WO2016174786A1 - Véhicule de travail autonome - Google Patents

Véhicule de travail autonome Download PDF

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Publication number
WO2016174786A1
WO2016174786A1 PCT/JP2015/078630 JP2015078630W WO2016174786A1 WO 2016174786 A1 WO2016174786 A1 WO 2016174786A1 JP 2015078630 W JP2015078630 W JP 2015078630W WO 2016174786 A1 WO2016174786 A1 WO 2016174786A1
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area
work
work vehicle
lawn mowing
region
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PCT/JP2015/078630
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English (en)
Japanese (ja)
Inventor
二川　正康
小川　勝
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シャープ株式会社
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Publication of WO2016174786A1 publication Critical patent/WO2016174786A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present invention relates to an autonomous work vehicle that performs autonomous traveling and performs predetermined work.
  • lawn mowing robots are known as autonomous working vehicles that perform autonomous traveling and perform predetermined work.
  • a general lawn mowing robot has a signal source that is also used as a charging station, an area wire that is connected to the signal source and forms a loop surrounding a work area, and a robot body that autonomously moves within the loop of the area wire. Consists of.
  • An AC current is applied to the area wire from the signal source, and the robot body receives a magnetic field signal generated by the AC current, and performs lawn mowing while running at random, for example, inside the loop without leaving the loop. To do.
  • the two gardens are on both sides of the building on the site and are connected by a passage (area C).
  • the width of the passage is at least wider than the lawn mowing robot can travel, and narrower than the widths of the areas A and B.
  • the width of the region C is narrow is that, other than the case where buildings exist on both sides of the region C, for example, a lawn such as concrete or brick cannot be laid as a region where it is not desired to enter the region connecting the two gardens.
  • a region a region used for a garage or the like
  • the lawn mowing robot works with the loop of the area wire directed in a random direction.
  • the lawn mowing robot 1 that works in a random direction in this way works in the area B beyond the area C because it is difficult to enter the area C when there is a narrow area C in a part of the work area. There is a problem that the frequency decreases.
  • an automatic lawn mower 202 is provided from a work area (1) in the site (area where the station 208 exists) to the work area (2) through a route (P).
  • a guide wire 206 is provided for guiding.
  • This guide wire 206 is used to guide the automatic lawn mower 202 from the work area (1) to the work area (2) through the narrow path (P), resulting in the narrow width of the path (P). A reduction in work frequency in the work area (2) is suppressed.
  • Patent Document 1 it is necessary to lay both the area wire and the guide wire, and additional facilities and peripheral functions related to the laying of the guide wire are necessary.
  • the present invention has been made in view of the above-described problems, and its purpose is to reduce the deviation of work frequency with respect to two work areas existing through an area where a lawn mowing robot is difficult to enter without laying a guide wire.
  • An object of the present invention is to provide an autonomous work vehicle that can be reduced.
  • an autonomous work vehicle has a function of detecting a signal of an energizable wire that forms a loop connected to a signal source and traveling, and In an autonomous work vehicle having a function of starting and returning from the signal source connected to a wire and performing work in a work area including at least two areas defined in the loop of the wire, avoid the wire.
  • a first traveling mode that starts traveling in any direction, and a second traveling mode that travels along the wire and travels in a direction inside the loop of the wire when a preset knot event occurs, It is characterized by having.
  • the deviation of work frequency with respect to two work areas existing through an area where an autonomous traveling vehicle is difficult to enter is reduced.
  • FIG. 1 It is a schematic block diagram of the lawnmower robot according to the first embodiment of the present invention. It is a side view of the lawn mowing robot shown in FIG. It is a figure which shows the whole work object area
  • FIG. 5 is a diagram for explaining a region C.
  • FIG. It is a figure which shows the whole work object area
  • FIG. 2 shows a schematic configuration of the lawn mowing robot 1
  • FIG. 3 shows the entire work target area (site 40) of the lawn mowing robot 1.
  • the lawn mowing robot 1 includes (i) a main body base 10, (ii) a rear wheel driving mechanism 11, a front wheel 12 and a rear wheel 13 constituting a moving mechanism, (iii) a battery 14, and (iv).
  • a control unit 16 control device
  • (v) a drive mechanism 119 a body outer casing (also a bumper) 20, and
  • GPS signal reception Unit 22 position information acquisition unit
  • magnetic sensor 23 camera 33, and the like.
  • the lawn mowing robot 1 moves with the electric power stored in the battery 14.
  • the rear wheel drive mechanism 11 uses the drive motor 18 (see FIG. 1) provided in the rear wheel drive mechanism 11 to convert the electric power stored in the battery 14 into motive power, To drive.
  • the front wheel 12 is a free wheel. In FIG. 2, the drive motor 18 is not shown.
  • the lawn mowing robot 1 includes a rotary plate 19 having a lawn mowing cutter 17 at the bottom of the main body base 10.
  • the rotating plate 19 rotates when power is transmitted from the drive mechanism 119 via a rotating shaft, and cuts grass, grass, and the like.
  • the operation (movement, start / stop of work, etc.) of the mowing robot 1 is controlled by the control unit 16.
