JPH0962359A - Controlling method for unmanned traveling vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable the body of an unmanned vehicle to approach to a wall surface by stopping the vehicle when the measured distance from the front wall surface is equal to the prescribed value, turning the vehicle body by a specific angle to move it back, and turning again the vehicle body by a specific angle. SOLUTION: The body 13 of an unmanned cleaning vehicle 10 is stopped when the measured distance value D is equal to the prescribed value that is previously inputted to a control part 16 while the body 13 is traveling on a passage 11, so that the vehicle 10 can continuously travels on the passages 11 and 12. When it is decided that the vehicle 10 has cleaned the entire area of the passage 11, the part 16 stores the stop measured distance value SD that is obtained by measuring again the distance via a distance measuring means 15. Then the part 16 calculates the move-back distance corresponding to the value SD and the form of the body 13. The body 13 is turned by 180 deg. and then turned again by 90 deg. after the body 13 is moved back by the move-back distance. Thus it is possible to move the body 13 in parallel and close to the wall surface after the body 13 continuously traveled on the passages orthogonal to each other and surrounded by the walls and also an area is shifted to another.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling an unmanned vehicle, and more particularly, to a method for controlling an unmanned vehicle that performs a "region transition" in order to continuously travel on mutually orthogonal passages. It is a thing.

[0002]

2. Description of the Related Art Many of a plurality of passages provided in a building have wall surfaces arranged in four surroundings and are orthogonal to each other. Then, in recent years, introduction of an unmanned cleaning vehicle for cleaning the floor surface by continuously running through these passages has been promoted. The unmanned cleaning vehicle includes a pair of drive wheels arranged in parallel with the vehicle body, and distance measuring means such as an ultrasonic distance sensor for measuring a distance between the vehicle body and a wall surface located in front of the vehicle body in a traveling direction, CP that individually controls the rotation speed and rotation direction of each drive wheel based on the distance measurement value output by the distance measurement means
It has a control unit such as U.

The vehicle body has, for example, a substantially rectangular parallelepiped shape, and the control unit drives the driving wheels to rotate straight at a constant speed so that the vehicle travels straight ahead. Turns around as a turning center. In order to avoid mutual interference with the rotating brushes provided on the bottom surface of the vehicle body, each drive wheel is often arranged at a rear portion in the traveling direction of the vehicle body, that is, at an arbitrary position from the center to the rear end of the vehicle body in the traveling direction. In order to clean the entire aisle, the unmanned cleaning vehicle moves the vehicle back and forth in the aisle so that the trajectories do not overlap each other. In addition, it is desirable to start traveling from a parallel state.

By the way, as shown in FIG. 4, an unmanned cleaning vehicle 40 includes a first passage 41 and a second passage 4 which are orthogonal to each other.
In order to continuously run the vehicle 2, the vehicle is set to perform an operation called "area transition". "Realm Transition"
Is an operation of moving the vehicle body 43 from the traveling end position in the first passage 41 to the traveling start position in the second passage 42 and changing the traveling direction by 90 degrees. In this "region transition", the vehicle body 43 travels in the first passage 41,
When the distance measurement value becomes equal to the predetermined value input to the control unit, the control unit determines that the travel end position of the first passage 41 is reached and stops the vehicle body 43. For the above-mentioned reason, the "area transition" performed by the unmanned cleaning vehicle 40 is the second passage 4 when the "area transition" is completed.
It is required that the vehicle body 43 can be arranged with the side surfaces of the vehicle body 43 parallel to the second wall surface 44 and as close as possible.

Conventionally, as a "region transition", each drive wheel is rotated at a non-constant speed so as to have a constant radius of 1/4.
A method is known in which the vehicle body 43 is turned so as to draw an arc-shaped running locus (see the solid line in FIG. 4A: conventional example 1). In Conventional Example 1, since the vehicle body 43 travels in a turning manner so as to draw a traveling locus of a quarter arc, if the first passage 41 and the second passage 42 are orthogonal to each other, the "region transition" ends. Then, the vehicle body 43 can be arranged such that the side surface of the vehicle body 43 is parallel to the wall surface 42A.

