JP5805841B1 - Autonomous mobile body and autonomous mobile body system - Google Patents

Abstract

An autonomous mobile device capable of optimizing the next work according to the situation is provided. An autonomous mobile device (103) includes a work result map creation unit (211) for creating a work result map, and a work execution area includes a threshold satisfaction area that satisfies a threshold of a work index and a threshold that does not satisfy the threshold. A selection unit (213) that includes a threshold unsatisfied region and selects the threshold unsatisfied region as the next movement region, and a threshold change unit (214) that changes the threshold based on a user input. [Selection] Figure 3

Description

  The present invention relates to an autonomous mobile body and an autonomous mobile body system that perform work by autonomously moving, such as a cleaning robot.

  2. Description of the Related Art Mobile bodies such as autonomous mobile robots that can move autonomously within a limited area inside a building or outside based on surrounding environmental information are known. Such a moving body creates a movement route from the current position to a specific target point on an environmental map stored in advance with respect to the movement region, and enables autonomous movement based on the route. For this reason, the autonomous mobile body is generally provided with a function of recognizing its own position in the movement area.

  The purpose of the autonomous mobile body is to perform a specific work while traveling. For example, the cleaning robot travels throughout the area to be cleaned while collecting dust.

  The autonomous mobile body that travels while working in this way is required to complete the work appropriately. If the work is inappropriate, the autonomous mobile body is required to compensate for the inappropriateness. That is, the autonomous mobile body needs to evaluate whether or not the result of the work is appropriate, and to perform some feedback if it is inappropriate. For example, in the cleaning robot, the evaluation index is whether or not the cleaning area has been thoroughly cleaned.

  As a technique for solving this problem, for example, there is a self-propelled cleaner disclosed in Patent Document 1. In the self-propelled cleaner disclosed in Patent Document 1, the cleaning area is divided into a plurality of blocks, a score map of each block is generated, and a score is assigned to each block using the state of suction force during travel as an index. The block whose score is less than the threshold is corrected so as not to make a difference in the degree of cleaning by controlling the number of times of traveling and the traveling speed.

JP 2013-230294 A (published on November 14, 2013)

  In the self-propelled cleaner disclosed in Patent Literature 1, the self-propelled cleaner itself automatically evaluates the score map based on the score using the state of the suction force during travel as an index, and the next time This is to optimize the cleaning work. However, even if the score of a certain block is small, there is a possibility that the score does not need to satisfy the threshold according to the judgment of the user. In other words, there is a gap between the user's feeling and the score threshold, and the self-propelled cleaner is used even if it is a block that automatically controls the number of runs and speed because the score is less than the threshold The person may be a block that determines that the score does not need to satisfy the threshold. For this reason, useless driving | running | working generate | occur | produces and useless time will be needed. Thus, the case where a user wants to change the threshold value of the score in the score map of a self-propelled cleaner according to a situation arises.

  In addition, since the user cannot see the score and threshold value that the self-propelled vacuum cleaner has attached, it is cleaned without omission, which block's score does not meet the threshold value and the number of runs and speed are controlled. I can't confirm that

  An object of the present invention is to provide an autonomous mobile body and an autonomous mobile body system that can optimize the next work according to the situation.

  In order to solve the above problems, an autonomous mobile body according to an aspect of the present invention includes a working unit that performs work while moving a work area, and position detection that detects a position of the work part in the work area. A work index detection unit that detects a work index related to work performed by the work unit, and a region within the work area to which the work unit has moved based on a history of the position of the work unit is defined as a work execution region A creation unit that creates a work result map to represent, the work execution area includes a threshold satisfaction area that satisfies a threshold of the work index, and a threshold non-satisfaction area that does not satisfy the threshold, The apparatus further includes a selection unit that selects the threshold unsatisfied region as a next movement region that moves and performs the operation, and a threshold change unit that changes the threshold based on a user input.

  In order to solve the above problems, an autonomous mobile system according to one aspect of the present invention is an autonomous mobile system including an autonomous mobile body and a communication terminal, and the autonomous mobile body moves in a work area. A work unit that performs work, a position detection unit that detects a position of the work unit in the work area, a work index detection unit that detects a work index related to work by the work unit, and Based on the position history, a creation unit that creates a work result map that represents an area in the work area that the work unit has moved as a work execution area, and information that represents the work result map created by the creation unit The work execution area includes a threshold satisfaction area that satisfies the threshold of the work index, and a threshold non-satisfaction area that does not satisfy the threshold, and the communication terminal By the transmitter A terminal receiving unit that receives the transmitted information; and a terminal display unit that displays the work result map based on the information received by the terminal receiving unit. Based on the input of the user to the terminal display unit based on the work result map displayed on the terminal display unit and the selection unit that selects the threshold unsatisfied region as the next movement region to move and perform the work And a threshold value changing unit that changes the threshold value.

