JP7381240B2 - Autonomous work equipment - Google Patents

Description

The present invention relates to an autonomous working device capable of autonomous driving and automatic work.

Conventionally, autonomous mobile work devices have been operated in a learning mode in which they acquire and store travel data and work data (cleaning data) by executing learning travel cleaning that includes manual travel and manual work (manual cleaning) according to operator operations. and an automatic mode (reproduction mode) in which automatic traveling cleaning including autonomous traveling and automatic work is executed based on travel data and work data stored in advance. The autonomous working device is configured, for example, as an industrial (commercial) cleaning robot (autonomous cleaning device) and is used to clean the floors of commercial facilities such as shopping malls.

For example, the autonomous traveling trolley (autonomous traveling work device) of Patent Document 1 is in a teaching traveling mode (learning mode) in which a planned traveling route is taught when traveling from a traveling start position to a traveling end position by an operator's operation. ) and a reproduction driving mode (automatic mode) in which the vehicle autonomously travels while reproducing the planned driving route. When executing the teaching driving mode, this autonomous mobile cart acquires subgoal points, which are information about positions in the driving environment that the cart has passed from the driving start position to the driving end position, and uses the planned driving route to express the planned driving route. Store data as a collection of subgoal points. In addition, one subgoal point included in the planned travel route data is defined as a subgoal point of interest, and a subgoal point of interest is formed by the subgoal point of interest and a predetermined number of subgoal points that exist before and after the planned travel route data when viewed from the subgoal point of interest. The radius of curvature of interest, which is the radius of curvature at the subgoal point of interest, of the partial planned travel route is calculated. Then, when the radius of curvature of interest is less than or equal to the first value, processing is performed to move the subgoal point so that the radius of curvature of interest becomes larger than the first value.

Japanese Patent Application Publication No. 2015-060388

Conventional autonomous driving work devices such as those described above deviate from the planned travel route even if the planned travel route, which is expressed by a collection of subgoal points (planned travel route data) stored in the learning mode, includes a sharp curve. In order to allow the vehicle to run autonomously without any problems, the subgoal points are moved so that the radius of curvature becomes larger, that is, the planned travel route data is modified. However, in the learning mode, when the autonomous mobile work device is driven along a travel route that is a sharp curve, it is difficult for the operator to control manual operation of the autonomous mobile work device.

For example, when turning an autonomous mobile work device in learning mode, the operator may turn the steering wheel too much than necessary, resulting in the vehicle traveling along a path with a steeper curve than the operator had intended. I end up getting the data. Therefore, manual travel and manual work cannot be performed as intended by the operator, and there is a possibility that travel data and work data cannot be obtained as intended by the operator. Furthermore, if manual travel in the learning mode continues while departing from the travel route intended by the operator, it is difficult to obtain travel data for a travel route that appropriately corresponds to the work area. Furthermore, in the above-described autonomous traveling work device, even if a sharply curved travel route can be corrected, it is not possible to correct other patterns of erroneous travel routes.

In the learning mode, the vehicle travels and works manually in a vast work area, so it is difficult to completely eliminate erroneous operations. However, in conventional autonomous mobile work devices, even if the intended travel route is partially deviated due to an erroneous operation, it is necessary to restart the learning mode from the starting position.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to easily redo the learning mode without requiring the operator's effort, and to adjust the driving data and work intended by the operator. An object of the present invention is to provide an autonomous working device that can acquire data.

In order to solve the above problems, a first autonomous driving work device of the present invention has a learning mode in which learning driving work is performed and driving data and work data are stored, and an automatic driving operation based on the driving data and the work data. An autonomous working device capable of switching between an automatic mode for performing traveling work, comprising: a main body of the device, a traveling section for driving the main body of the device within a work area, and a traveling route along which the traveling section causes the main body of the device to travel. a learning control unit that acquires and stores the travel data during manual travel of the travel unit and the work data during manual work of the work unit while performing the learning travel work; a plan creation unit that creates a work plan made up of the driving data and the work data when completing the learning driving work; and a plan creation unit that creates a work plan consisting of the driving data and the work data while executing the automatic driving work; a reproduction control section that controls the traveling section and the working section based on the above to perform autonomous traveling and automatic work, respectively; and a reproduction control section that controls the traveling section when a reverse reproduction mode is set as a lower mode of the learning mode. a reverse reproduction control unit that executes a reverse reproduction run, which is a reverse run of the device main body by reverse reproduction of the travel data , and registering one or more save points on the travel route during execution of the learning travel work. and a save point registration unit, wherein the learning control unit acquires the driving data and the work data at a plurality of steps along the driving route during execution of the learning driving task, and also acquires the driving data and the work data at a plurality of steps along the driving route. The travel data and the work data are stored in association with each other, and the save point registration unit stores the travel data and the work data at a predetermined step in which the learning control unit stores the travel data and the work data during execution of the learning travel work. the save point is registered in association with the step on the travel route that satisfies a predetermined registration condition; If a predetermined interruption condition is met, the learning driving operation is interrupted, and the reverse reproduction control unit is configured to set one of the one or more save points while the learning driving operation is interrupted. The device main body performs reverse reproduction driving based on the traveling data before the interruption position so that the save point becomes the restart position , and the reverse reproduction control unit selects which one of the one or more save points After completing the reverse reproduction driving at the save point , when restarting the learning driving work, the learning control unit replaces the driving data from the save point to the interrupted position with the resumed learning driving. It is characterized in that the travel data acquired through work is stored.

According to the first autonomous driving work device of the present invention, if driving data that does not match the operator's intention is acquired during the learning driving work, the learning driving work can be partially performed using a simple method. There is no need to restart the learning driving operation from the starting position, which saves the operator's time and effort. Therefore, the autonomous mobile work device can appropriately acquire travel data and work data intended by the operator using a simple method.
Further, according to the first autonomous driving work device of the present invention, in places where the operator has multiple options in proceeding with the learning driving work, save points can be registered in advance to allow the operator to redo the learning driving work. You can reselect the options. As a result, learning driving work can be performed to realize an optimal driving route without requiring the operator to take any time and effort.

In order to solve the above problem, in the second autonomous traveling work device of the present invention, the learning control section may use an operator's interruption operation of the learning traveling work as the interruption condition.

According to the second autonomous driving work device of the present invention, when the operator desires to restart the learning driving work, the learning driving work can be interrupted using a simple method and the learning driving work can be quickly shifted to the reverse reproduction driving. I can do it.

In order to solve the above problem, in the third autonomous driving work device of the present invention, the learning control unit suspends the learning driving work by setting the detection of a driving error or a work error in the learning driving work as the interruption condition. After that, you may automatically set a reverse reproduction mode in which the above-mentioned reverse reproduction driving can be executed.

According to the third autonomous driving work device of the present invention, when it is necessary to redo the learning driving work in order to avoid driving errors or work errors, the learning driving work can be interrupted without causing any trouble to the operator. Therefore, it is possible to quickly shift to reverse reproduction driving.

In order to solve the above problem, in a fourth autonomous working device of the present invention, the save point registration unit is displayed on an operation display unit consisting of a touch panel for operating and displaying various functions of the autonomous working device. The save point is set in association with the step corresponding to the position of the autonomous mobile work device when the registration operation of the save point registration button on the data setting screen on which data regarding manual travel and manual work can be set is accepted. may be registered.

According to the fourth autonomous driving work device of the present invention, save points can be registered using a simple method without requiring any effort on the part of the operator, and by promoting the use of save points, more optimal driving can be achieved. You can perform learning driving tasks to realize the route.

In order to solve the above problem, in a fifth autonomous working device of the present invention, the save point registration unit is configured to store a save point immediately before the position of the autonomous working device at the time of detecting a driving error or a work error in the learning driving task. The step may be determined to satisfy the registration condition, and the save point may be registered in association with the step .
Further, in the sixth autonomous driving work device of the present invention, the save point registration unit may perform the step every time a predetermined time interval or a predetermined distance interval elapses after starting the learning driving work. It may be determined that the registration condition is satisfied, and the save point may be registered in association with the step.
Furthermore, in the seventh autonomous mobile work device of the present invention, the save point registration unit sequentially determines the shape of a work area around the autonomous mobile work device that is executing the learning travel task, and It may be determined that the step when the traveling work device arrives just before the entrance of a corner or a branch is determined to satisfy the registration condition, and the save point may be registered in association with the step.

According to the fifth autonomous driving work device of the present invention, when it is necessary to redo the learning driving work in order to avoid a driving error or a work error, the driving error or work error can be corrected without any effort on the part of the operator. Since a save point is set at a position before the occurrence of the error, by using the save point, it is possible to perform learning driving work that realizes an optimal driving route that does not cause driving errors or work errors.

In order to solve the above problem, in the eighth autonomous driving work device of the present invention, the save point registration unit registers a save point when a predetermined registration prohibition condition is satisfied during execution of the learning driving work. Registration may be regulated.

According to the eighth autonomous mobile work device of the present invention, for example, the surrounding environment of the autonomous mobile work device is an environment that is difficult to measure, the autonomous mobile work device is performing turning or evasive travel, or when the operation If the user is changing his or her driving or working movements, it is possible that the user's position cannot be accurately estimated, so it is recommended to restrict the registration of save points. This prevents a save point from being registered in a way that is not intended by the operator, and thus it is possible to suppress problems in using the save point.

In order to solve the above problem, in the ninth autonomous driving work device of the present invention, the reverse reproduction control unit regulates the steering operation of the traveling unit by the operator, and controls the autonomous driving operation when the learning driving work is interrupted. While maintaining the orientation of the traveling work device, the traveling section may be moved forward or backward according to an operator's forward or backward operation of the traveling section.

According to the ninth autonomous traveling work device of the present invention, when the travel route based on the travel data from the interrupted position to the resumed position for performing the reverse reproduction run is a straight line, the reverse reproduction run can be performed more easily. .

In order to solve the above problem, in the tenth autonomous mobile work device of the present invention, the reverse reproduction control section creates reverse reproduction data that reversely traces the travel data before the interruption position, and The traveling section may be moved forward or backward according to a forward or backward operation of the traveling section, and the traveling section may be turned according to the reverse reproduction data.

According to the tenth autonomous traveling work device of the present invention, when the travel route based on travel data from the interrupted position to the resumed position for performing reverse reproduction travel is long distance or includes curves along corners, branches, etc. That is, when the turning speed of the traveling data changes, reverse reproduction traveling can be performed without requiring any effort on the part of the operator.