However, in the conventional example 1, when an error occurs in the stop position of the vehicle body 43 in the first passage 41, the vehicle body 43
Is contacted with the wall surface 44 during turning traveling (see the chain line a, b in FIG. 4 (A)) or when the "region transition" is completed, the vehicle body 43 is said to be placed away from the wall surface 42A. There is a problem (see middle chain line c in FIG. 4 (A)). Also,
In Conventional Example 1, since it is necessary to rotate each drive wheel at a non-uniform speed, there is also a problem that the processing of the control unit becomes complicated.

[0007] Therefore, in recent years, as a "region transition",
A method has been attempted in which the vehicle body 43 is rotated a predetermined angle and then moved forward a predetermined distance a plurality of times (see the solid line in FIG. 4B: conventional example 2). In this conventional example 2, since the data of the turning angle and the forward distance are made into a table in advance and the turning angle and the forward distance according to the stop position of the vehicle body 43 in the first passage 41 are obtained by the table conversion, the first passage 41 Regardless of the stop position, when the "region transition" is completed, the vehicle body 43 can be arranged with the side surface of the vehicle body 43 parallel and close to the wall surface 42A of the second passage 42 (Fig. 4 (B) medium chain line a, b)).

[0008]

However, in the second conventional example, since the turning and the forward movement are performed a plurality of times, the error generated in each operation is accumulated, and when the "region transition" is completed, the second passage 42 There is a possibility that the side surface of the vehicle body 43 may be separated from the wall surface 42A, or the vehicle body 43 may be arranged in an inclined state (see the chain line c in FIG. 4B). Further, in the second conventional example, since it is necessary to prepare the data of the turning angle and the forward distance according to the stop position of the vehicle body 43 in the first passage 41, the amount of data to be tabulated becomes enormous. There's a problem.

The above problem does not occur only in an unmanned cleaning vehicle that cleans the floor by traveling in a passage in a building. When the "area transition" is completed, the side surface of the vehicle body is not aligned with the wall surface. This is occurring in all unmanned vehicles that require the bodies to be arranged so that they are close to each other and parallel to each other. The present invention has been made in order to solve such a conventional problem, and an object thereof is to "transfer a region" in which wall surfaces are arranged in four surroundings and the roads are continuously run in mutually orthogonal passages.
An object of the present invention is to provide a control method for an unmanned vehicle in which the side surface of the vehicle body is parallel to the wall surface and the vehicle body can be arranged as close as possible to the wall surface.

[0010]

The present invention has been devised by the present inventor by paying attention to the fact that the drive wheels are arranged in parallel at the rear portion in the traveling direction of the vehicle body. In order to achieve the above-mentioned object, the invention described in claim 1 of the present invention is a pair of drive wheels arranged in parallel at the rear portion in the traveling direction of the vehicle body in order to travel on a passage having wall surfaces arranged on four sides. And a distance measuring unit that outputs a distance from the vehicle body to the wall surface arranged in front of the vehicle body as a distance measurement value to the control unit,
A control method for an unmanned vehicle in which the control unit controls the drive wheels individually based on the measured values to drive the vehicle body, the distance measurement value and a predetermined value previously input to the control unit. When the values are equal to each other, the control unit stops the vehicle body, then turns the vehicle body 180 degrees and then retracts the vehicle body, and then turns the vehicle body 90 degrees.

In this case, in the vehicle body, each drive wheel should be arranged at an arbitrary position between the center of the maximum length of the vehicle body in the traveling direction and the rear end, for example, near the rear end when the vehicle body has a substantially rectangular parallelepiped shape. It suffices to rotate each drive wheel at a constant speed so that the rear portion in the traveling direction is rotated about 180 degrees or about 90 degrees. In addition, for example, when applied as a "region transition" for continuously traveling in a first passage and a second passage that are orthogonal to each other, when the vehicle body is turned 180 degrees, the vehicle body and the wall surface of the first passage do not come into contact with each other. Thus, the side surface of the vehicle body may be separated from the wall surface of the first passage by a predetermined distance in advance. Then, when retracting the vehicle body, the vehicle body may be retracted to a position where the rear end of the vehicle body is separated from the wall surface of the second passage by a predetermined dimension in consideration of turning the vehicle body 90 degrees next time.

