JPH10105233A - Autonomous traveling vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve user's operability by selecting a straightforward direction of zigzag traveling in a different area based on its shape when a vehicle detects an area that is different from a set area during traveling in the set area. SOLUTION: A cleaning robot measures the scale of a rectangular area by using front and side range sensors and selects the direction that corresponds to the longer side between the two sides as a straightforward direction. Thereby, it can reduce the number of its turns and shorten its traveling time. When it detects a recess of a wall by the rapid rise of a measurement value of a left range sensor during its straightforward advance along the wall in a rectangular area S9, it stores the depth of the recess of the wall, turns to the recess of the wall and advances straight, measuring distances to left and right walls of a rectangular area S10. It compares one distance that decides the scale of the rectangular area with the stored distance, selects the direction that corresponds to the distance that shows the larger value between them as a straightforward direction of the cleaning robot and performs zigzag traveling in the area S10.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an autonomous vehicle that moves autonomously, and more particularly to an autonomous vehicle that performs tasks such as cleaning, waxing, and lawn mowing.

[0002]

2. Description of the Related Art At present, a cleaning robot that performs cleaning while autonomously traveling on a flat surface is being developed. In order to allow such a cleaning robot to perform tasks such as running and cleaning, a first technique in which the cleaning robot sets a range of a rectangular cleaning area and automatically performs the work, and teaches the work contents to the cleaning robot. Is known as a second technique for reproducing the data.

In the first technique, the cleaning robot travels in a zigzag manner in a rectangular area. The zigzag travel will be described first.

A specific zigzag traveling route will be described with reference to FIG. FIG. 25 is a diagram for explaining the path of the cleaning robot traveling in the rectangular area. FIG. 25 (a)
FIG. 25B is a diagram for explaining a route along which the cleaning robot travels when the traveling direction and the short side of the rectangle are parallel at the start point A. FIG. It is a figure for explaining a course which a cleaning robot runs when a side is parallel.

FIG. 25A shows that the cleaning robot, which has started to travel straight from point A in parallel with the short side of the rectangle, first travels to point B. When reaching the point B, the cleaning robot rotates 90 degrees clockwise at the point B. Further, the vehicle goes straight to point C, rotates clockwise at point C by 90 degrees, and goes straight toward point D. After that, when reaching the points D and E, the points B and C are rotated counterclockwise by 90 degrees.

[0006] As described above, the cleaning robot travels in a zigzag manner over a rectangular area on a plane while repeating the straight traveling and the rotation (straight traveling and U-turn).

FIG. 25B shows a zigzag running in which the vehicle starts to travel straight from the point A 'in parallel with the long side of the rectangle. The cleaning robot moves from point A ′ to points B ′, C ′, D ′,
Drive through E 'to point F'. As shown in FIG. 25 (a), the vehicle travels all the way through the planar rectangular area while repeating the straight traveling and the rotation (straight traveling and U-turn).

In these zigzag travels, the route A
B, a direction parallel to the route A'B 'is referred to as a straight traveling direction of the cleaning robot.

FIG. 26 is a view for explaining the setting of a rectangular area in which the cleaning robot performs zigzag travel. FIG.
6 (a) is a first case in which the periphery is surrounded by a wall, such as in a room, and FIG. 26 (b) is a second case, in which only both sides are walls, such as a corridor. FIG. 26C shows a third case of the open area.

In the first case, when the cleaning robot is installed at the corner of the work area and the work is started, the cleaning robot measures the distances L1 and L2 to the wall using the sensors, and converts the distances into a rectangular area in which zigzag travel is performed. Set.

In the second case, when the user sets the length L1 in the direction without a wall, installs the cleaning robot in the corner of the work area and starts the work, the cleaning robot uses the sensor to detect the distance L2 to the wall. Is measured, and a rectangular area for zigzag travel is set based on the distances L1 and L2.

In the third case, when the user sets the lengths L1 and L2 in two directions, the traveling direction and the direction perpendicular to the traveling direction, and starts the operation, the cleaning robot performs a zigzag traveling along the distances L1 and L2. Set the area.

