JPH09204223A - Autonomous mobile working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To execute work for the whole range of a work area with uniform working quality by constituting an autonomous mobile working vehicle so as to travel in zigzag fashion in accordance with a horizontal movement pitch which is calculated by means of a calculating means. SOLUTION: A pitch storage part 14 stores the horizontal pitch and outputs it to an arithmetic control part. The arithmetic control part 16 executes the operation and control of a whole cleaning work robot. Distance to right and left walls is measured at a placement position, at first. Then, turning by 90 deg. towards the nearnest wall of the two is executed so as to proceed to the wall. At the time of being brought into contact with the wall, rotation towards right at the left wall or towards left at the right wall by 90 deg. is executed on the wall. A variable indicating the position coordinate of the cleaning work robot is adopted as zero and a present position is as an original point. The vabiable indicating the work area is also initialized. Then, the horizontal movement pitch PO is calculated based on distance to the remote wall and a mode flag MF indicating whether the work is the normal one or the one in the area of residual work is adopted as zero. At last, the sub-routine of zigzag traveling is executed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an autonomous mobile work vehicle, and more particularly to an autonomous mobile work vehicle that travels all over a work range to perform work such as cleaning and wax application.

[0002]

2. Description of the Related Art As a conventional autonomous mobile work vehicle, for example, Japanese Patent Publication No. 5-82601 has a rotatable ultrasonic distance measuring sensor and a dead reckoning function. Positional coordinate Xmi of (wall, etc.)
n, Xmax, Ymin, Ymax are calculated, and these 4
An autonomous mobile work vehicle is disclosed in which the above four points are corrected using the latest data obtained by an ultrasonic distance measuring sensor while traveling in a range surrounded by points to search the traveling range.

Further, Japanese Patent Application Laid-Open No. 5-257533 discloses an autonomous mobile work vehicle having a dead reckoning function and a non-contact obstacle sensor. In this autonomous mobile work vehicle, predetermined information such as the shape of the work area is input in advance from a keyboard or the like, but it does not have information about obstacles. Therefore, in a region where an obstacle is not detected, work is performed with a predetermined moving template pattern, and in a region where an obstacle is detected, work is performed with the above moving template pattern in a region where an obstacle can be avoided. Specifically, a lane that can travel a predetermined distance without detecting an obstacle immediately before the obstacle existing area and a lane that can travel a predetermined distance immediately after the obstacle existing area without detecting an obstacle. Is recognized, and the area surrounded by the two lanes is recognized as an obstacle existing area. Immediately after the obstacle existing area, the work in the unworked area in the obstacle existing area is carried out from the end point of the lane where the vehicle could travel a predetermined distance without detecting the obstacle, by the above moving fixed pattern.

[0004]

[Patent Document 1] Japanese Patent Publication No. 5-82
In the conventional autonomous mobile work vehicle disclosed in Japanese Patent No. 601,
Since the cleaning area is determined using Xmin, Xmax, Ymin, and Ymax, it is determined that the cleaning area is a rectangular area regardless of the shape of the actual work area.
There is a problem that the area becomes larger than the actual area and unnecessary calculation is required. In addition, in order to search the unworked area, it is necessary to store the already-worked area because there is a large number of obstacles because it is necessary to perform the operation of excluding the already-worked area from the rectangular area calculated using the above four points. However, when the shape of the work area becomes complicated, the capacity of the memory becomes large and the calculation time becomes long. further,
When you hit an obstacle in a zigzag run, you work by a U-turning method, and when you are no longer able to run because you are surrounded by obstacles, you will search for an unworked area and move to the unworked area. The moving distance to the work starting point of becomes longer, or it becomes necessary to travel again in the already-worked area. Therefore, in the case of a wax application work or a cleaning work with a disinfectant solution, it is not preferable to run again in the already-worked area because the work quality is deteriorated.

Further, in the conventional autonomous mobile work vehicle disclosed in Japanese Unexamined Patent Publication No. 5-257533, the obstacle does not actually match the pitch of the traveling lane of the autonomous mobile work vehicle. There is an unprocessed work area between the through-pass and the obstacle. Therefore, after the first through-pass and before the second through-pass, the work is simply performed by avoiding the obstacle, and therefore no consideration is given to work in the remaining work area, and therefore, the obstacle is not generated. There is also a problem that a work remaining area is formed around the object, particularly near the side surface of the obstacle.

An object of the present invention is to provide an autonomous mobile work vehicle capable of working over the entire range of a work area with uniform work quality.

Another object of the present invention is to provide an autonomous mobile work vehicle capable of automatically and efficiently working in a work area including an unknown obstacle by a simple process.