In order to solve the above problem, in the eleventh autonomous traveling work device of the present invention, the reverse reproduction control unit creates reverse reproduction data that reversely traces the travel data before the interruption position, and After changing the direction of the device from the direction at the time of interruption of the learning driving operation to the opposite direction, moving the traveling section forward or backward in accordance with the forward or backward operation of the traveling section by the operator, and It is preferable to turn the traveling section according to the reverse reproduction data, and then change the direction of the autonomous traveling work device again to return it to the orientation at the time when the learning traveling work was interrupted.

According to the eleventh autonomous traveling work device of the present invention, the reverse reproduction traveling is performed by the forward movement of the autonomous traveling work device, so that the danger to the operator who operates the reverse reproduction traveling can be reduced. In addition, when the travel route based on the travel data from the interrupted position to the restart position is long or includes curves along corners, branches, etc., in other words, when the turning speed of the travel data changes, the operator's Reverse reproduction driving can be performed without any effort.

In order to solve the above problem, in the twelfth autonomous driving work device of the present invention, the learning control unit detects the work error in the learning driving work and interrupts the learning driving work, and then When restarting work, the work unit may be automatically controlled to avoid the work error.

According to the twelfth autonomous traveling work device of the present invention, it is possible to suppress the repeated occurrence of work errors.

According to the present invention, the autonomous mobile work device can easily restart the learning mode and acquire travel data and work data intended by the operator without requiring any effort from the operator.

1 is a schematic diagram showing the configuration of an autonomous working device according to an embodiment of the present invention. FIG. 1 is a block diagram showing the configuration of an autonomous working device according to an embodiment of the present invention. FIG. 2 is a front view showing an example of an operation display unit and a mode selection screen of the autonomous mobile work device according to the embodiment of the present invention. It is a front view showing an example of a data setting screen displayed on the operation display section of the autonomous mobile work device according to the embodiment of the present invention. In the autonomous mobile work device according to the embodiment of the present invention, it is a table showing an example of a cleaning plan created by learning travel cleaning. In the autonomous mobile work device according to the embodiment of the present invention, it is a table showing an example of a cleaning plan created by learning travel cleaning. In the autonomous mobile work device according to the embodiment of the present invention, it is a table showing an example of a cleaning plan created by learning travel cleaning. In the autonomous mobile work device according to the embodiment of the present invention, it is a table showing an example of a cleaning plan created by learning travel cleaning. FIG. 3 is a front view showing an example of a reverse reproduction screen displayed on the operation display unit of the autonomous mobile work device according to the embodiment of the present invention. FIG. 3 is a front view showing an example of a reverse reproduction screen displayed on the operation display unit of the autonomous mobile work device according to the embodiment of the present invention. It is a front view showing an example of a data setting screen and a reverse reproduction screen when an error occurs, which are displayed on the operation display unit of the autonomous mobile work device according to the embodiment of the present invention. It is a front view showing an example of a data setting screen displayed on the operation display section of the autonomous mobile work device according to the embodiment of the present invention. It is a flow chart which shows an example of operation of learning running cleaning accompanied by reverse reproduction running in an autonomous running work device concerning an embodiment of the present invention. FIG. 2 is a schematic diagram illustrating an example of the transition of learning driving cleaning, reverse reproduction driving, and restarting learning driving cleaning in the autonomous driving work device according to the embodiment of the present invention. FIG. 2 is a flowchart illustrating an example of a learning running cleaning operation involving save point registration and reverse reproduction running in the autonomous running work device according to the embodiment of the present invention. FIG. FIG. 2 is a schematic diagram illustrating an example of the transition of learning travel cleaning and restart of learning travel cleaning in the autonomous mobile work device according to the embodiment of the present invention.

Embodiments of the present invention will be described below with reference to the drawings. Although the following embodiments are preferred specific examples of the present invention and disclose various preferred techniques, the technical scope of the present invention is not limited to these aspects.

An autonomous traveling work device 1 according to an embodiment of the present invention will be described. As shown in FIG. 1, the autonomous mobile work device 1 includes a device main body 2 for accommodating various parts, a traveling section 3 for driving the device main body 2, and a traveling operation section 4 for receiving manual operation of the traveling section 3. Be prepared. The autonomous working device 1 can include a working mechanism (working section) that performs a predetermined task in the device main body 2, such as a cleaning section 5 that performs cleaning work on the floor surface FL below the device main body 2. It functions as an autonomous cleaning device. The autonomous working device 1 uses, for example, all or part of a commercial facility such as a shopping mall, an office, a hotel, a hospital, a school, a factory, etc. as a cleaning area (work area), and cleans the floor surface FL of the cleaning area. be subject to.

The autonomous working device 1 also includes a measurement unit 6 that measures the positional relationship between the device body 2 and non-working objects such as surrounding walls and obstacles (for example, ornaments), and and an obstacle detection section 7 that detects. Furthermore, the autonomous mobile work device 1 includes an operation display unit 8 consisting of a touch panel 18 (see FIGS. 3 and 4) for operating and displaying various functions of the autonomous mobile work device 1, and a It includes a power supply unit 9 for supplying electric power and controlling remaining capacity monitoring and charging of a battery (not shown). Further, the autonomous mobile work device 1 includes a control unit 10 that centrally controls each part and various functions of the autonomous mobile work device 1 (travel by the travel unit 3, cleaning work by the cleaning unit 5, measurement by the measurement unit 6, etc.), The storage unit 11 includes a storage unit 11 that stores a cleaning plan (work plan) consisting of traveling data of the cleaning unit 3 and cleaning data (work data) of the cleaning unit 5 (see FIG. 2).

Next, an overview of the operation of the autonomous mobile work device 1 will be explained.

The autonomous running work device 1 is a vehicle that is capable of running in accordance with manual operation (manual running) and autonomous running in accordance with automatic operation (autonomous running), and is capable of running in learning mode, automatic mode (reproduction mode), and manual operation. It operates by being switched to one of the operating modes.

In the learning mode and the manual mode, the autonomous traveling work device 1 performs learning traveling cleaning (learning traveling work) and manual traveling cleaning (manual traveling work), respectively, and performs manual operation of the traveling operation section 4 and the operation display section 8 by the operator. Performs manual travel and manual cleaning (manual work) depending on the operation. Learning travel cleaning also creates and stores an environmental map of the cleaning area during manual travel, as well as travel data that shows the travel route and travel conditions during manual travel, and cleaning data that shows the cleaning state during manual cleaning. and stores a cleaning plan including travel data and cleaning data. The cleaning plan is stored in association with an environmental map during manual travel and the type of cleaning member 12 of the cleaning section 5 during manual cleaning. Furthermore, in learning travel cleaning, when a save point is registered at a predetermined position (step) on the travel route, the save point is stored in association with the travel data and cleaning data corresponding to that position.

In the automatic mode, the autonomous traveling work device 1 performs automatic traveling cleaning (automatic traveling work) and reproduces the cleaning plan selected by the operator from among the cleaning plans stored in the learning traveling cleaning. Based on the cleaning plan and the corresponding environmental map, autonomous travel and automatic cleaning (automatic work) are executed in accordance with automatic operation by the control unit 10.

In addition, while the learning running cleaning is temporarily interrupted from the start of the learning mode to the completion of the learning mode, the autonomous driving work device 1 sets the reverse reproduction mode as a lower mode of the interrupted learning mode. and can work. In the reverse reproduction mode, the autonomous traveling work device 1 can perform reverse reproduction of the device main body 2 by reproducing the traveling data stored before interrupting the learning travel cleaning, that is, reverse reproduction traveling.

Examples of cleaning plans (work plans) are shown in FIGS. 5 to 8. FIG. 5(1) shows an example of a cleaning plan when the learning run cleaning is interrupted, and FIG. 5(2) shows an example of the cleaning plan when the reverse reproduction run is executed. FIG. 6 shows an example of a cleaning plan when the learning run cleaning is interrupted while registering a save point, and FIG. 7 shows an example of a cleaning plan when a reverse reproduction run is executed with the save point as the restart position. FIG. 8(1) shows an example of a cleaning plan when the learning run cleaning is interrupted, and FIG. 8(2) shows an example of a cleaning plan when the reverse reproduction run is executed while adjusting the pad pressure.

As shown in FIGS. 5 to 8, the cleaning plan is constructed by associating travel data and cleaning data with each of a plurality of steps along the travel route. The steps constituting the cleaning plan may be set at predetermined time intervals (for example, every 25 msec) or at predetermined movement distances of the autonomous mobile work device 1 (for example, every 25 msec) when performing learning travel cleaning. .3m every).

The travel data includes, for example, self-position data on the travel route of the travel section 3 (X and Y coordinates indicating the self-position on the environmental map, angle with respect to the direction of the starting position), a steering flag (go straight, turn left, turn right), It includes the traveling speed [m/s] in the traveling direction and the turning speed [deg/s], and the traveling route can be plotted based on the traveling data. Alternatively, the running speed may be switched to one of a plurality of speed levels, and the running data may be stored by converting the running speed into numbers (for example, 8 levels from 0 to 7).

The cleaning data includes, for example, the pad pressure of the cleaning member 12 of the cleaning unit 5, the amount of water supplied by the cleaning liquid supply unit 13, and the amount of suction by the suction unit 14. The pad pressure is the force that presses the cleaning member 12 against the floor FL, the supply water amount is the amount of cleaning liquid (working liquid) supplied to the floor FL by the cleaning liquid supply section 13, and the suction amount is the force that presses the cleaning member 12 against the floor FL. is the operating strength of a suction blower (not shown) when suctioning dirty water after washing from the floor surface FL. Note that the pad pressure, the amount of water supplied, and the amount of suction may be switched to any of a plurality of levels of strength, and the cleaning data is the level of intensity of the pad pressure, amount of water supplied, and amount of suction that is set to a number (for example, 0 to 2). It is recommended to convert it into 3 levels (e.g., 5 levels from 0 to 4) and store it. Note that the cleaning data may include activation/stoppage and rotation speed of the cleaning member 12.

In addition to travel data and cleaning data, the cleaning plan includes shortest obstacle information indicating the direction and distance of the nearest obstacle (shortest obstacle) from the autonomous mobile work device 1 for each step. The shortest obstacle information may be created by the control unit 10 (cleaning plan creation unit 24) based on travel data and an environmental map of the cleaning plan.