  • the contents of the control by the control unit 16 are preinstalled in the lawn mowing robot 1 as a program or the like.
  • the control unit 16 (the travel control unit 161, the work control unit 162, the event monitoring unit 163, and the travel mode switching unit 164) sends a lawn mowing robot 1 to the lawn mowing robot 1 in the work area (work regions: regions A and B in FIG. 3). Have the mowing work done.
  • the work area is defined by a region wire (wire) 50.
  • FIG. 3 shows an outline of the work area defined by the area wire 50.
  • the area wire 50 is laid on the ground or the like in the site 40 so as to form one closed area.
  • the area wire 50 is electrically connected (can be energized) to a signal source (hereinafter referred to as a charging station) 60.
  • a signal source hereinafter referred to as a charging station 60.
  • the charging station 60 allows a signal (alternating current) to flow through the region wire 50 that is connected to terminals different at both ends.
  • one charging station 60 is illustrated, but a plurality of stations including the charging station 60 may be installed.
  • the lawn mowing robot 1 is normally waiting at the charging station 60 before work.
  • the lawn mowing robot 1 When there is a work instruction, the lawn mowing robot 1 first departs from the charging station 60.
  • the moving lawn mowing robot 1 detects the alternating current flowing through the area wire 50 as a magnetic field change by the magnetic sensor 23.
  • the mowing robot 1 can determine whether its current position is inside or outside the loop of the area wire 50 based on the waveform (phase) of the magnetic field change detected by the magnetic sensor 23.
  • the magnetic sensor 23 of the lawn mowing robot 1 can sense a magnetic field change even if it is away from the area wire 50 (for example, 25 m or more) if the self-position is inside the loop of the area wire 50.
  • the magnetic sensor 23 can also detect that the magnetic field has been lost (power failure has occurred).
  • the mowing robot 1 performs mowing work while moving randomly inside the area formed by the area wire 50.
  • the lawn mowing robot 1 When the lawn mowing robot 1 encounters (closes to) the area wire 50 during work, the lawn mowing robot 1 changes its direction so as not to go outside the area wire 50.
  • the lawn mowing robot 1 performs lawn mowing work inside the work area.
  • the mowing robot 1 stops the work and moves along the area wire 50 to return to the charging station 60.
  • the mowing robot 1 may return to the nearest charging station 60.
  • each lawn mowing robot 1 may return to a different charging station 60.
  • the lawnmower robot 1 may stop working and return to the station for maintenance.
  • the lawnmower robot 1 stands by at the charging station 60 until receiving an instruction to perform the next work.
  • the lawnmower robot 1 starts again from the charging station 60 to resume the work.
  • the lawn mowing robot 1 departs from the charging station 60 in a random direction (however, so as not to go outside the area wire 50).
  • the area C is narrower than the area A (third area: passage) in the work area. If there is an area between the house and the warehouse, the probability of entering the area C is low.
  • Area C (third area) is an area connecting area A (first area) and area B (second area), and at least lawn mowing robot 1 (autonomous work vehicle) is one area. This is an area that can travel from (for example, area A) to the other area (for example, area B).
  • the region C is a region where the lawn mowing robot 1 cannot work (a region where lawn mowing cannot be performed), for example, a region where lawn such as concrete or brick cannot be laid (a region used for a garage), or a narrow width.
  • a path is described as an example of the region C in which the lawn mowing robot 1 is difficult to enter.
  • other embodiments will be described by taking a passage as an example of the region C.
  • the lawnmower robot 1 has two travel modes (a first travel mode and a second travel mode).
  • the mowing robot 1 performs mowing in the area A of FIG. 3 in the first traveling mode.
  • the lawn mowing robot 1 returns to the charging station 60 once when the lawn mowing work in the area A is completed.
  • the work so far is the first work. That is, the first work is a work that starts in the first travel mode from the charging station 60 that is a signal source, and cuts the lawn in the area A only in the first travel mode.
  • the lawn mowing robot 1 starts from the charging station 60 in the second traveling mode, forcibly passes through the region C along the region wire 50, and moves into the region B.
  • the second operation for switching the second traveling mode to the first traveling mode and mowing the lawn in the region B can also be executed.
  • the ratio at which the mowing robot 1 executes the first work and the second work can be set by the user.
  • the mowing robot 1 standing by at the charging station 60 determines whether to start in the first traveling mode or the second traveling mode according to a preset plan.
  • the preset plan is switched to the second traveling mode when, for example, mowing the area A in the first traveling mode twice. That is, when the lawn mowing is performed twice in the area A, the first traveling mode and the second traveling mode may be switched so that the lawn mowing in the area B is performed once.
  • the lawn mowing robot 1 is forced to start toward the region B along the region wire 50 until it passes through the region C of FIG. 3 by the second traveling mode switched during standby in the charging station 60. After reaching region B, the mode is switched from the second travel mode to the first travel mode (random travel mode).
  • the first travel mode is not limited to the random driving mode, but is a driving mode that repeats the method of working in one row from the corner and shifting to the next row when the vehicle comes to the end. Alternatively, other travel modes may be used.
  • the second driving mode detects a knot event when reaching the region B or when it completely enters the region B, and automatically switches to the random driving mode at that stage. Start mowing work.