  Advantageous Effects of Invention According to one aspect of the present invention, there is an effect that an autonomous mobile body and an autonomous mobile body system that can optimize the next work according to the situation can be provided.

It is a figure which shows the relationship between the autonomous mobile device which concerns on Embodiment 1, and its movement area. It is a schematic diagram which shows the structure of the said autonomous mobile apparatus. It is a block diagram which shows the structure of the said autonomous mobile apparatus. It is a figure which shows the grid map for creating the work result map mounted in the said autonomous mobile apparatus. (A) is a figure which shows the driving | running route of the autonomous mobile device on the said grid map, (b) shows the work result map which showed the work result of the autonomous mobile device which drive | worked the said driving route according to driving speed. FIG. It is a figure which shows the work result map which showed the work result of the said autonomous mobile apparatus according to the work non-execution area | region, the work implementation area | region, and traveling speed. It is a figure for demonstrating the button for the travel prohibition area | region selection displayed on the operation panel provided in the said autonomous mobile apparatus. It is a figure for demonstrating the button for the travel area selection displayed on the said operation panel. It is a figure for demonstrating the area | region selected by the selector displayed on the said operation panel. It is a figure for demonstrating the other area | region selected by the said selector. It is a figure for demonstrating the other area | region selected by the said selector. It is a figure for demonstrating the area | region selected by the other selector displayed on the said operation panel. It is a figure for demonstrating the other area | region selected by the said other selector. It is a block diagram which shows the structure of the autonomous mobile device system which concerns on Embodiment 3. It is a block diagram which shows the structure of the autonomous mobile apparatus provided in the said autonomous mobile apparatus system.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

Embodiment 1
(Configuration of autonomous mobile device 103 (autonomous mobile body))
FIG. 1 is a diagram illustrating a relationship between an autonomous mobile device 103 (autonomous mobile body) and a moving area 102 according to the first embodiment. FIG. 2 is a schematic diagram showing the configuration of the autonomous mobile device 103. The autonomous mobile device 103 includes a laser range finder 208 as a sensor that acquires environmental information indicating the position and shape of an object existing in the moving area 102, and uses the movement map related to the moving area 102 to use the laser range finder 208. It is an autonomous mobile device that can move while recognizing its own position based on the environmental information acquired in (1).

The autonomous mobile device 103 is a device that autonomously moves on a plane by driving a pair of wheels 202a and 202b. FIG. 1 schematically shows an embodiment in which a vehicle-type autonomous mobile device 103 moves within a limited movement area 102 (area surrounded by a broken line) on the floor 101. In FIG. 1, it is assumed that an object is not particularly installed in the movement area 102 on the floor 101 , and the autonomous mobile device 103 can arbitrarily move in the movement area 102.

  As shown in FIG. 2, the autonomous mobile device 103 is an opposing two-wheeled mobile device including a box-shaped main body 201, a pair of opposing wheels 202 a and 202 b, and a caster 203. These wheels 202a and 202b and casters 203 support the main body 201 horizontally. Further, in the main body 201, there are motors 204a and 204b for driving the wheels 202a and 202b, respectively, and encoders 205a and 205b (speed sensors, work index detection units) for detecting the respective rotation speeds of the wheels 202a and 202b. A calculation unit 206 that generates a control signal for driving the wheels 202a and 202b and transmits the control signal to the motors 204a and 204b, and a battery 207 for supplying power to these components. ing. Then, in a storage area 206a such as a memory as a storage unit provided in the arithmetic unit 206, along with a program for controlling the moving speed, moving direction, moving distance, etc. of the autonomous mobile device 103 based on the control signal, An environment map including information on the position and shape of the moving area 102 and the obstacle (wall) existing in the area is stored.

  Further, a laser range finder 208 for recognizing environmental information in the moving direction (front) is provided on the front surface of the main body 201.

  Although the detailed structure of the laser range finder 208 is omitted, a light source for irradiating laser light at a predetermined spread angle with respect to the front of the main body 201 and reflected light from the object of the laser light emitted from the light source are reflected. A light receiving unit for receiving light. Object detection based on the principle of so-called TOF (Time of flight), which detects the position of an object that has reflected the laser beam based on the angle at which the laser beam was irradiated and the time required to receive the reflected beam ( Sensing) is performed. First, when the reflected light from the object of the laser beam emitted from the laser range finder 208 of the autonomous mobile device 103 is received, the self-position of the autonomous mobile device 103 when the laser beam is emitted and the irradiation from the laser range finder 208 The point of the object that reflects the irradiated laser light is specified from the irradiation direction of the laser light to be emitted and the time from when the laser light is irradiated until the reflected light is received.

