AUTONOMOUSLY MOVING WORK DEVICE, METHOD AND PROGRAM FOR MODIFYING WORK PLAN

Abstract

To provide an autonomous traveling work device, a work plan modification method, and a program that can improve work efficiency and work quality by reflecting operator's intention in a work plan.SOLUTION: An autonomous traveling work device (device main body 10) performs work on a surface to be worked while autonomously traveling according to a work plan. The autonomous traveling work device includes: work track creation units 39 and 40 that create work tracks already completed and / or virtual work tracks scheduled to be worked when working according to the work plan; a display control unit 41 that superimposes a completed work track and / or the virtual work track on the surface to be worked within an image plane acquired from an imaging unit; and a work plan modification unit 45 that modifies the work plan when a change operation related to the existing work track and / or the virtual work track is received.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an autonomous navigation work device, a method for modifying a work plan, and a program. [Background technology]

[0002] An autonomous mobile work device that visualizes the working state of a work surface is known (see, for example, Patent Document 1). The autonomous mobile work device described in Patent Document 1 is communicably connected to a mobile terminal, and a dirt detection sensor is provided on the autonomous mobile work device, and a camera is provided on the mobile terminal. A map of the work surface is created by SLAM (Simultaneous Localization and Mapping) or the like, and the detection results of the dirt detection sensor are added to the map. The autonomous mobile work device then transmits the map reflecting the working state to the mobile terminal, and the map is superimposed on an image captured by the camera and displayed on the display of the mobile terminal. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-082807 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the autonomous mobile work device described in Patent Document 1, a map reflecting the working state is superimposed on the captured image of the work surface, making it possible to visualize the working state of the work surface. Although it is possible to make the operator aware of the working state of the work surface, it is not possible to move the autonomous mobile work device so as to obtain a work result that reflects the operator's intention.

[0005] Therefore, the present invention has been made in consideration of these points, and aims to provide an autonomous mobile work device, a method for revising a work plan, and a program that can reflect the operator's intentions in the work plan, thereby improving work efficiency and work quality. [Means for solving the problem]

[0006] The autonomous mobile work device of the present invention is an autonomous mobile work device that performs work on a work surface while autonomously traveling in accordance with a work plan, and is equipped with a work trajectory creation unit that creates a work trajectory of the work that has been completed when working in accordance with the work plan and / or a virtual work trajectory of the work to be completed, a display control unit that displays the work trajectory and / or the virtual work trajectory superimposed on the work surface in an image acquired from an imaging unit, and a work plan correction unit that corrects the work plan when a change operation is received regarding the work trajectory and / or the virtual work trajectory, and the work trajectory creation unit creates a travel route from a start point of work to a current point. and the width of the workpiece The completed work trajectory is created based on the above, and a travel route from the current position to the end point of the work is calculated. and the width of the working member The virtual work trajectory is created based on The image is displayed overlaid on the work surface. The travel path is offset by changes to the existing work trajectory and / or the virtual work trajectory. Imaging The existing work trajectory and / or the virtual work trajectory are redisplayed on the image.

[0007] The method of modifying a work plan of the present invention is a method of modifying a work plan of an autonomous mobile work device that performs work on a work surface while traveling autonomously, and includes the steps of creating a trajectory of work that has been completed when working according to the work plan and / or a virtual trajectory of work to be completed, a step of displaying the trajectory of work that has been completed and / or the virtual trajectory of work that is planned to be completed on the work surface in an image acquired from an imaging unit by superimposing the trajectory of work that has been completed and / or the virtual trajectory of work, and a step of modifying the work plan when a change operation is received regarding the trajectory of work that has been completed and / or the virtual trajectory of work. In the step of creating the work plan, a travel path from a start point of work to a current point is displayed. and the width of the workpiece The completed work trajectory is created based on the above, and a travel route from the current position to the end point of the work is calculated. and the width of the working memberThe virtual work trajectory is created based on The image is displayed overlaid on the work surface. The travel path is offset by changes to the existing work trajectory and / or the virtual work trajectory. Imaging The existing work trajectory and / or the virtual work trajectory are redisplayed on the image.