Next, the second technique will be described. In the second technique, a user first causes a cleaning robot to perform work (operation includes running) in a work area using a controller that remotely controls the cleaning robot. When the work is completed, a series of work is recorded on a memory card capable of storing the work. The operation using such a controller and the recording of these operations are the teaching of the operation to the cleaning robot.

By regenerating these taught work contents, the cleaning robot can repeat the recorded work contents.

Further, based on the first and second techniques shown above, the following third technique has been considered.

[0016] The third technique is that when a cleaning robot detects a break in a wall while traveling along a wall, the cleaning robot measures the depth of the dent in the wall and moves in the dent area according to the depth. To choose. The traveling that can be selected at this time is zigzag traveling in the recessed area, lateral movement in the recessed area, and traveling traveling while leaving the recessed area.

[0017]

FIG. 25 (a) and FIG. 25 (b)
As seen in the zigzag travel of the cleaning robot, when the cleaning robot is installed at the start point, the traveling direction is installed parallel to the short side of the rectangular area to be cleaned, and when the cleaning robot is installed parallel to the long side. There can be.

Now, the operation time required for the traveling operation in the rectangular area will be calculated for the cases shown in FIGS. 25 (a) and 25 (b). The work time is the sum of the time required for straight running and the time required for rotation, and is expressed by the following equation.

(Working time) = ｛(one straight traveling distance) ×
(Number of traveling lanes) + (traveling lane travel distance) × (number of traveling lanes−1)｝ / (traveling speed) + (90 ° rotation time) ×
(U-turn times) × 2.

Here, in both cases of FIGS. 25 (a) and 25 (b), zigzag running is performed in a rectangular area of 10 m × 5 m with a working width of 50 cm, and a time required for a running speed of 30 cm / sec and a 90 ° rotation is shown. 2 seconds.

In the case of FIG. 25A, (the number of traveling lanes) =
20, (the number of U-turns) = 19, and when these are substituted into the above equation, (working time) = {5 × 20 + 0.5 × 19}
/0.3+2×19×2=441 [seconds].

In the case of FIG. 25B, (the number of traveling lanes) =
10, (the number of U-turns) = 9, and when these are substituted into the above equation, (working time) = {10 × 10 + 0.5 × 9} /
0.3 + 2 × 9 × 2 = 384 [seconds].

From the above, it can be seen that when working in a rectangular area of 10 m × 5 m, a difference of about 60 seconds occurs depending on the direction of the cleaning robot at the starting point of the work.

The time required for the 90-degree rotation to be 2 seconds is an ideal case where there is no obstacle nearby. In practice, during a U-turn at the wall, the vehicle must retreat once, rotate 90 degrees after leaving the wall, return to the original position, and then perform rotation, so that more time is required. Cost.

For example, in the case where the time required for 90-degree rotation is 6 seconds, calculation using the above equation shows that a difference of about 140 seconds occurs depending on the direction of the cleaning robot at the starting point of the work.

In the above description, acceleration / deceleration at the time of starting and stopping the cleaning robot is not taken into account for simplicity of calculation, and if these factors are taken into account, the difference becomes even greater.

As described above, when performing the zigzag traveling, it is understood that the direction of the cleaning robot when starting the zigzag traveling has a great effect on the working time.

When the cleaning robot travels using the second technique shown in the prior art, the cleaning robot does not travel outside a predetermined area stored in advance.

There is a technique in which zigzag travel is performed in an area (for example, an area shown in FIG. 10) in which a plurality of rectangular areas are connected using both the first technique and the second technique.
It is necessary to determine and teach the direction in which the cleaning robot moves straight for each rectangular area. These teaching operations are very complicated.

In the third technique, the cleaning robot is caused to select an operation in accordance with the depth of the dent, but there is no description about selection of a straight traveling direction of zigzag traveling.

The present invention has been made to solve the above problems, and an object of the present invention is to provide an autonomous vehicle that can be easily operated by a user.

[0032]

The invention described in claim 1 is an autonomous traveling vehicle capable of traveling autonomously in a preset area and performing zigzag traveling.

The autonomous traveling vehicle detects lengths in a plurality of directions different from each other and detects a region different from the set region while traveling in the set region. And selecting means for selecting a straight traveling direction of the zigzag travel in different areas based on the selected area, and performing the zigzag travel in the different areas based on the selection by the selection means.