  Data measured by the laser range finder 208 is output as a polar coordinate system defined by the distance d from the laser center and the angle φ in the laser irradiation direction. For example, when the resolution when measuring a range of 270 degrees toward the traveling direction of the autonomous mobile device 103 is 1.0 degree, 271 data are measured by one scan. Such a sensing result by the laser range finder 208 is stored in the storage area 206a.

  FIG. 3 is a block diagram illustrating a configuration of the autonomous mobile device. The calculation unit 206 provided in the autonomous mobile device 103 includes a self-position detection unit 210 (a position detection unit, a speed sensor, and a work index detection unit) for acquiring its own position. This self-position detection unit 210 obtains information such as the speed and distance moved by the autonomous mobile device 103 by accumulating the rotation speeds of the wheels 202a and 202b detected by the encoders 205a and 205b, and from these information, The self position (odometry position) of the autonomous mobile device 103 in the movement area 102 is calculated.

  Then, the position information as the self-position candidate obtained from the self-position detection unit 210 is appropriately corrected based on the environment information obtained by the laser range finder 208.

  The autonomous mobile device 103 configured in this way independently controls the amount of drive by the motors 204a and 204b to the pair of wheels 202a and 202b, thereby moving straight, moving in a curve (turning), moving backward, and rotating on the spot. A moving operation such as (turning around the midpoint of both wheels 202a and 202b) can be performed. Then, the autonomous mobile device 103 autonomously creates a travel route to the designated destination in the travel region 102, and moves to follow the travel route, thereby reaching the destination.

The calculation unit 206 is provided with a travel control unit 215. The travel control unit 215 controls the work control unit 216 and the motors 204a and 204b based on the position of the autonomous mobile device 103 in the movement area 102 detected by the self-position detection unit 210. The work control unit 216 controls the operation of the cleaning brush 209 (working unit) based on a control instruction from the travel control unit 215. The motors 204a and 204b drive the wheels 202a and 202b based on a control instruction from the travel control unit 215.

The computing unit 206 includes a work result map creating unit 211 (creating unit), a selecting unit 213, and a threshold changing unit 214. Based on the history of the position of the cleaning brush 209 in the moving area 102 detected by the self-position detecting unit 210 and the environment map stored in the storage area 206a, the work result map creating unit 211 uses the cleaning brush 209. A work result map is created in which the area within the moved movement area 102 is displayed as a cleaning execution area (work execution area). The work result map created by the work result map creating unit 211 is displayed on the operation panel 212 (display unit). The cleaning execution area includes a threshold satisfaction area that satisfies the threshold of the moving speed of the autonomous mobile device 103 based on the number of rotations of the wheels 202a and 202b detected by the encoders 205a and 205b, and a threshold unsatisfied area that does not satisfy the threshold. Including.

  The selection unit 213 selects the threshold unsatisfied region as the next movement region where the cleaning brush 209 moves next time to perform the cleaning work. The threshold value changing unit 214 changes the threshold value of the moving speed of the autonomous mobile device 103 based on user input.

  FIG. 4 is a diagram illustrating a grid map 301 for creating a work result map mounted on the autonomous mobile device 103 by the work result map creating unit 211. In this embodiment, as an environmental map stored in the storage area 206a, a grid map 301 is created by virtually depicting grid lines 303 connecting lattice points arranged at substantially constant intervals in the movement area 102. Is used. The grid map 301 depicts a grid line 303 that connects lattice points that are arranged at a predetermined interval m inside the outer frame 302 simulating the shape of the moving region 102. Then, using the grid element 304 surrounded by the grid line 303, the location corresponding to the autonomous position of the autonomous mobile device 103, the movement end point that is the destination, and the movement direction of the autonomous mobile device 103 at the movement end point Is identified. The interval m can be changed as appropriate according to conditions such as the curvature of the autonomous mobile device 103 and the accuracy of recognizing the absolute position. Further, when it is known that a fixed object such as a wall or an obstacle exists in the movement area 102, the storage area is stored in a form in which the positions of these known objects are registered in advance on the grid map 301. Assume that it is stored in 206a.

  FIG. 5A is a diagram showing the travel route K of the autonomous mobile device 103 on the grid map 301, and FIG. 5B shows the work result of the autonomous mobile device 103 traveling on the travel route K according to the travel speed. It is a figure which shows the work result map M1.