  • the lawn mowing robot 1 has the function of forcibly entering the area C and always reaching the area B in the second traveling mode, and therefore the work frequency in the area B does not decrease. can get.
  • Switching between the first travel mode (FIG. 3A) and the second travel mode (FIG. 3B) can be made in advance by a user or the like.
  • the above milestone event is set according to physical quantities, detectable indicators, etc. after starting from the charging station 60 as the signal source.
  • the first traveling mode and the second traveling mode are switched so that the lawn mowing is performed once in the area B.
  • the area A and the area B are arranged at a frequency ratio of 1: 1 in the case of being almost equal. If you want to work, you can plan that way.
  • a desired frequency ratio for example, a frequency ratio of 3: 2, it can be set as such.
  • the point at which five minutes have elapsed after the lawnmower robot 1 departs from the charging station 60 in the second traveling mode will be described as a milestone event occurrence point.
  • FIG. 1 is a block diagram showing the configuration of the control unit 16.
  • control unit 16 includes a travel control unit 161, a work control unit 162, an event monitoring unit 163 (event occurrence detection unit), and a travel mode switching unit 164.
  • the traveling control unit 161 moves the lawn mowing robot 1 by driving a driving motor 18 provided in the rear wheel driving mechanism 11.
  • the traveling control unit 161 detects the magnetic field generated around the area wire 50 using the magnetic sensor 23 while the lawnmower robot 1 is moved.
  • the traveling control unit 161 changes the direction of the lawn mowing robot 1 by changing the rotation direction of the rear wheel 13.
  • the traveling control unit 161 moves the lawn mowing robot 1 and receives feedback of travel distance information (information indicating the distance the lawn mowing robot 1 has moved from the charging station 60) from the distance meter 31 of the lawn mowing robot 1.
  • the travel control unit 161 outputs the acquired travel distance information to the event monitoring unit 163.
  • the travel control unit 161 acquires charge amount information (information indicating the charge amount of the battery 14) from the battery 14.
  • the traveling control unit 161 causes the lawnmower robot 1 to travel according to the above-described two types of traveling modes (first traveling mode and second traveling mode).
  • the travel mode instruction is issued from the travel mode switching unit 164. Details of the travel mode switching unit 164 will be described later.
  • the work control unit 162 controls the operation of the rotating plate 19.
  • the work control unit 162 controls a work procedure including starting the lawn mowing work and stopping the lawn mowing work.
  • the control target of the work control unit 162 includes start / stop of the lawn mowing work of the lawn mowing robot 1.
  • the work control unit 162 starts the work of the lawn mowing robot 1 in accordance with an instruction from the event monitoring unit 163 or an instruction from the control unit 16.
  • the work control unit 162 rotates the rotating plate 19.
  • the work control unit 162 acquires charge amount information (information indicating the charge amount of the battery 14) from the battery 14.
  • the work control unit 162 causes the lawn mowing robot 1 to stop the work.
  • the work control unit 162 stops the rotation of the rotating plate 19 (and the cutter 17) by controlling the drive mechanism 119.
  • the event monitoring unit 163 detects a knot event that occurs when the second driving mode is being executed, and notifies the driving mode switching unit 164 that a knot event has been detected.
  • the event monitoring unit 163 detects occurrence of a node event based on various information inside or outside the device.
  • the detection of the occurrence of the node event by the event monitoring unit 163 is performed based on the determination condition of the occurrence of the node event stored in the storage unit 24 connected to the control unit 16.
  • the event monitoring unit 163 determines that a joint event has occurred based on the determination condition for the joint event occurrence stored in the storage unit 24, detects the joint event occurrence, and notifies the traveling mode switching unit 164.
  • the milestone event may be set to occur when the travel distance, travel time, number of turns, etc. of the travel information acquired inside the lawn mowing robot 1 reaches a predetermined distance, time, number of times. Alternatively, it may be set so as to occur when it becomes the same as the image taken in front of the destination, or may be set so as to be generated according to other conditions.
  • the time when 5 minutes have passed since the lawn mowing robot 1 departed from the charging station 60 shown in FIG. 3 is set in advance as the time when the knot event occurs, and in the figure, the point D corresponds to the time when the knot event occurs. To do.
  • the event monitoring unit 163 reads the occurrence condition of the knot event stored in the storage unit 24, and travel information sent from the travel control unit 161 (the lawn mowing robot 1 after leaving the charging station 60). ) Is detected as the occurrence of a milestone event, and the detected signal is sent to the travel mode switching unit 164.
  • the traveling mode switching unit 164 When the traveling mode switching unit 164 receives the detection signal from the event monitoring unit 163, the traveling mode switching unit 164 instructs the traveling control unit 161 to switch from the second traveling mode to the first traveling mode.
  • the traveling control unit 161 switches the traveling mode of the lawn mowing robot 1 from the second traveling mode to the first traveling mode based on the traveling mode switching instruction signal received from the traveling mode switching unit 164.
  • the lawnmower robot 1 is forced to follow the area wire 50 from the charging station 60 in the area A until it passes through the area C in the second traveling mode as shown in FIG.