According to the first aspect of the present invention, the running direction of the vehicle body is finally changed by 90 degrees by rotating the vehicle body 180 degrees, retreating, and turning 90 degrees. Therefore, if the invention described in claim 1 of the present invention is applied, for example, as a "region transition" for continuously traveling in the passages in which the wall surfaces are arranged in four surroundings,
When the "region transition" is completed, the vehicle body can be arranged such that the side surface of the vehicle body is parallel to the wall surface.

Further, since the vehicle body is rotated 180 degrees and then retracted, if the vehicle body is rotated 90 degrees next time and the retreat distance is selected so that it does not come into contact with the wall surface, "region transition" is performed.
When is finished, the relative distance of the vehicle body to the wall surface can be arbitrarily set. At this time, since the respective drive wheels are arranged in parallel at the rear portion in the traveling direction of the vehicle body, for example, if the vehicle body has a substantially rectangular parallelepiped shape, even if the vehicle body is rotated 90 degrees next time, the respective driving wheels travel. The rear end can be brought closer to the wall surface as compared with the vehicle bodies arranged in parallel at the center in the direction or at the front in the traveling direction. Therefore, if the vehicle body is then turned 90 degrees to complete the "region transition", the vehicle body will be placed against the wall surface as compared with the vehicle body in which the drive wheels are arranged in parallel in the center in the traveling direction or in the front portion in the traveling direction. The vehicle body can be arranged so that the sides of the vehicle approach.

As described above, in the invention described in claim 1 of the present invention, if the wall surface is arranged in, for example, four walls, and it is applied as a "region transition" for continuously traveling in mutually orthogonal paths. , Turn the car body 180 degrees and 90
Since the traveling direction of the vehicle body is changed by 90 degrees by turning the vehicle, the side surface of the vehicle body becomes parallel to the wall surface when the "region transition" is completed, and if the retreat distance is appropriately selected, the "region The vehicle body can be arranged such that the side surface of the vehicle body approaches the wall surface when the “region transition” ends, regardless of the stop position of the vehicle body when the “transition” is started.

Further, when the vehicle body is rotated 180 degrees and 90 degrees, it is only necessary to reverse each drive wheel at a constant speed, so that it is not necessary to rotate each drive wheel at a constant speed as in the conventional case, and the control unit The processing can be simplified. Furthermore, the invention described in claim 1 of the present invention is "area transition".
In such a case, it is sufficient to perform a simple operation of 180 degrees turning, backward movement and 90 degrees turning on the vehicle body, and there is no risk of error in each operation as in the conventional case. Then, as the data to be made into a table in advance so as to be applied as the “area transition”, the vehicle body is 1
Data for turning 80 degrees and turning 90 degrees,
It is sufficient if there is data for retracting the vehicle body corresponding to the stop position of the vehicle body when starting the "region transition", and it is possible to eliminate the need for preparing a huge amount of data as in the conventional case.

According to a second aspect of the present invention, after the control unit stops the vehicle body, the stop distance measurement value obtained by causing the distance measurement means to remeasure the separation distance is stored. Then, the rearward distance corresponding to the stop distance measurement value and the form of the vehicle body is obtained, the vehicle body is turned 180 degrees, and then the drive wheels are controlled based on the backward distance to retreat the vehicle body. Then, the car body is replaced by 9
It is characterized by turning 0 degrees.

In this case, after confirming that each drive wheel is completely stopped, the control unit may cause the distance measuring means to remeasure the separation distance, and thereby obtain the stopped distance measurement value. As for the form of the vehicle body, the dimension from the turning center to the front end of the vehicle body and the dimension from the turning center to the rear end of the vehicle body, or when turning the vehicle body by 90 degrees, It suffices to measure in advance the turning dimension and the like at which the ends should be separated.

