JP4962255B2 - Self-propelled device - Google Patents

Description

  The present invention relates to a self-propelled device that autonomously travels while avoiding obstacles and performs operations such as cleaning, monitoring, and transportation.

  Conventionally, as this type of self-propelled device, for example, a self-propelled cleaner that uses an ultrasonic distance sensor and an optical distance sensor to perform cleaning so as not to collide with an obstacle is known (for example, Patent Document 1).

  As shown in FIG. 7, the self-propelled cleaner has an ultrasonic distance sensor 131 and optical distance sensors 132R and 132L, and outputs a drive signal from the motor drive I / F 141 via the sensor I / F 130. Is.

Then, as shown in the flowchart for obstacle determination shown in FIG. 8, after the distance measurement data from the ultrasonic distance measuring sensor 131 is acquired in S100, the distance data acquired in S105 is below the approach limit. Determine whether or not. If it is determined that the distance is below the approach limit, the traveling is stopped in S110, the distance data is acquired by the optical distance measuring sensors 132R and 132L, and it is determined that there is a front obstacle. If it is not determined that the approach limit is determined in S105, the distance data from the right and left optical distance measuring sensors 132R and 132L is acquired in S120, and it is determined whether or not the approach limit is not exceeded in S125. If it is below the approach limit, the traveling is stopped in S130 and it is determined that there is a forward obstacle. If it is not determined as an approach limit in S125, it is determined that there is no forward obstacle. As described above, the objects that cannot be accurately measured by the ultrasonic distance measuring sensor 131 are also used in combination with the optical distance measuring sensors 132R and 132L to increase the number of objects that can be accurately measured so as not to collide with an obstacle. .
JP 2007-148591 A

  However, in the conventional configuration, it is determined whether or not to stop by determining a distance below the approach limit to a constant value. For example, there is a certain degree of hardness and parallel to the vertical direction from the ground to the ceiling. If the obstacle is facing, the ultrasonic distance sensor can measure the exact distance, but if it is an oblique obstacle, the reflected wave of the ultrasonic wave returning to the self-propelled cleaner is weak and the distance is accurate. May not be measured. In addition, since the optical distance measuring sensor generally has higher directivity than the ultrasonic sensor, if there are about two, the sensor has many blind spots, and an obstacle cannot be detected. However, the sensor may be detected if the position of the self-propelled cleaner is slightly shifted. For example, if the sensor enters the blind spot near the approach limit distance, it will fall within the approach limit distance when the sensor is detected again. It is what will end up.

  By the way, in the area environment where there are few obstacles that become blind spots of the sensor, it is better that the traveling speed of the self-propelled cleaner is higher in order to increase the temporal cleaning efficiency. However, if the traveling speed of the self-propelled vacuum cleaner is increased to improve the time cleaning efficiency, if the exact distance to the obstacle cannot be measured, the brake will be delayed and the obstacle will be moved at a higher speed. It will impact and the impact will increase.

  The present invention solves the above-mentioned conventional problems, and it is possible to perform an optimal work in accordance with the work environment by trade-off of collision avoidance to an obstacle and work time efficiency for improving the time efficiency of the work area. An object is to provide a self-propelled device and a program that can.

In order to solve the above-described conventional problems, the self-propelled device of the present invention includes a traveling means and a steering means for moving a main body, an obstacle detecting means for detecting an obstacle, and the fact that the main body collides with an obstacle. The collision detection means for detecting and controlling the traveling means and the steering means when the obstacle detection means detects an obstacle during the movement of the main body or when the collision detection means detects a collision with the obstacle. The control means for controlling the movement of the main body, the traveling speed determining means for determining the traveling speed of the main body, the number of collisions detected by the collision detecting means at the end of the work, and the number of collisions per unit time from the work time are stored. A self-propelled device that determines the traveling speed of the main body at the next work from the value stored in the storage means .