Further, as shown in FIGS. 5 and 8, the cleaning plan may include note data for each step, and the note data includes, for example, contact with non-work objects and cleaning during manual travel in learning mode or manual cleaning. Error information that detected a malfunction, restart position information determined during reverse reproduction mode in reverse reproduction mode when learning mode was interrupted, etc. are set.

Furthermore, as shown in FIGS. 6 and 7, the cleaning plan may include save point data for each step, and in the save point data, save point information is set for the step in which the save point is registered. . Each save point is identified, for example, by setting a different alphabet or the like in the save point information. In addition, in learning run cleaning, you may set an upper limit (for example, 20) to the number of save points that can be registered, and if the number of registered save points exceeds the upper limit, save points will be applied to the oldest save point. You can cancel the point information settings.

In addition, the cleaning plan includes a steering flag that indicates whether each step is a turning section of the traveling section 3 with a value of 1 or 0, and an obstacle control flag that indicates with a 1 or 0 whether each step is a section where obstacles are avoided. Flag information such as an avoidance flag and the elapsed time from the start of learning travel cleaning may be included in association with each step.

Next, each part of the autonomous traveling work device 1 will be explained.

The running section 3 is provided at the lower part of the device main body 2, and includes one front wheel 3a as a driving wheel and a pair of rear wheels 3b as auxiliary wheels. The front wheel 3a is provided at the center in the width direction of the device on the front side in the traveling direction, and includes a travel drive motor (not shown) and a front wheel rotation encoder (not shown). The running section 3 drives the running drive motor to rotate the front wheels 3a to move the device main body 2 forward, and stops the device main body 2 by stopping the rotation of the front wheels 3a. By controlling the driving of the traveling drive motor, the traveling speed of the autonomous traveling work device 1 (traveling section 3) is adjusted (acceleration/deceleration). Further, in the traveling section 3, the traveling drive motor reverses the front wheels 3a, thereby causing the device main body 2 to move backward.

Further, the front wheels 3a include a steering shaft (not shown), a steering motor (not shown), and a steering rotation encoder (not shown). The traveling section 3 drives the steering motor and rotates the steering shaft to change the direction of the front wheels 3a and steer the device body 2, and moves the device body 2 forward or backward while changing the direction of the front wheels 3a. , causes the autonomous mobile work device 1 (traveling unit 3) to turn left (turn left) or turn right (turn right). By controlling the drive of the steering motor, the steering angle of the autonomous traveling work device 1 (traveling section 3) is adjusted.

The pair of rear wheels 3b are provided on the rear side in the traveling direction and spaced apart in the device width direction (horizontal direction), and are each provided with an encoder (not shown) for determining the travel distance from the amount of rotation. The pair of rear wheels 3b rotates in accordance with the movement of the device main body 2 driven by the front wheels 3a. Adjustment (acceleration/deceleration) and steering of the traveling speed of the autonomous traveling work device 1 (traveling unit 3) are performed by the traveling drive motor while feeding back the amount of rotation of each of the rear wheels 3b using encoders provided on the rear wheels 3b. This may be done by controlling the steering motor.

In this embodiment, an example has been described in which the front wheel 3a of the driving wheel and the rear wheel 3b of the auxiliary wheel are provided. However, the present invention is not limited to this example. For example, in other embodiments, the front wheel 3a of the auxiliary wheel 3a and a pair of rear wheels 3b.

When the operation mode is set to learning mode or manual mode, the traveling section 3 operates according to manual operation of the traveling operation section 4 by the operator. Further, when the operation mode is set to automatic mode, the traveling section 3 operates according to the control of the control section 10 (reproduction control section 26) based on the traveling data of the cleaning plan selected by the operator and the environmental map. do.

The travel operation unit 4 is provided on the rear upper side of the device main body 2, and includes a handle (not shown) and a throttle (not shown) that can be manually operated by an operator. Note that while the operation mode is set to learning mode or manual mode, the driving operation unit 4 accepts manual operations by the operator, but while the operation mode is set to automatic mode, it accepts manual operations other than the operation of the emergency stop button 17. is configured so as not to accept manual operations by the operator.

The travel operation unit 4 converts the amount of steering of the steering wheel by the operator into an electric signal, and outputs the electric signal to a steering motor to drive it, thereby rotating the steering shaft of the front wheels 3a and turning the device body 2 to the left ( (Turn left) or turn right (Turn right). The steering angle of the autonomous traveling work device 1 (traveling section 3) is adjusted according to the amount of steering of the handle of the traveling operation section 4. Specifically, by counting the number of pulses of the steering rotation encoder when the steering wheel is operated, the steering amount of the steering wheel is replaced with the number of pulses, and the steering motor is controlled according to this number of pulses, thereby creating an autonomous mobile work device. 1 steering angle can be adjusted. The steering angle (deg) is based on the traveling direction of the traveling section 3 (0 degrees), and indicates a left turn as a positive angle with respect to the traveling direction, and a right turning as a negative angle with respect to the traveling direction. . Note that the steering angle may be detected by converting it into an electrical signal using a variable resistor.

In addition, the travel operation unit 4 converts the rotation amount (opening degree) of the throttle by the operator into an electrical signal, and outputs the electric signal to the travel drive motor to drive it, thereby rotating the front wheels 3a and rotating the main body of the device. 2 to move forward or backward in the direction of travel. The traveling speed of the autonomous traveling work device 1 (traveling section 3) is adjusted according to the amount of rotation of the throttle of the traveling operation section 4.

The cleaning section 5 is provided at the lower part of the apparatus main body 2 and is configured to clean the floor surface FL below the apparatus main body 2. The cleaning unit 5 operates in response to manual operation of the operation display unit 8 by the operator when the operation mode is set to learning mode or manual mode. Further, when the operation mode is set to automatic mode, the cleaning unit 5 operates according to the control (automatic operation) of the control unit 10 (reproduction control unit 26) based on the cleaning data of the cleaning plan selected by the operator. Operate.

The cleaning unit 5 includes, for example, a wet cleaning mechanism that cleans the floor FL using a cleaning liquid, and includes a cleaning member 12 that comes into contact with the floor FL to clean the floor FL, and a cleaning member 12 that supplies the cleaning liquid to the floor FL. A cleaning liquid supply unit 13 for cleaning the floor surface FL, and a suction unit 14 for sucking the used cleaning liquid that has cleaned the floor surface FL, that is, dirty water. The cleaning unit 5 also includes a cleaning member motor (not shown) that rotates the cleaning member 12 on the floor FL, and a cleaning member actuator (not shown) that moves the cleaning member 12 in the vertical direction with respect to the floor FL. (not shown). Furthermore, the cleaning unit 5 includes a wastewater recovery unit (not shown) that recovers the wastewater sucked by the suction unit 14.

The cleaning member 12 is detachably attached to a cleaning shaft (not shown) that protrudes downward from the inside of the apparatus main body 2 . When the cleaning member motor rotates the cleaning shaft, the cleaning member 12 rotates with the cleaning shaft as the rotation axis, and when the cleaning member actuator moves the cleaning shaft in the vertical direction, the cleaning member 12 also moves in the vertical direction.

The cleaning member 12 is composed of a pair of cleaning pads, a pair of cleaning brushes, etc., and the pair of cleaning pads or the pair of cleaning brushes are attached in parallel in the device width direction (horizontal direction) approximately at the center in the traveling direction. The cleaning pad or cleaning brush on the left side rotates clockwise when viewed from above, and the cleaning pad or cleaning brush on the right side rotates counterclockwise when viewed from above, and rotates from the front to the rear at the center side in the width direction. As a result, the dirty water and dust in front of the pair of cleaning pads or the pair of cleaning brushes are collected toward the center in the width direction and discharged to the rear.

The cleaning liquid supply unit 13 includes a cleaning liquid tank containing a cleaning liquid and a supply pump connected to the cleaning liquid tank, and uses the supply pump to supply and spray the cleaning liquid from the cleaning liquid tank onto the floor surface FL. The cleaning liquid supply unit 13 supplies the cleaning liquid by, for example, applying voltage to the supply pump and rotating an impeller of the supply pump. By changing this voltage and adjusting the rotation speed of the impeller, the amount of water supplied to the cleaning liquid is adjusted. For example, by storing correlation data between the voltage and the amount of water supplied to the cleaning liquid in the storage unit 11 in advance, when a predetermined amount of water to be supplied is requested, a voltage corresponding to this amount of water to be supplied can be applied to the water supply pump. This adjusts the amount of supplied water to the required amount.

The suction unit 14 is composed of a suction blower. The sewage recovery section includes a squeegee 15, a sewage duct (not shown), and a sewage tank (not shown), and the squeegee 15 is provided so as to be grounded on the floor FL behind the cleaning member 12. . The sewage collection part receives and collects the sewage discharged backward from the cleaning member 12 with a squeegee 15, and the suction part 14 is connected to the sewage duct and sucks the sewage collected by the squeegee 15 into the sewage duct. In the sewage recovery section, the sewage sucked into the sewage duct is collected into a sewage tank connected to the sewage duct.

In such a cleaning unit 5, while the cleaning liquid supply unit 13 sprays cleaning liquid onto the floor FL, the cleaning member motor rotates the cleaning pad or the cleaning brush of the cleaning member 12, and the cleaning member actuator applies the cleaning liquid to the floor FL. By urging and pressing, the floor surface FL is cleaned, and the sewage recovery section collects the sewage after cleaning.

The measurement unit 6 includes a laser range finder (LRF) that measures the positional information (for example, the angle and distance with respect to the traveling direction of the device body 2) between the device body 2 and non-working objects such as surrounding walls and obstacles. ) 6a etc. The measurement unit 6 measures the positional information with respect to the non-work object, for example, at every predetermined timing (for example, every 25 msec) while the main body 2 is traveling.

The obstacle detection unit 7 includes an obstacle sensor 7a such as an ultrasonic sensor that detects the presence or absence of a wall or obstacle within a predetermined distance from the device main body 2, or an infrared sensor that detects a step on the floor FL near the device main body 2. Be prepared. Further, the obstacle detection unit 7 includes a contact sensor 7b that detects a collision (contact) between the bumper 2a or the like of the device main body 2 and a non-work object. The obstacle detection unit 7 may be in constant operation while the device main body 2 is traveling.