[0008]

An autonomous mobile work vehicle according to claim 1 is an autonomous mobile work vehicle that performs a predetermined work by zigzag traveling, and measures a distance to an obstacle in a lateral direction at the start of work. Measuring means and calculating means for calculating the lateral movement pitch of the traveling lane during zigzag traveling based on the distance to the obstacle on the work advancing direction side of the distance to the obstacle in the lateral direction measured by the measuring means. In addition, the autonomous mobile work vehicle performs zigzag traveling according to the lateral movement pitch calculated by the calculating means.

With the above configuration, the lateral movement pitch is calculated based on the distance to the obstacle in the work advancing direction among the distances to the lateral obstacle, and zigzag traveling is performed in accordance with the calculated lateral movement pitch. Therefore, the horizontal movement pitches can be made equal, and uniform work quality can be realized in the entire range of the work area.

In addition to the configuration of the autonomous mobile work vehicle according to claim 1, the autonomous mobile work vehicle according to claim 2 is one of the distances to the obstacle on the work advancing direction side measured by the measuring means during straight traveling. The calculating means further includes a storage means for storing the minimum value, and the calculating means, each time the minimum value stored in the storage means is updated, a traveling lane along an obstacle corresponding to the minimum value stored in the storage means. The lateral movement pitch is calculated so that the above occurs, and the autonomous mobile work vehicle performs zigzag traveling in accordance with the latest lateral movement pitch calculated by the calculation means.

With the above configuration, the lateral movement pitch is calculated so that a traveling lane that follows the obstacle is formed on the side of the work advancing direction, and the zigzag traveling can be performed in accordance with the calculated lateral movement pitch. Therefore, it is possible to prevent generation of an unworked area in the work area.

In addition to the configuration of the autonomous mobile work vehicle according to the second aspect, the autonomous mobile work vehicle according to the third aspect is configured such that the final traveling lane is made in accordance with the obstacle corresponding to the minimum value stored in the storage means. When the distance to the obstacle on the work advancing direction side is not the minimum value while traveling, the first traveling lane that follows the obstacle corresponding to the minimum value and the obstacle on the work advancing direction side that is not the minimum value After working on the area sandwiched between the second traveling lane that follows the object and the second traveling lane, the work is returned to the first traveling lane.

With the above-described structure, it is possible to perform work from the deep portion on the work advancing direction side, and the work area including the unknown obstacle can be automatically detected by simple processing without using detailed map information of the work area. It is possible to work efficiently and efficiently.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION A cleaning work robot which is an autonomous mobile work vehicle according to an embodiment of the present invention will be described below with reference to the drawings. The cleaning work robot described below is a cleaning work robot that cleans the floor surface, but the present invention can be similarly applied to an autonomous mobile work vehicle that performs other work.

FIG. 1 is a schematic diagram showing the configuration of a cleaning work robot according to an embodiment of the present invention. Referring to FIG.
The cleaning work robot includes a vehicle body part 1, a traveling part 2, a front obstacle sensor 3, a side profile sensor 4, a left drive wheel 5a, a right drive wheel 5b, a left drive motor 6a, and a right drive motor 6.
b, front free caster wheel 7a, rear free caster wheel 7b, cleaning work unit 8, vehicle body rotating shaft 9, vehicle body rotation drive motor 10, left distance measuring sensor 11a, right distance measuring sensor 1
1b.

The body part 1 is mounted on the traveling part 2,
The traveling unit 2 is rotatably supported about a vehicle body unit rotation axis 9 that is perpendicular to the floor surface. The vehicle body 1 is rotationally driven by a vehicle body rotation drive motor 10. The traveling unit 2 is a traveling unit for moving the cleaning work robot body.

The front obstacle sensor 3 is attached to the front of the vehicle body 1, detects that a front obstacle is touched, and outputs an obstacle detection signal to the traveling controller 12 (see FIG. 2). The lateral scanning sensor 4 detects the distance to the wall when traveling straight along the lateral wall. Potentiometers are attached to the left and right side surfaces of the vehicle body 1, and the axis of the potentiometer is attached so as to rotate around a vertical axis. A rod protruding laterally is attached to the axis of the potentiometer. A sphere is attached to the tip of the rod so as not to damage the wall. The lateral copying sensor 4 configured as described above is attached to each of the left and right side surfaces of the cleaning work robot at two positions, front and rear.

Left drive wheel 5a and right drive wheel 5b
Is directly connected to the drive shafts of the left drive motor 6a and the right drive motor 6b, and can rotate independently left and right. The rotation speed at this time is measured by the left rotation speed detection encoder 13a and the right rotation speed detection encoder 13b (see FIG. 2).