According to the first aspect of the present invention, the lengths in a plurality of different directions of the area are detected, and an area different from the set area while traveling in the set area is detected. Based on these detections, the straight traveling direction of the zigzag travel in the different areas is selected, and the zigzag travel is performed based on this selection. This makes it unnecessary for the user to set an area different from the set area, and facilitates the user's operation.

[0035]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A cleaning robot, which is one embodiment of the present invention, will be described below with reference to the drawings.

FIG. 1 is a view showing an appearance of a cleaning robot according to one embodiment of the present invention, and FIG. 2 is a schematic sectional view for explaining a structure of the cleaning robot body 1. .

The cleaning robot comprises a cleaning robot body 1 and
It comprises a controller 2 and a memory card 3.
A controller 2 is used to remotely operate the cleaning robot main body 1 and teach traveling and work, and a memory card 3 is used to store instructions for the cleaning robot main body 1.

The cleaning robot body 1 is roughly
The traveling unit 10 includes driving wheels, a cleaning unit 20 that performs a cleaning operation, and a vehicle body 30 that is supported by the traveling unit 10.

The traveling section 10 includes a front caster 11, a rear caster 12, a left driving motor 13, a right driving motor 14, a left traveling wheel 15, a right traveling wheel 16, a left encoder 17, and a right encoder. 18 and a gyro sensor 19.

Left drive motor 13, right drive motor 14
Drive the left traveling wheel 15 and the right traveling wheel 16, respectively, so that the cleaning robot main body 1 travels straight,
Rotational traveling becomes possible. The front caster 11 and the rear caster 12 support the weight of the cleaning robot body 1 together with the left traveling wheel 15 and the right traveling wheel 16.

The left encoder 17 and the right encoder 18 calculate the moving distance and the rotation angle of the cleaning robot body 1. The gyro sensor 19 is a rate gyro, measures the rotational angular velocity of the traveling unit 10, and outputs a measured value to a traveling unit CPU 121 described later at a constant cycle (for example, every 1 millisecond). By using the gyro sensor 19, the direction in which the robot is going to rotate and the rotational angular velocity thereof are measured from the original traveling direction of the cleaning robot main body 1. The traveling section CPU 121 can calculate the rotation angle of the traveling section by integrating the value of the rotational angular velocity output from the gyro sensor 19 with respect to time.

The cleaning unit 20 includes a rotary pad 21 for wiping,
2, 23, 24 and rotors 25, 26, 27, 28.

Rotating wiping pads 21, 22, 23, 24 attached to rotors 25, 26, 27, 28, respectively.
The application of the detergent or the like is performed by the rotation of. At this time, the detergent is dripped by a pump 71 (not shown) (a control circuit will be described later).

The vehicle body 30 includes a display unit 31, a work start button 32, a bumper sensor 33, and a distance measurement window 3.
4, 35, 36, a front ranging sensor 37, a left ranging sensor 38, a right ranging sensor 39, and a left scanning sensor 4
0, 41, and right-side scanning sensors 42, 43.

An operation guidance, an error message, and the like for the user are displayed on the display unit 31, and the user starts the operation by using the operation start button 32. The bumper sensor 33 detects contact with an obstacle in the traveling direction. The front distance measuring sensor 37, the left distance measuring sensor 38, and the right distance measuring sensor 39 include distance measuring windows 34 and 35 provided in the bumper sensor 33. , 36, the distances from the cleaning robot body 1 to obstacles in the forward, left, and right directions, respectively, are measured. Further, the left-side copying sensors 40 and 41 and the right-side copying sensors 42 and 43 measure a distance from a wall, and thereby, traveling along a wall or the like can be realized.

FIG. 3 is a diagram for explaining the straight traveling of the cleaning robot main body 1. Left traveling wheel 1 of traveling unit 10
5, the right running wheel 16 is provided on the center line XX ',
The front casters 11 and the rear casters 12 have a center line X-
It is provided on a center line YY 'perpendicular to X'. Although not shown, at least one of the front casters 11 and the rear casters 12 is provided with a suspension mechanism to assist the traveling of the cleaning robot body 1.

