒部１８と、この筒部１８を前記吸気パイプ２と接続する伸縮自在な延長ホース１９と、前記筒部１８の先端に接続した前記清掃部材３によって構成されている。すなわち、前記清掃部材３は自律走行用作業部材４及び手動操作用作業部材１７に共通に使用できるようになっている。
前記走行体本体１の天部前方に、この走行体本体１を自律走行の動作モードにするか手動走行の動作モードにするかを切替え操作するためのモード切替えボタン２０を設けている。 As shown in FIG. 4, the traveling body main body 1 can connect a manual operation work member 17 to the intake pipe 2 in place of the autonomous travel work member 4. The manual operation work member 17 is connected to a rod-shaped tube portion 18 provided with a hand operation portion, an extendable extension hose 19 that connects the tube portion 18 to the intake pipe 2, and a tip of the tube portion 18. It is comprised by the said cleaning member 3. That is, the cleaning member 3 can be used in common for the autonomous traveling work member 4 and the manual operation work member 17.
A mode switching button 20 is provided in front of the top of the traveling body 1 to switch the traveling body 1 between the autonomous traveling mode and the manual traveling mode.

図５は走行体本体１における制御部のハード構成を示すブロック図で、２１は制御部本体を構成するＣＰＵ（中央処理ユニット）、２２はこのＣＰＵ２１が各部を制御するプログラムが格納されたＲＯＭ（リード・オンリー・メモリ）、２３はデータを演算するためのメモリや一時記憶用バッファメモリなど、各種メモリを設けたＲＡＭ（ランダム・アクセス・メモリ）である。   FIG. 5 is a block diagram showing the hardware configuration of the control unit in the traveling body main body 1. Reference numeral 21 denotes a CPU (central processing unit) that constitutes the control unit main body, and 22 is a ROM (ROM) in which a program for controlling the respective parts by the CPU 21 is stored. A read only memory) 23 is a random access memory (RAM) provided with various memories such as a memory for calculating data and a buffer memory for temporary storage.

また、２４は前記各障害物検知センサ１１〜１４、前記クリーナモータ７を回転制御するモータ制御部２５、左右の車輪走行モータ９ａ，９ｂを回転制御するモータ制御部２６及び前記モード切替えボタン２０に対する信号の入出力制御を行うＩ／Ｏポートである。前記ＣＰＵ２１、ＲＯＭ２２、ＲＡＭ２３及びＩ／Ｏポート２４は互いにバスライン２７を介して電気的に接続されている。   Reference numeral 24 denotes each of the obstacle detection sensors 11 to 14, a motor control unit 25 that controls the rotation of the cleaner motor 7, a motor control unit 26 that controls the rotation of the left and right wheel travel motors 9 a and 9 b, and the mode switching button 20. This is an I / O port for performing signal input / output control. The CPU 21, ROM 22, RAM 23 and I / O port 24 are electrically connected to each other via a bus line 27.