The left drive motor 6a and the right drive motor 6b are fixed to the vehicle body base plate of the traveling unit 2, and the traveling control unit 1
The left and right drive wheels 5a are independently driven and controlled by 2
By independently rotating and driving the right drive wheel 5b, forward, reverse, rotation, or curve traveling is performed.

The front free caster wheels 7a and the rear free caster wheels 7b support the vehicle body together with the left drive wheel 5a and the right drive wheel 5b, and the directions of the wheels rotate in response to the rotation of the left drive wheel 5a and the right drive wheel 5b. Then
Realizes smooth rotation and curves.

The cleaning work unit 8 is connected to the vehicle body unit 1 and performs a cleaning work on the floor surface. The body portion 1 rotates with respect to the traveling portion 2 around the axis of the body portion rotating shaft 9. The vehicle body portion rotation drive motor 10 is a motor for rotating the vehicle body portion 1 with respect to the traveling portion 2.

The left distance measuring sensor 11a and the right distance measuring sensor 11b are distance measuring sensors for measuring the distances to the obstacles in the leftward and rightward directions, respectively, and are used by ultrasonic distance measuring sensors or optical distance measuring sensors. To be

Next, the structure of the controller of the cleaning work robot shown in FIG. 1 will be described in detail. FIG. 2 is a block diagram showing a configuration of a control unit of the cleaning work robot shown in FIG.

Referring to FIG. 2, the control unit is the traveling control unit 1
2, a left rotation speed detection encoder 13a, a right rotation speed detection encoder 13b, a pitch storage unit 14, an operation unit 15, and a calculation control unit 16 are included.

The traveling control unit 12 includes a front obstacle sensor 3, a left distance measuring sensor 11a, and a right distance measuring sensor 11.
b is connected. The traveling control unit 12 also includes a left drive motor 6a, a right drive motor 6b, a left rotation speed detection encoder 13a, and a right rotation speed detection encoder 13b.
Is connected. Further, the traveling control unit 12 is connected to the arithmetic control unit 16, and the arithmetic control unit 16 controls the pitch storage unit 14.
And the operation unit 15.

The traveling control unit 12 controls the rotation speeds of the left drive motor 6a and the right drive motor 6b by monitoring the outputs from the left rotation speed detection encoder 13a and the right rotation speed detection encoder 13b, and moves forward and backward.
It controls running such as curving and turning on the spot. Also,
The traveling control unit 12 performs traveling control according to the outputs of the front obstacle sensor 3 and the lateral scanning sensor 4 according to a flowchart shown in FIG. 4 described later.

The left rotation speed detection encoder 13a measures the rotation speed of the left drive motor 6a and outputs it to the traveling control unit 12. The right rotation speed detection encoder 13b measures the rotation speed of the right drive motor 6b and outputs it to the travel control unit 12.

The pitch storage unit 14 stores the lateral movement pitch and outputs it to the arithmetic control unit 16. The operation unit 15 includes key switches for inputting various setting values and giving commands, and a display unit. The calculation control unit 16 performs calculation and control of the entire cleaning work robot.

Next, the lateral copying sensor 4 shown in FIG. 1 will be described in more detail. FIG. 3 is a diagram for explaining the usage status of the side-scanning sensor. When traveling along a lateral wall, the tip of the lateral scanning sensor 4 contacts the wall,
It rotates about the axis of the potentiometer according to the distance to the wall, and the rotation angles θ1 and θ2 are detected by the potentiometer.

The traveling control unit 12 calculates the degree of parallelism and the distance between the wall and the cleaning work robot based on the rotation angles θ1 and θ2 of the front and rear side scanning sensors 4, and the lateral side of the cleaning work unit 8 is calculated. The traveling is controlled so as to maintain a predetermined distance so as to be in contact with the wall and be parallel to the wall.

Next, the operation of the cleaning work robot configured as described above will be described in detail. FIG. 4 is a flowchart showing a process of calculating the lateral movement pitch of zigzag traveling while measuring the distance.

First, the distance to the left and right walls is measured at the place where it is placed (# 101). Next, rotate 90 degrees toward the wall that is closer to the left or right and proceed toward that wall, and if you touch the wall, rotate the wall to the right if it is the left wall and rotate 90 degrees to the left if it is the right wall. Follow (# 102).

Next, variables x and y indicating the position coordinates of the cleaning work robot are set to 0, and the current position is set as the origin. Also,
Initialize variables x0, y0, x1, y1 indicating the work area. Specifically, x0 and y0 are set to the current position (origin), and x1 and y1 are set to Xmax and Ymax, respectively (# 103). Note that Xmax and Ymax are input from the operation unit 15 before the work.