For example, the dimension A from the center of rotation of the vehicle body to the front end is 1 more than the dimension B from the center of rotation of the vehicle body to the rear end.
When the vehicle body is 1.6 cm (about 12 cm) long and the vehicle body is rotated 90 degrees, and the rolling dimension that should separate the rear end of the vehicle body from the wall surface is 16 cm, the retreat distance = stop distance measurement value- (16 cm-12 cm ) Is required. Here, when the stop distance measurement value is 80 cm, the receding distance = 80 cm− (16 cm−12 cm) = 76 c
It is calculated as m 2. Therefore, the stop distance measurement value is 80 cm
If it is, after turning the car body 180 degrees, 76c
If the vehicle body is moved backward by m and then turned 90 degrees, the side surface of the vehicle body is arranged as close to the wall surface as possible.

By the way, in general, the control unit determines the processing time based on the performance of the CPU from when it determines that the distance measurement value becomes equal to the predetermined value until it issues a braking command to each drive wheel to stop the vehicle body. It costs. Therefore, the separation distance when the vehicle body is stopped may be smaller than a predetermined value,
If the vehicle body is moved backward based on this distance measurement value, the vehicle body may come into contact with the wall surface. In addition, the control unit has a high-performance CPU
Even if the vehicle is adopted, the separation distance when the vehicle body is stopped may be smaller than the predetermined value due to inertial running of the vehicle body after each drive wheel starts braking, slippage of each drive wheel, etc. I can't eliminate the sex.

On the other hand, according to the second aspect of the present invention, since the stop distance measurement value is obtained while the vehicle body is completely stopped, the processing speed of the control unit, the inertia of the vehicle body, or each drive Accurate retreat distance is required regardless of wheel slip. Further, since the retreat distance is obtained in accordance with the stopped distance measurement value and the form of the vehicle body, it is possible to reduce the risk of the vehicle body coming into contact with the wall surface when the vehicle body moves backward or turns 90 degrees.

Further, the invention according to claim 3 of the present invention is characterized in that, after the control section turns the vehicle body by 90 degrees, the vehicle body is advanced by a predetermined distance and then the vehicle body is turned by 90 degrees. I am trying. In this case, as the forward travel distance, an arbitrary distance that allows the vehicle body to travel back and forth in the passage so that the traveling loci do not overlap each other when the vehicle body is turned 90 degrees next time may be appropriately selected. In the invention described in claim 3 of the present invention, for example, a so-called U-turn, which is performed to reciprocate the vehicle body so that the traveling loci do not overlap in the passage, can be easily and accurately performed. By the above, the above-mentioned object is achieved.

[0022]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows an embodiment according to the present invention. The unmanned cleaning vehicle 10 of this embodiment cleans the floor surface by continuously running the first passage 11 and the second passage 12 which are orthogonal to each other.
In order to clean the entire floor surface of the second passage 12, the first
The vehicle body 13 is set to reciprocate in the passage 11 or the second passage 12 so that the traveling loci do not overlap. The first passage 11 and the second passage 12 are the unmanned cleaning vehicle 1
It has a passage width larger than the length of the vehicle body 13 in the traveling direction of 0, and the wall surfaces 20 are arranged in the four surroundings to form a substantially L-shaped plane.

The vehicle body 13 has, for example, a substantially rectangular parallelepiped shape, and a pair of drive wheels 14, 14 are arranged in parallel at the rear portion in the traveling direction, and driven wheels (not shown) are disposed at the front portion in the traveling direction. In the vehicle body 13, the distance to the wall surface 20 arranged in front of the vehicle body 13 is measured by the distance measuring means 15 such as an ultrasonic distance sensor, and the CPU is based on the distance measuring value D output from the distance measuring means 15. The number of rotations and the direction of rotation of each drive wheel 14, 14 are individually controlled by the control unit 16 such as.