[0008] According to these configurations, the operator is allowed to visually confirm the completed work trajectory and / or the virtual work trajectory on the work surface in the captured image, and the operator's operation to change the completed work trajectory and / or the virtual work trajectory is accepted. The operation plan of the autonomously navigating work device is modified by the operation to change the completed work trajectory and / or the virtual work trajectory, and the operator's intentions are reflected in the work plan, thereby improving work efficiency and work quality.

[0009] The autonomous mobile work device includes a work trajectory division unit that divides the completed work trajectory and / or the virtual work trajectory into a plurality of divided trajectories, the display control unit displays the plurality of divided trajectories superimposed on the work surface in the captured image, and the work plan correction unit corrects the work plan when a change operation is received for the divided trajectories. With this configuration, the operator's intentions can be reflected in the work plan in more detail.

[0010] The above-mentioned autonomous mobile work device learns a work plan according to manual operation and performs work on a work surface while autonomously traveling according to the learned work plan, the display control unit displays the trajectory of the work performed on the work surface in the captured image after learning the work plan, and the work plan correction unit corrects the learned work plan when a change operation is received regarding the trajectory of the work performed. With this configuration, it is possible to reflect the operator's intentions in the learned work plan without repeatedly having the autonomous mobile work device learn by manual operation.

[0011] Another autonomous mobile work device of the present invention is an autonomous mobile work device that learns a work plan in accordance with manual operation and performs work on a work surface while traveling autonomously in accordance with the learned work plan, and is equipped with a work trajectory creation unit that creates a work trajectory that has been completed when work is performed in accordance with manual operation while learning the work plan and a virtual work trajectory of planned work predicted from the work trajectory, a display control unit that superimposes and displays the work trajectory and the virtual work trajectory on the work surface in an image acquired from the imaging unit while learning the work plan, and a work plan creation unit that creates a work plan for the virtual work trajectory, which is an unlearned portion, while learning the work plan.

[0012] With this configuration, the operator is allowed to visually view the virtual work trajectory on the work surface in the captured image while the work plan is being learned, allowing the operator to confirm whether the virtual work trajectory, which is an unlearned portion, is appropriate, thereby preventing the generation of a work plan that goes against the operator's intentions.This makes it possible to reflect the operator's intentions in the work plan for the virtual work trajectory without having the autonomous mobile work device repeat learning through manual operation.

[0014] The program of the present invention is a program for an autonomous mobile work device that performs work on a work surface while autonomously traveling according to a work plan, and causes the autonomous mobile work device to execute the following steps: creating a trajectory of work that has been completed and / or a virtual trajectory of work to be completed when working according to the work plan; overlaying and displaying the trajectory of work that has been completed and / or the virtual trajectory of work on the work surface in an image acquired from an imaging unit; and modifying the work plan when a change operation is received regarding the trajectory of work that has been completed and / or the virtual trajectory of work. In the creating step, a travel path from a start point of work to a current point is created. and the width of the workpiece The completed work trajectory is created based on the above, and a travel route from the current position to the end point of the work is calculated. and the width of the working member The virtual work trajectory is created based on The image is displayed overlaid on the work surface. Offsetting the travel path due to changes in the existing work trajectory and / or the virtual work trajectory ImagingThe completed work trajectory and / or the virtual work trajectory are re-displayed on the image. According to this configuration, by installing a program in the autonomous mobile work device, it is possible to add a function that allows the operator to visually recognize the completed work trajectory and / or the virtual work trajectory on the work surface in the captured image, and prompts the operator to revise the work plan. Effect of the Invention

[0015] According to the present invention, the operator's intentions can be reflected in the work plan, thereby improving work efficiency and work quality. [Brief description of the drawings]