図６は、前記ＣＰＵ２１、ＲＯＭ２２、ＲＡＭ２３、Ｉ／Ｏポート２４の複合体から構成される制御部３０を機能的に示したブロック図で、この自律走行体は、機能的には、前記モータ制御部２６を制御して左右の車輪走行モータ９ａ，９ｂの回転速度を制御する車輪速度制御手段３１と、前記モード切替えボタン２０の押下によって動作モードを自律走行と手動走行に交互に切替える動作モード切替え手段３２と、この動作モード切替え手段３２が手動走行の動作モードにモード切替えを行うと、前記各障害物検知センサ１１〜１４のうち、所定の障害物検知センサ、例えば、前記左斜め前方障害物検知センサ１３と右斜め前方障害物検知センサ１４を使用するセンサとして選択するセンサ選択手段３３と、切替え設定された動作モードにおいて、前記ＲＯＭ２２に予め記憶されている走行手順と前記ＲＡＭ２３に随時記憶される前記各障害物検知センサ１１〜１４から出力される有効な検知情報に基づいて走行体本体１を走行制御する走行制御手段３４を備えている。   FIG. 6 is a block diagram functionally showing a control unit 30 composed of a complex of the CPU 21, ROM 22, RAM 23, and I / O port 24. This autonomously traveling body is functionally configured to control the motor. Wheel speed control means 31 for controlling the rotational speed of the left and right wheel travel motors 9a, 9b by controlling the unit 26, and operation mode switching for alternately switching the operation mode between autonomous travel and manual travel by pressing the mode switching button 20 When the means 32 and the operation mode switching means 32 perform mode switching to the operation mode of manual travel, a predetermined obstacle detection sensor, for example, the left diagonally forward obstacle, among the obstacle detection sensors 11 to 14. The sensor selection means 33 that selects the detection sensor 13 and the right oblique front obstacle detection sensor 14 as sensors to be used, and the operation mode that is set to be switched. And travel control for controlling the travel body 1 based on travel procedures stored in advance in the ROM 22 and effective detection information output from the obstacle detection sensors 11 to 14 stored in the RAM 23 as needed. Means 34 are provided.

このような構成においては、モード切替えボタン２０を押下することで動作モードを自律走行と手動走行に切替えることができる。そして、自律走行の動作モードの時には、走行制御手段３４は、左右の車輪走行モータ９ａ，９ｂを回転制御し、走行体本体１に対する前進、旋回の走行方式を決定する。   In such a configuration, the operation mode can be switched between autonomous traveling and manual traveling by pressing the mode switching button 20. In the autonomous running operation mode, the running control unit 34 controls the rotation of the left and right wheel running motors 9a and 9b, and determines the traveling method of forward and turning with respect to the traveling body main body 1.

また、手動走行の動作モード時には、走行制御手段３４は、基本的には車輪走行モータ９ａ，９ｂによる駆動車輪８ａ，８ｂの駆動を停止させる。すなわち、走行体本体１に手動による力が加えられると駆動車輪８ａ，８ｂは力が加えられた方向に自由に回転するようになる。そして、前記左斜め前方障害物検知センサ１３、右斜め前方障害物検知センサ１４の一方あるいは両方が障害物検知を行うと、走行制御手段３４は障害物を回避するための走行方式を決定する。
自律走行の動作モードと手動走行の動作モードにおける各障害物検知センサ１１〜１４の有効、無効の関係を示すと表１に示すようになる。

Figure 0004127700
In the manual travel operation mode, the travel control means 34 basically stops driving the drive wheels 8a, 8b by the wheel travel motors 9a, 9b. That is, when a manual force is applied to the traveling body 1, the drive wheels 8a and 8b freely rotate in the direction in which the force is applied. When one or both of the left oblique front obstacle detection sensor 13 and the right oblique front obstacle detection sensor 14 perform obstacle detection, the traveling control means 34 determines a traveling method for avoiding the obstacle.
Table 1 shows the valid / invalid relationship between the obstacle detection sensors 11 to 14 in the autonomous running mode and the manual running mode.
Figure 0004127700

制御部３０は、走行制御手段３４によって動作モードにおける走行方式が決定されると、車輪速度制御手段３１が左右の車輪走行モータ９ａ，９ｂの回転速度を決定する。そして、モータ制御部２６により左右の車輪走行モータ９ａ，９ｂが回転駆動され、車輪走行モータ９ａ，９ｂは、左右の駆動車輪８ａ，８ｂを個々に回転駆動する。   In the control unit 30, when the traveling method in the operation mode is determined by the traveling control unit 34, the wheel speed control unit 31 determines the rotational speeds of the left and right wheel traveling motors 9a and 9b. The motor control unit 26 rotationally drives the left and right wheel traveling motors 9a and 9b, and the wheel traveling motors 9a and 9b individually rotate the left and right driving wheels 8a and 8b.