  • the vehicle detects a knot event when it reaches the region B, and automatically switches to the first driving mode at that stage (point D when the knot event occurs). Start mowing work.
  • a mode in which the region wire 50 is traced and is forcibly directed to the region C) is assigned at a predetermined frequency planned by the user.
  • a mode in which the region wire 50 is forced to be directed to the region C) is alternately performed. That is, a first work (a lawn mowing work in the region A in the present embodiment) that starts in the first travel mode from the charging station 60 that is a signal source and performs the work only in the first travel mode, and the charging station.
  • the second operation starts the lawn mowing operation in the region B in this embodiment is started alternately, starting from 60 in the second travel mode and switching from the second travel mode to the first travel mode on the way. Execute.
  • the ratio of the first work and the second work performed by the lawn mowing robot 1 is set to 1: 1, the lawn mowing is performed at a substantially equal frequency in both the area A and the area B in the site 40. Work becomes possible.
  • FIG. 4 is a flowchart showing a processing flow of lawn mowing work.
  • the lawn mowing robot 1 performs lawn mowing work in the order of the area A to the area B as the work area in the site 40 shown in FIG.
  • the lawnmower robot 1 executes the first travel mode (S11).
  • the lawn mowing robot 1 performs the lawn mowing work in the area A while starting at the charging station 60 in the area A and running at random.
  • the lawn mowing robot 1 uses the work control unit 162 to run the lawn mowing robot 1 according to a preset program and mows the lawn in the area A.
  • the traveling control unit 161 makes the lawn mowing robot 1 stand by at the charging station 60, and according to a preset plan, the lawn mowing robot 1 next starts in the first traveling mode or in the second traveling mode. Determine if you are leaving. For example, if the preset frequency ratio of the work frequencies of the areas A and B is 1: 1, it may be determined whether or not the first travel mode is the first time, and the frequency ratio is 3: 2. If there is, it may be determined whether or not the first travel mode is the third time.
  • the vehicle starts in the second travel mode (S13).
  • the lawnmower robot 1 starts from the charging station 60 in the second traveling mode, follows the area wire 50, and moves to the area C.
  • the lawnmower robot 1 that has moved to the area C in this way further moves to the area B along the area wire 50.
  • the event monitoring unit 163 includes a travel time that is included in the travel information sent from the travel control unit 161 after the lawn mowing robot 1 leaves the charging station 60 in the second travel mode for a predetermined time (this time). It is determined whether or not 5 minutes have passed (S14).
  • the travel control unit 161 forces the lawn mowing robot 1 to pass through the area C along the area wire 50, and then the lawn mowing robot 1 travels for a predetermined time in the vicinity of the area B (YES).
  • the event monitoring unit 163 detects a knot event and switches the running mode of the lawn mowing robot 1 from the second running mode to the first running mode (S15).
  • the lawnmower robot 1 that has switched to the first travel mode travels randomly in the region B.
  • the switching between the first traveling mode and the second traveling mode can be made in advance by a user or the like. Specifically, a setting in which the first traveling mode and the second traveling mode are switched by setting the lawn mowing work once every two times or once every three times or the like can be considered.
  • the setting may be such that the start of work in the first travel mode is continued twice and the subsequent work is started twice in the second travel mode.
  • the number of times of the first travel mode ((a) in FIG. 3) and the second travel mode ((b) in FIG. 3) is not necessarily 1: 1, and may be 2: 1 or the like. . It can be set appropriately according to site conditions, user requests, and the like.
  • 2: 1 is specifically the following case.
  • Area A is a time when the lawn grows much in the sun and the lawn grows vigorously, and area B has a long time in the shade and the lawn grows slower than the area A.
  • it is a method of working the area A on the first day, working the area B on the second day, and then working on the area A on the fourth day after 1 day depending on the growth situation.
  • the work frequency of the area A and the area B is 2: 1. That is, the number of times of the first travel mode (FIG. 3A) and the second travel mode (FIG. 3B) is 2: 1.
  • the lawn mowing robot 1 has the function of forcibly entering the area C and always reaching the area B in the second traveling mode, and therefore the work frequency in the area B does not decrease. can get.
  • a signal source charging station 60
  • a signal source and the charging station 60 may exist separately.
  • the performance of the lawn mowing robot 1, the battery capacity mounted on the lawn mowing robot 1, the area of the lawn mowing target area, and the like may be taken into consideration. .
  • the present invention is not limited to this.
  • the second embodiment an example in which the occurrence of a knot event is set according to the travel distance of the lawn mowing robot 1 will be described.
  • the lawn mowing robot 1 according to the present embodiment has the same configuration as that of the first embodiment, and differs from the first embodiment in that the condition for generating a knot event is set according to the travel distance of the lawn mowing robot 1.
  • the distance traveled by the lawn mowing robot 1 is detected using the distance meter 31 shown in FIG.
  • the distance meter 31 calculates a travel distance from the outer peripheral length of the rear wheel 13 and the rotation speed of the rear wheel 13 obtained from the drive motor 18, and sends the calculation result to the travel control unit 161 as travel distance information.