  In this embodiment, the cleaning execution area of the autonomous mobile device 103 is created as a work result map. The work result map of the place which passed using the shape and the self-position of the cleaning brush 209 of the autonomous mobile device 103 is created. FIG. 5A shows a travel route K of the autonomous mobile device 103, and FIG. 5B shows a work result map M1 when traveling along the travel route K. It is possible to fill the trajectory traveled by the autonomous mobile device 103 with respect to the moving area 102 and further change the color to be painted depending on the travel speed at each position of the autonomous mobile device 103. First, the cleaning brush 209 of the autonomous mobile device 103 travels while cleaning the travel region L4 at a low speed from the lower left corner to the lower right corner of the travel region 102, and cleaning the travel locus L5 at a medium speed. Next, the vehicle travels while cleaning the travel region L6 at a high speed, and then travels while cleaning the travel locus L5 at a medium speed. The cleaning brush 209 of the autonomous mobile device 103 travels from the lower right corner to the upper right corner of the moving area 102 while cleaning the traveling area L4 at a low speed, and cleaning the traveling area L5 at a medium speed. Next, the vehicle travels while cleaning the travel region L6 at a high speed, and then travels while cleaning the travel region L5 at a medium speed. Then, the autonomous mobile device 103 travels from the upper right corner to the upper left corner of the travel area 102 while cleaning the travel area L4 at a low speed, and travels while cleaning the travel area L5 at a medium speed. In addition, the vehicle travels while cleaning the travel region L6 at a high speed, and then travels while cleaning the travel region L5 at a medium speed. Next, the autonomous mobile device 103 travels while cleaning the travel area L4 at a low speed from the upper left corner to the lower left corner of the travel area 102, and travels while cleaning the travel area L5 at a medium speed, Next, the vehicle travels at a high speed while cleaning the travel region L6. The travel area L4, the travel area L5, and the travel area L6 are displayed in different visual forms, for example, displayed in different colors. In FIG. 5B, for example, the change in the color for displaying the travel region is made in three stages depending on the travel speed, but it may be changed more finely and continuously. The difference in the visual aspect is not limited to the difference in color, and may be any as long as it can visually show the difference in running speed such as the density of the color and the density of the mesh pattern.

  FIG. 6 is a diagram showing a work result map M2 in which work results of the autonomous mobile device 103 are divided into a cleaning non-execution region R12 (work non-execution region) and a cleaning execution region R11 (work execution region). The cleaning execution region R11 is displayed in a different visual manner depending on the traveling speed.

  The work result map M2 includes a cleaning execution area R11 that represents an area within the cleaning area (work area) where the cleaning brush 209 has moved, and an uncleaned area R12 that represents an area within the cleaning area where the cleaning brush 209 has not moved. Is displayed. The cleaning execution region R11 includes a plurality of travel regions L4 in which the autonomous mobile device 103 travels at a low speed, a plurality of travel regions L5 in which the autonomous mobile device 103 travels at a medium speed, and a plurality of travel regions L6 in which the vehicle travels at a high speed. The travel area L4, the travel area L5, and the travel area L6 are displayed in different colors.

  There is an uncleaned region R12 where the autonomous mobile device 103 did not travel, for example, when an obstacle that does not exist in the movement map is placed. If an obstacle is not placed in a place that has not been traveled after completion of the cleaning work, measures such as re-running the place next time are necessary to improve the quality of the cleaning work. On the other hand, if the obstacle continues to be placed in a place where the vehicle could not travel after the completion of the cleaning work and the obstacle exists even at the next re-travel, the region need not travel. An obstacle that does not exist in the movement map becomes an exceptional environment for the autonomous mobile device 103, and special processing is required for the obstacle. For example, if the travel route cannot be passed due to the obstacle when the travel route is determined, the travel route must be generated again. In other words, the process of generating the travel route again includes complicated determination, and in some cases, the work efficiency may be reduced by generating the travel route again. It is also conceivable that there is an area where it is desired to re-run based on the judgment of the user. Therefore, the processing at the time of re-running is flexibly determined by receiving an input of a work request from the user at the input unit.

  FIG. 7 is a diagram for explaining a button B5 for selecting a travel prohibited area displayed on the operation panel 212 provided in the autonomous mobile device 103. FIG. 8 is a view for explaining a button B4 for selecting a travel area displayed on the operation panel 212. FIG.

  The work result map M2 is displayed on the operation panel 212. The operation panel 212 includes a button B4 for selecting a travel area for the next cleaning work of the autonomous mobile device 103, a button B5 for selecting a travel prohibition area for the next cleaning work, and a next cleaning work. A button B6 for starting a re-run for is displayed.

  In the self-propelled cleaner disclosed in Patent Literature 1, the self-propelled cleaner itself automatically evaluates the score map based on the score using the state of the suction force during travel as an index, and the next time This is to optimize the cleaning work. However, if an obstacle that did not exist at the time the score map was generated is placed, an area that cannot be run will be created, but since it cannot run, the next cleaning work will not be performed unless the placed obstacle is removed. Even if it carries out, the score of the area which cannot run does not satisfy the threshold. Accordingly, when an obstacle that does not exist at the time when the score map is generated is placed, the next cleaning operation cannot be optimized.