  As a result, the traveling speed of the main body is determined by reflecting the number of collisions of obstacles by the collision detection means, so that the traveling speed of the main body is varied to trade off obstacle collision avoidance and work time efficiency. It can perform the most suitable work according to the environment.

  The self-propelled cleaner and the program according to the present invention can perform an optimal work in accordance with the work environment, which trades off the collision avoidance to the obstacle and the work time efficiency for increasing the time efficiency of the work area.

The first invention includes a traveling means and a steering means for moving the main body, an obstacle detecting means for detecting an obstacle, a collision detecting means for detecting that the main body has collided with an obstacle, Control means for controlling movement of the main body by controlling the travel means and the steering means when the obstacle detection means detects an obstacle, or when the collision detection means detects a collision with an obstacle; Travel speed determining means for determining the travel speed of the main body, and storage means for storing the number of collisions per unit time from the number of times the collision detection means has detected a collision at the end of work and the work time
When the number of previous collisions is large, the next traveling speed is slowed down and the number of collisions is small. Learn how to increase the next traveling speed and increase the working time efficiency, reduce the number of collisions as much as possible and increase the working time efficiency, and perform the optimal work according to the user's work environment be able to.

In the second invention, in particular, in the first invention, the storage means averages and stores the work for the past N times, so that the number of collisions per unit time for the past N times is large. When the next traveling speed is slowed and the number of collisions per unit time for the past N times is small, the next traveling speed is increased and learning is performed to increase the working time efficiency. It is possible to perform optimal work together. In other words, even when the position of an obstacle such as a chair changes compared to the previous work, and the number of collisions changes, the average of the previous N work times is judged to reduce variation and more accurately. The number of collisions can be reduced as much as possible, and the work time efficiency can be increased, so that the optimum work can be performed according to the user's work environment.

In particular, in the first or second invention, the third invention is a storage means for storing the trajectory of the main body moved and the lap time, a travel distance measuring means for measuring the distance traveled by the main body, and the main body stored. Lap detection means that detects that the main body has made a round around the area based on the trajectory of the Therefore, the traveling speed determination means works by using the default traveling speed. As a result, the lap time is reflected in the traveling speed of the main body, so that it is possible to perform the optimum work more accurately in accordance with the user's work environment.

In particular, according to a fourth aspect of the present invention, in the first or second aspect of the present invention, storage means for storing the trajectory of the main body and the circulated distance, travel distance measuring means for measuring the distance of movement of the main body, and the stored main body Lap detection means to detect that the main body has made a round around the area based on the trajectory of the movement, and if the lap run distance at the beginning of work differs from the previously stored lap distance by a predetermined value or more, work in a different area from the previous time Therefore, the traveling speed determination means works by using the default traveling speed. Thereby, since the lap distance is reflected in the traveling speed of the main body, it is possible to perform the optimum work in accordance with the user's work environment more accurately.

In particular, in the fifth or second invention, the fifth invention is a storage means for storing the trajectory of the main body and the time and distance of the lap, and a travel distance measuring means for measuring the distance the main body has moved. It is equipped with a lap detection means that detects that the main body has made a round around the area based on the trajectory of the main body, and both the lap time and distance traveled at the beginning of the work are the previously stored lap time, distance and a predetermined value or more If it is different, it is determined that the work is performed in a different area from the previous time, and the travel speed determination means uses the default travel speed to work. Thereby, since the lap time and the distance are reflected in the traveling speed of the main body, it is possible to perform the optimum work more accurately according to the user's work environment.

According to a sixth aspect of the present invention, in particular, in any one of the first to fifth aspects of the present invention, the user is provided with notification means that informs the user of the traveling speed determined by the traveling speed determining means by sound or display. Since it can learn that the traveling speed of the main body has been changed by learning the device, even if you feel that the traveling speed of the main body is slower than usual, priority is given to the self-propelled device avoiding the collision There is no anxiety due to misunderstandings such as strange behavior.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments.