  • FIG. 5 is a diagram showing the entire work target area of the lawn mowing robot 1 according to the present embodiment, and the point E in the figure is a node event occurrence point.
  • the distance from the charging station 60 to the symbol E along the area wire 50 is the traveling distance of the lawn mowing robot 1 for detecting a knot event.
  • the occurrence of the knot event is assumed to be when the travel distance of the lawn mowing robot 1 that has left the charging station 60 in the second travel mode has passed 70 m.
  • the event monitoring unit 163 monitors the travel distance after the lawnmower robot 1 departs from the charging station 60.
  • the travel control unit 161 determines whether or not to execute the second travel mode when the work in the region A by the first travel mode is completed, that is, the region Judging from the allocation of the work frequencies of A and B, and if it matches the preset plan, the lawn mowing robot 1 is departed from the charging station 60 in the second traveling mode and traces the area wire 50 to the area C. Move to.
  • the event monitoring unit 163 determines whether or not the travel distance of the lawn mowing robot 1 has reached 70 m in the vicinity of the region B, and sets the point E when the travel distance has reached 70 m as the point where the milestone event has occurred.
  • the monitoring of the travel distance of the lawn mowing robot 1 by the event monitoring unit 163 is to monitor information by the distance meter 31 shown in FIG. 1, that is, travel distance information calculated from the number of rotations of the rear wheel 13. Other monitoring methods may be used.
  • the event monitoring unit 163 detects the occurrence of a knot event from the traveling information (the traveling distance information of the lawn mowing robot 1 from the distance meter 31) sent from the traveling control unit 161, and detects the detected signal. This is sent to the travel mode switching unit 164.
  • the distance is not limited to 70 m, and may be set to a distance at which the lawnmower robot 1 is predicted to reach the area B from the area A.
  • the event monitoring unit 163 transmits the occurrence of the knot event, the travel mode switching instruction, and the mowing work start instruction to the work control unit 162, the travel mode switching unit 164, and the like. I will tell you.
  • the traveling mode switching unit 164 When the traveling mode switching unit 164 receives the detection signal from the event monitoring unit 163, the traveling mode switching unit 164 instructs the traveling control unit 161 to switch from the second traveling mode to the first traveling mode.
  • the traveling control unit 161 switches the traveling mode of the lawn mowing robot 1 from the second traveling mode to the first traveling mode based on the traveling mode switching instruction signal received from the traveling mode switching unit 164.
  • the lawn mowing robot 1 is forced to leave the charging station 60 in the area A until it finishes passing through the area C in the second traveling mode as shown in FIG. 50 is started toward the region B, and when reaching the region B, a node event is detected, and automatically switches to the first traveling mode at that stage (node event occurrence time E) Start mowing on the ground.
  • the lawn mowing work can be performed at substantially equal frequency in both the area A and the area B in the site 40.
  • the ratio between the first work and the second work to be performed by the lawn mowing robot 1 is determined in advance by a plan setting by the user or the like.
  • the execution ratio of the first work and the second work is determined so that the mowing of the area B is performed once when the mowing of the area A is performed twice. It is possible. Due to the difference in size (working area) between the area A and the area B, the first work and the second work are about 3: 2 as a way of planning that can work the areas A and B almost equally.
  • the frequency ratio may be set as follows. The ratio between the first work and the second work can be freely set by the user.
  • the present invention is not limited to this.
  • Embodiment 3 describes an example in which the determination condition for occurrence of a knot event is set according to the number of turns of the lawn mowing robot 1.
  • the lawn mowing robot 1 according to the present embodiment has the same configuration as that of the first embodiment, and differs from the first embodiment in that the condition for generating a knot event is set according to the number of turns of the lawn mowing robot 1.
  • the number of turns of the lawn mowing robot 1 is counted using the turn counter 32 shown in FIG.
  • the turn of the lawn mowing robot 1 indicates the direction change of the lawn mowing robot 1. Therefore, the number of turns is the number of direction changes.
  • the turn counter 32 detects the direction change of the lawn mowing robot 1 using, for example, an electronic compass, and sends the detected number of direction change to the event monitoring unit 163 as the number of turns.
  • the event monitoring unit 163 monitors the number of turns after the lawnmower robot 1 leaves the charging station 60.
  • the number of turns of the lawn mowing robot 1 is monitored by monitoring the number of turns by the turn counter 32 shown in FIG.
  • a point where the lawn mowing robot 1 turns to enter the region C from the region A starting from the charging station 60 along the region wire 50 in the second traveling mode is defined as 1 st turn.
  • the area B moves along the area wire 50, and 3 rd turn the point bend on the right side with respect to the direction of movement.
  • mowing robot 1 traveling in the area B to the right, moves along the area wire 50, while the 4 th turn the point bend on the right side of the moving direction, the completion of the 4 th turn Set F as the occurrence of a milestone event.
  • the event monitoring unit 163 When the number of turns of the lawn mowing robot 1 is detected as 4 times, the event monitoring unit 163 indicates that a knot event has occurred, a travel mode switching instruction, and a lawn mowing work start instruction, the work control unit 162, and the travel mode switching unit. 164 etc. are transmitted and instructed.