前記走行制御手段３４は、自律走行の動作モードにおいては走行体本体１に対する前進、旋回の走行方式を決定するが、その自律走行の基本制御は、図７の流れ図に基づいて行われる。すなわち、ステップＳ１にて、前進走行を開始し、ステップＳ２にて、各障害物検知センサ１１〜１４が障害物を検知するか否かを判定する。障害物が検知されない限りは前進し続ける。   The traveling control means 34 determines the traveling method of forward and turning with respect to the traveling body 1 in the autonomous traveling operation mode, and the basic control of the autonomous traveling is performed based on the flowchart of FIG. That is, in step S1, forward traveling is started, and in step S2, it is determined whether or not each obstacle detection sensor 11-14 detects an obstacle. Continue moving forward unless an obstacle is detected.

そして、ステップＳ２にて、障害物検知センサ１１〜１４による障害物検知が判定されると、ステップＳ３にて、前進走行を停止させる。続いて、ステップＳ４にて、障害物を回避するように進行方向を変える旋回走行を開始する。このときの旋回走行は、左右の駆動車輪８ａ，８ｂの速度差が大きくなるように車輪速度制御手段３１が車輪走行モータ９ａ，９ｂの回転速度を制御することによって行われる。この旋回走行において、左右の駆動車輪８ａ，８ｂを、同速度で、かつ、一方の駆動車輪の回転方向を逆転させれば走行体本体１をその場で旋回させることもできる。   And if the obstacle detection by the obstacle detection sensors 11-14 is determined in step S2, the forward running is stopped in step S3. Subsequently, in step S4, the turning traveling that changes the traveling direction so as to avoid the obstacle is started. The turning travel at this time is performed by the wheel speed control means 31 controlling the rotational speeds of the wheel travel motors 9a and 9b so that the speed difference between the left and right drive wheels 8a and 8b becomes large. In this turning traveling, the traveling body 1 can be turned on the spot if the left and right driving wheels 8a and 8b are rotated at the same speed and the rotation direction of one of the driving wheels is reversed.

旋回走行を開始して所定時間が経過すると、ステップＳ５にて、旋回走行を終了させ、ステップＳ１に戻って再び前進走行を開始する。
このように、走行体本体１は自律走行の動作モードにおいては、前進と旋回を繰り返しながら、壁や物などの障害物を回避しながら自律走行する。 When a predetermined time elapses after the start of turning, the turning is ended in step S5, the process returns to step S1, and the forward running is started again.
Thus, in the operation mode of autonomous traveling, the traveling body main body 1 autonomously travels while avoiding obstacles such as walls and objects while repeating forward movement and turning.

また、前記走行制御手段３４は、手動走行の動作モードにおいては基本的には手動操作用作業部材１７を前方に引くことで走行体本体１は前方に走行する。このときには、車輪走行モータ９ａ，９ｂは動作せず、左右の駆動車輪８ａ，８ｂはフリーになっている。そして、このときの制御は、図８の流れ図に基づいて行われる。   The traveling control means 34 basically travels forward by pulling the manual operation work member 17 forward in the manual traveling operation mode. At this time, the wheel drive motors 9a and 9b do not operate, and the left and right drive wheels 8a and 8b are free. The control at this time is performed based on the flowchart of FIG.