Next, the lateral movement pitch P0 is calculated by the following formula based on the distance to the wall on the far side (working direction side) (# 104). This equation sets P0 so that the cleaning work robot performs work on the return path along the wall on the work advancing direction side in the end stroke of the work.

P0 = (W−L / 2) / m (1) P0 <L−Dmin (2) where m is the largest positive even number satisfying the expression (2). W
Is the distance from the center of the robot to the far wall,
Based on the measured value of the distance measuring sensor, it is calculated by considering the mounting position of the distance measuring sensor on the robot. L is the work width of the cleaning work robot. Dmin is the minimum value of the overlapping width with the traveling lane before the zigzag traveling, and is a value that is predetermined according to the straight traveling performance of the robot.

Next, the mode flag MF indicating whether the present work is a normal work or a work in the remaining work area is set to 0 (# 105). When MF = 0, the normal work mode is shown, and when MF = 1, the work remaining area work mode is shown.

Finally, the zigzag running subroutine is executed (# 106), and the work is completed.

Next, the zigzag traveling subroutine shown in FIG. 4 will be described in more detail. 5 and 6
FIG. 9 is a flowchart illustrating a zigzag running subroutine that makes a recursive call.

First, the vehicle goes straight ahead (# 201). Next, the mode flag MF is determined (# 202). Here, if MF = 0, it means the normal working mode, and # 203
If MF = 1, the operation mode is the remaining work area, and the process proceeds to # 205.

Next, the distance W to the obstacle on the work end side is measured, the x coordinate (= x + W) of the obstacle is calculated from the present self position x and W, and the obstacle is found so far. If it is closer to the work start side than any of the obstacles (Y in # 203)
ES), proceed to # 204, recalculate P0 by the equation (1), and drive the obstacle along the return route in the future. On the other hand, if MF = 1 and the work is not in the normal area,
# 203 and # 204 are not performed.

Next, it is determined whether the y coordinate of the current position is larger than y1 by a predetermined amount L1 or more (# 205). L1
Is the distance between the straight line connecting the right end and the left end of the front obstacle sensor and the leading edge of the front obstacle sensor (see FIG. 3). In this embodiment, since the front obstacle sensor is a curved surface, a difference of L1 is generated in the forward distance depending on which position of the front obstacle sensor the front obstacle contacts during forward movement. A predetermined amount L1 is added for the purpose of confirming that the obstacle has not completely come into contact with the front obstacle sensor. If y ≦ y1 + L1, # 2
09, and if y> y1 + L1, proceed to # 206.

When y> y1 + L1, the current y-coordinate is larger than the maximum value of the y-coordinates in the preceding traveling lane, so it is recognized that there is an obstacle in the forward traveling direction in the preceding traveling lane, In # 207 of, the work of the work remaining area between the obstacle and the current traveling lane is performed, but before that,
Current mode flag MF, lateral movement pitch P0, x1
And y0 are saved in the stack (# 206). This is because the zigzag traveling subroutine is recursively called and used in the subroutine for traveling in the remaining work area, and at that time, MF, P0, x1 and y0 are rewritten to new values.

Next, the work remaining area is run in the work remaining area traveling subroutine (# 207). The work remaining area traveling subroutine will be described later.

Next, since the remaining work area running subroutine is finished and the normal running is resumed, the MFs, P0, x1 and y0 saved in the stack are restored (# 208), # 2.
Proceed to 10.

On the other hand, when y ≦ y1 + L1, it is determined whether or not the obstacle ahead is contacted (# 209). If not, the process returns to # 202, and if it is contacted, the process proceeds to # 210.

Next, when a front obstacle is touched, y1
The y coordinate of the current position is substituted into (# 210).

Next, it is determined whether the mode flag MF is 0 or 1 (# 211). This is because the zigzag running subroutine is called in the remaining work area running subroutine and the ending side lane running subroutine, and it is necessary to perform a slightly different operation from the case of normal running. This is for determining whether the vehicle is running in the remaining work area.

Next, when MF = 0, it rotates 90 degrees toward the work advancing direction, and goes straight toward the work advancing direction by the lateral movement pitch P0. Then, it is further rotated by 90 degrees to complete the U-turn at the lateral movement pitch P0 (# 212).

Next, it is determined whether or not the current traveling lane is a traveling lane along the obstacle having the smallest x coordinate on the work end side (# 213). In the case of the traveling lane along the obstacle with the smallest x-coordinate on the work completion side, proceed to # 214, otherwise proceed to # 215.

