JP6764652B2 - Autonomous vehicle - Google Patents

Description

An embodiment of the present invention relates to an autonomous vehicle capable of autonomously traveling in a plurality of different traveling patterns.

Conventionally, a so-called autonomous traveling type electric vacuum cleaner (cleaning robot) that cleans the floor surface while autonomously traveling on the floor surface as a surface to be cleaned is known.

Such an electric vacuum cleaner usually has a plurality of traveling patterns different from each other, and by combining these traveling patterns as necessary, it is possible to efficiently travel and clean the cleaning area.

At stores selling vacuum cleaners, it is possible to enhance the appeal to consumers by displaying these multiple driving patterns. Therefore, for the vacuum cleaner, a series of operations during cleaning will be exhibited, in which the vacuum cleaner is separated from the base device such as a charging device, cleaned while sequentially performing a plurality of running patterns, and then returned to the base device. It is desirable to have a controlled, demo drive mode.

However, in the case of such a driving mode for demonstration, it is merely to display a plurality of driving patterns in sequence, and basically it is not possible to accept only a stop command from the user and set the function of the vacuum cleaner itself. Not expected.

Japanese Unexamined Patent Publication No. 2014-188001

An object to be solved by the present invention is to provide an autonomous driving body capable of carrying out an exhibition with higher appeal.

The autonomous driving body of the embodiment includes a main body case, drive wheels, a cleaning unit, a secondary battery, and control means. The drive wheels allow the main body case to travel. The cleaning department cleans. The secondary battery supplies power to the cleaning unit. The control means includes a running mode for demonstration in which the driving of the driving wheels is controlled to sequentially switch to a plurality of different running patterns within a predetermined time, the main body case is autonomously run, and then the main body case is returned to the base device. Then, this control means determines whether or not to end the demonstration driving mode and return the main body case to the base device according to the remaining amount of the secondary battery in the demonstration driving mode, and also perform an external operation. When is input, the operation of the cleaning unit is switched alternately between normal operation and operation with lower input than this normal operation according to this input, and when returning to the base device, the function is changed. Return to the driving mode for the demonstration before.

It is a block diagram which shows the internal structure of the autonomous driving body of one Embodiment. (a) is a top view of the autonomous vehicle as above, and (b) is a bottom view of the autonomous vehicle. It is explanatory drawing which shows typically the operation of the autonomous vehicle in the demo mode in the order of (a) to (e). It is the flowchart which shows the control of the autonomous vehicle.

Hereinafter, the configuration of one embodiment will be described with reference to the drawings.

In FIGS. 2 (a) and 2 (b), reference numeral 11 denotes a vacuum cleaner as an autonomous vehicle, and the vacuum cleaner 11 serves as a base device serving as a base for charging the vacuum cleaner 11. Together with the charging device (charging stand) 12 (FIG. 3 (a)), it constitutes an electric cleaning device (electric cleaning system). Then, in the present embodiment, the electric vacuum cleaner 11 is a so-called self-propelled robot cleaner (cleaning robot) that cleans the floor surface while autonomously traveling (self-propelled) on the floor surface which is the surface to be cleaned as the traveling surface. ).

Further, the vacuum cleaner 11 includes a hollow main body case 20, a traveling portion 21 shown in FIG. 1 for running the main body case 20 on a floor surface, and a cleaning unit 22 for cleaning dust on the floor surface and the like. The sensor unit 24, the control means (control unit) 27 which is a controller for controlling the traveling unit 21, the cleaning unit 22, and the like, and the secondary power supply to the traveling unit 21, the cleaning unit 22, the sensor unit 24, the control means 27, and the like. It is equipped with a battery 28. Further, the vacuum cleaner 11 may be provided with, for example, a charging device 12 (FIG. 3A), a communication unit that communicates with an external device including a remote controller, and the like. Hereinafter, the direction along the traveling direction of the electric vacuum cleaner 11 (main body case 20) is defined as the front-rear direction (arrows FR and RR directions shown in FIG. 2A and the like), and intersects (orthogonally) with respect to this front-rear direction. The left-right direction (both sides direction) will be described as the width direction.