The operation display section 8 is provided near the travel operation section 4 on the rear upper side of the device main body 2, and includes a key switch 16, an emergency stop button 17, and a touch panel 18, as shown in FIG. 8 are connected to a control section 10. The operation display section 8 may be composed of an operation display panel or the like attached to the apparatus main body 2, or may be composed of a tablet terminal or the like that is detachably attached to the apparatus main body 2. Note that the operation display section 8, which is formed of a tablet terminal or the like, is connected to the control section 10 via wireless communication, and can remotely control the autonomous traveling work device 1.

The key switch 16 is configured to be switchable between on and off. By turning on the key switch 16, power is supplied from the power supply unit 9 to each part and the autonomous traveling work device 1 operates, while by switching the key switch 16 to OFF, power is supplied from the power supply unit 9 to each part. is stopped, and the operation of the autonomous mobile work device 1 is stopped. When operated, the emergency stop button 17 forcibly stops (brakes) the operation of each part of the autonomous mobile work device 1 (particularly the automatic cleaning in automatic mode).

The touch panel 18 displays various screens in response to control signals from the control unit 10 and transmits operation signals to the control unit 10 based on touch operations on each screen. For example, when the key switch 16 is turned on to operate the autonomous mobile work device 1, the touch panel 18 displays a mode selection screen 30 from which an operation mode can be selected, as shown in FIG.

On the mode selection screen 30, a pad attachment button 31 for attaching and detaching the cleaning member 12, a learning button 32, an automatic button 33, and a manual button 34 are displayed in an operable manner.

When the learning button 32 and manual button 34 are operated, the operation mode is switched to learning mode and manual mode, and the touch panel 18 is displayed as shown in FIGS. 4, 11(1), 12(1), and 12(2). As shown in FIG. 2, a data setting screen 40 is displayed on which data regarding manual travel and manual cleaning can be set. Further, when the automatic button 33 is operated, the operation mode is switched to automatic mode, and the touch panel 18 displays a cleaning plan selection screen (not shown) on which a cleaning plan for automatic running cleaning can be selected. .

The cleaning plan selection screen is configured to allow selection of each cleaning plan stored in the storage unit 11, and is configured to allow operations such as starting, pausing, and canceling automatically running cleaning of the selected cleaning plan. . Note that when the automatically running cleaning of the selected cleaning plan is started, the touch panel 18 displays a screen indicating that the automatically running cleaning is being executed.

A speed change button 41 for changing the traveling speed of the traveling section 3 is displayed on the data setting screen 40. The speed change button 41 includes, for example, an upper button that increases the traveling speed in stages each time it is operated, and a lower button that decreases the traveling speed in stages each time it is operated.

On the data setting screen 40, a cleaning switch 42 for the cleaning member 12 of the cleaning section 5 and a pad pressure adjustment button 43 for adjusting the pad pressure of the cleaning member 12 are displayed. The cleaning switch 42 switches between operating and stopping cleaning by the cleaning member 12 every time it is operated. The pad pressure adjustment button 43 changes the pad pressure of the cleaning member 12 stepwise and cyclically each time it is operated.

On the data setting screen 40, a supply switch 44 of the cleaning liquid supply section 13 of the cleaning section 5 and a supply water amount adjustment button 45 for adjusting the amount of water supplied to the cleaning liquid supply section 13 are displayed. The supply switch 44 switches between operating and stopping the supply of cleaning liquid by the cleaning liquid supply unit 13 every time it is operated. The supplied water amount adjustment button 45 changes the supplied water amount of the cleaning liquid supply section 13 stepwise and cyclically each time it is operated.

On the data setting screen 40, a suction switch 46 of the suction unit 14 of the cleaning unit 5 and a suction amount adjustment button 47 for adjusting the suction amount of the suction unit 14 are displayed. The suction switch 46 switches between operation and stop of suction by the suction unit 14 every time it is operated. The suction amount adjustment button 47 changes the suction amount of the suction unit 14 stepwise and cyclically each time it is operated.

Furthermore, in the learning mode, the data setting screen 40 includes a learning start button 48 for starting learning travel cleaning, a learning interrupt button 49 for interrupting learning travel cleaning, a learning complete button 50 for completing learning travel cleaning, and a learning travel cleaning button 49. A storage button 51 for storing the result as a cleaning plan and a save point registration button 52 for accepting an operation for registering a save point on the travel route during learning travel cleaning are displayed in an operable manner. Note that the learning interrupt button 49, the learning completion button 50, and the save point registration button 52 may be displayed only while the learning run cleaning is being performed, and the memory button 51 may be displayed only after the learning run cleaning is completed. It's okay.

Further, on the data setting screen 40, a reverse reproduction button 53 is displayed so as to be operable while learning travel cleaning is interrupted. That is, when the learning interrupt button 49 is operated on the data setting screen 40, the reverse reproduction button 53 becomes operable. When the reverse reproduction button 53 is operated, the reverse reproduction mode is set as a lower mode of the currently suspended learning mode, and the touch panel 18 displays the state of reverse reproduction driving as shown in FIG. A reverse reproduction screen 60 on which running can be operated is displayed.

On the reverse reproduction screen 60, a reverse reproduction running button 61 for starting the reverse reproduction of the driving data, that is, a reverse reproduction running button 61, and a reverse reproduction completion button 62 for completing the reverse reproduction running can be operated. Is displayed. The reverse reproduction running button 61 may display text indicating the state of reverse reproduction running.

Furthermore, if a save point has been registered before the learning run cleaning is interrupted, a save point display button 63 is displayed in an operable manner on the reverse reproduction screen 60. When the save point display button 63 is operated, the reverse reproduction screen 60 displays a list of save point items 64 for each registered save point, as shown in FIG. The save point items 64 are preferably displayed in order of distance between the current self-position of the autonomous mobile work device 1 and the save point. The save point item 64 includes save point information such as alphabets, as well as the remaining distance from the current self-position of the autonomous mobile work device 1 to the save point, such as "A: 10m return", "B: 13m return", etc. may be displayed. The remaining distance may be displayed as a fixed distance calculated at the start of the reverse reproduction run, or may be displayed while being changed according to the self-position that changes as the autonomous mobile work device 1 changes in reverse reproduction run. .

The power supply unit 9 includes a battery (power supply) and a charging circuit mounted inside the device main body 2, and the battery is charged by connecting to an external power source, and also supplies power to each part of the autonomous traveling work device 1. . The power supply section 9 may output a signal indicating the remaining amount of battery to the control section 10.

The control unit 10 is composed of a computer such as a CPU (Central Processing Unit), and as shown in FIG. It is connected. The control unit 10 also controls each part of the autonomous mobile work device 1 such as the above-mentioned traveling unit 3, traveling operation unit 4, cleaning unit 5, measuring unit 6, obstacle detection unit 7, operation display unit 8, and power supply unit 9. It is connected.

The storage unit 11 stores programs and data for controlling each part and various functions of the autonomous mobile work device 1, and the control unit 10 executes arithmetic processing based on the programs and data stored in the storage unit 11. By doing so, each part and various functions are controlled in an integrated manner. For example, by executing the program stored in the storage unit 11, the control unit 10 controls the mode switching unit 20, the learning control unit 21, the map creation unit 22, the save point registration unit 23, and the cleaning plan creation unit 24 (plan creation). section), operates as a reverse reproduction control section 25 and a reproduction control section 26. Thereby, the autonomous mobile work device 1 can autonomously travel and work automatically according to a program stored in advance. Furthermore, the storage unit 11 stores one or more cleaning plans, and also stores an environmental map corresponding to each cleaning plan.

The mode switching unit 20 switches the operation mode to any one of learning mode, automatic mode, and manual mode. For example, the mode switching unit 20 switches the operation mode to a learning mode, an automatic mode, and a manual mode, respectively, in response to operations of the learning button 32, automatic button 33, and manual button 34 on the mode selection screen 30 described above. Moreover, the mode switching unit 20 can set the reverse reproduction mode as a lower mode of the learning mode while the operation mode is the learning mode and the learning running cleaning is temporarily interrupted. The mode switching unit 20 sets the reverse reproduction mode, for example, in response to the operation of the reverse reproduction button 53 on the data setting screen 40 described above.

In the learning mode, the learning control unit 21 starts learning travel cleaning in response to the operation of the learning start button 48 on the data setting screen 40, and starts acquiring the travel data of the travel unit 3 and the cleaning data of the cleaning unit 5. . The learning control unit 21 acquires travel data and cleaning data at predetermined step intervals while the learning travel cleaning is performed, and temporarily stores them in the storage unit 11.

The learning control unit 21 acquires, for example, self-position data (X coordinate, Y coordinate, angle) as travel data based on position information measured by the measurement unit 6. Further, the front wheel rotation encoder of the front wheel 3a of the running section 3 detects the running rotation speed of the front wheel 3a, and the running speed of the running section 3 is obtained based on the detection result. Furthermore, the steering rotational speed of the front wheel 3a is detected by the steering rotation encoder of the front wheel 3a of the traveling section 3, and the turning speed of the traveling section 3 is obtained based on the detection result.

In addition, when the learning travel cleaning error, that is, a travel error is detected in each step, the learning control unit 21 stores the content of the travel error in the storage unit 11 as the note data for that step. For example, when the obstacle sensor 7a of the obstacle detection unit 7 detects the approach between the device main body 2 and a non-work object, the learning control unit 21 inputs the detection result of the approach from the obstacle sensor 7a and detects the approach as a running error. Detect proximity errors. Further, when the contact sensor 7b of the obstacle detection unit 7 detects a collision (contact) between the bumper 2a, etc. of the device main body 2 and a non-work object, the learning control unit 21 inputs the contact detection result from the contact sensor 7b. Then, contact errors are detected as running errors.

For example, the learning control unit 21 has set the pad pressure of the cleaning member 12 of the cleaning unit 5, the amount of water supplied to the cleaning liquid supply unit 13, and the suction amount of the suction unit 14 as cleaning data via the data setting screen 40. Get graduated intensity.

In addition, when the learning control unit 21 detects a cleaning error in the learning run cleaning at each step, that is, a cleaning error (work error), the learning control unit 21 stores the details of the cleaning error in the storage unit 11 as note data for that step. Remember. For example, if the rotation of the cleaning member 12 of the cleaning unit 5 is locked and an abnormality occurs in the control current that controls the cleaning member motor that rotates the cleaning member 12, the cleaning unit 5 detects the rotation failure of the cleaning member 12. However, the learning control unit 21 inputs the detection result of the rotation failure of the cleaning member 12 from the cleaning unit 5, and detects the cleaning unit error as a cleaning error.