In the case of the traveling lane along the obstacle having the smallest x-coordinate, the end side lane traveling subroutine is executed (# 214), the zigzag traveling subroutine is terminated, and the process returns.

On the other hand, if the lane is not along the obstacle having the smallest x coordinate, go straight to the position of y0 (# 21).
5). This is a return trip.

Next, the current y coordinate is the maximum value x of the work area.
It is determined whether or not it is 1 or more (# 216), and if it is the maximum value x1 or more, the zigzag running subroutine is ended and the process returns. If the maximum value is not more than x1, 90 toward the work progress direction
Rotate by 90 degrees and go straight toward the work advancing direction by the lateral movement pitch P0, and then further rotate 90 degrees to complete the U-turn at the lateral movement pitch P0 (# 217) and return to # 201.

Next, the subroutine for running the remaining work area shown in FIG. 5 will be described in more detail. FIG. 7 and FIG. 8 are flowcharts showing a subroutine of the work remaining area traveling for performing the zigzag traveling corresponding to the unworked area.

First, the mode flag MF is set to 1, y1 is substituted for the lower limit y0 of the y coordinate of the work area, the current x coordinate is substituted for the upper limit x1 of the x coordinate, and the upper limit y of the y coordinate is set.
Substitute Ymax for 1 (# 300). Next, the distance D to the obstacle on the work start side is measured (# 301). D is the distance from the obstacle-side end of the cleaning work unit to the obstacle, and is calculated based on the output of the distance measuring sensor in consideration of the mounting position of the distance measuring sensor on the robot.

Next, D is compared with a predetermined value D0 (# 3
02), if D is less than D0, proceed to # 303, and if D0 or more, proceed to # 305. Here, D0 is the amount of overlap between the traveling lanes up to that time, and is calculated from the work width L of the cleaning work robot and the lateral movement pitch P0 by D0 = L-P0 (3).

In the case of D ≧ D0, the work remaining area is traveled by zigzag travel (one round trip and a half). The lateral movement pitch P0 for that purpose is calculated by the following formula (# 305), and the process proceeds to # 308.

P0 = (D−L / 2) / 3 (4) On the other hand, in this embodiment, since the width of the front obstacle sensor is smaller than the width of the cleaning work unit, the front obstacle sensor detects the front obstacle. Even if it is not detected, an obstacle may come into contact with the cleaning work unit if it moves forward as it is. In this case, the width D of the remaining work area becomes negative. Then, if D <0, laterally move by D to the opposite side of the obstacle on the work start side and follow the obstacle (# 306), and work with the number of traveling lanes 1 (# 30).
7).

On the other hand, in the case of 0 <D <D0, the width of the remaining work area is small, so that the work is moved laterally toward the obstacle on the work start side and along the obstacle (# 304), and the number of traveling lanes is 1. Work (# 307). Even in this case, the lateral movement amount is within the overlap amount between the traveling lanes up to now, so that no work remains after this.

Next, straight ahead is started (# 308). Next, the distance D to the obstacle on the work start side is measured and compared with a predetermined value Dmax (# 309). Dmax is the maximum width of the remaining work area and is calculated by the following formula.

Dmax = 2 × L (5) If D is greater than or equal to Dmax, proceed to # 310, and if less than Dmax, proceed to # 312.

If D is greater than or equal to Dmax, it is recognized that there is no obstacle on the work starting side. Then, it recognizes that there is an unworked area behind the obstacle on the work start side, and stores this in a predetermined flag (# 310). Next, the y coordinate of the current position is substituted into y1 and stored (# 311), and # 3
Proceed to 16.

On the other hand, if D is less than Dmax and it is recognized that there is an obstacle on the work start side, the vehicle goes straight on. Then, while going straight, the distance W from the self center position to the obstacle on the work end side is measured, and the x coordinate (= x + W) of the obstacle is calculated from the present self position x and W. If it is closer to the work start side than any obstacle found so far (# 312), the process proceeds to # 313, and if not, the process proceeds to # 314.

When the obstacle is closer to the work starting side than any obstacle found so far, P0 is recalculated by the equation (1) (# 313), and the obstacle is run along the return route in the future. To do so.

Next, it is determined whether or not a front obstacle is touched (# 314). If it is in contact with an obstacle ahead, the process proceeds to # 311 and the y coordinate of the current position is substituted for y1 and stored. On the other hand, if there is no contact, the process proceeds to # 315.