During straight running, the left drive motor 1
3. The right drive motor 14 rotates in the same direction. Thereby, the cleaning robot main body 1 can move in the direction of arrow D1 in FIG.

FIG. 4 is a view for explaining the rotational traveling of the cleaning robot main body 1. During rotation, the left drive motor 13 and the right drive motor 14 rotate in opposite directions. Thereby, the cleaning robot main body 1 can rotate in the direction of arrow D2 in FIG. During rotation, the front casters 11, as shown in FIG.
The rear caster 12 changes its direction in a direction parallel to the center line XX ′ so as to be adapted to the rotational traveling. Further, by controlling the ratio of driving between the left drive motor 13 and the right drive motor 14, it is possible to perform a curve running.

FIG. 5 is a diagram showing a configuration of a rotation mechanism 50 for rotating the vehicle body 30 from the traveling unit 10.

The rotating mechanism 50 includes a bearing composed of a bearing inner race 51 and a bearing outer race 52, a vehicle body rotation driving gear 53, a bearing outer race holder 54, a vehicle body frame 55, a running frame 56, and a bearing inner race. It includes a holder 57, a body part rotation motor 58, a gear 59, and the like. .

The running frame 56 is fixed to the bearing inner ring 51 by a bearing inner ring holder 57. The bearing outer ring 52 includes a bearing outer ring holder 5.
4, the body part rotation drive gear 53 is fixed.
Further, the vehicle body frame 55 is provided with the bearing outer ring holder 5.
5 is fixed. Further, a body portion rotation motor 58 is mounted on the traveling portion frame 56, and the body portion rotation motor 58 is connected to a body portion rotation drive gear 53 via a gear 59.
Drive.

A potentiometer (not shown) is attached to the vehicle body part rotation drive gear 53 via a gear 59, so that the rotation angle of the vehicle body part 30 with respect to the traveling part 10 can be accurately detected.

The structure of the rotation mechanism 50 enables the vehicle body 30 to rotate independently from the traveling unit 10 by -90 degrees to +90 degrees with respect to the center ZZ '.

FIG. 6 is a block diagram showing a circuit configuration of the cleaning robot main body 1. As shown in FIG. The control unit of the cleaning robot body 1 includes a traveling control unit 1 that controls the traveling of the cleaning robot body 1.
20 and an operation control unit 100 for controlling the cleaning operation.

The details of the traveling control unit 120 and the work control unit 100 will be described below. The traveling control unit 120 includes a traveling unit CPU 121 that performs processing of the traveling unit 10, and a drive control unit 122 that controls the left traveling wheel 15 and the right traveling wheel 16, respectively.
23 and a vehicle body rotation control unit 124 that controls the vehicle body rotation motor 58, and each control unit is connected to the traveling unit CPU 121.

Further, the running unit CPU 121 includes the above-described left encoder 17, right encoder 18, gyro sensor 19, front distance sensor 37, left distance sensor 38,
The right distance measuring sensor 39 is connected, and each measured value is transmitted to the traveling unit CPU 121.

The work control unit 100 includes a work unit CPU 101 for controlling a cleaning operation, a pump control unit 102 for controlling a pump for dropping a detergent necessary for the cleaning operation, and a rotor 2.
Rotor control unit 103 for controlling 5, 26, 27, 28
And a cleaning unit movement control unit 104 that controls the cleaning unit movement motor 72 that moves the cleaning unit 30 to the left and right in parallel, and a voice output unit 105 that outputs a voice message.

Further, the work control unit 100 includes a display unit 31
A display control unit 106 for controlling the display on the display unit and an input unit 7 for starting, stopping, and turning on the power of the cleaning robot body 1.
3 includes an input control unit 107 for controlling an input from the memory card 3, a memory card reading unit 108 for reading information such as work contents stored from the memory card 3, and a communication unit 109 for communicating with the controller 2. I have. The work control unit 100 includes a power supply circuit 110 to which the battery 74 is connected.
including. Each control unit, the memory card reading unit 108, the communication unit 109, and the power supply circuit 110 are connected to the working unit CPU 101.

The working unit CPU 101 is connected to the above-described bumper sensor 33, and the measured value is stored in the working unit CPU 10A.
1 is sent.