[0016] [Figure 1] FIG. 2 is a perspective view of the cleaning device according to the embodiment. [Diagram 2] FIG. 2 is a schematic diagram of a cleaning device according to the present embodiment. [Diagram 3] FIG. 2 is a control block diagram of the device body of the embodiment. [Figure 4] FIG. 4 is a diagram showing an example of a display screen of the present embodiment. [Diagram 5] FIG. 13 is a diagram showing an example of a display screen before cleaning in the present embodiment. [Figure 6] 11A to 11C are diagrams illustrating an example of a process for designating an intensive cleaning area according to the present embodiment. [Figure 7] 11A to 11C are diagrams illustrating an example of a process for designating an intensive cleaning area according to the present embodiment. [Figure 8] 13 is a diagram showing the positional relationship of the cleaning device after learning of the cleaning plan of the present embodiment. FIG. [Figure 9] FIG. 13 is a diagram showing an example of a display screen after learning in the present embodiment. [Figure 10] FIG. 13 is a diagram showing an example of a display screen during learning of a cleaning plan in the present embodiment. [Figure 11] 13 is an example of a flowchart of a cleaning plan correction process according to the present embodiment. [Figure 12] 13 is an example of a flowchart of a process for generating a cleaning plan during learning according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] The cleaning device of this embodiment will be described below with reference to the drawings. Fig. 1 is a perspective view of the cleaning device of this embodiment. Fig. 2 is a schematic diagram of the cleaning device of this embodiment. In the following description, an autonomously traveling cleaning device will be exemplified as the autonomously traveling work device, but the autonomously traveling work device may be a work device that performs various tasks such as cleaning, polishing, polishing, and wax application on a work surface by autonomous traveling.

[0018] As shown in Fig. 1, the cleaning device 1 is configured to be capable of autonomously cleaning floor surfaces (work surfaces) F in commercial facilities, manufacturing plants, railway station concourses, etc. Front wheels 12 as drive wheels and rear wheels 13 as auxiliary wheels are provided at the bottom of the device body 10 of the cleaning device 1. Cleaning members 16 such as cleaning pads and cleaning brushes are provided between the front wheels 12 and the rear wheels 13, and a squeegee 17 is provided behind the cleaning members 16. A handle 28 is provided at the upper rear side of the device body 10, and a display unit 22 is provided in front of the handle 28. An imaging unit 21 is provided at the upper front side of the device body 10, and an obstacle sensor 26 is provided in a recess below the imaging unit 21.

[0019] As shown in Fig. 2, the device body 10 of the cleaning device 1 is provided with a travel unit 11, a cleaning unit 15, a wireless communication unit 19, an imaging unit 21, a display unit 22, a measuring unit 25, an operation unit 27, a memory unit 50, a power supply unit 29, and a control unit 30. The travel unit 11 is composed of the above-mentioned front wheels 12, rear wheels 13, a travel motor (not shown), an encoder (not shown), etc. The travel unit 11 drives the front wheels 12 with the travel motor to travel the cleaning device 1. Note that, although a front-wheel drive cleaning device 1 is exemplified in this embodiment, only the rear wheels 13 may be driven by the travel unit 11, or both wheels may be driven by the travel unit 11.

[0020] The cleaning unit 15 cleans the floor surface F, for example, by wet cleaning, and is composed of the above-mentioned cleaning member 16 and squeegee 17, a cleaning motor (not shown), an actuator (not shown), a cleaning liquid supply unit (not shown), a wastewater recovery unit (not shown), etc. The cleaning unit 15 presses the cleaning member 16 against the floor surface F by the actuator, and rotates the cleaning member 16 relative to the floor surface F by the cleaning motor. At this time, cleaning liquid is sprayed from a cleaning liquid tank onto the floor surface F by the cleaning liquid supply unit, and wastewater collected by the squeegee 17 is recovered in a wastewater tank by the wastewater recovery unit.

[0021] The wireless communication unit 19 connects the device main body 10 and a management terminal (not shown) via wireless communication. For example, the device main body 10 and the management terminal are connected via a wireless LAN such as WiFi (registered trademark). The imaging unit 21 is a dome-shaped camera capable of capturing an image of the floor surface F. The imaging unit 21 may be a spherical camera capable of capturing a panoramic image or a fixed camera capable of capturing an image in front of the cleaning device 1 as long as it is capable of capturing an image of the floor surface F. In this embodiment, the cleaning device 1 includes the imaging unit 21, but the cleaning device 1 may also obtain an image of the floor surface F via wireless communication from a surveillance camera installed in a commercial facility or the like.