(Embodiment 1)
1 to 4 illustrate a self-propelled cleaner as the self-propelled device according to the first embodiment of the present invention.

  In FIG. 1, a main body 1 of a self-propelled cleaner includes a driving wheel 2 that is driven to drive, and a working means 3 that sucks up dust and dirt on the floor surface with a nozzle, a brush, and a suction motor. Further, there are two ultrasonic sensor transmission means 4a for detecting an obstacle ahead, and three ultrasonic sensor transmission means 4b for receiving ultrasonic waves reflected from the obstacle. Furthermore, two infrared sensors 5 are provided on the right side of the main body in order to smoothly run along the wall without meandering.

  In addition, there are a plurality of auxiliary drive wheels 7 (only one is shown) to support the main body 1 during traveling, and a traveling sensor 6 is provided to detect one traveling state of the auxiliary driving wheels 7.

  Further, there is a gyro sensor 8 for grasping the angle in the traveling direction. By using this gyro sensor 8, coordinate positions of X (vertical direction) and Y (horizontal direction) can be stored.

  Also, a collision detection means 9 is provided at the front part of the main body 1 for detecting a collision when it collides with an obstacle. The collision detection means 9 is capable of detecting a collision in three directions, ie, the left side of the main body, the front side of the main body and the right side of the main body. In this example, the collision detection means 9 has a bumper structure. It shows a simple mechanical method. However, a method of detecting using light receiving and emitting such as infrared rays may be used.

  In FIG. 2, the self-propelled cleaner includes a control means 21 that performs arithmetic processing on input information and data such as travel control and movement position calculation, and generates and sends control signals and data. Obstacle detection means 22 (equivalent to ultrasonic sensor transmission means 4a, 4b) for detecting an object, traveling means 23 for moving the self-propelled cleaner in a desired direction, and steering means 24 (drive wheel 2, auxiliary drive wheel) 7), travel distance measuring means 25 for measuring the travel distance (corresponding to travel sensor 6), information on the position of the self-propelled cleaner, the presence or absence of obstacles, the travel locus on which the self-propelled cleaner travels, etc. Storage means 26 for storing is provided. In addition, a lap detection means 27, an identical area determination means 28, a collision frequency counting means 29, a traveling speed determining means 30 for determining the traveling speed of the main body 1, a notification means 31, and a timing means 32 are also provided.

  Hereinafter, the detail of each means 21-32 is demonstrated.

  The control means 21 is composed of, for example, a CPU and a memory. In order to control the operation of the main body 1, control signals are generated for the traveling means 23 and the steering means 24 that drive the driving wheels 2. For example, it is driven to avoid contact with an obstacle using the information of the obstacle detection means 22, or from the relative relationship between the travel locus information and the position information accumulated in the storage means 26 and the current location, A control signal for moving to a target location is generated.

  Other configurations such as a one-chip microcomputer with a single CPU and memory, and other computations such as an FPGA and a DSP may be used. Further, by configuring with a recording device such as an HDD, a DVD, or a flash memory, it is possible to perform complicated processing that uses a large amount of memory capacity. Furthermore, by configuring with a communication device such as a wireless LAN, communication between the main body 1 and an external device becomes possible, and more advanced processing such as transmission of stored data and reception of new control patterns is possible. Can be made possible.

  By using the microcomputer, the driving means 23 and the steering means 24 can be controlled in various forms such as control by PWM and setting of the moving amount by serial communication in accordance with a device such as a motor used as a drive unit. Can be controlled.

  Further, the position calculation method can be obtained by calculating the amount of movement from the command to the drive unit. For example, in the case of a self-propelled cleaner having two left and right drive wheels 2, the left and right drive It is possible to calculate the distance and the rotation angle moved from the speed setting of the wheel 2 and the set elapsed time. Furthermore, the accuracy of the movement amount can be improved by receiving the result after driving like the encoder pulse from the traveling means 23 and the steering means 24. Further, by combining with the traveling sensor 6 and the gyro sensor 8, the calculation accuracy of the movement amount can be increased. In addition, it is possible to increase the calculation accuracy of the movement amount using another device such as an acceleration sensor.