The main body case 20 shown in FIGS. 2 (a) and 2 (b) is formed of, for example, a flat columnar shape (disk shape) made of synthetic resin or the like. As shown in FIG. 2A, on the upper surface of the main body case 20, for example, an exhibitor such as a store clerk exhibiting the vacuum cleaner 11 or a viewer such as a customer who visited the store may be present. A start / stop button 30 is provided as an input operation unit (user interface) for the user to input the start and end of cleaning. Further, as shown in FIG. 2B, a suction port 31 which is a dust collection port, an exhaust port which is not shown, and the like are opened on the lower surface portion of the main body case 20 facing the floor surface. Further, the main body case 20 is provided with a dust collecting portion 33 shown in FIG. 2A, which communicates with the suction port 31.

The traveling unit 21 (FIG. 1) is shown in FIG. 1 which is a driving unit 34 and 34 as a plurality (pair) of driving units shown in FIG. 2B and a driving means as an operating unit for driving each driving wheel 34. It is equipped with a motor 35, a turning wheel 36 for turning shown in FIG. 2 (b), and the like.

Each drive wheel 34 causes the vacuum cleaner 11 (main body case 20) to travel in the forward and backward directions (autonomous travel) on the floor surface, that is, for traveling, and is rotated along the left-right width direction (not shown). It has axes and is arranged symmetrically in the width direction. Further, these drive wheels 34 are configured so that the outer periphery in contact with the floor surface is formed of a soft member such as rubber or an elastomer to improve the grip on the floor surface. The drive wheels 34 may be, for example, tracks.

Each motor 35 (FIG. 1) is arranged corresponding to each of the drive wheels 34, for example, and each drive wheel 34 can be driven independently.

The swivel wheel 36 is a driven wheel that is located at a substantially central portion in the width direction of the lower surface portion of the main body case 20 and is located at the front portion and can swivel along the floor surface.

The cleaning unit 22 shown in FIG. 1 is, for example, an electric blower 41 located in the main body case 20 (FIG. 2 (a)) and sucking dust from the suction port 31 (FIG. 2 (b)) together with air and exhausting the dust from the exhaust port. I have. The cleaning unit 22 has, for example, a rotating brush as a rotary cleaning body that is rotatably attached to the suction port 31 (FIG. 2 (b)) to scoop up dust, and the front side of the main body case 20 (FIG. 2 (a)). A side brush or the like, which is an auxiliary cleaning means (auxiliary cleaning unit) as a swivel cleaning unit that is rotatably attached to both sides to collect dust, may be provided.

The sensor unit 24 is, for example, a distance measuring sensor as a detection means (detection unit) for detecting the distance to the object to be detected (object, step, virtual object, etc.) around the main body case 20 (FIG. 2A). The detection sensor 45 is provided. In addition, the sensor unit 24 is provided with light as a rotation speed detecting means (rotation speed detecting unit) for detecting the rotation speed of each drive wheel 34 (each motor 35 shown in FIG. 1) shown in FIG. 2 (b), for example. It may be provided with a rotation speed sensor such as an encoder, a step detecting means (step detecting unit) for detecting a step on the floor surface, a dust amount detecting means (dust amount detecting unit) for detecting the dust amount on the floor surface, and the like. ..

The detection sensor 45 may be a non-contact sensor using, for example, infrared rays, ultrasonic waves, or an image, or may be a contact sensor that detects an object to be detected by coming into contact with the object to be detected.

The control means 27 is, for example, a CPU that is a control means main body (control unit main body), a ROM that is a storage unit that stores fixed data such as a program read by the CPU, and a work area that is a work area for data processing by the program. It is a microcomputer provided with a RAM (not shown) which is an area storage unit that dynamically forms various memory areas such as, a timer and a counter which are timing means, and a memory which is a non-volatile storage means. Then, the control means 27 is, for example, a traveling mode in which each drive wheel 34 (FIG. 2 (b)), that is, each motor 35 is driven to autonomously drive the vacuum cleaner 11 (main body case 20 (FIG. 2 (a))). It has a charging mode for charging the secondary battery 28 via the charging device and a standby mode for waiting for operation. In addition, the control means 27 includes a normal mode for performing normal cleaning and a demo mode for demonstration at a store or the like in the traveling mode. These normal modes and demo modes are determined, for example, based on the flag information written in the above memory. Since the demo mode is not required when a general user uses the vacuum cleaner 11, for example, at the time of shipment from the factory, the driving mode of the control means 27 is set to the normal mode, but a demo such as in a store is used. When a mode is required, the demo mode can be called and the memory flag information can be rewritten to the demo mode by a predetermined operation or command input. That is, the normal mode and the demo mode are switched by a predetermined operation or input of a command, and the flag information of the memory is rewritten accordingly.