Further, the learning control unit 21 interrupts learning travel cleaning in response to operation of the learning interrupt button 49 on the data setting screen 40 (operation to interrupt learning travel cleaning), and forces manual travel and manual cleaning in the learning mode. At the same time, the acquisition of running data and cleaning data is also stopped.

Furthermore, if a driving error or a cleaning error in the learning driving cleaning as described above is detected, the learning control unit 21 automatically interrupts the learning driving cleaning regardless of whether the learning interruption button 49 on the data setting screen 40 is operated. do. At this time, the mode switching unit 20 automatically interrupts the learning mode and sets the reverse reproduction mode. In this way, when learning travel cleaning is automatically interrupted in response to a travel error or cleaning error, the details of the travel error or cleaning error are displayed in text on the data setting screen 40, as shown in FIG. 11 (1). You may do so. Furthermore, when automatically setting the reverse reproduction mode in response to a running error or cleaning error, the touch panel 18 displays a reverse reproduction screen 60 instead of the data setting screen 40, as shown in FIG. 11(2). It's okay.

The learning control unit 21 stores in the storage unit 11 the position at which the learning running cleaning was interrupted (interruption position). Note that, if the interruption position does not match any step during learning travel cleaning, the learning control unit 21 generates a new step corresponding to the interruption position and stores the travel data and cleaning data at the time of interruption. It's okay. When the reverse reproduction mode is set and the autonomous mobile work device 1 completes the reverse reproduction mode from the interrupted position to a predetermined restart position while the learning cleaning cleaning is interrupted, the learning control unit 21 performs the operation from the interrupted position to the reverse reproduction mode. The traveling data and cleaning data for each step up to the restart position (including the step at the interruption position, but not including the step at the restart position) are deleted from the storage unit 11, or stored in another storage in the storage unit 11 as interruption section data. It may be stored in the area.

Further, after interrupting the learning travel cleaning, the learning control unit 21 restarts the learning travel cleaning in response to the operation of the learning start button 48 on the data setting screen 40, resumes manual travel and manual cleaning in the learning mode, and , resumes acquisition of driving data and cleaning data. In addition, in order to make it clear that if the autonomous mobile work device 1 performs a reverse reproduction run when the learning run cleaning is interrupted, the learning run cleaning that has been restarted is to be restarted, in order to make it clear that the learning run cleaning is to be restarted again. ), the data setting screen 40 may display text indicating that the learning mode is to be restarted, or the notation of the learning start button 48 may be changed to "resume learning."

Even when learning travel cleaning is interrupted and restarted after reverse reproduction travel, the travel data and cleaning data acquired from the restart position are stored in the storage unit 11 instead of the travel data and cleaning data from the interrupted position to the restart position. Therefore, continuous driving data and cleaning data are stored in the storage unit 11. For example, the running data and cleaning data of step numbers "30" to "36" in FIG. 5(1) are replaced with the running data and cleaning data of step numbers "30" to "36" of FIG. 5(2). The travel data and cleaning data of step numbers "27" to "45" in FIG. 6 are replaced with the travel data and cleaning data of step numbers "0" to "70" in FIG. The running data and cleaning data of step numbers "30" to "36" in FIG. 8(1) are replaced with the running data and cleaning data of step numbers "30" to "36" of FIG. 8(2). Note that regardless of whether the restart position is a save point or not, the self-position data of the travel data is acquired based on the learning travel cleaning start position.

Then, the learning control unit 21 completes the learning travel cleaning in response to the operation of the learning completion button 50 on the data setting screen 40, and stops acquiring travel data and cleaning data.

The map creation unit 22 estimates its own position and creates an environmental map in real time using a technique such as SLAM (Simultaneous Localization and Mapping) while the learning control unit 21 performs learning travel cleaning in the learning mode.

Specifically, the map creation unit 22 performs cleaning at a predetermined time interval during the learning run cleaning of a predetermined cleaning area based on the positional information of the device main body 2 and the non-work object, which is the measurement result of the measurement unit 6. A local map around the device main body 2 is created every time or every predetermined distance interval. Furthermore, the map creation unit 22 estimates the self-position (coordinates) of the autonomous mobile work device 1 in the local map based on the local map and the detection results (the amount of movement of the travel unit 3) by each encoder of the travel unit 3. do.

Then, when the learning control unit 21 completes the learning travel cleaning, the map creation unit 22 creates an environmental map of the cleaning area by connecting (synthesizing) each local map. Furthermore, the map creation unit 22 creates a travel route by connecting (synthesizing) self-positions (each position information measured by the measurement unit 6) in the local map.

The save point registration unit 23 registers save points at positions on the travel route that satisfy predetermined registration conditions while the learning control unit 21 performs learning travel cleaning in the learning mode. Specifically, when a step on the driving route in which the learning control unit 21 stores driving data and work data satisfies a predetermined registration condition, a save point is registered in association with the step and stored in the storage unit 11.

For example, the save point registration unit 23 determines that the step when the operation (registration operation) of the save point registration button 52 on the data setting screen 40 is received satisfies the registration condition. In this case, the save point registration unit 23 may register the save point in association with the step closest to the position on the travel route when the save point registration button 52 was operated. That is, the save point registration unit 23 manually registers a save point in response to the operation of the save point registration button 52.

The save point registration unit 23 determines that the registration condition is satisfied every time a predetermined time interval or a predetermined distance interval elapses after starting the learning running cleaning, and automatically registers a save point. In this case, the save point registration unit 23 may register the save point in association with the step closest to the position on the travel route at the time when a predetermined time interval or a predetermined distance interval has elapsed.

The save point registration unit 23 successively determines the shape of the cleaning area around the autonomous mobile work device 1 that is performing learning travel cleaning, and determines when the autonomous mobile work device 1 reaches just before the entrance of a corner or branch. The step is determined to satisfy the registration conditions, and the save point is automatically registered. Note that the term "immediately before the corner or branch entrance" may be several steps to several tens of steps before the corner or branch entrance, several tens of centimeters to several meters before, or several seconds to several tens of seconds before the corner or branch entrance. In this case, the save point registration unit 23 may register the save point in association with the step closest to the position on the travel route immediately before the entrance of the corner or branch. For example, the save point registration unit 23 determines the shape of the cleaning area around the autonomous mobile work device 1 based on the measurement results of the measurement unit 6 (for example, the shape of the cleaning area around the autonomous mobile work device 1 within the area divided in the local map). (the shape of the area where the area exists) may be determined. Alternatively, the save point registration unit 23 captures an image of the area around the autonomous mobile work device 1 using a camera (not shown), and determines the shape of the cleaning area around the autonomous mobile work device 1 based on the image. Good too.

As described above, when a travel error or a cleaning error in learning travel cleaning is detected, the save point registration unit 23 determines that the step immediately before the error detection satisfies the registration condition, and automatically registers a save point. . Note that immediately before the error detection time may be several steps to several tens of steps before the error detection time, several tens of centimeters to several meters before the error detection time, and several seconds to several tens of seconds before the error detection time. For example, when a traveling error or a cleaning error is detected, the save point registration unit 23 may register a save point in association with steps traced back from the step at the time of error detection.

In addition, if a predetermined registration prohibition condition is satisfied during execution of learning travel cleaning, the save point registration unit 23 restricts save point registration regardless of the above registration condition, and for example, as shown in FIG. 12 (2). As shown in FIG. 2, the save point registration button 52 is made inoperable and no save point is registered even if the registration conditions are met.

For example, the save point registration unit 23 detects the rate of change in the surrounding environment of the autonomous mobile work device 1, and if the rate of change in the surrounding environment is outside a predetermined range (for example, if the change in the surrounding environment is extremely severe or If the number of registered users is small, the same surrounding environment is repeated, etc.), it is considered that the self-position cannot be estimated normally, and therefore it is determined that the registration prohibition condition is satisfied. At this time, the save point registration unit 23 detects the rate of change in the surrounding environment by determining a change in the shape of the cleaning area around the autonomous mobile work device 1, which is determined based on the measurement results of the measurement unit 6, etc. You may do so.

The save point registration unit 23 also records travel data and cleaning data other than self-position data when the travel unit 3 is turning or avoiding obstacles, or when the travel operation unit 4 or the data setting screen 40 is operated. is being changed, it is determined that the registration prohibition condition is satisfied because it is no longer possible to register a stable and accurate save point due to the influence of changes in the driving operation or cleaning operation.

When the learning travel cleaning is completed in response to the operation of the learning completion button 50 on the data setting screen 40, the cleaning plan creation unit 24 saves the travel data and cleaning data that the learning control unit 21 temporarily stored in the storage unit 11. Create a cleaning plan (work plan) by relating each step. Note that even if the learning run cleaning is interrupted and restarted after the reverse reproduction run, the cleaning plan creation unit 24 stores continuous run data and cleaning data in the storage unit 11 as described above. Therefore, the cleaning plan creation unit 24 can create a cleaning plan consisting of a series of continuous steps. The cleaning plan creation unit 24 displays an inquiry screen on the touch panel 18 asking the operator to input a plan name for the created cleaning plan, and adds the plan name input by the operator to the created cleaning plan. After inputting the plan name, the cleaning plan creation section 24 associates the created cleaning plan with the environmental map created by the map creation section 22 during the same learning run cleaning in response to the operation of the memory button 51 on the data setting screen 40. It is stored in the storage unit 11.

In addition, the cleaning plan creation unit 24 detects the nearest obstacle (shortest obstacle) from the autonomous mobile work device 1 for each step based on the travel data and environmental map of the created cleaning plan, and Detects the direction and calculates the shortest distance to the shortest obstacle. For example, the shortest obstacle is an obstacle such as a wall that exists on the left or right side with respect to the traveling direction of the autonomous mobile work device 1. The cleaning plan creation unit 24 stores the direction and shortest distance of the shortest obstacle for each step in the cleaning plan as shortest obstacle information.

Furthermore, the cleaning plan creation unit 24 may create flag information such as a steering flag and store it in the cleaning plan. For example, the cleaning plan creation unit 24 calculates the travel route (travel trajectory) of the travel unit 3 based on the travel data of the created cleaning plan, and defines sections in which the radius of curvature is less than or equal to a predetermined curvature radius threshold in this travel trajectory. It is determined that it is a turning section, and the steering flag of the step corresponding to this section is set to 1. Alternatively, the cleaning plan creation unit 24 detects the steering angle of the travel operation unit 4 (steering wheel) based on the travel data of the created cleaning plan, and determines that the steering angle is equal to or greater than a predetermined steering angle threshold (for example, 30 degrees). The section is determined to be a turning section, and the steering flag of the step corresponding to this section is set to 1. Note that when measuring the steering angle, for example, an encoder for steering rotation of the front wheel 3a of the traveling section 3 or an encoder provided on the turning axis of the traveling operation section 4 (steering wheel) is used to measure each steering angle when the traveling operation section 4 is steered. What is necessary is to measure the pulse value of the encoder and convert the pulse value into an angle (deg).