すなわち、手動操作用作業部材１７により引かれて走行体本体１が前方に走行しているときに、ステップＳ１１にて、左斜め前方障害物検知センサ１３、右斜め前方障害物検知センサ１４の一方あるいは両方が斜め前方にある障害物を検知すると、ステップＳ１２にて、車輪走行モータ９ａ，９ｂによる左右の駆動車輪８ａ，８ｂの回転駆動をオンにする。そして、ステップＳ１３にて、回避走行を開始する。このときの回避走行は、障害物を迂回するように車輪速度制御手段３１が左右の駆動車輪８ａ，８ｂの回転速度に速度差をつける制御を行うことである。例えば、障害物に対して右方向に迂回する場合には、左の駆動車輪８ａの回転速度を右の駆動車輪８ｂの回転速度よりも大きくすればよい。   That is, when the traveling body 1 is pulled forward by the manual operation work member 17, one of the left diagonally forward obstacle detection sensor 13 and the right diagonally forward obstacle detection sensor 14 is detected in Step S11. Alternatively, when both of the obstacles diagonally forward are detected, in step S12, the rotational driving of the left and right drive wheels 8a, 8b by the wheel travel motors 9a, 9b is turned on. In step S13, avoidance traveling is started. The avoidance travel at this time is that the wheel speed control means 31 performs a control for making a speed difference between the rotation speeds of the left and right drive wheels 8a and 8b so as to bypass the obstacle. For example, when detouring to the right with respect to the obstacle, the rotational speed of the left drive wheel 8a may be made larger than the rotational speed of the right drive wheel 8b.

回避走行を開始してから所定時間が経過すると、ステップＳ１４にて、回避走行を終了する。そして、ステップＳ１５にて、車輪走行モータ９ａ，９ｂによる駆動車輪８ａ，８ｂの回転駆動をオフにし、再び駆動車輪８ａ，８ｂをフリーに戻す。   When a predetermined time has elapsed since the start of the avoidance travel, the avoidance travel is terminated in step S14. In step S15, the rotational driving of the drive wheels 8a and 8b by the wheel travel motors 9a and 9b is turned off, and the drive wheels 8a and 8b are returned to the free state again.

このように、自律走行の動作モードにおいて障害物検知に使用する各障害物検知センサ１１〜１４のうち、左斜め前方障害物検知センサ１３と右斜め前方障害物検知センサ１４を手動走行の動作モードにも使用し、手動走行中にこの各障害物検知センサ１３，１４が障害物を検知すると、走行体本体１を一時的に自律走行に切替えて障害物を回避することができる。   Thus, among the obstacle detection sensors 11 to 14 used for obstacle detection in the operation mode of autonomous driving, the left diagonal front obstacle detection sensor 13 and the right diagonal front obstacle detection sensor 14 are operated in the manual driving operation mode. When the obstacle detection sensors 13, 14 detect obstacles during manual travel, the travel body 1 can be temporarily switched to autonomous travel to avoid obstacles.

従って、自律走行の動作モードで使用する左斜め前方障害物検知センサ１３と右斜め前方障害物検知センサ１４を手動走行の動作モードにも有効に使用することができ、また、経済性も向上できる。しかも、手動操作用作業部材１７で走行体本体１を引いて、例えば、壁の角を曲がるときに走行体本体１が壁に当たって動かなくなる虞があるが、このようなときには障害物検知センサ１３，１４が障害物を検知して走行体本体１を壁の角を迂回するように自律走行させることができる。従って、障害物が頻繁にでてくるような場所を手動走行させる場合に、障害物を回避しながら走行体本体１をスムーズに走行させることができる。   Therefore, the left oblique front obstacle detection sensor 13 and the right oblique front obstacle detection sensor 14 used in the autonomous traveling operation mode can be effectively used also in the manual traveling operation mode, and the economy can be improved. . In addition, when the traveling body main body 1 is pulled by the manual operation work member 17 to turn the corner of the wall, for example, the traveling body main body 1 may hit the wall and become unable to move. In such a case, the obstacle detection sensor 13, 14 can detect an obstacle and make the traveling body main body 1 autonomously travel around the corner of the wall. Therefore, when manually traveling in a place where obstacles frequently appear, the traveling body 1 can be smoothly traveled while avoiding the obstacles.