Specifically, the vehicle body 13 travels straight by the control unit 16 rotating the drive wheels 14, 14 at a constant speed, and the control unit 16 reverses the drive wheels 14, 14 at a constant speed. As a result, the center of rotation between the drive wheels is 17
Turn around as. The vehicle body 13 has a turning center 1
The dimension A from 7 to the front end is 11.6 cm (about 12 cm) longer than the dimension B from the turning center 17 to the rear end. Further, when the vehicle body 13 is turned 90 degrees or 180 degrees with the rear end facing the wall surface 20, the rear end needs to be separated from the wall surface 20 by 16 cm.

Since the unmanned cleaning vehicle 10 of this embodiment continuously travels in the first passage 11 and the second passage 12, while the vehicle body 13 is traveling in the first passage 11, the distance measurement value D and the control are controlled. When the predetermined value α input in advance to the section 16 becomes equal, the control section 16 stops the vehicle body 13 (state of solid line a in the figure). Then, the control unit 16
When the unmanned cleaning vehicle 10 determines that the entire area of the first passage 11 has been cleaned, the following "area transition" is set.

The "area transition" performed by the unmanned cleaning vehicle 10 is as follows.
The control unit 16 stores the stop distance measurement value SD obtained by causing the distance measurement means 15 to remeasure the separation distance, then calculates the stop distance measurement value SD and the retreat distance corresponding to the form of the vehicle body 13,
3 is turned 180 degrees (state of chain line b in the figure), and then the vehicle body 13 is moved backward by controlling each drive wheel 14, 14 based on the reverse distance (state of chain line c in the figure). 13 is turned 90 degrees to finish (state of solid line d in the figure).

In this "region shift", the control unit 16 turns the vehicle body 13 by 180 degrees, retreats, and turns 90 degrees to finally change the traveling direction of the vehicle body 13 by 90 degrees. Therefore, when the "area migration" is completed,
The vehicle body 13 is arranged so that the side surface of the vehicle body 13 is parallel to the wall surface 20 of the second passage 12, and the vehicle body 13 is arranged so that the side surface of the vehicle body 13 is inclined with respect to the wall surface 20 of the second passage 12. There is no fear. In addition, in order to perform the "region transition", the control unit 16 may rotate the drive wheels 14 and 14 at a constant speed or rotate at a constant speed in order to rotate the vehicle body 180 degrees, move backward and rotate 90 degrees. There is no fear that the processing will be complicated.

The stop distance measurement value SD is, for example, each drive wheel 14,
When the value of the encoder that counts the number of rotations of 14 does not fluctuate, the control unit 16 determines that the vehicle body 14 has completely stopped, and then the distance measuring unit 15 remeasures the separation distance to obtain it. On the other hand, the retreat distance is obtained by converting the retreat distance data tabulated in advance in the control unit 16 into a table based on the stop distance measurement value SD. The data table shows that the dimension A from the turning center 17 of the vehicle body 13 to the front end is
1 more than the dimension B from the turning center 17 of the vehicle body 13 to the rear end
1.6 cm (about 12 cm) long and the rear end is the wall surface 20
The data of the retreat distance is tabulated in consideration of the fact that it is necessary to keep the rear end 16 cm away from the wall surface 20 when turning 90 degrees or 180 degrees in a state of facing each other.

For example, when the stop distance measurement value SD is 80 cm, the retreat distance is: retreat distance = 80 cm- (16 cm-12 cm) = 76 c
m, which is obtained by table conversion. Therefore, after retracting the vehicle body 13 by 76 cm,
If it is turned 0 degrees, when the “region transition” is completed, the vehicle body 13 is arranged such that the side surface of the vehicle body 13 is as close to the wall surface 20 of the second passage 12 as possible.
There is no possibility that the vehicle body 13 is arranged with the side surface of the vehicle body 13 separated from the wall surface 20 of the vehicle.