The reverse reproduction control section 25 controls the traveling operation section 4 when the operation mode is the learning mode and the reverse reproduction mode is set as a lower mode of the learning mode while the learning traveling cleaning is temporarily interrupted. or the operation of the reverse reproduction screen 60 displayed on the touch panel 18, the device main body 2 is controlled to travel in reverse by reverse reproduction of travel data, that is, reverse reproduction travel is controlled. At this time, the reverse reproduction control unit 25 controls the main body of the device based on the travel data of the reverse reproduction section from the interrupted position of the learning travel cleaning to a predetermined restart position on the travel route based on the travel data stored in the learning travel cleaning. Run 2 in reverse reproduction. Note that the reverse reproduction control section 25 may automatically cause the device main body 2 to travel in reverse reproduction based on travel data from the interrupted position to the restart position.

When the reverse reproduction completion button 62 on the reverse reproduction screen 60 is operated, the reverse reproduction control unit 25 determines the self-position of the autonomous mobile working device 1 as the restart position, completes the reverse reproduction traveling, and switches the reverse reproduction mode. The data setting screen 40 is displayed on the touch panel 18 instead of the reverse reproduction screen 60. In addition, when the operation of the travel operation unit 4 and the operation of the reverse reproduction screen 60 for executing reverse reproduction driving are completed, the reverse reproduction control unit 25 sets the self position of the autonomous mobile working device 1 to the restart position. may be determined. The reverse reproduction control unit 25 stores restart position information in the storage unit 11 as note data of the step corresponding to the restart position.

Note that, if the restart position does not match any of the steps during learning travel cleaning, the reverse reproduction control unit 25 performs a travel corresponding to the restart position based on the travel data and cleaning data of the steps before and after the restart position. It is preferable to create a new step (for example, a step that is an intermediate step or an average of the steps before and after the restart position) including the data and cleaning data and store it in the storage unit 11.

The reverse reproduction control unit 25 can control reverse reproduction running using various reverse reproduction methods. For example, as a first reverse reproduction method, the reverse reproduction control unit 25 maintains the direction of movement of the device main body 2 at the time of interruption of learning travel cleaning, without steering (turning) the traveling unit 3 left or right. , the device main body 2 (traveling section 3) is linearly retreated in response to a backward operation of the throttle of the traveling operation section 4. If the turning speed of the traveling data is 0 in consecutive steps before the interruption position, the reverse reproduction control unit 25 can perform the first reverse reproduction method without deviating from the traveling route. Note that, if the turning speed of the traveling data is other than 0 in a step before the interruption position, the reverse reproduction control unit 25 may end the first reverse reproduction method without returning to that step. The first reverse reproduction method can be effectively used when the traveling route based on travel data of the reverse reproduction section from the interruption position to the restart position where the reverse reproduction traveling is performed is a straight line.

Further, as a second reverse reproduction method, the reverse reproduction control unit 25 creates reverse reproduction data that traces the traveling data before the interruption position in reverse when the reverse reproduction running button 61 on the reverse reproduction screen 60 is operated. , the device main body 2 (traveling section 3) is moved backward in response to a backward operation of the throttle of the traveling operation section 4, and the traveling section 3 (front wheels 3a) is steered (turning) in accordance with the reverse reproduction data. For example, the reverse reproduction control unit 25 calculates the turning speed when traveling in reverse through these two steps based on the self-position data and turning speed of the traveling data of two consecutive steps, and creates the reverse reproduction data. . The reverse reproduction control unit 25 displays the words "Running in reverse" on the reverse reproduction running button 61 of the reverse reproduction screen 60 while the vehicle is moving backward during reverse reproduction running. The second reverse reproduction method is used when the traveling route based on the traveling data of the reverse reproduction section from the interruption position to the restart position where the reverse reproduction traveling is performed is long distance or includes curves along corners, branches, etc. , it can be effectively used when the turning speed of travel data in the reverse reproduction section changes.

In the first reverse reproduction method and the second reverse reproduction method, the reverse reproduction control section 25 does not accept a steering operation (turning operation) of the steering wheel of the traveling operation section 4. The reverse reproduction control section 25 accepts only a backward operation of the throttle of the travel operation section 4 so as to cause the device main body 2 to move only backward, but may not accept a forward operation of the throttle of the travel operation section 4, or may accept only a forward operation of the throttle of the travel operation section 4. Both forward and backward operations of the throttle of the traveling operation unit 4 may be accepted so that the backward movement can be finely adjusted. Note that the reverse reproduction control section 25 may limit the traveling speed of the traveling section 3 to a low speed.

In addition, as a third reverse reproduction method, the reverse reproduction control unit 25 creates reverse reproduction data that reversely traces the travel data before the interruption position, and rotates the device main body 2 by 180 degrees from the traveling direction during learning travel cleaning. The device main body 2 (traveling section 3) is moved forward according to the forward operation of the throttle of the traveling operation section 4, and the traveling section 3 ( The front wheels 3a) are steered (turned), and the main body 2 of the apparatus is again turned 180 degrees (direction changed) to face the direction of travel during learning travel cleaning. For example, the reverse reproduction control unit 25 calculates the turning speed when traveling in reverse through these two steps based on the self-position data and turning speed of the traveling data of two consecutive steps, and creates the reverse reproduction data. . The reverse reproduction control unit 25 displays the words "Forward traveling" on the reverse reproduction running button 61 of the reverse reproduction screen 60 while the vehicle is moving forward in reverse reproduction running.

Similar to the second reverse reproduction method, the third reverse reproduction method is based on traveling data of the reverse reproduction section from the interrupted position to the restart position where the reverse reproduction driving is performed, and is based on long distances, corners and branch points. It can be effectively used when the turning speed of the traveling data in the reverse reproduction section changes.

The reverse reproduction control unit 25 may provide a 180 degree turn button (not shown) on the reverse reproduction screen 60 and rotate the device main body 2 180 degrees in response to the operation of the 180 degree turn button, or The device main body 2 may be rotated 180 degrees in response to a handle operation of the operating section 4. In addition, when the main body 2 of the apparatus is facing in the opposite direction from the traveling direction during learning travel cleaning, the reverse reproduction control section 25 preferably sets a reverse direction flag, and while the reverse direction flag is being set, the reverse reproduction screen 60 is displayed in the reverse direction. It is preferable to make the reproduction completion button 62 inoperable.

In the third reverse reproduction method, the reverse reproduction control unit 25 does not accept a steering operation (turning operation) of the steering wheel of the travel operation unit 4 while the throttle of the travel operation unit 4 is being operated forward. The reverse reproduction control section 25 may only accept forward operation of the throttle of the travel operation section 4 so as to cause the device body 2 to move only forward, but may not accept a backward operation of the throttle of the travel operation section 4, or may Both forward and backward operations of the throttle of the traveling operation unit 4 may be accepted so that the backward movement can be finely adjusted. Note that the reverse reproduction control section 25 may limit the traveling speed of the traveling section 3 to a low speed.

Note that the reverse reproduction control unit 25 may perform only one of the first reverse reproduction method, the second reverse reproduction method, and the third reverse reproduction method described above, or may perform a combination of two or more. It's okay. Further, the reverse reproduction control unit 25 may perform reverse reproduction methods other than the first reverse reproduction method, the second reverse reproduction method, and the third reverse reproduction method described above.

In addition, if save points have been registered before the learning run cleaning is interrupted, the reverse reproduction control unit 25 saves each registered save point according to the operation of the save point display button 63 on the reverse reproduction screen 60. A list of point items 64 is displayed on the reverse reproduction screen 60. At this time, the reverse reproduction control unit 25 controls the reverse reproduction running so that any save point becomes the restart position. Note that even when setting the save point to the restart position, the reverse reproduction control unit 25 uses the above-described first reverse reproduction method, second reverse reproduction method, third reverse reproduction method, or other reverse reproduction method. You may perform a reverse reproduction run.

The reverse reproduction control unit 25 causes the autonomous mobile work device 1 to travel in reverse reproduction and stops at the save point, thereby setting the save point to the restart position. For example, when the autonomous mobile working device 1 that is running in reverse reproduction approaches a save point or is placed on a save point, the reverse reproduction control unit 25 controls the save point item 64 corresponding to the save point. The operator is notified of the approach to the save point and the location on the save point by changing the display color, blinking, and outputting an announcement such as voice. The operator stops (places) the autonomous mobile work device 1 on the desired save point based on such notification, and also moves the desired save point to the restart position by operating the reverse reproduction completion button 62. be able to. Note that, if two or more save points are registered, the reverse reproduction control unit 25 performs the above notification every time the autonomous mobile working device 1 approaches or locates each save point. At this time, if the operator does not desire the save point that the autonomous mobile work device 1 approaches or places as the restart position, the operator passes through the save point and continues the reverse reproduction run, and returns to the desired save point. All you have to do is perform a reverse reproduction run until you reach .

Further, when any of the save point items 64 is selected, the reverse reproduction control unit 25 controls whether the autonomous mobile working device 1 during the reverse reproduction operation approaches the save point corresponding to the selected save point item 64. It is best to make the above notification only when the save point is placed on the save point. In this case, the reverse reproduction control unit 25 may notify the selection operation by changing the display color or blinking the selected save point item 64, and may also notify the selection operation by changing the display color or blinking the selected save point item 64. When the user moves away from the save point corresponding to item 64 by a predetermined distance or more, it is preferable to notify that fact.

When the operation mode is automatic mode and a cleaning plan is selected according to the operation on the cleaning plan selection screen displayed on the touch panel 18, the reproduction control unit 26 reads the selected cleaning plan from the storage unit 11, Based on the travel data and cleaning data of this cleaning plan, the travel unit 3 and the cleaning unit 5 are controlled to perform automatic travel cleaning. At this time, the reproduction control unit 26 executes the automatic cleaning while estimating the self-position of the autonomous mobile working device 1 on the environmental map corresponding to the cleaning plan. For example, the reproduction control unit 26 uses the map creation unit 22 to create a local map using technology such as SLAM, estimates the self-position of the autonomous mobile work device 1 in the local map, and converts the local map into the environment. By matching with the map, the self-position on the environmental map is estimated. Then, the reproduction control section 26 controls the traveling section 3 based on the step-by-step self-position data of the traveling data of the cleaning plan and the self-position estimated on the environmental map, and based on the cleaning data of the cleaning section 5. control the cleaning work step by step.