  Here, the travel trajectory of the present embodiment is, for example, information on the presence / absence of an obstacle, information on time, etc. for each square position on the X (vertical direction) and Y (horizontal direction) coordinates called a cell. This is a collection of cells storing information to be stored for each cell position. In addition, the position information is, for example, information on X, Y (vertical and horizontal) coordinates or information on cell positions. Here, as an example of the map information, X and Y axes are defined. However, a three-dimensional system based on X, Y, Z (vertical and horizontal height) coordinates and angular coordinates based on R, Θ (radius, angle) coordinates. Other spatial coordinate systems such as a system or Laplace space may be used.

  Thus, the control means 21 stops when the distance between the movement control part 21a for controlling the traveling means 23 and the steering means 24 and the obstacle is equal to or less than a certain distance, and the obstacle avoidance control part for avoiding the obstacle. 21b. That is, when the obstacle detection unit 22 detects an obstacle while the main body 1 is moving, or when the collision detection unit 9 detects a collision with the obstacle, the control unit 21 performs the traveling unit 23 and the steering unit 24. Is controlled to control the movement of the main body 1.

  The obstacle detection unit 22 measures the distance and the size of the obstacle according to the time and reception level received by the ultrasonic sensor receiver 4b using the reflection of the ultrasonic wave transmitted from the ultrasonic sensor transmitter 4a. Is possible. For a soft object such as a curtain with ultrasonic waves, the infrared sensor 5 can detect the distance from the obstacle.

  However, if the ultrasonic sensor has a certain degree of hardness and is an obstacle that faces parallel to the vertical direction from the ground to the ceiling, the ultrasonic distance sensor can measure the exact distance. Then, the reflected wave of the ultrasonic wave returning to the self-propelled cleaner may be weak and the accurate distance may not be measured. In addition, since the optical distance measuring sensor generally has higher directivity than the ultrasonic sensor, there are many blind spots of the sensor and it is not possible to detect an obstacle when two self-propelled cleaners are provided. If there are many types of sensors, the blind spots will decrease, but it is not practical in terms of cost, so it is difficult to completely eliminate the blind spots of the sensors in all work environments, and it is completely an obstacle There are cases where it is impossible to avoid contactlessness.

  For example, the traveling unit 23 and the steering unit 24 are configured so that two motors and two driving wheels 2 are horizontally arranged on the left and right sides, and the rotational speeds of the left and right motors are controlled by a control signal from the control unit 21. By changing the driving wheel 2, the main body 1 moves. In addition, by providing the drive wheel 2 with an encoder for detecting rotation, the number of pulses detected by the encoder detection of the left and right drive wheels 2 is transmitted to the control means 21, thereby increasing the calculation accuracy of the movement amount. In addition to the combination of the motor and the drive wheel 2, the traveling means 23 and the steering means 24 can be moved by multiple legs such as two legs or four legs combined with a joint type actuator combining a plurality of servo motors. The motor to be used may be any motor that can perform a physical operation, such as a linear motor.

  The travel distance measuring means 25 can measure the total travel distance, the distance traveled at a predetermined time, and the like. The travel distance is measured using odometry for calculating the distance from the detection information of the travel sensor 6 and the encoder information of the drive wheel 2 (not shown).

  The storage means 26 has a function of storing information, and is, for example, a flash memory represented by an SD card, a DDR memory used in combination with a CPU, a hard disk, or an optical disk. Furthermore, by combining multiple memories, for example, map information that is close to the self-propelled cleaner uses a memory that has a fast read / write speed, and map information that is far from the self-propelled cleaner has a large capacity. By using this memory, it is possible to achieve a configuration that can achieve both high speed and large capacity. In addition, by using a wireless technology such as a wireless LAN or Bluetooth, a memory provided outside the self-propelled cleaner can be used. Furthermore, by using the memory in common with a plurality of self-propelled cleaners and other devices, it is possible to use a common map information and position information. Further, when storing the position, by handling the allocated memory as a ring-shaped buffer, it becomes possible to continue storing the new position while deleting the past old position information.