[0022] The display unit 22 has a touch panel type display screen. The display screen of the display unit 22 displays the captured image (mainly video) captured by the imaging unit 21, as well as an operation screen that accepts operations by the operator for the cleaning apparatus 1. The operation screen allows the operation mode of the cleaning apparatus 1 to be selected, and various settings for the cleaning apparatus 1 to be input. Note that a tablet terminal or a mobile terminal such as a smartphone that is detachable from the apparatus body 10 can also be used as the display unit 22. When a mobile terminal is used as the display unit 22, a wireless communication function of the mobile terminal may be used instead of the wireless communication unit 19.

[0023] The measuring unit 25 includes the obstacle sensor 26 described above. The obstacle sensor 26 is, for example, configured with an LRF (Laser Range Finder) that measures the distance and angle from an obstacle or a wall surface. Laser light is emitted from the obstacle sensor 26 to the surroundings, and the distance and angle from the obstacle sensor 26 to an obstacle are measured by receiving reflected light from an object, making it possible to recognize the surrounding environment of the cleaning device 1. Moreover, the obstacle sensor 26 may perform obstacle detection using a captured image of the surrounding environment instead of obstacle detection using laser light.

[0024] The operation unit 27 receives manual operation by the operator and is composed of the above-mentioned handle 28 (see FIG. 1), throttle, etc. The operation unit 27 converts the steering amount of the handle 28 and the twist amount of the throttle into an electric signal and outputs it to a control board of the travel motor of the device main body 10 to drive the travel motor. The travel speed of the device main body 10 is adjusted and left turns and right turns are performed by operating the operation unit 27. In addition, a power switch (not shown) for turning the power ON / OFF and an emergency stop switch (not shown) for completely stopping the operation of the device main body 10 are provided near the operation unit 27 of the device main body 10.

[0025] The storage unit 50 is composed of one or more storage media such as a ROM (Read Only Memory), a RAM (Random Access Memory), a HDD (Hard Disk Drive), a flash memory, etc. depending on the application. The ROM stores, for example, a program for controlling the cleaning device 1. The HDD or flash memory stores, for example, a cleaning plan in which various cleaning conditions such as a travel path, a travel speed, a spray amount of cleaning liquid, and a contact pressure of the cleaning member 16 are set, and other parameters. The power supply unit 29 is composed of a battery (not shown), a charging circuit, etc. Power is supplied from the power supply unit 29 to each part of the device.

[0026] The control unit 30 controls each unit of the device. The various processes of the control unit 30 may be realized by software using a processor, or may be realized by a logic circuit (hardware) formed in an integrated circuit or the like. When a processor is used, the processor reads out and executes a program stored in the storage unit 50 to perform various processes. For example, a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit) is used as the processor. The control blocks of the control unit 30 and the storage unit 50 will be described in detail later.

[0027] Such a cleaning device 1 is provided with three operation modes: manual mode, learning mode, and reproduction mode. In the manual mode, the cleaning device 1 is manually operated by an operator to clean the floor surface F. In the learning mode, the cleaning device 1 is manually operated by an operator to learn a cleaning plan. In the reproduction mode, the cleaning device 1 cleans while autonomously traveling within a cleaning area so as to reproduce the cleaning plan. In addition to cleaning according to a cleaning plan learned in the learning mode, the cleaning device 1 can also clean according to a cleaning plan created in advance.

[0028] However, a learned cleaning plan or a cleaning plan created in advance is not necessarily appropriate. For example, if the distance from the cleaning trajectory of the cleaning device 1 to the wall is longer than the safe distance, or if the lap width of adjacent cleaning trajectories is too large, the cleaning efficiency decreases. Also, depending on the degree of dirt on the floor surface F, cleaning according to the cleaning plan alone may not be able to sufficiently remove the dirt. Therefore, the cleaning device 1 of this embodiment allows the operator to visually recognize the cleaning trajectory on the floor surface F in the captured image, and modifies the cleaning plan to reflect the operator's intention so that the cleaning efficiency and cleaning quality can be improved.

[0029] The detailed configuration of the control unit and storage unit of the device body will be described below. Fig. 3 is a control block diagram of the device body of this embodiment. Note that the reference numerals in Figs. 1 and 2 will be used appropriately in the description.