Then, in the normal mode, the control means 27 starts from the charging device 12 (FIG. 3 (a)), starts cleaning, performs cleaning by appropriately using a plurality of different traveling patterns, and then ends cleaning. The drive of each motor 35 (each drive wheel 34 (FIG. 2 (b))) and the operation of the cleaning unit 22 are controlled so as to return to the charging device 12 (FIG. 3 (a)). In the present embodiment, there are two types of traveling patterns, a bound traveling pattern which is the first traveling pattern shown in FIG. 3 (c) and a wall traveling pattern which is the second traveling pattern shown in FIG. 3 (d). And have.

In the bound traveling pattern shown in FIG. 3 (c), the control means 27 advances the vacuum cleaner 11 (main body case 20) straight ahead (advances), and the detection sensor 45 detects the object to be detected forward within a predetermined distance. In order to determine that the object to be detected is an obstacle, the vacuum cleaner 11 (main body case 20) is turned, or once it is moved backward and then turned to change the traveling direction, and then the vacuum cleaner 11 (main body case 20) is turned again. Go straight on the main body case 20). At this time, the angle at which the vacuum cleaner 11 (main body case 20) is turned may be a predetermined angle set in advance, or may be randomly selected for each turn from a predetermined angle range of less than 180 °. .. Further, the direction of turning the vacuum cleaner 11 (main body case 20) may be the same every time, the turning direction may be reversed every predetermined number of times, for example, every time, or every predetermined number of times, for example, once. It may be selected at random.

Further, in the wall-lined traveling pattern shown in FIG. 3D, the control means 27 detects the vacuum cleaner 11 (main body case 20) in a predetermined direction, that is, on either the right side or the left side, and the detection sensor 45. When the vacuum cleaner 11 (main body case 20) is advanced straight so as to keep the distance to the detected object (for example, a wall) substantially constant, and the detected object is detected forward within a predetermined distance by the detection sensor 45, This object to be detected is judged to be an obstacle, and the vacuum cleaner 11 (main body case 20) is swiveled or once moved backward and then swiveled to change the traveling direction by, for example, 90 °, and then the vacuum cleaner 11 (main body case 20) is turned again. Go straight on the vacuum cleaner 11 (main body case 20) so that the distance between the right side or the left side of the main body case 20) and the object to be detected (for example, a wall) detected by the detection sensor 45 is kept substantially constant. Let me.

Here, when going straight or backward, the control means 27 shown in FIG. 1 has the same number of rotations of each motor 35 (each drive wheel 34 (FIG. 2 (b))) in the same direction (forward or backward direction). Rotate at (same speed). Further, when the direction is changed, the control means 27 causes the rotation speed (rotation speed) and the rotation direction of each motor 35 (each drive wheel 34 (FIG. 2 (b))) to be different from each other. In the present embodiment, when the direction is changed, each motor 35 (each drive wheel 34 (FIG. 2 (b))) is rotated in opposite directions at the same rotation speed (same speed), so that the vacuum cleaner 11 (Main body case 20 (Fig. 2 (a))) is controlled to turn on the spot (super-credit turn).

Then, in the normal mode, the control means 27 switches between the bound traveling pattern and the traveling pattern along the wall at predetermined time intervals, and selects a necessary one according to the cleaning mode and the purpose. For example, when the control means 27 travels (cleans) a relatively wide traveling area, that is, a cleaning area, the control means 27 selects a bound traveling pattern, travels (cleans) every corner of the cleaning area, or maps the cleaning area. Select a running pattern along the wall when generating a map or returning to the charging device 12. When the bound traveling pattern is used, a wide cleaning area can be cleaned in a short time, and when the wall traveling pattern is used, fine cleaning can be performed according to the shape of the cleaning area.