  In addition, when the remaining amount of memory for the location information to be stored is exhausted, the location information other than the maximum value and the minimum value location is deleted from the location information stored in the past to continue storing the new location. It is also possible to continue. As will be described later, the storage means 26 includes a trajectory storage means 26a, a lap time storage means 26b, a lap distance storage means 26c, and a unit time collision frequency storage means 26d.

  Further, the rotation detection means 27 stores the X and Y coordinates when the self-propelled cleaner first approaches the wall surface in the trajectory storage means 26a, and the self-propelled cleaner advances counterclockwise along the wall surface. When the stored X and Y coordinates coincide again, it is determined that the wall has made one round. In addition, although it is determined as one round when it matches the stored X and Y coordinates, a margin for the X and Y coordinates may be provided as a determination reference.

  In addition, as another method of detecting the lap, prepare a charging stand for charging the self-propelled cleaner, start the work with the charging stand of the self-propelled cleaner as the starting point, go around once and recharge the charging stand. If the structure is such that the infrared sensor emits light from the charging stand and light is received by the self-propelled cleaner when passing over, the self-propelled cleaner can confirm the position of the charging stand and make one turn. it can. Alternatively, if a non-contact IC tag (RFID tag) or magnetic tape is attached to the starting point of the charging stand or wall, the self-propelled cleaner will detect non-contact IC tags (RFID tags) and magnetic sensors. By providing the means, it is possible to detect the lap because the starting point is known.

  When the lap is detected by the lap detection means 27, the lap time is stored in the lap time storage means 26b, and the lap distance is stored in the lap distance storage means 26c. Note that the lap time corresponding to the traveling speed is, for example, 30 × 10 = 300 if 10 minutes is required for setting the traveling speed of 30 cm / sec, and 11 minutes is required if the traveling speed is set to 25 cm / sec. 25 × 11 = 275, and stored in the lap time storage means 26b.

  When the same zone determination means 28 detects the lap by the lap detection means 27, both the time stored in the lap time storage means 26b and the distance stored in the lap distance storage means 26c are the same as the previous lap time and distance. If they do not differ by a predetermined value or more, they are determined to be the same area (room).

  The collision number counting means 29 for counting the number of times the collision is detected by the collision detecting means 9 is converted into the number of collisions per unit time by the time counting means 32 at the end of the work and stored as the unit time collision number storage means 26d. . In this embodiment, the unit time is 1 minute.

  Further, the traveling speed determining means 30 determines the target traveling speed at the time of work from the stored value of the unit time collision number storing means 26d. The travel speed of the main body 1 determined by the travel speed determining means 30 is controlled by the movement control unit 21a so that the travel means 23 is controlled so that the main body 1 travels at the target travel speed.

  Further, when the travel speed is changed by the travel speed determination means 30, voice guidance is performed by the speaker 31a of the notification means 31, the travel speed is displayed by the liquid crystal display 31b, and the user is notified.

  Moreover, the time measuring means 32 is a timer counter and performs operations such as measuring the work time from the start of work.

  About the self-propelled cleaner configured as described above, the operation and action for determining the traveling speed at the time of obstacle detection will be described with reference to FIGS. 3 and 4.

  In FIG. 3, when the self-propelled cleaner is started, the information stored in the storage means 26 is read (S11). The traveling speed of the main body 1 is determined and set from the table shown in FIG. 4 by the traveling speed determining means 30 with respect to the read number of collisions per unit time (S12).

  As shown in FIG. 4, when the number of collisions per unit time is large, the purpose is to reduce the number of collisions by reducing the traveling speed, and when the number of collisions is small, the traveling speed is increased. The purpose is to increase the cleaning time efficiency. When the travel speed is set in (S12), the travel speed is displayed on the liquid crystal display 31b, and a voice guidance informs the speaker 31a that “the travel speed has been set”.