  In FIG. 7 and FIG. 8 according to the first embodiment, the work result map M2 including the uncleaned region R12 in which the autonomous mobile device 103 has not traveled is displayed on the operation panel 212. An example of the method is shown. As shown in FIG. 7, when an obstacle that does not exist in the movement map is present in the un-cleaned area R12 even when re-running, the user selects the button B5 for selecting the travel-prohibited area, and cleaning with an obstacle is performed. The user selects the unimplemented region R12. By this selection, the calculation unit 206 generates a travel route by avoiding the uncleaned region R12 from the beginning at the time of re-running, so that it is not necessary to perform exceptional processing due to an obstacle that does not exist in the movement map, thereby reducing work efficiency. You can drive without

  As shown in FIG. 8, when an obstacle that does not exist in the movement map at the time of re-running is removed from the uncleaned region R12, the user selects the button B4 for selecting the travel region and is not traveled. The uncleaned region R12 is selected. By this selection, it is possible to travel in the uncleaned region R12 that has not been traveled next time.

  Furthermore, the vehicle has been run and cleaned once. However, if there is an area to be re-run and re-cleaned according to the judgment of the user, the area is also re-run by selecting it as the travel area with the button B4. be able to. A plurality of these travel areas and travel prohibition areas can be selected with buttons B4 and B5. 7 and 8, the travel area and the travel prohibition area are selected as rectangles. However, the travel area and the travel prohibition area are not limited to rectangles, and may be selected in other shapes such as a circle.

  FIG. 9 is a diagram for explaining an area selected by the selector S1 displayed on the operation panel 212. FIG. 10 is a diagram for explaining another area selected by the selector S1. FIG. 11 is a diagram for explaining still another area selected by the selector.

  The operation panel 212 displays a selector S1 that changes the threshold of the moving speed of the autonomous mobile device 103 based on the user's operation. In the example shown in FIG. 9, the threshold value of the moving speed is changed to the slowest speed by the selector S1. For this reason, the slow traveling speed corresponding to the traveling area L4, the medium traveling speed corresponding to the traveling area L5, and the fast traveling speed corresponding to the traveling area L6 are all faster than the threshold value of the above speed. The speed threshold is not satisfied. Accordingly, the travel areas L4, L5, and L6 are all threshold unsatisfied areas that do not satisfy the speed threshold, and are all displayed on the work result map M3.

  In the example shown in FIG. 10, the threshold value of the moving speed is changed to a medium speed by the selector S1. In this case, the slow travel speed corresponding to the travel region L4 is slower than the medium speed of the threshold value, and therefore satisfies the speed threshold value. Accordingly, the travel area L4 is a threshold satisfaction area that satisfies the speed threshold and is not displayed on the work result map M4. On the other hand, the medium traveling speed corresponding to the traveling region L5 and the fast traveling speed corresponding to the traveling region L6 are faster than the speed threshold value, and thus do not satisfy the speed threshold value. Accordingly, the travel areas L5 and L6 are threshold unsatisfied areas that do not satisfy the speed threshold and are displayed on the work result map M4. The travel areas L5 and L6 correspond to a first index area and a second index area that are classified based on the travel speed, and are displayed in different visual forms.

  In the example shown in FIG. 11, the threshold value of the moving speed is changed to the fastest speed by the selector S1. In this case, the slow travel speed corresponding to the travel area L4 and the medium speed travel speed corresponding to the travel area L5 are slower than the fastest speed of the threshold value, and therefore the speed threshold value is satisfied. Accordingly, the travel area L4 and the travel area L5 are threshold satisfaction areas that satisfy the speed threshold and are not displayed on the work result map M5. On the other hand, the high travel speed corresponding to the travel region L6 is faster than the speed threshold, and therefore does not satisfy the speed threshold. Accordingly, the travel area L6 is a threshold unsatisfied area that does not satisfy the speed threshold, and is displayed on the work result map M6.

When there is an uncleaned region R12 shown in the work result map M2 of FIGS. 7 and 8, for example, the uncleaned region R12 is displayed so as to overlap the traveling regions L5 and L6 of the work result map M4 shown in FIG. In the next time, for example, when there is an obstacle and the operator determines that the vehicle cannot enter the uncleaned region R12, the uncleaned region R12 can be excluded from the next traveling region with the button B5. You may comprise.

  Thus, the content of the work result displayed on the work result map can be changed by adjusting the threshold of the traveling speed from the work result map. As shown in FIGS. 9 to 11, the display based on the traveling speed of the traveling area that has traveled at a traveling speed that does not satisfy the speed threshold value can be hidden, and the user selects the re-running start button B <b> 6. Thus, the autonomous mobile device 103 travels again in the area where the display based on the traveling speed is displayed. In FIG. 9, the entire region is re-traveled, and in FIGS. 10 and 11, the region displaying the display based on the travel speed is re-traveled. It is also possible to change the display area by adjusting the speed threshold with the selector S1 and select the travel area from the changed display area.