Further, in the demo mode, the control means 27 starts from the charging device 12 (FIG. 3 (a)) and starts cleaning, and after cleaning while sequentially performing a plurality of traveling patterns provided in the normal mode, the cleaning is performed. A series of controls that are completed and returned to the charging device 12 are performed in a predetermined short time, and the drive and cleaning unit 22 of each motor 35 (each drive wheel 34 (FIG. 2 (b))) repeats this control a predetermined number of times. Control the operation of. This predetermined short time is a time shorter than the cleaning time required for cleaning in the normal mode. Further, the control means 27 accepts input from the start / stop button 30 (FIG. 2 (a)), a remote controller, or the like in this demo mode, and the vacuum cleaner 11 is prepared in advance in response to this input operation. From the functions provided, the exhibitor or viewer can set and change the required functions. Specifically, in the present embodiment, for example, the operation of the cleaning unit 22, and more specifically, the operation of the electric blower 41 can be changed according to the input operation. The electric blower 41 has two functions (normal operation mode) in which it is driven by a normal input and a manner mode (eco mode) in which the suction force (input) is reduced to suppress the consumption of the secondary battery 28 and the driving noise (eco mode). Operation) is provided in advance, and in the demo mode, a viewer or the like can change these modes by input operation.

Further, the secondary battery 28 is electrically connected to a charging terminal as a connection portion (not shown), and these charging terminals are electrically and mechanically connected to the charging device 12 side to form the charging device 12. It is designed to be charged via.

In the present embodiment, the charging device 12 shown in FIG. 3A and the like serves as a starting point for cleaning the vacuum cleaner 11 and a return point when the cleaning is completed. Although not shown, the charging device 12 has a charging circuit such as a constant current circuit, and a charging terminal that is electrically connected to the charging circuit and is electrically and mechanically connected to the charging terminal of the vacuum cleaner 11. I have. The charging device 12 is provided with, for example, a dust collecting section for transferring and collecting the collected dust in the dust collecting section 33 (FIG. 2A) of the vacuum cleaner 11 and a suction means such as an electric blower. It may have been.

Next, the operation of the above embodiment will be described with reference to FIGS. 1 to 4.

In general, the electric cleaning device is mainly used for traveling work in which the electric vacuum cleaner 11 autonomously travels, in the present embodiment, cleaning work in which the electric vacuum cleaner 11 is used for cleaning, and charging work in which the secondary battery 28 is charged by the charging device 12. Be separated. Since a known method using a charging circuit provided in the charging device 12 is used for the charging operation, only the cleaning operation will be described.

During the cleaning operation, the vacuum cleaner 11 generally disengages from the charging device 12 at the start of cleaning, cleans the cleaning area when the normal mode is selected, and finishes or secondary cleaning. When the capacity of the battery 28 decreases, the process returns to the charging device 12. In addition, when the demo mode is selected, the vacuum cleaner 11 performs cleaning while sequentially traveling in a plurality of traveling patterns, and when the cleaning is completed or the capacity of the secondary battery 28 decreases, the charging device The operation of returning to 12 is repeated a predetermined number of times.

More specifically, first, when a user such as an exhibitor operates the start / stop button 30, or when a command signal for starting cleaning is input by a remote controller or an external device (step 1), the control means 27 enters the standby mode. The mode is switched to the running mode, and a predetermined power-on process such as turning on the power lamp by supplying power from the secondary battery 28 is performed (step 2).

Next, a predetermined automatic cleaning start process such as starting the cleaning unit 22 (electric blower 41) is performed (step 3).

Then, the control means 27 refers to the flag information stored in the memory and determines whether or not the traveling mode is the normal mode (step 4).

If it is determined in step 4 that the traveling mode is the normal mode, the automatic cleaning process for the normal mode is performed (step 5). In this automatic cleaning process for the normal mode, the control means 27 drives each motor 35 (each drive wheel 34) to leave the charging device 12 by a predetermined distance, and then the vacuum cleaner 11 (1) by at least one of a plurality of traveling patterns. Cleaning is performed by the cleaning unit 22 while the main body case 20) is running. In the cleaning unit 22, dust on the floor surface is collected by the electric blower 41 driven by the control means 27 to the dust collecting unit 33 via the suction port 31.

Then, the control means 27 determines whether or not the cleaning is completed (step 6), and if it is determined that the cleaning is completed, controls the drive of each motor 35 (each drive wheel 34) to perform electric cleaning. The machine 11 (main body case 20) is returned to the charging device 12 (step 7), and the traveling mode is terminated.