  • the traveling mode switching unit 164 When the traveling mode switching unit 164 receives the detection signal from the event monitoring unit 163, the traveling mode switching unit 164 instructs the traveling control unit 161 to switch from the second traveling mode to the first traveling mode.
  • the traveling control unit 161 switches the traveling mode of the lawn mowing robot 1 from the second traveling mode to the first traveling mode based on the traveling mode switching instruction signal received from the traveling mode switching unit 164.
  • the lawn mowing robot 1 is forced to leave the charging station 60 in the area A until it has passed through the area C in the second traveling mode as shown in FIG. 50 is started toward the region B, and when reaching the region B, a node event is detected, and at that stage (node event occurrence time F), the mode is automatically switched to the first traveling mode. Start mowing on the ground.
  • the lawn mowing work can be performed at substantially equal frequency in both the area A and the area B in the site 40.
  • lawn mowing robot 1 arrives in the vicinity where lawn mowing is thriving (due to the sun, etc.) and lawn mowing is particularly important.
  • setting to switch to the random running mode and the lawn mowing mode facilitates the lawn mowing work in the region B ′.
  • the vehicle travels in the second travel mode for a while, and switches from the second travel mode to the first travel mode at a position approaching the region B ′ by time measurement, distance measurement, or the like. It may be.
  • This switching position may be specified by either the travel time or travel distance from the fourth turn detection position.
  • the angle of turn (direction change) is appropriately set as follows.
  • a uniform site as shown in Fig. 6, and there are sites that have a complicated shape and need to consider various conditions such as planting of plants, so the direction of the 90 ° turn is changed.
  • a turn of 45 ° or more may be set as the direction change condition.
  • a turn of 90 ° is set as a condition for direction change.
  • the angle is set as a condition for changing the direction of the turn using an electronic compass, but the present invention is not limited to this.
  • the event monitoring unit 163 detects the case where the value detected by the acceleration sensor provided in the lawn mowing robot 1 is larger than a predetermined value as the direction change.
  • the predetermined value is set to an acceleration value generated when the lawnmower robot 1 changes the direction by 90 °.
  • the direction conversion condition may be set by another method.
  • the lawn mowing robot 1 is detected by using the GPS information receiving unit 22 and the map information stored in the storage unit 24 of the lawn mowing robot 1 to detect the position of the lawn mowing robot 1 on the map and tracking the detected position.
  • the number of turns of 1 may be detected.
  • the lawn mowing work can be performed at substantially equal frequency in both the area A and the area B in the site 40.
  • the ratio between the first work and the second work to be performed by the lawn mowing robot 1 is determined in advance by a plan setting by the user or the like.
  • the execution ratio of the first work and the second work is determined so that the mowing of the area B is performed once when the mowing of the area A is performed twice. It is possible. Due to the difference in size (working area) between the area A and the area B, the first work and the second work are about 3: 2 as a way of planning that can work the areas A and B almost equally.
  • the frequency ratio may be set as follows. The ratio between the first work and the second work can be freely set by the user.
  • the second driving mode can be switched by detecting a joint event.
  • the day of the week for lawn mowing action is determined in the areas A and B. An example performed will be described.
  • the lawn mowing robot 1 according to this embodiment has the same configuration as that of the first to third embodiments, and is different in that the mowing work in the area A and the area B is changed depending on the day of the week.
  • the switching between the first travel mode and the second travel mode is performed in units of days of the week instead of the number of lawn mowing operations, as in the first to third embodiments. This is different from the first to third embodiments.
  • the driving is started in the first driving mode shown in FIG. 7A and mowing is carried out.
  • the second driving mode shown in FIG. 7B is used. It is a setting that says that the lawn mowing work starts after the start of traveling.
  • the day of the week and the switching interval can be set as appropriate. For example, it may be set whether to start running in the first running mode and perform lawn mowing on a specific day of the month, or to start running in the second running mode and perform mowing. For example, whether to start driving in the first driving mode and mow the lawn or to start driving in the second driving mode and mow the lawn is divided into even and odd days of the month, or 5 , 10, 15, 20, 25, 30 days and the remaining days.
  • processing for performing the lawn mowing work in the region B by performing the second traveling mode is the same as in the first to third embodiments.
  • condition for determining the occurrence of a joint event at the position of the symbol G is the same as in the first to third embodiments.
  • the mowing work can be performed in the areas A and B in the site 40 at a substantially equal frequency by changing the area in units of days of the week and performing the mowing work.
  • the lawnmower robot 1 has the same configuration as that of the first embodiment, and the determination conditions for occurrence of a knot event are different from those of the other embodiments.
  • the milestone event in the second traveling mode is set not by the movement conditions (time, distance, number of turns) but by detecting environmental information from the charging station 60.
  • the environmental information includes, for example, an image of the front of the lawn mowing robot 1 taken by the camera 33 shown in FIG.
  • the event monitoring unit 163 sets a determination condition for occurrence of a knot event by an image obtained by photographing the front of the movement destination of the lawn mowing robot 1.
  • the determination condition for the occurrence of the knot event is also stored in the storage unit 24 as in the first to fourth embodiments.