  In this way, by visualizing the running speed result for cleaning and accepting the setting for the next run from the user, it is possible to avoid running in the prohibited area and select the area you want to run again and use it The minimum necessary cleaning work is realized for a person, and the cleaning work can be optimized and shortened.

[Embodiment 2]
The following will describe another embodiment of the present invention with reference to FIGS. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

  FIG. 12 is a diagram for explaining an area selected by another selector S2 displayed on the operation panel 212. FIG. 13 is a diagram for explaining another region selected by another selector S2.

  The method for changing the travel area displayed on the work result map described in the first embodiment may display only the travel area traveled at the selected travel speed. For example, as shown in FIG. 12, the display of the traveling speed of the selector S2 is divided into three stages of “speed”, “medium”, and “slow”, and when “speed” is selected as shown in FIG. Only the corresponding travel region L6 may be displayed on the work result map M5.

  Each of the display of the traveling speed of the selector S2 can be combined. As shown in FIG. 13, when the display of the traveling speed of the selector S2 is selected as “fast” and “slow”, the traveling corresponding to the two is displayed. Only the region L6 and the travel region L4 may be displayed on the work result map M6.

  In the first and second embodiments, an example in which a region to be traveled next time is set is shown, but the present invention is not limited to this. The entire region is traveled next time, but the threshold non-satisfied region may be configured to be a multi-time traveling region that travels multiple times preferentially, and the threshold satisfaction region may be configured to be a one-time traveling region that travels once.

  Moreover, although the example which displays a driving | running | working area | region in a different visual aspect according to driving speed was shown, this invention is not limited to this. A cleaning result detection sensor 401 for detecting a cleaning result by the cleaning brush 209 is provided at the rear end of the autonomous mobile device 103, and the traveling area is displayed in a different visual manner based on the cleaning result detected by the cleaning result detection sensor 401. You may comprise.

[Embodiment 3]
(Autonomous mobile device system)
The autonomous mobile device 103 according to the first and second embodiments displays the work result map on the operation panel 212. However, the present invention is not limited to this. The autonomous mobile device 103 may be provided with a communication unit so that data representing the work result map is transmitted to a communication terminal of the user.

  FIG. 14 is a block diagram illustrating a configuration of the autonomous mobile device system 501 according to the third embodiment, and FIG. 15 is a block diagram illustrating a configuration of the autonomous mobile device 103A provided in the autonomous mobile device system 501. The same reference numerals are given to the same components as those described above. Detailed description of these components will not be repeated.

  The autonomous mobile device system 501 includes an autonomous mobile device 103A and a communication terminal 502. The autonomous mobile device 103A has a communication unit 504 (transmission unit). The communication unit 504 transmits information representing the work result map created by the work result map creating unit 211 to the communication unit 503 (terminal receiving unit) provided in the communication terminal 502.

  The communication terminal 502 has a display unit 505 (terminal display unit). The display unit 505 displays a work result map based on the information received by the communication unit 503.

  The autonomous mobile device 103A is provided with a selection unit 213 and a threshold change unit 214. The selection unit 213 selects the threshold unsatisfied region as the next movement region where the cleaning brush 209 moves next time to perform the cleaning work. The threshold value changing unit 214 changes the threshold value based on a user input to the display unit 505 by the input unit 506 based on the work result map displayed on the display unit 505.

[Embodiment 4]
[Example of software implementation]
The computing unit 206 (particularly the selecting unit 213 and the threshold changing unit 214) of the autonomous mobile device 103 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be a CPU (Central Processing Unit). Unit) and may be realized by software.

  In the latter case, the calculation unit 206 includes a CPU that executes instructions of a program that is software that realizes each function, a ROM (Read Only Memory) in which the program and various data are recorded so as to be readable by a computer (or CPU), or A storage device (these are referred to as “recording media”), a RAM (Random Access Memory) that expands the program, and the like are provided. And the objective of this invention is achieved when a computer (or CPU) reads the said program from the said recording medium and runs it. As the recording medium, a “non-temporary tangible medium” such as a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. The program may be supplied to the computer via an arbitrary transmission medium (such as a communication network or a broadcast wave) that can transmit the program. The present invention can also be realized in the form of a data signal embedded in a carrier wave in which the program is embodied by electronic transmission.