  After starting work, the self-propelled vacuum cleaner first looks for a wall. The method of recognizing the wall is that the ultrasonic sensor receiving means 4b detects an obstacle, and after approaching the obstacle to a distance of Dcm, the self-propelled cleaner rotates to the left and the two infrared sensors 5 detect it. Recognize that the obstacle is a wall when the distance is equal. If it is not a wall but an obstacle such as a chair leg, even if the self-propelled cleaner rotates, the detection distances of the two infrared sensors 5 are not equal, so that they can be distinguished. Although the distance Dcm is approached to recognize the wall, the distance Dcm may be an approach limit distance to the obstacle, or may be a fixed value because it is only the first time. It wasn't done.

  When a wall is detected (S13), X = 0 and Y = 0 are set with the X and Y coordinates as the origin (S14). Subsequently, the self-propelled cleaner controls the infrared sensor 5 so as to maintain a constant distance from the wall, and runs around the wall counterclockwise (S15). It is assumed that the first direction detected by detecting the wall is X = 0 and the positive direction of the Y axis.

  The self-propelled cleaner grasps the angle in the traveling direction with the gyro sensor 8 and stores the trajectory of the X and Y coordinates during traveling. If the travel is continued and X = 0 and Y = 0, it is determined that the vehicle has returned to the origin and has made one round (S16).

  When one lap is detected, a value obtained by multiplying the time required for one lap by the travel speed set by the travel speed determining means 30 is stored in the lap time storage means 26b (S17), and the travel distance required for one lap is determined as the lap distance. It memorize | stores in the memory | storage means 26c (S18).

  Next, it is determined by the same area determination means 28 whether or not it is the same area as the previous work area (S19). The determination method compares the previous lap time read from the lap time storage means 26b and the previous lap distance read from the lap distance storage means 26c in (S11) with the current lap time and lap distance. If the lap time and the lap distance are both different by 20% or more of the predetermined value from the previous time, it is determined that the area is different. For example, last round time = 300 (round time 10 minutes × traveling speed 30 cm / sec), previous round distance = 2000 cm, current round time = 275 (round time 11 minutes × running speed 25 cm / sec), If the lap distance = 2100 cm, both the value related to the lap time and the lap distance are within 20% of the previous time, so it is determined that the same area as the previous work is working. In the present embodiment, the determination condition is that “the value is not the same if both the value related to the lap time and the lap distance differ by 20% or more from the previous time”, but the lap time and lap distance are not necessarily fixed at 20%. It may be made to fluctuate according to.

  If it is not the same zone, the default travel speed = 30 cm / sec is set (S20). When the travel speed is set to the default value in (S20), the default travel speed is displayed on the liquid crystal display 31b, and the voice guidance informs the speaker 31a that “the travel speed has been set”. Tell the user. In the present embodiment, the default traveling speed is set to 30 cm / sec, but is not limited.

  After going around the wall, you can repeat a linear movement until the obstacle reaches the approaching limit distance in a random direction, or a cross pattern running that repeats running in the vertical direction and running in the horizontal direction. The driving pattern after the lap is not limited, such as allowing the user to select a driving pattern mode or automatically determining the mode with the main body 1.

  When the work is finished (S21), the number of collisions counted by the collision number counting means 29 and the number of collisions per minute are calculated from the time counting means 32 (S22) and stored in the unit time collision number storage means 26d (S23). ).

  Note that the end of the work may be determined when a predetermined work time has elapsed, when the main body 1 automatically recognizes and finishes work in a predetermined area, or when the user gives a stop instruction.

  As described above, in the present embodiment, the traveling speed of the main body is changed at the next work according to the number of collisions at the time of work, so if the number of previous collisions is large, the travel speed at the next work is reduced. When there are few collisions, learn to increase the traveling speed at the next work, and avoid the collision with obstacles and trade off work time efficiency to increase the time efficiency of the work area. It is possible to perform optimal work together.