The working unit CPU 101 and the traveling unit CPU
121 is connected, and information is transmitted and received as needed.

FIG. 7 is a plan view for explaining the configuration of the controller 2. As an input unit of the controller 2,
An operation shift button group 80, a power switch 90, a cross cursor button 91 for indicating a direction, a reproduction button 92 for instructing reproduction of work stored in the memory card 3, and for supporting the end of the operation. End button 93
And a pause button 94 for temporarily stopping the operation
And a mode switching button 95 for switching the operation mode.
, A cancel button 96 for canceling the setting, and a setting button 97 for setting the input data.

The operation shift button group 90 includes a traveling unit rotation button 81 for rotating only the direction of the traveling unit 10 left and right without changing the direction of the vehicle unit 30, and a vehicle body for simultaneously rotating the vehicle unit 30 and the traveling unit 10. Section rotation button 82 and cleaning section 2
It includes a cleaning work unit slide button 83 for moving the O. 0 to the left and right with respect to the vehicle body 30, a U-turn button 84 for designating a U-turn operation, and a zig-zag button 85 for designating a zig-zag travel.

The controller 2 has a display section 98 composed of a liquid crystal display and a mode display section 99 for displaying an operation mode. The display unit 98 displays information necessary for the user, such as input guidance, commands transmitted to the cleaning robot body 1, and various error messages resulting from execution of the commands by the cleaning robot body 1. The user can input data using each button of the input unit while viewing the display unit 98.

The operation modes include a control mode in which the user remotely controls the cleaning robot body 1, a teaching mode in which the user teaches the cleaning robot body 1 work, and the contents of the work taught in the teaching mode. There is an edit mode. These operation modes switched by the mode switching button 95 are displayed on the mode display section 99.

FIG. 8 is a block diagram showing a circuit configuration of the controller 2. The controller control unit 200 is a controller control unit CPU20 that controls the controller 2.
1, a display control unit 202 for controlling display on the display unit,
A communication control unit 204 for controlling an input control unit 203 for controlling an input from the input unit and a communication unit 207 for performing communication between the communication unit 109 of the cleaning robot body 1.
And an external interface 205 and a battery 206. Through this external interface 205, the controller 2 can be connected to external devices such as a personal computer and a printer.

Hereinafter, the first operation performed by the cleaning robot when starting the zigzag traveling on the set rectangular area and the area different from the area set during the work in the set area will be described. The second operation performed by the main cleaning robot upon detection will be described.

FIG. 9 is a diagram for explaining a first operation of the cleaning robot. The procedure of the first operation is as follows. The procedure shown in these figures is the work unit CPU1.
01, the first operation is achieved by being controlled by the traveling unit CPU 121. The following describes the case where the work area is surrounded by a wall.
The same applies to the case where the area is open. (1) The cleaning robot main body 1 is installed at a point A which is one corner of a rectangular area. (2) The cleaning robot is set to perform zigzag traveling in the rectangular area to be worked as described in FIG. (3) Instruct the main cleaning robot to start work. (4) In response to the instruction to start the work in (3), the cleaning robot uses the front ranging sensor 37, the left ranging sensor 38, and the right ranging sensor 39 to determine the size of the rectangular area (see FIG. The distances L1 and L2) are measured. (5) Compare the sizes of L1 and L2. (6) The direction corresponding to the larger one of L1 and L2 is defined as the straight traveling direction. (7) If necessary, change the straight traveling direction according to the straight traveling direction in (5), and perform zigzag traveling to the point B.

FIG. 9A shows a case where L1> L2.
The cleaning robot starts traveling straight in the direction (the direction corresponding to L1) initially set by the user and runs in a zigzag manner.
FIG. 9B shows a case where L1 <L2, and the cleaning robot is oriented in a direction (direction corresponding to L2) rotated by 90 degrees from the direction in which the user first installed (direction corresponding to L1). And start straight ahead and run zigzag.

The running time can be reduced by the first operation of the main cleaning robot as described above.

FIG. 10, FIG. 11, FIG. 12, and FIG.
FIG. 10 is a diagram for describing a second operation of the main cleaning robot in a work area having the shape of FIG.