また、自律走行の動作モードで使用する左前方障害物検知センサ１１と右前方障害物検知センサ１２については、手動操作用作業部材１７の近傍にあるため、前方で動いている手動操作用作業部材１７を障害物として検知する誤動作が生じる。そこで、この障害物検知センサ１１，１２については手動走行時には無効として扱い使用しない。これにより、手動操作用作業部材１７を誤って障害物として検知する誤動作を防止できる。   Further, the left front obstacle detection sensor 11 and the right front obstacle detection sensor 12 used in the autonomous driving operation mode are in the vicinity of the manual operation work member 17, so that the manual operation work member moving in front is used. A malfunction that detects 17 as an obstacle occurs. Therefore, the obstacle detection sensors 11 and 12 are treated as invalid during manual travel and are not used. Thereby, the malfunctioning which detects the operation member 17 for manual operation as an obstruction can be prevented.

また、自律走行時に清掃作業に使用する自律走行用作業部材４の先端部に取付けた清掃部材３を、手動操作用作業部材１７の先端部にも取り付けできるようにして清掃部材３の共通化を図っている。これにより、清掃部材としては１個有ればよく、経済性を向上できる。   Further, the cleaning member 3 attached to the distal end portion of the autonomous traveling work member 4 used for the cleaning work during autonomous traveling can be attached to the distal end portion of the manual operation working member 17 so that the cleaning member 3 is made common. I am trying. Thereby, it is sufficient that there is one cleaning member, and the economy can be improved.

なお、この実施の形態においては、走行体本体１の走行方向前面側に左前方障害物検知センサ１１、右前方障害物検知センサ１２、左斜め前方障害物検知センサ１３、右斜め前方障害物検知センサ１４の４つの障害物検知センサを配置したものについて述べたが、少なくとも前方を含む周囲の障害物を検知する構成になっていれば、センサの数や配置位置はこれに限定するものでないのは勿論である。   In this embodiment, the left front obstacle detection sensor 11, the right front obstacle detection sensor 12, the left diagonal front obstacle detection sensor 13, the right diagonal front obstacle detection are provided on the front side of the traveling body 1 in the traveling direction. Although the sensor 14 having four obstacle detection sensors arranged has been described, the number and arrangement positions of the sensors are not limited to this as long as the surrounding obstacles including at least the front are detected. Of course.

また、この実施の形態は本発明を、清掃作業を行う自律走行体に適用したものについて述べたがこれに限定するものではなく、自律走行体を自律走行と手動走行の両方できるものに適用できるものである。   Moreover, although this embodiment described what applied this invention to the autonomous traveling body which performs cleaning work, it is not limited to this, The autonomous traveling body can be applied to what can perform both autonomous traveling and manual traveling. Is.

本発明の一実施の形態に係る自律走行体の正面外観を示す図。The figure which shows the front external appearance of the autonomous running body which concerns on one embodiment of this invention. 同実施の形態に係る自律走行体に自律走行用作業部材を取付けたときの内部構成を示す図。The figure which shows an internal structure when the working member for autonomous running is attached to the autonomous running body which concerns on the embodiment. 図２のＡ−Ａ銭に沿って断面した平面図。FIG. 3 is a plan view taken along a line AA in FIG. 2. 同実施の形態に係る自律走行体に手動操作用作業部材を取付けたときの内部構成を示す図。The figure which shows an internal structure when the operation member for manual operation is attached to the autonomous running body which concerns on the embodiment. 同実施の形態に係る走行体本体の制御部のハード構成を示すブロック図。The block diagram which shows the hardware constitutions of the control part of the traveling body main body which concerns on the embodiment. 同実施の形態における制御部の構成を機能的に示す機能ブロック図。The functional block diagram which shows the structure of the control part in the embodiment functionally. 同実施の形態における制御部の走行制御手段による自律走行制御を示す流れ図。The flowchart which shows the autonomous traveling control by the traveling control means of the control part in the embodiment. 同実施の形態における制御部の走行制御手段による手動走行制御を示す流れ図。The flowchart which shows the manual travel control by the travel control means of the control part in the embodiment.