In the above-described autonomous traveling work device 1, a first operational example of learning traveling cleaning accompanied by reverse reproduction traveling will be described with reference to the flowchart of FIG. 13 and FIG. 14.

First, when the operator turns on the key switch 16 of the operation display unit 8, the autonomous traveling work device 1 is activated and the mode selection screen 30 is displayed on the touch panel 18. When the learning button 32 on the mode selection screen 30 is operated, the mode switching unit 20 switches the operation mode to the learning mode, and the data setting screen 40 is displayed on the touch panel 18. Then, when the learning start button 48 on the data setting screen 40 is operated, the learning control unit 21 starts learning running cleaning (step S1).

While executing the learning running cleaning, the learning control unit 21 acquires the running data of the running unit 3 and the cleaning data of the cleaning unit 5 at every step interval, and stores them in the storage unit 11 (step S2). Additionally, if a predetermined interruption condition is met while the learning run cleaning is being executed, for example, if the learning interruption button 49 on the data setting screen 40 is operated, or as shown in FIG. 14(1), When the autonomous running work device 1 contacts an obstacle and the contact sensor 7b detects the contact and a running error is detected, the learning control unit 21 interrupts the learning running cleaning (step S3: Yes). Note that when the learning run cleaning is interrupted, the autonomous traveling work device 1 is placed at a predetermined interruption position.

When the reverse reproduction button 53 on the data setting screen 40 is operated while the learning run cleaning is interrupted, the reverse reproduction mode is set and the reverse reproduction screen 60 is displayed on the touch panel 18. In the reverse reproduction mode, the reverse reproduction control section 25 executes reverse reproduction traveling as shown in FIG. 14(2) in response to the operation of the traveling operation section 4 or the reverse reproduction screen 60 (step S4).

When the reverse reproduction completion button 62 on the reverse reproduction screen 60 is operated when the autonomous traveling work device 1 is placed at a predetermined restart position after performing reverse reproduction driving, the reverse reproduction control unit 25 starts the reverse reproduction operation. After completing the run, the reverse reproduction mode is canceled and the data setting screen 40 is displayed on the touch panel 18.

Then, when the learning start button 48 on the data setting screen 40 is operated, the learning control unit 21 restarts the learning running cleaning (step S5), and as shown in FIG. 14(3), the operator Learn to run and clean to avoid this. After restarting the learning travel cleaning, the learning control unit 21 acquires and stores travel data and cleaning data in the same manner as described above. Note that after restarting the learning travel cleaning, only the travel data may be acquired and stored for a predetermined time or a predetermined distance, and the cleaning data before the reverse reproduction travel may be employed. This is effective when, for example, the cleaning area to be cleaned may include a location where only travel is required, without cleaning, and it is desired to correct the location where only travel is required.

Thereafter, when the learning completion button 50 on the data setting screen 40 is operated without interrupting the learning travel cleaning, the learning control unit 21 completes the learning travel cleaning (step S6: Yes). Then, the cleaning plan creation unit 24 creates a cleaning plan consisting of the traveling data and cleaning data stored in the storage unit 11, adds the plan name input by the operator, and stores this cleaning plan in the storage unit 11. It is stored (step S7). Furthermore, at this time, the learning mode is canceled and a mode selection screen 30 is displayed on the touch panel 18.

Further, in the above-described autonomous traveling work device 1, a second operational example of learning travel cleaning involving save point registration and reverse reproduction travel will be described with reference to the flowchart of FIG. 15 and FIG. 16.

In the second operation example as well, the autonomous traveling work device 1 operates in the same way as the first operation example, and learning travel cleaning is started from a predetermined starting position as shown in FIG. 16(1) (step S11). Then, while learning running cleaning is being executed, the learning control unit 21 acquires running data and cleaning data at each step interval, and stores the acquired running data and cleaning data in the storage unit 11 (step S12).

In addition, when a predetermined registration condition is met while the learning run cleaning is being executed, for example, when the save point registration button 52 on the data setting screen 40 is operated, or as shown in FIG. 16(1), the learning run cleaning When the autonomous mobile work device 1 to clean reaches just before the entrance of the branch, the save point registration unit 23 stores save point information in association with a predetermined step for storing travel data and cleaning data (step S13). For example, in the example shown in FIG. 16(1), point A and point B are registered as save points.

Additionally, if a predetermined interruption condition is met while the learning run cleaning is being executed, for example, if the learning interruption button 49 on the data setting screen 40 is operated, or as shown in FIG. 14(1), When the autonomous traveling work device 1 approaches a wall surface and the obstacle sensor 7a detects the approach and a traveling error is detected, the learning control unit 21 interrupts the learning traveling cleaning (step S14). Note that when the learning run cleaning is interrupted, the autonomous traveling work device 1 is placed at a predetermined interruption position.

After interrupting the learning run cleaning, the reverse reproduction control unit 25 executes the reverse reproduction run in the same manner as in the first operation example. In this second operation example, since point A and point B are registered as save points, a save point display button 63 is displayed on the reverse reproduction screen 60. When this save point display button 63 is operated, the reverse reproduction screen 60 displays save point items 64 corresponding to the save points of point A and point B, as shown in FIGS. 10(1) and 10(2). will be listed. Here, when the save point item 64 at point A is selected as the restart position (step S15), the save point item 64 at point A is highlighted.

When the autonomous mobile work device 1 approaches or locates the save point at point A by executing reverse reproduction driving, the reverse reproduction control unit 25 notifies the operator to that effect, so that the autonomous mobile work device 1 returns to point A. Reverse reproduction driving is guided so that the save point is set as the save point (step S16). If the reverse reproduction completion button 62 on the reverse reproduction screen 60 is operated when the autonomous traveling work device 1 is placed with the save point at point A as the restart position, the reverse reproduction control unit 25 completes the reverse reproduction traveling. do.

Then, in the same manner as in the first operation example, the learning running cleaning is restarted with the save point at point A as the restart position (step S17), and the operator performs the save point at point A as shown in FIG. From a point, perform a learning run cleaning so that it progresses to a different branch from the previous time. Further, when the learning travel cleaning is completed without being interrupted (step S18: Yes), the cleaning plan creation unit 24 creates a cleaning plan and stores it in the storage unit 11 (step S19).

As described above, according to the present embodiment, there is a learning mode in which learning driving cleaning (learning driving work) is performed and driving data and cleaning data (work data) are stored, and an automatic driving mode based on driving data and cleaning data. An autonomous working device 1 capable of switching between an automatic mode for performing cleaning (automatic driving work) includes a device main body 2, a traveling section 3 for driving the device main body 2 within a cleaning area (work area), and a traveling section 3. The apparatus includes a cleaning section 5 (working section) that performs cleaning (work) on the travel path along which the device main body 2 travels. Further, while executing the learning running cleaning, the autonomous running work device 1 acquires and stores running data during manual running of the running section 3 and cleaning data during manual cleaning (during manual work) of the cleaning section 5. A control unit 21, a cleaning plan creation unit 24 (plan creation unit) that creates a cleaning plan (work plan) consisting of travel data and cleaning data when completing learning travel cleaning, and a cleaning plan creation unit 24 (plan creation unit) that creates a cleaning plan (work plan) consisting of travel data and cleaning data when completing learning travel cleaning; A reproduction control section 26 controls the running section 3 and the cleaning section 5 to perform autonomous running and automatic cleaning (automatic work) based on the running data and cleaning data of the plan, and a reproduction control section 26 that controls the running section 3 and controls the device main body 2. It also includes a reverse reproduction control section 25 that executes reverse reproduction running. The learning control unit 21 interrupts the learning travel cleaning when a predetermined interruption condition is satisfied at a predetermined interruption position on the travel route during execution of the learning travel cleaning. While the learning travel cleaning is interrupted, the reverse reproduction control unit 25 executes the reverse reproduction traveling of the apparatus main body 2 based on travel data before the interruption position. After the reverse reproduction control section 25 completes the reverse reproduction traveling at a predetermined restart position, the learning control section 21, when resuming the learning traveling cleaning, applies data to the traveling data from the restarting position to the interrupted position, or the traveling data and the cleaning data. Instead, the running data or the running data and cleaning data acquired by the restarted learning running cleaning is stored.

With such a configuration, in the autonomous traveling work device 1, if traveling data or cleaning data that does not match the operator's intention is acquired during the learning traveling cleaning, the autonomous traveling work device 1 can perform the learning traveling cleaning using a simple method. It is possible to partially redo the cleaning, and there is no need to restart the learning travel cleaning from the starting position, which saves the operator's time and effort. Therefore, the autonomous mobile work device 1 can appropriately acquire travel data and cleaning data intended by the operator using a simple method.

In the present embodiment, the learning control unit 21 may set the operator's operation of the learning interrupt button 49 on the data setting screen 40 (operation for interrupting the learning run cleaning) as an interrupt condition.

With such a configuration, when the operator desires to restart the learning travel cleaning, it is possible to interrupt the learning travel cleaning using a simple method and quickly shift to the reverse reproduction travel.

Further, in the present embodiment, the learning control unit 21 sets the detection of a driving error or a cleaning error (work error) in the learning driving cleaning as an interruption condition, and after interrupting the learning driving cleaning, the learning control unit 21 is configured to perform a reverse reproduction driving so that a reverse reproduction driving can be executed. It is better to set the mode automatically.

With this configuration, if it is necessary to perform the learning travel cleaning process again in order to avoid a driving error or cleaning error, the learning travel cleaning process can be interrupted without any effort on the part of the operator, and the user can immediately resume the reverse reproduction driving process. can be migrated.

In the present embodiment, the learning control unit 21 acquires travel data and cleaning data at a plurality of steps along the travel route while performing learning travel cleaning, and stores the travel data and cleaning data in association with the steps. . The autonomous running work device 1 includes a save point registration unit 23 that registers a save point in association with a predetermined step in which the learning control unit 21 stores travel data and cleaning data during execution of learning travel cleaning. Then, the reverse reproduction control unit 25 preferably causes the device main body 2 to travel in reverse reproduction so that the save point becomes the restart position.