In the work area of the first shape, as shown in FIG. 10, the area where the rectangular area S1 is connected to the rectangular area S2 is set as the work area, and the cleaning robot main body 1 is installed at the point A which is one corner of the rectangular area S1. Is done. Here, the long side of the rectangular area S1 and the long side of the rectangular area S2 are at a vertical position.

The procedure of the second operation is as follows. The second operation is achieved by controlling the procedures shown in these steps by the working unit CPU 101 and the traveling unit CPU 121, as in the first operation. At the start of the work, measurement of the size of the rectangular area, comparison of the size of each side of the rectangle, and selection of the straight traveling direction described in the first operation are performed. In the following, similar to the first operation, the case where the work area is surrounded by a wall will be described. However, when only both sides are walls, the case where the area is open can be applied in a similar manner. . (1) The cleaning robot main body 1 is installed at a point A which is one corner of the rectangular area S1 (see FIG. 10). (2) The cleaning robot is set to perform the zigzag traveling in the rectangular area S1. (3) Instruct the main cleaning robot to start work. (4) In response to the instruction to start the work in (3), the cleaning robot measures the size of the rectangular area (distances L1 and L2 in the figure), compares L1 and L2, and corresponds to L1 as the straight traveling direction. Select the direction to perform, and start zigzag traveling. (5) The cleaning robot goes straight along the wall while measuring the distance to the left and right walls. (6) When reaching the point B (see FIG. 11), a dent (area S2) of the wall is detected due to a sudden increase in the measured value of the lateral distance measuring sensor (left distance measuring sensor 38). (7) The depth (distance L3) of the dent of the wall is stored. (8) The direction is changed to the direction of the dent of the wall (the direction corresponding to the distance L3), and the vehicle goes straight while measuring the distance to the left and right walls of the rectangular area S2. (9) One distance L4 that determines the size of the rectangular area S2
Is compared with the stored L3 (see FIG. 12). (10) According to the comparison in (9), the direction (the direction corresponding to L3 in FIG. 12) corresponding to the one showing the larger value of L3 and L4 is set as the rectilinear direction of the cleaning robot, and Zigzag running. (11) When the zigzag traveling in the rectangular area S2 is completed and the point C is reached (see FIG. 13), the cleaning robot restarts the zigzag traveling in the rectangular area S1 and ends the zigzag traveling when reaching the point D.

Here, as the distance L3, the detection value obtained by the lateral distance measuring sensor is used, but it is also possible to use the traveling distance traveled until it comes into contact with the wall in the direction corresponding to L3.

FIGS. 14 and 15 are views for explaining a second operation of the main cleaning robot in the work area of the second shape.

In the work area of the second shape, as shown in FIG. 14, the area where the rectangular area S3 is connected to the rectangular area S4 is set as the work area, and the cleaning robot body 1 is installed at the point A which is one corner of the rectangular area S3. Is done. Here, the long side of the rectangular area S3 and the long side of the rectangular area S4 are located in parallel.

The second operation of the main cleaning robot in the work area of the second shape will be described. The operation procedure from (1) to (9) is the same as that of the work area of the first shape. After entering the rectangular area S4 by these procedures, the following operation is performed. (10) According to the comparison in (9), the direction (the direction corresponding to L4 in FIG. 12) corresponding to the one showing the larger value of L3 and L4 is set as the rectilinear direction of the cleaning robot, and the rectangular area S4 (See FIG. 14). (11) When the zigzag traveling in the rectangular area S4 ends and the point C is reached (see FIG. 15), the cleaning robot restarts the zigzag traveling in the rectangular area S3 and ends the zigzag traveling when reaching the point D.

FIGS. 16, 17 and 18 are views for explaining the second operation of the main cleaning robot in the work area of the third shape.

In the work area of the third shape, like the work area of the second shape, the long side of the area is set to be parallel.
Although the two rectangular areas S5 and S6 are connected, the cleaning robot main body 1 is first installed at a point (point A in FIG. 16) apart from the connection part of the rectangular areas.