  The travel speed setting method by the travel speed determining means 30 is uniquely determined using the table of FIG. 4, but at the end of the work, the number of collisions per unit time is compared with the previous time. The setting may be changed by slowing the traveling speed of 1 cm / sec, or by increasing the speed by 1 cm / sec next time if it is less.

  Further, in the same zone determination means 28, the previous round time and the round distance are compared with the current round time and the round distance. However, both the round time and the round distance may be compared. The determination accuracy of the same area is higher when the determination is made with.

  Moreover, although self-propelled cleaner was illustrated in this Embodiment, it is not restricted to this, It is applicable also to the apparatus which performs work, such as monitoring and conveyance other than cleaning.

(Embodiment 2)
5 and 6 show operations for determining the traveling speed of the self-propelled device according to Embodiment 2 of the present invention. Note that the same means and operations as those of the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  The present embodiment is different from the first embodiment in the flowchart of FIG. 5 in that the number of collisions for the past N operations is stored in the unit time collision number storage means 26b.

  The operations from (S11) to (S22) in FIG. 5 are the same as those in the first embodiment. In (S31), the average number of collisions per unit time for the past N times is calculated. For example, when N = 3, when the number of collisions per minute when the same area is worked five times as shown in FIG. 6, the average number of collisions per minute is The value is as shown in the column.

  Specifically, the average value calculation method of FIG. 6 will be described. Since the first time is the case where the work is performed for the first time, the number of collisions per minute becomes the average value a1 = b1 as it is. The second time is the average value (b1 + a2) / 2 for the second time. The third time is (b2 × 2 + a3 × 1) / 3, which is an average value for three times. The average value calculation result is rounded off to the second decimal place. The fourth time is (b3 × 2 + a4 × 1) / 3, and after the fourth time, the average value stored last time is weighted as twice and the average value is calculated. The average value thus calculated is stored in the unit time collision number storage means 26d (S23).

  In the example of FIG. 6, at the time of the sixth work, b5 = 1.8 is read from the unit time collision number storage means 26d in (S11), and the traveling speed is 32 cm / from the table of FIG. 4 in (S12). sec is set.

  In this embodiment, N = 3. However, if N is increased too much, the change in the average value per operation is reduced. Absent.

  As described above, since the traveling speed is determined by using the average number of collisions per unit time for the past N times, the position of an obstacle such as a chair is changed and the number of collisions is larger than in the previous work. Even if there is a change, by averaging the past N times of work, it is possible to suppress variations, more accurately, reduce the number of collisions as much as possible, increase work time efficiency, and match the user's work environment Optimal work can be done.

  The travel speed setting method by the travel speed determining means 30 is uniquely determined by using the table of FIG. 4, but the number of collisions per unit time is stored at the end of the work as in the first embodiment. Compared to the average number of collisions per unit time for the past N times, if the number of collisions is large, the next minus 1 cm / sec traveling speed will be slowed down, if not, the next time will be increased by 1 cm / sec. The setting may be changed.

  In addition, when the travel speed is set or when the travel speed is set to the default value, the user is notified by liquid crystal display or voice guidance. You may alert | report by action (for example, it can confirm with a display or a sound when a confirmation button is pushed).

  Further, the unit time collision number storage means 26d is read in (S11) in FIGS. 3 and 5 and the travel speed is set in (S12). However, when the work is finished, the next travel speed is determined and stored in advance. However, it may be reflected at the start of work.

  In addition, at the first lap after the start of work, the traveling speed may be changed to a fixed traveling speed, and the traveling speed may be switched using a value related to the previous number of collisions after the lap detection.