  • the event monitoring unit 163 monitors the environmental conditions after the lawn mowing robot 1 departs from the charging station 60 in the second traveling mode, using the camera 33 or the like mounted on the lawn mowing robot 1, and sets or stores in advance. If the environment information (for example, the image of the area B) is compared with the camera monitoring information during traveling at a desired timing, and it is determined that the area B has been reached, the determined time is determined as the milestone event. Set to H when it occurred.
  • the determination that the region B has been reached is made when the image taken forward by the camera 33 is similar to the image taken in advance. In other words, the event monitoring unit 163 does not completely match an image captured by the camera 33 with the image captured in advance, but generally matches the image as a whole (the image determination threshold can be set as appropriate). It is determined that the region B has been reached.
  • the travel mode switching unit 164 when the travel mode switching unit 164 receives the detection signal from the event monitoring unit 163, the travel mode switching unit 164 instructs the travel control unit 161 to switch from the second travel mode to the first travel mode.
  • the traveling control unit 161 switches the traveling mode of the lawn mowing robot 1 from the second traveling mode to the first traveling mode based on the traveling mode switching instruction signal received from the traveling mode switching unit 164.
  • the lawn mowing robot 1 is forced to leave the charging station 60 in the area A until it finishes passing through the area C in the second traveling mode as shown in FIG. 50 is started toward the region B, and when reaching the region B, a node event is detected, and automatically switches to the first traveling mode at that stage (node event occurrence time H). Start mowing on the ground.
  • the lawn mowing work can be performed at substantially equal frequency in both the area A and the area B in the site 40.
  • the image information used as the environmental condition may be a pattern image represented by a barcode or QR code (registered trademark) in addition to a so-called natural image.
  • the detector uses an optical scanner in addition to the camera.
  • the ratio between the first work and the second work to be performed by the lawn mowing robot 1 is determined in advance by a plan setting by the user or the like.
  • the execution ratio of the first work and the second work is determined so that the mowing of the area B is performed once when the mowing of the area A is performed twice. It is possible. Due to the difference in size (working area) between the area A and the area B, the first work and the second work are about 3: 2 as a way of planning that can work the areas A and B almost equally.
  • the frequency ratio may be set as follows. The ratio between the first work and the second work can be freely set by the user.
  • the area C that connects the area A and the area B area, which are work target areas has been described assuming a passage between a building and a warehouse.
  • FIG. 5 a region where a lawn such as concrete or brick cannot be laid, specifically, a narrow region formed in a region used for a garage or the like will be described as region C.
  • the area wire 50 exceeds the stop position of the vehicle 70 so that the lawn mowing robot 1 does not accidentally enter the area where the vehicle 70 stops while the area mowing robot 1 is working in the area A or the area B.
  • the vehicle 70 is laid so as to be located outside the wire loop.
  • the lawn mowing robot 1 can be prevented from entering the stop area of the vehicle 70 from the area A to the area B, and as a result, the narrow area that connects both areas between the area A and the area B. C is formed.
  • the region C shown in FIG. 9 is also a region that is difficult for the lawnmower robot 1 to enter, as in the first to fifth embodiments.
  • the work by the lawn mowing robot 1 is performed in the same manner as in the first to fifth embodiments. That is, as shown in FIG. 9, the travel control unit 161 determines whether or not to execute the second travel mode when the work of the region A in the first travel mode is completed, that is, the region that is set in advance. Judging from the allocation of the work frequencies of A and B, and if it matches the preset plan, the lawn mowing robot 1 is departed from the charging station 60 in the second traveling mode and traces the area wire 50 to the area C. Move to.
  • Subsequent event monitoring by the event monitoring unit 63 is the same as in the first to fifth embodiments.
  • the condition for generating a knot event is set according to the traveling time of the lawn mowing robot 1 that leaves the charging station 60.
  • the event monitoring unit 163 reads the occurrence condition of the knot event stored in the storage unit 24, and travel information sent from the travel control unit 161 (the lawn mowing robot 1 after leaving the charging station 60). ) Is detected as the occurrence of a milestone event, and the detected signal is sent to the travel mode switching unit 164.
  • the traveling mode switching unit 164 When the traveling mode switching unit 164 receives the detection signal from the event monitoring unit 163, the traveling mode switching unit 164 instructs the traveling control unit 161 to switch from the second traveling mode to the first traveling mode.
  • the traveling control unit 161 switches the traveling mode of the lawn mowing robot 1 from the second traveling mode to the first traveling mode based on the traveling mode switching instruction signal received from the traveling mode switching unit 164.
  • the lawnmower robot 1 is forced to follow the area wire 50 from the charging station 60 in the area A until it has passed the area C, as shown in FIG. 9B.
  • the vehicle detects a node event when it reaches the region B, and automatically switches to the first driving mode at that stage (node event occurrence time I). Start mowing work.
  • the lawn mowing robot 1 has been described as an example of the autonomous work vehicle of the present invention.
  • the present invention is not limited to this, and other than lawn mowing.
  • the present invention can also be applied to an autonomous work robot that performs work such as cleaning, sowing, and wax application.