The second operation of the main cleaning robot in the work area of the third shape will be described. The operation procedure from (1) to (5) is the same as the work area of the first shape and the second shape. By these procedures, the point B of the rectangular area S5
After that, the following operation is performed. (6) When the vehicle reaches the point B (see FIG. 16), a dent (area S6) of the wall different from the rectangular area S5 which is the set area is detected by the horizontal distance measuring sensor (left distance measuring sensor 38). . (7) The depth (distance L3) of the dent of the wall is stored. (8) Go straight in the direction of the depression of the wall (the direction corresponding to the distance L3) and measure the distance to the left and right walls of the rectangular area S6. (9) One distance L4 for determining the size of the rectangular area S6
Is compared with the stored L3 (see FIG. 17). (10) According to the comparison in (9), the direction (the direction corresponding to L4 in FIG. 17) corresponding to the one showing the larger value of L3 and L4 is set as the straight-forward direction of the cleaning robot, and the rectangular area S6 Zigzag running. (11) When the zigzag traveling in the rectangular area S6 is completed and the point C is reached (see FIG. 18), the cleaning robot restarts the zigzag traveling in the rectangular area S5 and ends the zigzag traveling when reaching the point D.

FIG. 19 is a view for explaining the second operation of the main cleaning robot in the work area of the fourth shape.

In the work area of the fourth shape, similarly to the work area of the first shape, the two long sides of the area are perpendicular to each other.
Although the two rectangular areas S7 and S8 are connected, the cleaning robot main body 1 is first installed at a point (point A in FIG. 19) apart from the connection part of the rectangular areas.

The second operation of the main cleaning robot in the work area of the fourth shape will be described. The procedure of the operations from (1) to (11) is the same as that of the work area of the third shape, but the length in the depth direction of the dent corresponds to the long side of the rectangle S8. The operation is performed.

The work areas of the first to fourth shapes are formed by connecting two rectangular areas. However, even in a work area in which three or more rectangular areas are connected, the present cleaning robot divides the entire area. You can run zigzag. Next, an example of the operation of the main cleaning robot in such a work area (fifth work area) will be described.

FIG. 20 is a view for explaining a second operation of the main cleaning robot in the work area having the fifth shape.

The work area of the fifth shape is a rectangular area S9,
It is formed by connecting S10, S11, S12, and S13. By setting zigzag travel in the rectangular area S9 for the cleaning robot, other rectangular areas S10,
S11, S12, and S13 are detected, and zigzag traveling is performed according to the shape of each rectangular area.

By the above-described second operation of the cleaning robot, it is unnecessary for the user to set an area different from the set area, and the user's operation becomes easy.

In accordance with the positional relationship with the wall of the cleaning robot and the direction of the distance measurement, the following corrections are performed based on the vehicle body dimensions and the distance measurement values in the other direction, so that the dimension values of the rectangular area can be measured. The calculation can be made more accurate.

FIG. 21, FIG. 22, FIG. 23, and FIG. 24 are diagrams for explaining the calculation of the size of the rectangular area. here,
The distances L _L and L _R to the lateral wall are corrected to the distance from the vehicle body center axis to the wall by adding the measured value of the distance measurement sensor to the distance from the vehicle body center axis at the mounting position of the distance measurement sensor. is there.

FIG. 21 is a view for explaining the calculation of the size of the rectangular area when the side of the cleaning robot follows the wall and measures the distance in the opposite direction.

The cleaning robot follows the left wall and measures rightward. In this case, the left distance value L _L and the right distance value L
_With respect to _R and the vehicle width W, the dimension value of the rectangular area can be expressed by the following equation. (Dimension value) = _LR + W / 2. Or (dimension value) = _LR + _LL . Such a dimension value is used, for example, when measuring L2 in FIG.

FIG. 22 is a diagram for explaining the calculation of the size of the rectangular area when the side of the cleaning robot follows the wall and measures the distance in the same direction.

The cleaning robot measures the distance to the left and right walls while following the left wall. In this case, the dimension value in the left direction can be expressed by the following equation. (Dimensions) = L _L -W /
2. Such a dimension value is, for example, L3 in FIG.
It is used when measuring.

FIG. 23 is a diagram for explaining the calculation of the size of the rectangular area when measuring the distance in the lateral direction, since both sides of the cleaning robot do not follow the wall.