[0030] 3, the control unit 30 includes a learning cleaning control unit 31, a learning travel control unit 32, a SLAM control unit 33, a travel path creation unit 34, an environmental map creation unit 35, a cleaning plan creation unit 36, a reproduced cleaning control unit 37, a reproduced travel control unit 38, a previously cleaned path creation unit 39, a virtual cleaning path creation unit 40, an AR display control unit 41, a previously cleaned path calculation unit 42, a virtual cleaning path calculation unit 43, an uncleaned area calculation unit 44, a cleaning plan correction unit 45, and a cleaning path division unit 46. The storage unit 50 includes a cleaning condition storage unit 51, a travel path storage unit 52, an environmental map storage unit 53, a cleaning plan storage unit 54, a cleaning path storage unit 55, and a device setting storage unit 56.

[0031] The learning cleaning control unit 31 controls the manual cleaning of the cleaning device 1 according to the operation of the operator during the learning mode. The control contents by the learning cleaning control unit 31 are stored in the cleaning condition storage unit 51 as teaching data. This teaching data includes, for example, the amount of cleaning liquid sprayed, the contact pressure of the cleaning members 16, and the suction power of dirty water. The learning travel control unit 32 controls the manual travel of the cleaning device 1 according to the operation of the operator during the learning mode. The control contents by the learning travel control unit 32 are stored in the cleaning condition storage unit 51 as teaching data. This teaching data includes, for example, the travel speed.

[0032] The SLAM control unit 33 executes SLAM in real time to estimate the self-position of the cleaning device 1 and create a local map based on the distance and angle from obstacles around the cleaning device 1 measured by the measurement unit 25. The travel path creation unit 34 connects multiple self-positions arranged in time series to create a travel path L (see FIG. 6(A)) of the cleaning device 1. The environmental map creation unit 35 connects multiple local maps arranged in time series to create an environmental map M (see FIG. 6(A)). The travel path L is stored in the travel path storage unit 52 as teaching data, and the environmental map M is stored in the environmental map storage unit 53 as teaching data.

[0033] In addition, the measurement unit 25 may use a two-dimensional type LRF as the obstacle sensor 26, or a three-dimensional type LRF. Two-dimensional data may be acquired by a two-dimensional type LRF, or three-dimensional data may be acquired by a three-dimensional type LRF or by the swinging of a two-dimensional type LRF. That is, the travel path creation unit 34 may create a two-dimensional travel path, or a three-dimensional travel path. In addition, the environmental map creation unit 35 may create a two-dimensional environmental map, or a three-dimensional environmental map.

[0034] The cleaning plan creation unit 36 ​​creates a cleaning plan by associating various teaching data with each step at a predetermined time interval from the start to the end of the learning mode. In this case, the travel path L of the cleaning device 1 is reflected in the environmental map M, and the amount of cleaning liquid to be sprayed, the contact pressure of the cleaning member 16, the suction power of dirty water, and the travel speed at each point from the start point P1 to the end point P2 (see FIG. 6(A)) of the travel path L are set, and a cleaning plan is created. The cleaning plan is stored in the cleaning plan storage unit 54 and used during the reproduction mode. In addition to the cleaning plan learned in the learning mode, the cleaning plan storage unit 54 also stores cleaning plans created in advance.

[0035] The reproduction cleaning control unit 37 reads a cleaning plan from the cleaning plan storage unit 54 during reproduction mode, and controls the automatic cleaning of the cleaning device 1 according to the cleaning plan. The reproduction travel control unit 38 reads a cleaning plan from the cleaning plan storage unit 54 during reproduction mode, and controls the autonomous travel of the cleaning device 1 according to the cleaning plan. While the cleaning device 1 autonomously travels along the travel path L, it sprays cleaning liquid onto the floor surface F and cleans the floor surface F with the cleaning members 16. In this way, the cleaning device 1 is controlled by the reproduction cleaning control unit 37 and the reproduction travel control unit 38, whereby the cleaning plan read from the cleaning plan storage unit 54 is reproduced.