When the obstacle ahead is not in contact, it is determined whether or not the y coordinate of the current position is larger than y1 by a predetermined amount L1 or more (# 315). If it is greater than y1 by L1 or more, the process proceeds to # 316, and if not greater, returns to # 308.

If the y coordinate of the current position is larger than y1 by L1 or more, it is determined whether or not the number of running lanes in the remaining work area (the value obtained in # 305 or # 307) has been completed (# 316). If not completed, the process proceeds to # 317, and if completed, the process proceeds to # 320.

When the work is not completed, the work is rotated 90 degrees toward the work starting direction, and the work is moved straight toward the work starting direction by the lateral movement pitch P0.
After that, it rotates 90 degrees further and U at the lateral movement pitch P0
Complete the turn (# 317).

Next, go straight until the y coordinate becomes y0 (# 318). y0 is the y coordinate of the start position of the remaining work area stored in # 301.

Next, the work is rotated 90 degrees toward the work starting direction and goes straight toward the work starting direction by the lateral movement pitch P0.
It further rotates 90 degrees, completes the U-turn at the lateral movement pitch P0 (# 319), and returns to # 308.

On the other hand, if the number of running lanes in the remaining work area is not completed, it is determined whether or not there is an unworked area in the back of the obstacle (recorded in # 310) (# 320). If # 322, proceed to # 322, and if not, proceed to # 321.

When there is no unworked area, the work in the work remaining area is completed, the work is rotated 90 degrees toward the work advancing direction, and x = x1.
Goes straight to the position of, and further rotates 90 degrees so as to face the forward traveling direction (in the direction opposite to the immediately preceding rotating direction) (# 32
1) The work in the remaining work area is completed and the process returns.

On the other hand, when there is an unworked area, the y coordinate of the current position is substituted into y0, and Ymax is substituted into y1 (#
322). In the next zigzag running subroutine performed at # 325, y0 becomes the y coordinate of the start position of the work area, and y1 becomes the initial value of the y coordinate of the end position. x
1 is the value set in # 301 and is the x coordinate of the work advancing direction side end of the remaining work area. In the zigzag running subroutine performed in # 325, the end position x is set.
Coordinates.

Next, after going straight to a position where lateral movement is possible,
Rotate 90 degrees to the work start direction side, go straight to the end of the work start direction side of the unworked area, and further rotate 90 degrees so as to face the forward travel direction (in the direction opposite to the immediately preceding rotation direction) and follow the wall ( # 323).

Next, the working width of the unworked area is obtained from the x coordinate of the current position and x1, and the number of traveling lanes m and the lateral movement pitch P0 are calculated by the following formulas (# 324).

P0 = (x1-x) / m (6) P0 <L-Dmin (7) Here, m is the maximum positive even number that satisfies the expression (7), and L is the cleaning work. This is the working width of the robot. Dmin
Is a minimum value of the overlapping width with the traveling lane before the zigzag traveling, and is a value that is predetermined according to the straight traveling performance of the cleaning work robot.

Finally, after executing the zigzag running subroutine (# 325), the remaining work area running subroutine is terminated and the process returns. If a work remaining area occurs during this zigzag running subroutine, the work remaining area running subroutine is recursively called.

Next, the subroutine for the end lane traveling shown in FIG. 6 will be described in more detail. FIG. 9 is a flowchart showing a subroutine for end-side lane traveling that performs zigzag traveling of the end-side traveling lane.

First, the mode flag MF is set to 1 indicating that the vehicle is not traveling normally (# 401). Next, the corresponding flags are modified so that the work starting direction side is the work advancing direction side and the work advancing direction side is the work starting direction side, and the outward advancing direction side is the returning advancing direction side and the returning advancing direction is The corresponding flag is corrected so that the direction side is the forward travel direction side. Along with that, the positive and negative directions of the x-axis and the y-axis are reversed (# 402).

Then, x, so that the current position is the origin,
Substitute 0 for y. In addition, y0 which is the y coordinate of the work area starting point of the zigzag running subroutine executed in # 409.
Substituting 0, which is the y coordinate of the current position, into x of the work end point
Substitute 0, which is the x coordinate of the current position, for x1 indicating the coordinate,
Ymax is substituted for y1 indicating the y coordinate of the work end point (# 403).

Next, the distance De to the obstacle on the work starting direction side (the work traveling direction side in normal traveling because it is reversed at # 402) is measured (# 404).

Next, De is compared with a predetermined value D0 (#
405), if De is D0 or less, proceed to # 407,
If larger than D0, proceed to # 406. Where D0 is
It is the overlap amount between the traveling lanes up to that time, and is calculated from the working width L of the cleaning work robot and the lateral movement pitch P0 by the following formula.