If it is determined in step 6 that the cleaning has not been completed, whether or not the remaining capacity of the secondary battery 28 is less than the predetermined value, in other words, whether or not the remaining capacity of the secondary battery 28 is low. (Step 8). If it is determined in step 8 that the remaining capacity of the secondary battery 28 is not less than the predetermined value (or more than the predetermined value), the process returns to step 5 and it is determined that the remaining capacity of the secondary battery 28 is less than the predetermined value. If so, the process proceeds to step 7.

On the other hand, in step 4, when it is determined that the driving mode is not the normal mode, that is, the driving mode is the demo mode, the automatic cleaning process for the demo mode is performed (step 9).

The automatic cleaning process for this demo mode will be described in more detail with reference to FIGS. 3 (a) to 3 (e). In the demo mode, generally, as shown in FIG. 3A, the vacuum cleaner 11 and the charging device 12 are installed in the cleaning area CR having a predetermined size such as a square shape, and the vacuum cleaner 11 is the charging device 12 The control means 27 drives each motor 35 (each drive wheel 34) from the state of being connected to the vacuum cleaner 11 (main body case 20) as shown by the arrow in FIG. 3 (b). The vacuum cleaner 11 (main body case 20) is run for a certain period of time in a bound running pattern as shown by the arrow in FIG. 3 (c), and then as shown by the arrow in FIG. 3 (d). The vacuum cleaner 11 (main body case 20) is run along the wall in a running pattern for a certain period of time, and during these running controls, the control means 27 operates the cleaning unit 22 to perform cleaning. Cleaning by the cleaning unit 22 is the same as in the normal mode.

During the process of step 9, the control means 27 receives an input of an external operation by a user such as a viewer from the start / stop button 30 or the remote controller, and the function can be changed according to the input. .. In the present embodiment, the drive of the cleaning unit 22 (electric blower 41) can be alternately switched between a normal operation and a special operation (operation in which the input is reduced) by inputting an external operation of this user. ..

Then, the control means 27 determines whether or not the cleaning is completed (step 10), and if it is determined that the cleaning is completed, controls the drive of each motor 35 (each drive wheel 34), and FIG. As shown by the arrow in (e), the vacuum cleaner 11 (main body case 20) is returned to the charging device 12 (step 11). When the charging device 12 is provided with a dust collecting portion and a suction means, the dust collecting portion 33 (FIG. 2 (a)) is set at a predetermined timing after the vacuum cleaner 11 (main body case 20) returns to the charging device 12. The collected dust may be transferred to the dust collecting portion of the charging device 12.

If it is determined in step 10 that the cleaning has not been completed, whether or not the remaining capacity of the secondary battery 28 is less than the predetermined value, in other words, whether or not the remaining capacity of the secondary battery 28 is low. Determine if (step 12). If it is determined in step 12 that the remaining capacity of the secondary battery 28 is not less than the predetermined value (or more than the predetermined value), the process returns to step 9 and it is determined that the remaining capacity of the secondary battery 28 is less than the predetermined value. If so, the process proceeds to step 11.

After step 11, the control means 27 initializes the settings of the functions changed during the process of step 9 (step 13). Then, the control means 27 determines whether the automatic cleaning process for the demo mode of step 9 has been repeated a predetermined number of times (step 14).

If it is determined in step 14 that the process has not been repeated a predetermined number of times, the control means 27 demonstrates whether the remaining capacity of the secondary battery 28 is equal to or greater than the predetermined value, in other words, the remaining capacity of the secondary battery 28 is the demo of step 9. Determine if one automatic cleaning process for the mode is sufficient (step 15). Then, in step 15, if it is determined that the remaining capacity of the secondary battery 28 is equal to or greater than a predetermined value, the process returns to step 3. On the other hand, if it is determined in step 15 that the remaining capacity of the secondary battery 28 is not equal to or more than a predetermined amount (less than a predetermined amount), the secondary battery 28 is charged by the charging device 12 (step 16), and then the step is taken. Return to 3.

On the other hand, if it is determined in step 14 that the process has been repeated a predetermined number of times, the traveling mode is terminated as it is.

After the travel mode ends, the control means 27 switches to, for example, a charging mode or a standby mode.

According to one embodiment described above, when an external operation is input during the driving mode for demonstration, the control means 27 changes the function according to the input, so that the preset operation and function are exhibited. Not only that, it will be possible to exhibit with changed functions as needed. Therefore, it is possible to carry out an exhibition that is more appealing to consumers.