  The first and second embodiments can be configured in the same way as a program for causing a computer to function as all or part of the means of the self-propelled device. The means described in each embodiment causes hardware resources such as a CPU (or microcomputer), a RAM, a ROM, a storage / recording device, an electrical / information device including an I / O, a computer, a server, and the like to cooperate. You may implement with the form of a program. In the form of a program, new functions can be distributed / updated and installed easily by recording them on a recording medium such as magnetic media or optical media or distributing them using a communication line such as the Internet.

  As described above, the self-propelled device and program according to the present invention trades off the collision with the obstacle and the work time efficiency that increases the time efficiency of the work area, and performs the optimum work according to the work environment. Therefore, the present invention can be applied to a device that avoids obstacles such as a cleaning robot, a monitoring robot, a transfer robot, and a lawn mower.

The schematic diagram which looked at the self-propelled device in Embodiment 1 of the present invention from the top Block diagram of the self-propelled device Flow chart of operation for determining the traveling speed of the self-propelled device The figure which shows the table of an example which determines the traveling speed of the self-propelled device The flowchart of the operation | movement which determines the traveling speed of the self-propelled apparatus in Embodiment 2 of this invention. The figure which shows the example of calculation which obtains the average number of times of collision per minute when working the same area 5 times in the self-propelled device Block diagram of a conventional self-propelled cleaner Flow chart for judging obstacles ahead of the self-propelled cleaner

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Main body 3 Working means 4a Ultrasonic sensor transmission means 4b Ultrasonic sensor reception means 5 Infrared sensor 9 Collision detection means 21 Control means 21a Movement control part 21b Obstacle avoidance control part 22 Obstacle detection means 23 Traveling means 24 Steering means 25 Traveling Distance measurement means 26 Storage means 26a Trajectory storage means 26b Circulation time storage means 26c Circumference distance storage means 26d Unit time collision frequency storage means 27 Circulation detection means 30 Traveling speed determination means 31 Notification means 32 Timing means

Claims (6)

Travel means and steering means for moving the main body, obstacle detection means for detecting an obstacle, collision detection means for detecting that the main body has collided with the obstacle, and the obstacle detection means during the movement of the main body Control means for controlling the movement of the main body by controlling the traveling means and the steering means when an object is detected or when the collision detection means detects a collision with an obstacle, and the traveling speed of the main body is determined. Travel speed determining means, and storage means for storing the number of collisions per unit time from the number of times the collision detection means has detected a collision at the end of work and the work time, and the value stored in this storage means for the next work A self-propelled device that determines the running speed of the main body . The self-propelled device according to claim 1, wherein the storage means averages and stores the past N operations . A storage means for storing the trajectory of the main body and the lap time, a travel distance measuring means for measuring the distance the main body has moved, and detecting that the main body has made a round around the area based on the stored trajectory of the main body. Lap detection means, and if the lap time at the beginning of the work is different from the previously stored lap time by a predetermined value or more, it is determined that the area is different from the previous time, and the default speed is used in the travel speed determination means. The self-propelled device according to claim 1, wherein the self-propelled device operates. A storage means for storing the trajectory of the main body and the distance traveled, a travel distance measuring means for measuring the distance the main body has moved, and detecting that the main body has made a round around the area based on the stored trajectory of the main body. Lap detection means, and if the cruising distance at the beginning of the work is different from the previously stored lap distance by a predetermined value or more, it is determined that the area is different from the previous one, and the default cruising speed is used in the cruising speed determination means The self-propelled device according to claim 1, wherein the self-propelled device operates. Storage means that stores the trajectory of the main body and the lap time and distance, travel distance measurement means that measures the distance the main body has moved, and the main body has made a round of the area based on the stored trajectory of the main body. Lap detection means for detecting
3. The vehicle speed is determined by the travel speed determining means so as to work in a zone different from the previous time if the person differs from the previously stored lap time and distance by a predetermined value or more. A self-propelled device as described in 1. The self-propelled device according to any one of claims 1 to 5, further comprising notification means for notifying a user of the traveling speed determined by the traveling speed determining means by sound or display .

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