D0 = L-P0 (8) Next, when it is larger than D0, the number of traveling lanes m and the lateral movement pitch P0 are calculated based on De (# 406).

P0 = (De-L / 2) / m (9) P0 <L-Dmin (10) Here, m is the maximum positive even number that satisfies the expression (10), and L is This is the working width of the cleaning robot. Dmin
Is a minimum value of the overlapping width with the traveling lane before the zigzag traveling, and is a value that is predetermined according to the straight traveling performance of the cleaning work robot.

On the other hand, when D0 or less, De is small, so the number of traveling lanes m is set to 1 (# 407).

Next, it rotates 90 degrees toward the work starting direction side (the work proceeding direction side in normal traveling), goes straight to the end on the work starting direction side, and further faces the forward path proceeding direction (the immediately preceding rotation direction). Rotate 90 degrees (in the opposite direction) and along the wall (# 408).

Finally, after executing the zigzag running subroutine (# 409), the ending side lane running subroutine is ended and the process returns. Here, the normal traveling means traveling in a zigzag of left-right reversal and front-rear inversion, and similarly to the normal traveling described above, if the work remaining area is found, the work remaining area traveling subroutine is executed.

Next, a specific operation of the cleaning work robot according to each of the above flow charts will be described. FIG.
FIG. 0 is a diagram for explaining the first operation of the cleaning work robot shown in FIG.

Referring to FIG. 10, first, the point a is # 10.
The origin position of the work area 3 is shown. That is, this is an example of the case where the first position is close to the left wall.
Move to this place from 01 to # 102. Next, # 10
In step 4, measure the distance to the wall on the right side and move horizontally
Is calculated.

Next, a point b indicates a place where the zigzag traveling is repeated in # 201 to # 205 and finally the front shelf is contacted. In the future, the y coordinate of this position will be y1. During zigzag running, the distance to the right wall is periodically measured in # 203 to # 204, but only the first wall has been found, and the lateral movement pitch P0 remains unchanged.

Next, since the vehicle has come to the front wall-free region, that is, the point c for the first time during the zigzag traveling, the position of the point c is a position advanced further than the position of the point b. At this time, # 20
In step 5, the fact is found, and then the process proceeds to # 206, and then proceeds to the subroutine for running the remaining work area. Then go straight ahead to a position where you can measure the distance to the horizontal shelf, and measure the distance to the left shelf. In this case, since the distance to the horizontal shelf is large, the horizontal movement pitch P0 is calculated by working on the horizontal side of the rack in one and a half round trips.

Next, in # 309, it is found that the distance to the left shelf is measured and the vehicle goes straight, and the distance to the left obstacle becomes large at the position of point d, and the left shelf disappears. Then, it is remembered that there is an unworked area at the back of the left shelf (#
309- # 310).

Next, the work remaining area is zigzag-worked, the work goes to the back of the left shelf, and the point where the wall follows is point e (# 323). Next, in # 324, the lateral movement pitch P0 is calculated. In this case, since the current position is the same wall as the first wall, the calculation result is the same as the initial lateral movement pitch.

Next, point f is the position where the zigzag running subroutine is executed and the work in the unworked area is completed (# 325). Next, make a U-turn and move from point f to the next running lane. Since this running lane is a running lane along the shelf on the right wall, proceed to # 214 in # 213 and run in the end lane. Execute the subroutine, move to the right wall, reach point g, and follow the wall.

Then, the right and the left, the front and the rear are exchanged, zigzag traveling is performed, and finally the operation is completed by moving to the point h.

Next, the second cleaning work robot shown in FIG.
Will be described. FIG. 11 is a diagram for explaining a second operation of the cleaning work robot shown in FIG.

Referring to FIG. 11, since the operation from point a to point e shown in FIG. 11 is the same as the operation from point a to point e shown in FIG. 10, detailed description thereof will be omitted and the subsequent steps will be omitted. The operation will be described.

First, at the point f, it is detected that an unworked area further occurs while the unworked area in the back of the shelf is being worked. Next, at the point g, the remaining work area is found during the execution of the subroutine for running the lane on the end side, and the work in the remaining work area is being performed.

Next, the third cleaning work robot shown in FIG.
Will be described. FIG. 12 is a diagram for explaining a third operation of the cleaning work robot shown in FIG.