  • the autonomous work vehicle (lawn mowing robot 1) travels by detecting a signal of an energizable wire (region wire 50) that forms a loop connected to a signal source (charging station 60). And has the function of starting and returning from the signal source (charging station 60) connected to the wire (region wire 50), and is defined in the loop of the wire (region wire 50).
  • an autonomous work vehicle (lawn mowing robot 1) that performs work in a work area (site 40) including at least two areas (areas A and B), start traveling in any direction avoiding the wire (area wire 50).
  • the first traveling mode is a traveling mode in which traveling is started in an arbitrary direction while avoiding a wire, and is therefore suitable for a traveling mode in which a normal operation is performed in the work area.
  • the second traveling mode is a traveling mode in which the vehicle travels along the wire and travels in the direction inside the loop of the wire when a preset knot event occurs.
  • a forced traveling mode in which the autonomous work vehicle is traveling can be set.
  • the second driving mode Is valid.
  • the forced travel mode by the wire is canceled when a joint event occurs, so if the point of passage through the difficult-to-pass area is the occurrence point of the joint event, the destination area You can perform another run, such as a random run, to perform the work.
  • the two work areas are areas where the autonomous traveling vehicle is difficult to enter (for example, a narrow passage) or areas where the autonomous traveling vehicle is not desired to enter (for example, the autonomous traveling vehicle is a lawnmower robot)
  • the second travel mode is set to the other work area.
  • the autonomous work vehicle (lawn mowing robot 1) starts from the signal source (charging station 60) in the first traveling mode in the above aspect 1, and only in the first traveling mode.
  • the ratio with the work is preferably set by the user.
  • the autonomous work vehicle (lawn mowing robot 1) is the above-described aspect 1, wherein the work area includes a first area and a second area (areas A and B).
  • the region and the second region (regions A and B) are connected via a third region (region C) in which the autonomous work vehicle (lawn mowing robot 1) can travel, one region (region A) It is preferable that the condition for generating the knot event is set so that the knot event occurs in the movement destination area (area B) when moving from the third area to the other area.
  • An autonomous work vehicle (lawn mowing robot 1) according to aspect 4 of the present invention is the autonomous work vehicle (lawn mowing robot 1) for the first region and the second region (regions A and B) according to aspect 1. It is preferable that each operation according to (1) is executed separately on a preset day.
  • An autonomous work vehicle (lawn mowing robot 1) according to aspect 5 of the present invention is the autonomous work vehicle (lawn mowing robot) for the first region and the second region (regions A and B) according to aspect 4.
  • Each operation according to 1) is preferably executed separately on a preset day of the week.
  • each work by the autonomous work vehicle for the first region and the second region is an odd number. It is preferable to carry out by dividing into days and even days.
  • the work for both areas can be reliably executed by dividing each area on the specified day, so two work areas (the first area and the second area). This makes it possible to reduce the bias in the work frequency.
  • the knot event has reached a distance set in advance by the traveling distance of the autonomous work vehicle (turf mowing robot 1). Sometimes it is preferred to occur.
  • the knot event has reached a preset time for the traveling time of the autonomous work vehicle (lawn mowing robot 1). Sometimes it is preferred to occur.
  • the knot event has reached a preset number of turns of the autonomous work vehicle (turf mowing robot 1). Sometimes it is preferred to occur.
  • the milestone event is generated by the travel information (travel distance, travel time, number of turns) acquired inside the autonomous work vehicle. Can be appropriately generated. For this reason, it becomes possible to reduce the deviation in the work frequency for the two work areas.
  • the knot event occurs when an image taken in front is similar to an image taken in advance.
  • the autonomous work vehicle (lawn mowing robot 1) is the aspect 1, wherein the knot event is (1) When the travel distance of the autonomous work vehicle reaches a preset distance, (2) When the traveling time of the autonomous work vehicle reaches a preset time, (3) When the number of turns of the autonomous work vehicle reaches a preset number of times, (4) When the image taken in front is similar to the image taken in advance, Preferably, this occurs when at least two of the four conditions are satisfied.
  • the control unit 16 of the lawn mowing robot 1 may be realized by a computer. In this case, the control is performed by operating the computer as each unit (software element) included in the control unit 16.
  • a program of a control device that realizes the unit 16 by a computer and a computer-readable recording medium on which the program is recorded also fall within the scope of the present invention.
  • the present invention can be used for an autonomous work vehicle that autonomously travels in a work area and performs work using a mounted work machine.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Guiding Agricultural Machines (AREA)
  • Harvester Elements (AREA)

Abstract

Robot de coupe d'herbe (1) qui présente un premier mode de déplacement (a) pour éviter un fil de délimitation de zone (50) et commencer à se déplacer dans une direction arbitraire; et un deuxième mode de déplacement (b) pour se déplacer le long du fil de délimitation de zone (50) et se déplacer en direction de l'intérieur d'une boucle de fil de délimitation de zone (50), lorsqu'un événement majeur prédéfini se produit. Il est ainsi possible de réduire le déséquilibre au niveau de la fréquence de travail par rapport à deux zones de travail qui sont reliées par un passage étroit.
PCT/JP2015/078630 2015-04-28 2015-10-08 Véhicule de travail autonome WO2016174786A1 (fr)

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