符号の説明Explanation of symbols

１…走行体本体、４…自律走行用作業部材、８ａ，８ｂ…駆動車輪、９ａ，９ｂ…車輪走行モータ、１１〜１４…障害物検知センサ、１７…手動操作用作業部材、２１…ＣＰＵ、２２…ＲＯＭ、３２…動作モード切替え手段、３３…センサ選択手段、３４…走行制御手段。   DESCRIPTION OF SYMBOLS 1 ... Running body main body, 4 ... Working member for autonomous running, 8a, 8b ... Drive wheel, 9a, 9b ... Wheel running motor, 11-14 ... Obstacle detection sensor, 17 ... Working member for manual operation, 21 ... CPU, 22 ... ROM, 32 ... operation mode switching means, 33 ... sensor selection means, 34 ... running control means.

Claims (1)

駆動源により左右に設けた駆動車輪を回転駆動して自律走行し、前記駆動源による前記駆動車輪の回転駆動が解除されて手動により走行される走行体本体と、
自律走行時に少なくとも前方を含む周囲の障害物を検知する複数の障害物検知センサと、
自律走行の動作モードにするか手動走行の動作モードにするかを切替える動作モード切替え手段と、
この動作モード切替え手段が手動走行の動作モードへの切替えを行うと、前記各障害物検知センサのうち、所定の障害物検知センサを使用するセンサとして選択するセンサ選択手段と、
前記動作モード切替え手段により自律走行の動作モードへの切替えを行ったときには、前記複数の障害物検知センサを全て使用し、いずれかの障害物検知センサが障害物を検知したときその検知した障害物を回避するように前記走行体本体を自律走行制御し、前記動作モード切替え手段により手動走行の動作モードへの切替えを行ったときには、前記走行体本体を手動走行させ、前記センサ選択手段で選択された障害物検知センサが障害物を検知したときその検知した障害物を回避する期間、前記走行体本体を自律走行制御する走行制御手段を備え、
前記走行体本体を手動走行させる操作部材をその走行体本体の走行方向前面に着脱自在に取付け、前記走行体本体を手動走行させるときには前記操作部材を引っ張って前記走行体本体を前方に走行させ、前記走行体本体を自律走行させるときには前記操作部材を離脱させる構成とし、
前記走行体本体の走行方向前面に、前方の障害物を検知する障害物検知センサを配置するとともに左右斜め前方の障害物をそれぞれ検知する障害物検知センサを配置し、手動走行時には前記センサ選択手段は前方の障害物を検知する障害物検知センサを使用するセンサとして選択しないことを特徴とする自律走行体。 A traveling body main body that travels autonomously by rotationally driving drive wheels provided on the left and right by a drive source, and is manually driven after the rotational drive of the drive wheels by the drive source is released.
A plurality of obstacle detection sensors for detecting surrounding obstacles including at least the front during autonomous driving;
An operation mode switching means for switching between an autonomous running mode or a manual running mode;
When this operation mode switching means switches to the operation mode of manual travel, a sensor selection means for selecting a sensor using a predetermined obstacle detection sensor among the obstacle detection sensors,
When the operation mode switching means switches to the autonomous running operation mode, all of the plurality of obstacle detection sensors are used, and when any obstacle detection sensor detects an obstacle, the detected obstacle When the traveling body main body is autonomously controlled so that the operation mode switching unit switches to the manual traveling operation mode, the traveling body body is manually traveled and selected by the sensor selection unit. When the obstacle detection sensor detects an obstacle, a period for avoiding the detected obstacle is provided with a traveling control means for autonomously controlling the traveling body main body ,
An operating member for manually traveling the traveling body main body is detachably attached to a front surface in a traveling direction of the traveling body main body, and when the traveling body main body is manually traveled, the operating member is pulled to travel forward. When the traveling body main body is autonomously traveled, the operation member is separated.
An obstacle detection sensor that detects an obstacle ahead is disposed in front of the traveling body main body in the traveling direction, and an obstacle detection sensor that respectively detects obstacles diagonally forward left and right is disposed. Is not selected as a sensor that uses an obstacle detection sensor that detects an obstacle ahead .
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