[0036] The previously cleaned path creation unit (work path creation unit) 39 creates a previously cleaned path T1 (see FIG. 4(B)) when cleaning is performed according to the cleaning plan, based on the travel path L from the cleaning start point P1 to the current point. In this case, the previously cleaned path creation unit 39 reads the travel path L from the travel path storage unit 52 and also reads the width of the cleaning member 16 from the device setting storage unit 56. Then, based on the travel path L from the cleaning start point P1 to the current point and the width of the cleaning member 16, the previously cleaned path creation unit 39 creates a previously cleaned path (worked path) T1 for the floor surface F that has already been cleaned. The previously cleaned path T1 is stored in the cleaning path storage unit 55.

[0037] The virtual cleaning trajectory creation unit (work trajectory creation unit) 40 creates a virtual cleaning trajectory T2 (see FIG. 4(B)) that is planned to be cleaned when cleaning is performed according to the cleaning plan, based on the travel path L from the current position to the cleaning end point P2 (see FIG. 6(A)). In this case, the virtual cleaning trajectory creation unit 40 reads the travel path L from the travel path storage unit 52 and also reads the width of the cleaning member 16 from the device setting storage unit 56. Then, based on the travel path L from the current position to the cleaning end point P2 and the width of the cleaning member 16, the virtual cleaning trajectory creation unit 40 creates a virtual cleaning trajectory (virtual work trajectory) T2 that is planned to be cleaned for the floor surface F. The virtual cleaning trajectory T2 is stored in the cleaning trajectory storage unit 55.

[0038] The AR display control unit (display control unit) 41 causes the display unit 22 to display the already cleaned trajectory T1 and / or the virtual cleaning trajectory T2 superimposed on the floor surface F in the captured image input from the imaging unit 21. For example, feature points of the environmental map M are matched with feature points of the captured image to identify the current position of the cleaning device 1 in the imaging coordinate system (camera coordinate system) of the captured image. The already cleaned trajectory T1 and the virtual cleaning trajectory T2 based on the current position of the cleaning device 1 are superimposed on the floor surface F in the captured image. The already cleaned trajectory T1 and the virtual cleaning trajectory T2 are not limited to being linear, and the already cleaned trajectory T1 and the virtual cleaning trajectory T2 may be formed in an arc shape at the turning point of the cleaning device 1.

[0039] The recognition of the floor surface F in the captured image is realized by image segmentation (semantic segmentation). Image segmentation is a technology that distinguishes objects for each pixel of a captured image and displays them in an identifiable manner, and determines which category each pixel of the image belongs to. Pixels of the same category are treated as the same label, the floor surface F is recognized as being distinguished from the ceiling, wall surfaces, etc., and the already cleaned trajectory T1 and the virtual cleaning trajectory T2 are superimposed on the floor surface F. The already cleaned trajectory T1 and the virtual cleaning trajectory T2 on the floor surface F may be displayed as colored areas, or each area may be displayed in a different display color.

[0040] The cleaned trajectory calculation unit 42 calculates the distance and area from an obstacle such as a wall measured by the measurement unit 25 to the cleaned trajectory T1 and the lap width of the cleaned trajectory T1 by reflecting the cleaned trajectory T1 on the environmental map M. The virtual cleaning trajectory calculation unit 43 calculates the distance and area from an obstacle such as a wall measured by the measurement unit 25 to the virtual cleaning trajectory T2, the lap width of the virtual cleaning trajectory T2, and the lap width of the cleaned trajectory T1 and the virtual cleaning trajectory T2 by reflecting the virtual cleaning trajectory T2 on the environmental map M. The uncleaned area calculation unit 44 calculates the vertical and horizontal dimensions and area of ​​the uncleaned area by treating the gap in the cleaned trajectory T1 as an uncleaned area.

[0041] The cleaning plan correction unit (work plan correction unit) 45 corrects the cleaning plan when a change operation is received regarding the existing cleaning trajectory T1 and / or the virtual cleaning trajectory T2. For example, when a change operation is received regarding the distance from the wall surface to the cleaning trajectory or the lap width of the cleaning trajectory, the cleaning plan correction unit 45 offsets the travel path L of the cleaning plan. The travel path L is a set of X and Y coordinate values ​​that indicate the self-position of the cleaning device 1 on the environmental map M. The travel path L is offset by converting the set values ​​of the distance from the wall surface to the cleaning trajectory and the lap width of the cleaning trajectory into displacement amounts in the X and Y directions, and then adding the displacement amounts in the X and Y directions to the X and Y coordinate values ​​of the travel path L.