On the other hand, when the control unit 16 determines that the unmanned cleaning vehicle 10 has not completed cleaning the entire area of the first passage 11,
It is set to perform the following "U-turn". The "U-turn" performed by the unmanned cleaning vehicle 10 is the control unit 16
Stores the stop distance measurement value SD obtained by re-measurement of the distance by the distance measurement means 15, and then stores the stop distance measurement value SD and the vehicle body 1
The retreat distance corresponding to the form of No.
After being rotated once, each drive wheel 14, 1
4, the vehicle body 13 is moved backward by controlling 4 and then the vehicle body 13 is rotated 90 degrees (state indicated by a chain line a in the figure), and then the vehicle body 13 is moved forward by a predetermined distance (state indicated by a solid line b in the figure), and then the vehicle body 13 is turned on. 13 is rotated 90 degrees and the process is completed (state indicated by chain line c in the figure). That is, the unmanned cleaning vehicle 10 makes a "U turn" by moving the vehicle body 13 forward by a predetermined distance after the "area transition" is completed and then turning the vehicle body 13 90 degrees.
It is supposed to do.

The unmanned cleaning vehicle 10 as described above has a "area transition" or a "U turn" according to the routine shown in FIG.
I do. That is, when the measured value D becomes equal to the predetermined value α in step ST1 (YES), step ST
In step 2, the control unit 16 stops the vehicle body 13, and in step ST3, the control unit 16 stores the stop distance measurement value SD obtained by re-measuring the separation distance.

Next, in step ST4, the first passage 1
If the control unit 16 determines that the cleaning of the entire area 1 has been completed, the process proceeds to step ST5 to perform the "area transition" (YE
S). Then, in step ST5, the stop distance measurement value SD and the retreat distance corresponding to the form of the vehicle body 13 are obtained by table conversion. In step ST6, the control unit 16 turns the vehicle body 13 180 degrees, and then the vehicle body 1 is moved according to the retreat distance.
Retreat 3. Then, in step ST7, the control unit 16 turns the vehicle body 13 by 90 degrees and ends the "region transition".

On the other hand, in step ST4, the first passage 1
If the control unit 16 determines that the cleaning of the entire area 1 has not been completed, the process proceeds to step ST8 to perform a "U turn" (N
O). Then, in step ST8, the stop distance measurement value SD and the retreat distance corresponding to the form of the vehicle body 13 are obtained by table conversion. In step ST9, the control unit 16 turns the vehicle body 180 degrees, and then the vehicle body 1 is moved according to the retreat distance.
Retreat 3. Next, in step ST10, the control unit 16 turns the vehicle body 13 by 90 degrees, and then advances the vehicle body 13 by a predetermined distance. Then, in step ST11, the control unit 16 turns the vehicle body 13 by 90 degrees and ends the "U turn".

According to this embodiment, when the "region transition" is completed, the side surface of the vehicle body 13 is parallel to the wall surface 20 of the second passage 12 and is as close as possible to the vehicle body 13
Can be arranged. Further, when performing the "region transition", since it is sufficient to perform the simple operations of turning the vehicle body 13 180 degrees, retreating, and turning 90 degrees, it is less likely that an error will occur in each operation. Therefore, unlike in the conventional case, the error generated in a plurality of operations does not accumulate, and the “area transition” can be performed easily and accurately.

Further, in order to rotate the vehicle body 13 by 180 degrees, reverse and rotate 90 degrees, it suffices to rotate each drive wheel 14, 14 at a constant speed or rotate at a constant speed, so that the processing of the control section 16 becomes complicated. The conventional problem of doing can be solved. Then, as the data to be tabulated in the control unit 16 in advance, only the stop distance measurement value SD and the backward distance corresponding to the form of the vehicle body 13 are necessary. Therefore, the vehicle body 13 is stopped like the conventional "region shift". It is possible to eliminate the need for tabulating a huge amount of data according to the position.