[Summary]
The autonomous mobile body (autonomous mobile device 103) according to aspect 1 of the present invention includes a working unit (cleaning brush 209) that performs work while moving the working region, and a working unit (cleaning brush 209) in the working region. A position detection unit (self-position detection unit 210) for detecting a position, a work index detection unit (encoders 205a and 205b) for detecting a work index related to work by the working unit (cleaning brush 209), and the working unit ( Based on the history of the position of the cleaning brush 209), work result maps M1 to M6 are created that represent, as work execution areas (cleaning execution areas R11), areas within the work area where the working unit (cleaning brush 209) has moved. A creation unit (work result map creation unit 211), wherein the work execution area (cleaning execution area R11) includes a threshold satisfaction area that satisfies a threshold of the work index, and the threshold A selection unit 213 that selects the threshold unsatisfied region as a next moving region where the work unit (cleaning brush 209) moves and performs the work next time, and a threshold non-satisfied region that is not satisfied; And a threshold value changing unit 214 that changes based on the input.

  According to said structure, the threshold value of the work parameter | index relevant to the operation | work which a working part implements is changed based on a user's input. For this reason, it is possible to adjust the threshold unsatisfied area selected as the next moving area where the working unit moves and performs the work next time based on the user's input. As a result, it is possible to provide an autonomous mobile body that can optimize the next work according to the situation.

  The autonomous mobile body (autonomous mobile device 103) according to aspect 2 of the present invention is the aspect 1, wherein the threshold unsatisfied area includes a first index area and a second index area that are classified based on the work index. And a display unit (operation panel 212) for displaying the first index area and the second index area in different visual modes.

  According to said structure, the user of an autonomous mobile body can grasp | ascertain the work result by an autonomous mobile body visually and intuitively.

  In the autonomous mobile body (autonomous mobile device 103) according to aspect 3 of the present invention, in the above aspect 1, the work index detection unit may include speed sensors (encoders 205a and 205b) that detect the movement speed of the work unit. Good.

  According to said structure, the threshold value of the moving speed relevant to the cleaning operation which a working part implements can be changed based on a user's input.

  In the autonomous mobile body (autonomous mobile device 103) according to aspect 4 of the present invention, in the aspect 1, the work includes a cleaning work, and the work index detection unit indicates a cleaning result by the working part (cleaning brush 209). You may include the cleaning result detection sensor to detect.

  According to said structure, the threshold value of the cleaning result which a working part implements can be changed.

  In the autonomous mobile body (autonomous mobile device 103) according to aspect 5 of the present invention, in the above aspect 2, the threshold value changing unit may include selectors S1 and S2 displayed on the display unit (operation panel 212).

  According to said structure, only the area | region corresponding to the threshold value selected by the selector can be displayed on a work result map.

  In the autonomous mobile body (autonomous mobile device 103) according to aspect 6 of the present invention, in the above aspect 1, the next movement area includes a one-time traveling area in which the working unit (cleaning brush 209) travels once and the working unit. (Cleaning brush 209) may include a multiple travel region in which multiple travels are performed.

  According to said structure, the operation | work of a driving | running | working area | region can be implemented more carefully.

  The autonomous mobile body (autonomous mobile device 103) according to aspect 7 of the present invention is the above-described aspect 1, wherein the work result maps M1 to M6 are areas other than the work execution area (cleaning execution area R11). An area (uncleaned area R12) may be displayed, and the next movement area may not include the unworked area (uncleaned area R12).

According to said structure, since the said area | region is excluded from the next movement area | region when the obstruction of the area | region which was not able to enter exists and an intrusion is impossible next time, the next work efficiency improves.

  In the autonomous mobile body (autonomous mobile device 103) according to aspect 8 of the present invention, in the above aspect 1, the work result maps M1 to M6 are areas other than the work execution area (cleaning execution area R11). An area (uncleaned area R12) may be displayed, and the selection unit 213 may select whether to include the unexecuted area (uncleaned area R12) in the next movement area.

  According to said structure, it can be set appropriately according to a condition whether a work non-execution area | region is included in a next movement area | region.

  The autonomous mobile body (autonomous mobile device 103) according to aspect 9 of the present invention is the above-described aspect 1, wherein the work result maps M1 to M6 include the threshold unsatisfied areas L4 to L6 and the work execution area (cleaning execution area). R1) is displayed as a non-working area (cleaning non-execution area R12), and the selection unit 213 determines whether or not to include the non-working area (cleaning non-execution area R12) in the next movement area. You may choose.

  According to said structure, it can be set appropriately according to a condition whether a work non-execution area | region is included in a next movement area | region.