[0042] Also, for example, when an operation to change the cleaning conditions for the cleaning trajectory is received, the cleaning plan correction unit 45 changes the cleaning conditions of the cleaning plan. By increasing the contact pressure of the cleaning member 16, etc., it is possible to focus on cleaning a portion of the floor surface F. Instead of changing the cleaning conditions, the cleaning plan correction unit 45 may set a reciprocating path for a portion of the travel path L of the cleaning plan. By repeating reciprocating cleaning by the cleaning device 1 on the reciprocating path, it is possible to focus on cleaning a portion of the floor surface F. By changing the travel path L and cleaning conditions, the cleaning plan is modified to one that reflects the operator's intentions.

[0043] The cleaning trajectory division unit (work trajectory division unit) 46 divides the already cleaned trajectory T1 and / or the virtual cleaning trajectory T2 into a plurality of divided trajectories 70c (see FIG. 6(B)) consisting of a straight trajectory and a turning trajectory. In this case, the AR display control unit 41 displays the plurality of divided trajectories 70c superimposed on the captured image, and the plurality of divided trajectories 70c are individually selected by the operator's touch operation. By selecting the divided trajectories 70c, it is possible to change the cleaning conditions, etc. for each divided trajectory 70c. In addition, when a reduction operation is performed on the selected divided trajectory 70c, the divided trajectory 70c is reduced, and it is possible to change the cleaning conditions for a narrower range (see FIG. 7(B)).

[0044] The cleaning device 1 can use cleaning plans learned by manual operation and cleaning plans created in advance by a management terminal or the like. When learning a cleaning plan, while the cleaning device 1 is manually operated by an operator, the SLAM control unit 33 executes SLAM, the self-position of the cleaning device 1 is estimated, and a local map is created. The self-position is connected by the travel path creation unit 34 to create a travel path L, and the local maps are connected by the environmental map creation unit 35 to create an environmental map M. The cleaning plan creation unit 36 ​​reflects the travel path L in the environmental map M, and the cleaning conditions are associated with the travel path L to create a cleaning plan.

[0045] When creating a cleaning plan in advance, an environmental map M is created from drawing data prepared in advance. In addition, a zigzag travel path L is created by wrapping the cleaning trajectory at a fixed width based on previously input settings such as the start point P1 and end point P2 of cleaning, the safe distance from the wall, and the width of the cleaning member 16. The travel path L is reflected in the environmental map M, and the cleaning conditions input in advance are associated with the travel conditions, thereby creating a cleaning plan. Instead of using drawing data, the environmental map M may be created by executing SLAM while the cleaning device 1 is manually traveled along the wall by an operator.

[0046] When cleaning using a learned cleaning plan and a cleaning plan created in advance, the cleaning device 1 estimates its own position using SLAM, and moves the cleaning device 1 according to a travel path L of the cleaning plan to clean the floor surface F. At this time, a local map is created using SLAM, and the environmental map M may be updated using this local map. The display screen of the display unit 22 displays the previously cleaned trajectory T1 and / or the virtual cleaning trajectory T2 on the floor surface F by an operation of the operator. When the operator visually recognizes the display screen and receives a change operation related to the previously cleaned trajectory T1 and / or the virtual cleaning trajectory T2, the cleaning plan is modified.

[0047] Here, the correction process of the cleaning plan during cleaning will be described. FIG. 4 is a diagram showing an example of the display screen of this embodiment, where (A) is a diagram showing an example of the display screen with AR display disabled, and (B) is a diagram showing an example of the display screen with AR display enabled of this embodiment. Note that the cleaning plan may be a learned cleaning plan or a cleaning plan created in advance. Here, the explanation will be given using the symbols in FIG. 2 and FIG. 3 as appropriate.

[0048] As shown in FIG. 4(A), the cleaning device 1 is temporarily stopped during cleaning according to a cleaning plan. When AR display is disabled, an image of the room in front of the cleaning device 1 captured by the imaging unit 21 is displayed on the display screen of the display unit 22. It is difficult to determine whether the cleaning plan is appropriate from the indoor image, and it is not possible to prompt the operator to modify the cleaning plan. For this reason, a switch button 73a with "AR display" written in white letters on a black background is displayed on the display screen. When the operator touches the switch button 73a, the AR display on the display screen is switched from disabled to enabled.