With this configuration, in a location where the operator has a plurality of options when proceeding with learning travel cleaning, by registering a save point in advance, it is possible to reselect an option by redoing learning travel cleaning. Thereby, it is possible to perform learning running cleaning that realizes an optimal running route without requiring much effort on the part of the operator.

In the present embodiment, the save point registration unit 23 saves data in association with the step corresponding to the position of the autonomous mobile work device 1 when the operation of the save point registration button 52 (save point registration operation) by the operator is received. It is a good idea to register points.

With this configuration, save points can be registered using a simple method without requiring much effort on the part of the operator, and by promoting the use of save points, learning running cleaning can be implemented to realize more optimal driving routes. It can be carried out.

Further, in the present embodiment, the save point registration unit 23 may register a save point in association with a step immediately before the position of the autonomous mobile working device 1 at the time of detection of a travel error or a cleaning error in learning travel cleaning.

With this configuration, if it is necessary to redo learning travel cleaning in order to avoid a travel error or cleaning error, the data can be saved to the position before the travel error or cleaning error occurred, without requiring any effort on the part of the operator. Since points are set, by using save points, it is possible to perform learning travel cleaning that realizes an optimal travel route that does not cause travel errors or cleaning errors.

In the present embodiment, the save point registration unit 23 may restrict the registration of save points if a predetermined registration prohibition condition is satisfied during execution of learning travel cleaning.

With such a configuration, for example, the surrounding environment of the autonomous mobile work device 1 is an environment that is difficult to be measured by the measurement unit 6, the autonomous mobile work device 1 is performing a turning run or an evasive run, or the travel operation unit 4 If the running operation or the cleaning operation is changed by operating the data setting screen 40 or by operating the data setting screen 40, there is a possibility that the user's own position cannot be estimated accurately, so it is preferable to restrict the registration of save points. This prevents a save point from being registered in a way that is not intended by the operator, and thus it is possible to suppress problems in using the save point.

In this embodiment, the reverse reproduction control unit 25 regulates the steering operation of the traveling unit 3 by the operator to maintain the orientation of the autonomous traveling work device 1 at the time of interruption of the learning traveling cleaning, and the reverse reproduction control unit 25 controls the steering operation of the traveling unit 3 by the operator. The traveling section 3 may be moved forward or backward in accordance with the forward or backward operation of the vehicle.

With this configuration, when the travel route based on the travel data from the interruption position to the restart position for performing reverse reproduction travel is a straight line, reverse reproduction travel can be performed more easily.

Further, in the present embodiment, the reverse reproduction control unit 25 creates reverse reproduction data that traces the traveling data before the interruption position in reverse, and moves the traveling section 3 according to the forward or backward operation of the traveling section 3 by the operator. It is preferable to move the traveling section 3 forward or backward, and also to turn the traveling section 3 according to the reverse reproduction data.

With this configuration, if the travel route based on travel data from the interrupted position to the resumed position for performing reverse reproduction travel is long distance or includes curves along corners, branches, etc., in other words, the turning speed of the travel data When the value changes, reverse reproduction driving can be performed without any effort on the part of the operator.

Furthermore, in the present embodiment, the reverse reproduction control unit 25 creates reverse reproduction data that reversely traces the travel data before the interruption position, and changes the direction of the autonomous mobile work device 1 from the orientation at the time of interruption of learning travel cleaning. Then, the traveling section 3 is moved forward or backward according to the forward or backward operation of the traveling section 3 by the operator, and the traveling section 3 is turned according to the reverse reproduction data. It is preferable to change the direction of the work device 1 again and return it to the direction at which the learning run cleaning was interrupted.

With such a configuration, the reverse reproduction traveling is performed by the forward movement of the autonomous mobile working device 1, so that the danger to the operator who operates the reverse reproduction traveling can be reduced. In addition, when the travel route based on the travel data from the interrupted position to the restart position is long or includes curves along corners, branches, etc., in other words, when the turning speed of the travel data changes, the operator's Reverse reproduction driving can be performed without any effort.

Furthermore, in the present embodiment, after detecting a cleaning error during learning travel cleaning and interrupting the learning travel cleaning, when restarting the learning travel cleaning, the learning control unit 21 automatically controls the learning travel cleaning to avoid the cleaning error. The cleaning section 5 is controlled accordingly.

With such a configuration, it is possible to prevent cleaning errors from repeatedly occurring.

In the present invention, even if the work data is not necessarily recorded in correspondence with the travel data of the autonomous mobile work device 1 from the interruption position to the restart position, and only the travel data is re-recorded after reverse reproduction travel, It goes without saying that it is within the scope of the rights of the present invention.

Further, the present invention can be modified as appropriate within the scope of the invention that does not contradict the gist or idea that can be read from the claims and the entire specification, and an autonomous mobile work device that involves such modifications is also applicable to the technology of the present invention. Included in thought.

INDUSTRIAL APPLICATION This invention can be suitably utilized for the autonomous working device which can run autonomously and work automatically, and the automatic floor washing/cleaning device for commercial use which was integrally constructed with it.

1 Autonomous traveling work device 2 Device body 3 Traveling section 5 Cleaning section (work section)
10 Control section 11 Storage section 12 Cleaning member 13 Cleaning liquid supply section 14 Suction section 20 Mode switching section 21 Learning control section 22 Map creation section 23 Save point registration section 24 Cleaning plan creation section 25 Reverse reproduction control section 26 Reproduction control section

Claims (12)

An autonomous driving work device capable of switching between a learning mode in which learning driving work is performed and driving data and work data are stored, and an automatic mode in which automatic driving work is performed based on the driving data and the work data,
The device body,
a traveling section that causes the device main body to travel within a work area;
a working unit that performs work on a traveling route along which the traveling unit travels the device main body;
a learning control unit that acquires and stores the travel data during manual travel of the travel unit and the work data during manual work of the work unit while executing the learning travel work;
a plan creation unit that creates a work plan consisting of the travel data and the work data when completing the learning travel work;
a reproduction control unit that controls the travel section and the work section to perform autonomous travel and automatic work, respectively, based on the travel data and the work data of the work plan while performing the automatic travel work;
When a reverse reproduction mode is set as a lower mode of the learning mode, a reverse reproduction control unit controls the traveling unit to perform reverse reproduction running , which is reverse reproduction of the device main body by reverse reproduction of the traveling data; ,
a save point registration unit that registers one or more save points on the driving route during execution of the learning driving task,
The learning control unit acquires the driving data and the work data at a plurality of steps along the driving route during execution of the learning driving work, and also acquires the driving data and the work data in association with the steps. remember,
The save point registration unit is configured to store a save point at a predetermined step in which the learning control unit memorizes the travel data and the work data during execution of the learning travel task, on the travel route that satisfies a predetermined registration condition. registering the save point in association with the step;
The learning control unit interrupts the learning driving work when a predetermined interruption condition is satisfied at a predetermined interruption position on the driving route during execution of the learning driving work,
The reverse reproduction control unit, while the learning driving operation is interrupted, restores the driving data before the interrupted position so that any one of the one or more save points becomes a restart position. perform a reverse reproduction run of the device main body based on
After the reverse reproduction control unit completes reverse reproduction driving at any one of the one or more save points, the learning control unit, when resuming the learning driving operation, starts from the save point. An autonomous driving work device, characterized in that the driving data acquired by the resumed learning driving work is stored in place of the driving data up to the interrupted position. The autonomous driving work device according to claim 1, wherein the learning control unit sets an interruption operation of the learning driving work by an operator as the interruption condition. The learning control unit automatically sets the reverse reproduction mode in which the reverse reproduction driving can be executed after interrupting the learning driving work, with the detection of a driving error or a work error in the learning driving work as the interruption condition. The autonomous traveling work device according to claim 1, characterized in that: The save point registration section saves a data setting screen, which is displayed on an operation display section consisting of a touch panel for operating and displaying various functions of the autonomous mobile work device, on which data related to manual travel and manual work can be set. The autonomous mobile working device according to claim 1 , wherein the save point is registered in association with the step corresponding to the position of the autonomous mobile working device when a registration operation of a point registration button is received. The save point registration unit determines that the step immediately before the position of the autonomous mobile work device at the time of detection of a driving error or work error in the learning driving work satisfies the registration condition, and associates the step with the step , The autonomous traveling work device according to claim 1 , wherein the save point is registered. The save point registration unit determines that the registration condition is satisfied, and associates the step with the step every time a predetermined time interval or a predetermined distance interval elapses after starting the learning driving work, The autonomous traveling work device according to claim 1, wherein the save point is registered. The save point registration unit successively determines the shape of the work area around the autonomous mobile work device that is executing the learning driving task, and determines whether the autonomous mobile work device has reached just before the entrance of a corner or branch. The autonomous mobile work device according to claim 1, wherein the step is determined to satisfy the registration condition, and the save point is registered in association with the step. Any one of claims 1 to 7 , wherein the save point registration unit restricts registration of the save point if a predetermined registration prohibition condition is satisfied during execution of the learning driving task. The autonomous traveling work device according to item 1. The reverse reproduction control section regulates the steering operation of the traveling section by the operator to maintain the orientation of the autonomous traveling work device at the time of interruption of the learning driving operation, and controls the forward operation of the traveling section by the operator or the steering operation of the traveling section by the operator. The autonomous traveling work device according to any one of claims 1 to 8, wherein the traveling section is moved forward or backward in response to a backward operation. The reverse reproduction control unit creates reverse reproduction data that reversely traces the traveling data before the interruption position, and moves the traveling section forward or backward in response to a forward operation or a backward operation of the traveling section by an operator. The autonomous traveling work device according to any one of claims 1 to 9 , wherein the traveling section is turned in accordance with the reverse reproduction data. The reverse reproduction control unit creates reverse reproduction data that reversely traces the driving data before the interruption position, and changes the direction of the autonomous driving work device from the direction at the time of interruption of the learning driving work to reverse the direction. After that, the traveling section is moved forward or backward according to a forward or backward operation of the traveling section by the operator, and the traveling section is turned according to the reverse reproduction data, and further, the autonomous traveling work device The autonomous driving work device according to any one of claims 1 to 10 , characterized in that the direction of the learning driving work is changed again to return to the direction at which the learning driving work was interrupted. When restarting the learning driving work after detecting the work error in the learning driving work and interrupting the learning driving work, the learning control unit automatically controls the learning driving work so as to avoid the work error. The autonomous traveling work device according to claim 3, wherein the autonomous working device controls a working section.

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