  The autonomous mobile body system which concerns on aspect 10 of this invention is an autonomous mobile body system provided with the autonomous mobile body and the communication terminal, Comprising: The said autonomous mobile body and the working part which implements work, moving a work area, A position detection unit that detects a position of the work unit in the work area, a work index detection unit that detects a work index related to work by the work unit, and a history of the position of the work unit, A creation unit that creates a work result map representing an area in the work area to which the work unit has moved as a work execution area; and a transmission unit that transmits information representing the work result map created by the creation unit to the communication terminal; The work execution area includes a threshold satisfaction area that satisfies the threshold of the work index, and a threshold non-satisfaction area that does not satisfy the threshold, and the communication terminal receives the information transmitted by the transmission unit. Receive And a terminal display unit that displays the work result map based on the information received by the terminal receiver, and the autonomous mobile body performs the work after the working unit moves next time. A selection unit that selects the threshold unsatisfied region as the next movement region to be implemented, and a threshold change that changes the threshold based on a user input to the terminal display unit based on the work result map displayed on the terminal display unit And a part.

  The calculation unit 206 of the autonomous mobile body (autonomous mobile device 103) according to each aspect of the present invention may be realized by a computer. In this case, the computer is operated as each unit included in the calculation unit 206. A control program for the arithmetic unit 206 that causes the arithmetic unit 206 to be realized by a computer and a computer-readable recording medium that records the control program also fall within the scope of the present invention.

  The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention. Furthermore, a new technical feature can be formed by combining the technical means disclosed in each embodiment.

  INDUSTRIAL APPLICABILITY The present invention can be used for an autonomous mobile body and an autonomous mobile body system that perform work by moving autonomously such as a cleaning robot.

103 Autonomous mobile device (autonomous mobile body)
103A autonomous mobile device (autonomous mobile body)
209 Cleaning brush (working part)
210 Self-position detector (position detector, speed sensor, work index detector)
205a, 205b Encoder (speed sensor, work index detector)
211 Work result map creation part (creation part)
212 Operation panel (display unit)
213 Selection unit 214 Threshold value changing unit 401 Cleaning result detection sensor 501 Autonomous mobile device system 503 Communication unit (terminal reception unit)
504 Communication unit (transmission unit)
505 Display unit (terminal display unit)
M1 to M6 Work result map R11 Cleaning execution area (work execution area)
R12 Uncleaned area (unworked area)
B4 to B6 button S1, S2 selector (threshold changing unit)
L4 travel area (threshold unsatisfied area, threshold satisfied area)
L5 running area (threshold unsatisfied area, threshold satisfied area, first indicator area)
L6 running area (threshold unsatisfied area, second indicator area)

Claims (5)

A working unit that performs work while moving the work area;
A position detector for detecting the position of the working part in the working area;
A work index detection unit for detecting a work index related to work by the work unit;
A creation unit that creates a work result map that represents a region in the work area to which the work unit has moved as a work execution region based on a history of the position of the work unit;
The work execution area includes a threshold satisfaction area that satisfies the threshold of the work index, and a threshold non-satisfaction area that does not satisfy the threshold,
A selection unit that selects the threshold unsatisfied region as a next movement region where the working unit moves and performs the work next time,
A threshold value changing unit that changes the threshold value based on a user input ;
The threshold unsatisfied area includes a first index area and a second index area that are segmented based on the work index,
The autonomous mobile body further comprising a display unit that displays the first index area and the second index area in different visual modes . The autonomous moving body according to claim 1, wherein the threshold value changing unit includes a selector displayed on the display unit. The operation includes a cleaning operation,
The autonomous mobile body according to claim 1, wherein the work index detection unit includes a cleaning result detection sensor that detects a cleaning result by the working unit. The work result map displays the threshold unsatisfied area and a work non-execution area that is an area other than the work execution area,
The autonomous moving body according to claim 1, wherein the selection unit selects whether or not to include the unexecuted area in the next movement area. An autonomous mobile system comprising an autonomous mobile body and a communication terminal,
The autonomous mobile body is
A working unit that performs work while moving the work area;
A position detection unit for detecting the position of the working unit in the working area;
A work index detection unit for detecting a work index related to work by the work unit;
Based on the history of the position of the working unit, a creation unit that creates a work result map that represents a region in the work region to which the working unit has moved as a work execution region;
A transmission unit that transmits information representing the work result map created by the creation unit to the communication terminal;
The work execution area includes a threshold satisfaction area that satisfies the threshold of the work index, and a threshold non-satisfaction area that does not satisfy the threshold,
The communication terminal is
A terminal receiving unit for receiving information transmitted by the transmitting unit;
A terminal display unit that displays the work result map based on the information received by the terminal reception unit;
The autonomous mobile body is a selection unit that selects the threshold unsatisfied region as a next moving region where the working unit moves and performs the work next time,
A threshold value changing unit that changes the threshold value based on a user input to the terminal display unit based on the work result map displayed on the terminal display unit;
The threshold unsatisfied area includes a first index area and a second index area that are segmented based on the work index,
The terminal display unit displays the first index area and the second index area in different visual aspects .

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