[0094] In this case, represented by (dimension) = _{L R} + L L. FIG. 24 is a diagram for explaining calculation of the size of the rectangular area when the cleaning robot measures the distance in the vertical direction.

In this case, the forward distance measurement value L_F, Forward ranging sensor
For the length D from the mounting position of the
The dimension value of the area can be expressed by the following equation. (Dimensions)
= L _F+ D. Such dimension values are shown in FIG.
And is used when measuring L1.

By providing a setting means for setting the size of the work area in the cleaning robot as described above, a sensor for setting the size of the work area and measuring the distance by the user can be eliminated. Thereby, the configuration of the cleaning robot can be simplified. If the work area is an open space that is not surrounded by walls or the like, such a setting unit is required.

When the measured distances in the two directions are the same, either direction is taken as the straight traveling direction in consideration of the more accurate calculation of the dimension value of the rectangular area as described with reference to FIGS. Shall be good.

In the present embodiment, the work area is a rectangular area or a connected rectangular area. However, the present invention can be applied to an area such as a parallelogram or a triangular area.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating an appearance of a cleaning robot according to an embodiment of the present invention.

FIG. 2 is a schematic sectional view for explaining the structure of the cleaning robot body 1.

FIG. 3 is a diagram for explaining the straight traveling of the cleaning robot body 1.

FIG. 4 is a view for explaining rotation traveling of the cleaning robot main body 1;

FIG. 5 is a diagram illustrating a configuration of a rotation mechanism unit 50 that rotates the vehicle body unit 30 from the traveling unit 10.

FIG. 6 is a block diagram illustrating a circuit configuration of the cleaning robot body 1.

FIG. 7 is a plan view for explaining the configuration of the controller 2.

FIG. 8 is a block diagram showing a circuit configuration of the controller 2.

FIG. 9 is a view for explaining the operation of the cleaning robot.

FIG. 10 is a first diagram illustrating an operation of the main cleaning robot in a work area having a first shape.

FIG. 11 is a second diagram for explaining the operation of the main cleaning robot in the work area of the first shape.

FIG. 12 is a third diagram illustrating the operation of the main cleaning robot in the work area of the first shape.

FIG. 13 is a fourth diagram illustrating the operation of the main cleaning robot in the work area of the first shape.

FIG. 14 is a first diagram illustrating an operation of the main cleaning robot in a work area having a second shape.

FIG. 15 is a second diagram for explaining the operation of the main cleaning robot in the work area of the second shape.

FIG. 16 is a first diagram illustrating an operation of the main cleaning robot in a work area having a third shape.

FIG. 17 is a second diagram for explaining the operation of the main cleaning robot in the work area having the third shape;

FIG. 18 is a third diagram illustrating the operation of the main cleaning robot in the work area having the third shape.

FIG. 19 is a diagram for explaining an operation of the main cleaning robot in a work area having a fourth shape.

FIG. 20 is a diagram for explaining the operation of the main cleaning robot in a work area having a fifth shape.

FIG. 21 is a first diagram illustrating the calculation of the size of a rectangular area.
FIG.

FIG. 22 is a second diagram illustrating the calculation of the size of the rectangular area.
FIG.

FIG. 23 is a third diagram illustrating the calculation of the size of the rectangular area.
FIG.

FIG. 24 is a fourth diagram illustrating the calculation of the size of the rectangular area;
FIG.

FIG. 25 is a diagram illustrating a path of a cleaning robot traveling in a rectangular area.

FIG. 26 is a diagram for explaining setting of a rectangular area for causing the cleaning robot to perform zigzag traveling.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Cleaning robot main body 2 Controller 3 Memory card 10 Running part 20 Cleaning part 30 Body part 37 Front distance measuring sensor 38 Left distance measuring sensor 39 Right distance measuring sensor 101 Working part CPU 121 Running part CPU

Claims (1)

[Claims] An autonomous vehicle capable of autonomously traveling in a preset area and performing zigzag traveling, detecting lengths of the area in a plurality of different directions, and Detecting means for detecting an area different from the area during traveling; andselecting means for selecting a straight traveling direction of zigzag traveling in the different area based on the detection by the detecting means. An autonomous vehicle that performs zigzag travel in the different areas based on the information.