After finding the occurrence of the remaining work area at the position of point c shown in FIG. 10, the width of the remaining work area and the x of the current position are detected.
Based on the coordinates, a lateral movement pitch P that does not cause a remaining work area on the left shelf is calculated and stored in the pitch storage unit 14. Then, by using the lateral movement pitch P stored in the pitch storage unit 14 as the initial lateral movement pitch from the next time, it is possible to perform work so that the remaining work area does not occur on the left shelf as shown in FIG. . Here, the lateral movement pitch P such that the remaining work area does not occur on the left shelf
Is calculated by the following formula.

P = (x1−D) / m (11) P <L−Dmin (12) Here, m is the maximum positive even number that satisfies the expression (12), and x1 is shown in FIG. X coordinate of the position of point c of
Is the distance between the obstacle on the work starting side at the position of point c in FIG. 10 and the end in the work starting direction of the cleaning work robot.
Is the working width of the cleaning robot. Dmin is the minimum value of the overlapping width with the traveling lane before the zigzag traveling, and is a value determined in advance according to the straight traveling performance of the cleaning work robot.

Since the pitch storage unit 14 can also store a plurality of values of the lateral movement pitch, it is effective even when the remaining work area is generated a plurality of times as shown in FIG.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing a configuration of a cleaning work robot according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a control unit of the cleaning work robot shown in FIG.

FIG. 3 is a diagram for explaining a usage state of a side scanning sensor.

FIG. 4 is a flowchart for explaining a process of calculating a lateral movement pitch in zigzag traveling by measuring a distance.

5 is a flowchart for explaining a part of the zigzag traveling processing shown in FIG.

FIG. 6 is a flowchart for explaining another part of the zigzag traveling processing shown in FIG.

FIG. 7 is a flowchart for explaining a part of the remaining work area traveling subroutine shown in FIG.

FIG. 8 is a flowchart for explaining another part of the remaining work area running subroutine shown in FIG. 5;

FIG. 9 is a flowchart for explaining a subroutine for traveling on the ending lane shown in FIG. 6.

FIG. 10 is a diagram for explaining a first operation example of the cleaning work robot shown in FIG. 1.

FIG. 11 is a diagram for explaining a second operation example of the cleaning work robot shown in FIG. 1.

FIG. 12 is a diagram for explaining a third operation example of the cleaning work robot shown in FIG. 1.

[Explanation of symbols]

 1 Car Body 2 Traveling 3 Front Obstacle Sensor 4 Lateral Copy Sensor 5a Left Drive Wheel 5b Right Drive Wheel 6a Left Drive Motor 6b Right Drive Motor 7a Front Flexible Caster Wheel 7b Rear Flexible Caster Wheel 8 Cleaning Work 9 Body Rotation axis 10 Vehicle body rotation drive motor 11a Left side distance measurement sensor 11b Right side distance measurement sensor 12 Travel control section 13a Left side rotation speed detection encoder 13b Right side rotation speed detection encoder 14 Pitch storage section 15 Operation section 16 Arithmetic control section

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Kyoko Nakamura Inventor, Kyoko Nakamura 2-3-13 Azuchi-cho, Chuo-ku, Osaka, Osaka International Building Minolta Co., Ltd. 3-13 Osaka International Building Minolta Co., Ltd.

Claims (3)

[Claims] 1. An autonomous mobile work vehicle which performs a predetermined work by zigzag running, wherein a measuring means for measuring a distance to a lateral obstacle at the start of the work, and a lateral obstacle measured by the measuring means. Based on the distance to the obstacle on the work progress side of the distance to the object,
An autonomous mobile work vehicle, comprising: a calculating unit that calculates a lateral movement pitch of a traveling lane during zigzag traveling, wherein the autonomous mobile work vehicle performs zigzag traveling according to the lateral movement pitch calculated by the calculating unit. 2. The storage unit further stores a minimum value of the distances to the obstacle on the work advancing direction side measured by the measuring unit during straight traveling, and the calculating unit is stored by the storing unit. Every time the minimum value is updated, the lateral movement pitch is calculated so that a traveling lane along an obstacle corresponding to the minimum value stored in the storage means is generated, and the autonomous mobile work vehicle is the The autonomous mobile work vehicle according to claim 1, which performs zigzag traveling according to the latest lateral movement pitch calculated by the calculating means. 3. When the autonomous mobile work vehicle travels in the final traveling lane following the obstacle corresponding to the minimum value stored in the storage means, the autonomous mobile work vehicle reaches an obstacle in the work advancing direction. When the distance is not the minimum value, the first traveling lane that follows the obstacle corresponding to the minimum value and the second traveling lane that follows the obstacle on the work advancing direction side that is not the minimum value
The autonomous mobile work vehicle according to claim 2, wherein after the area sandwiched between the traveling lane and the vehicle is operated, the operation is returned to the first traveling lane to perform the operation.