That is, in the case of the vacuum cleaner 11 having various operations and functions, it is inefficient to display all the operations and functions especially in the case of a store demonstration where there is a time constraint, so the demo mode Now, by exhibiting only basic (typical) actions and functions, and making it possible to change to other functions and actions that you want to show by inputting external operations as needed, a variety of viewers can be seen. It is possible to exhibit according to various needs and improve the appeal of the product.

In addition, the function changed by the external input is automatically initialized when the vacuum cleaner 11 (main body case 20) returns to the charging device 12, so that the exhibitor and the viewer perform input operations separately. You can display a series of operations from the default state at the next operation without any trouble.

That is, in the demo mode, the vacuum cleaner 11 (main body case 20) autonomously travels in a plurality of different traveling patterns within a predetermined time, and then repeats the operation of returning to the charging device 12 a predetermined number of times, as described above. By automatically initializing the function changed by the external input every time the vacuum cleaner 11 (main body case 20) returns to the charging device 12, even if the function is changed by the external input, the electricity is supplied. Once the vacuum cleaner 11 (main body case 20) returns to the charging device 12, it is possible to perform a series of operations from the initial setting state. In other words, the function changed by the external input lasts only during one operation until the vacuum cleaner 11 (main body case 20) returns to the charging device 12. Therefore, for example, after changing the function of the vacuum cleaner 11 by external input according to the needs of one viewer, this one viewer finishes browsing during the demo mode and needs different needs from this one viewer. Even if another viewer who has it comes to browse, once the vacuum cleaner 11 (main body case 20) returns to the charging device 12 without performing an input operation such as reset, other browsing is performed after that. It is possible to exhibit the operation of the vacuum cleaner 11 in the initial setting to the person.

Furthermore, since the drive of the cleaning unit 22 (electric blower 41) can be changed, electricity can be obtained by switching the functions provided in the vacuum cleaner 11 in advance, such as changing the suction force from the standard state to a smaller state. As a vacuum cleaner 11, it is possible to carry out an exhibition that is highly appealing to consumers.

In the above embodiment, there may be three or more types of traveling patterns of the vacuum cleaner 11 (main body case 20).

In addition, as a change in the function of the cleaning unit 22 according to the input operation of the user such as the viewer, the driving strength (the magnitude of the rotation speed) of the rotating brush (brush motor) and the swirling brush (swivel brush motor) is switched. It may be possible to change the control in any combination of these.

Further, for example, in the case where the vacuum cleaner 11 is provided with an image pickup means (camera), in the demo mode, the control means 27 travels to a predetermined position according to an input operation of a user such as a viewer, and an image is captured by the camera. The function may be switched so as to switch the control on / off, which is not performed in the normal demo mode, such as the control for imaging the camera. That is, the vacuum cleaner 11 may be capable of setting and changing arbitrary functions by an input operation of a user such as a viewer. In this case, it can be applied to an autonomous vehicle that does not have a cleaning unit 22 (electric blower 41).

Although one embodiment of the present invention has been described, this embodiment is presented as an example and is not intended to limit the scope of the invention. This novel embodiment can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. This embodiment and its modifications are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

11 Vacuum cleaner as an autonomous vehicle
12 Charging device as a base device
20 Body case
22 Cleaning department
27 Control means
34 drive wheels

Claims (2)

With the main body case
The drive wheels that allow this body case to run,
The cleaning department that cleans and
A secondary battery that supplies power to this cleaning unit,
After Autonomous said body case by sequentially switching the plurality of traveling patterns different within a predetermined time by controlling the driving of the drive wheels, and a control means having a traveling mode for demonstration to be fed back to the base unit Equipped with
The control means determines whether or not to end the demonstration running mode and return the main body case to the base device according to the remaining amount of the secondary battery in the demonstration running mode. When an external operation is input , the operation of the cleaning unit is alternately switched between a normal operation and an operation in which the input is lower than the normal operation in response to the input, and the operation is returned to the base device. In this case, an autonomous vehicle characterized by returning to the driving mode for the demonstration before changing the function. The control means drives the drive wheels so as to repeat the operation of returning to the base device a predetermined number of times after the main body case is autonomously driven by sequentially switching to a plurality of different driving patterns within a predetermined time in the driving mode for demonstration. The autonomous driving body according to claim 1, wherein the autonomous vehicle is controlled .

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