Further, the stop distance measurement value SD for obtaining the retreat distance is an accurate value re-measured by the distance measuring means 15 after the vehicle body 13 has stopped, so that the performance of the control unit 16 and There is no fear that the separation distance when the vehicle body 13 is stopped becomes smaller than the predetermined value α due to the inertia of the vehicle body 13 or the slip of the drive wheels 14, 14. Therefore,
When the "region transition" is completed, the wall surface 2 of the second passage 12
It is possible to accurately obtain the retreat distance such that the vehicle body 13 can be arranged with the side surface of the vehicle body 13 parallel to 0 and as close as possible. The "U turn" of the present embodiment is performed by moving the vehicle body 13 forward by a predetermined distance after the "region transition" is completed, and then turning the vehicle body 13 90 degrees, so that the "U turn" is performed. Therefore, the processing of the control unit 16 can be further simplified.

It should be noted that the present invention is not limited to the above-described embodiments, and improvements, modifications and the like within the scope of achieving the present invention are included in the present invention. For example, the present invention is substantially L-shaped in a plane. The present invention can be applied not only to the passages that are orthogonal to each other but also to the passages that are orthogonal to each other in a substantially T shape in a plane.
Further, the present invention is not applicable only to an unmanned cleaning vehicle that cleans a floor surface, so that the side surface of the vehicle body approaches the wall surface and is parallel to the wall surface when the "region transition" is completed. It is applicable to all unmanned vehicles that require the placement of a vehicle body. In addition, the shape, dimensions, form, number, location, etc. of the vehicle body, each drive wheel, distance measuring means, control unit, turning center, etc. shown in the above embodiment are arbitrary as long as the present invention can be achieved, Not limited.

[0038]

According to the invention described in claim 1 of the present invention, it is possible to reduce the amount of data to be tabulated when performing "area migration", simplify the processing of the control unit, and When the "transition" is completed, the vehicle body can be arranged with the side surface of the vehicle body parallel to the wall surface and as close as possible. Further, according to the invention described in claim 2 of the present invention, when the "region transition" is completed, a retreat distance is set so that the vehicle body can be arranged with the side surface of the vehicle body as close as possible to the wall surface. Can be accurately determined.
And according to the invention described in claim 3 of the present invention,
The dedicated operation for performing the "U-turn" is not required, and the processing of the control unit can be further simplified.

[Brief description of drawings]

FIG. 1 is a schematic plan view showing one embodiment of the present invention.

FIG. 2 is a schematic plan view showing an embodiment of the present invention.

FIG. 3 is a flowchart showing a traveling routine of the unmanned cleaning vehicle.

FIG. 4 is a schematic plan view showing a conventional “area transition”.

[Explanation of symbols]

 10 Unmanned Cleaning Vehicle 11 First Passage 12 Second Passage 13 Vehicle Body 14 Drive Wheel 15 Distance Measuring Means 16 Control Unit 20 Wall Surface D Distance Measuring Value SD Stop Distance Measuring Value α Predetermined Value

Claims (3)

[Claims] 1. A pair of drive wheels arranged in parallel at a rear portion of a vehicle body in a traveling direction for traveling in a passage having wall surfaces arranged on four sides, and from the vehicle body to the wall surface arranged in front of the vehicle body. A distance measuring unit that outputs the distance to the control unit as a distance measurement value, and the control unit individually controls each of the drive wheels based on the measurement value to drive the vehicle body. A control method, wherein the control unit stops the vehicle body when the distance measurement value and a predetermined value previously input to the control unit become equal, and then the vehicle body is rotated 180 degrees and then retracted. Then, a method of controlling the unmanned vehicle, wherein the vehicle body is turned 90 degrees thereafter. 2. After the control unit stops the vehicle body,
The stop distance measurement value obtained by re-measurement of the separation distance by the distance measurement means is stored, then the retreat distance corresponding to the stop distance measurement value and the form of the vehicle body is obtained, and the vehicle body is turned 180 degrees. 2. The control method for an unmanned vehicle according to claim 1, wherein the vehicle body is moved backward by controlling the drive wheels based on the backward movement distance, and then the vehicle body is turned 90 degrees. 3. The method according to claim 1, wherein the control unit turns the vehicle body 90 degrees, advances the vehicle body a predetermined distance, and then turns the vehicle body 90 degrees. Control method for unmanned vehicles.