[0049] As shown in FIG. 4(B), when the AR display is enabled, the already-cleaned trajectory T1 and the virtual cleaning trajectory T2 are displayed superimposed on the floor surface F of the room image. Also, on the room image, setting values ​​such as the lap width 73b of the already-cleaned trajectory T1, the lap width 73c of the virtual cleaning trajectory T2, the distance 73d from the right wall surface to the virtual cleaning trajectory T2, and the number of straight paths 73e are displayed. Among these setting values, the setting value for the already-cleaned trajectory T1 written in black on a white background cannot be changed, and the setting value for the virtual cleaning trajectory T2 written in white on a black background can be changed. The operator visually checks the display screen to determine whether or not to modify the subsequent cleaning plan.

[0050] By changing the setting value for the virtual cleaning trajectory T2, the travel path L (see FIG. 6(A)) is offset and the virtual cleaning trajectory T2 is redisplayed on the room image. The setting value change operation is repeated, and when the virtual cleaning trajectory T2 becomes in line with the operator's intention, a confirm button (not shown) is pressed and the offset travel path L is reflected in the cleaning plan. In this way, the cleaning plan is corrected while cleaning the floor surface F. Note that after the setting value is confirmed, the setting value does not need to be displayed on the display screen. This allows the operator to recognize that the cleaning plan has been corrected to match the operator's intention.

[0051] Next, the correction process of the cleaning plan before cleaning will be described. FIG. 5 is a diagram showing an example of a display screen before cleaning in this embodiment, (A) shows the display screen before the setting is changed, and (B) shows the display screen after the setting is changed. FIG. 6 is a diagram showing an example of a designation process of the focused cleaning area in this embodiment, (A) shows the division state of the first stage, and (B) shows the division state of the second stage. FIG. 7 is a diagram showing an example of a designation process of the focused cleaning area in this embodiment, (A) shows the selection state of the division trajectory, and (B) shows the reduction state of the division trajectory. The cleaning plan may be a learned cleaning plan or a cleaning plan created in advance. Here, the symbols in FIG. 2 and FIG. 3 are used appropriately for the description.

[0052] As shown in FIG. 5(A), when the AR display is enabled before cleaning the floor surface F, the virtual cleaning trajectory T2 is displayed superimposed on the floor surface F of the room image. Also, on the room image, setting values ​​such as the lap width 73f of the virtual cleaning trajectory T2, the distance 73g from the right wall surface to the virtual cleaning trajectory T2, and the number of straight paths 73h are displayed. Furthermore, on the room image, a designation button 73i with "designate focused cleaning area" written in white letters on a black background is displayed. When the operator touches the designation button 73i, a focused cleaning area 72 is designated for the virtual cleaning trajectory T2, as shown in FIG. 5(B).

[0053] First, as shown in FIG. 6(A), the virtual cleaning trajectory T2 is divided into a linear trajectory collection area 70a and a turning trajectory collection area 70b, and further, as shown in FIG. 6(B), the collection areas 70a and 70b are divided into a plurality of divided trajectories 70c, each of which is a linear trajectory and a turning trajectory. The plurality of divided trajectories 70c are displayed on the display screen so as to be selectable by the operator's touch operation. An arbitrary divided trajectory 70c is selected from the plurality of divided trajectories 70c, and the selected divided trajectory 70c is designated as the intensive cleaning area 72. Note that one divided trajectory 70c from the plurality of divided trajectories 70c may be designated as the intensive cleaning area 72, or two or more divided trajectories 70c may be designated as the intensive cleaning area 72.

[0054] As shown in FIG. 7(A), when the divided trajectory 70c is designated as the intensive cleaning area 72, the cleaning conditions such as the contact pressure of the cleaning member 16 associated with the travel path L of the intensive cleaning area 72 are changed to be higher. Instead of changing the contact pressure, the cleaning device 1 may clean the travel path L of the intensive cleaning area 72 in a reciprocating manner. In this case, the cleaning device 1 may make a pivot turn at the end point of the travel path L corresponding to the intensive cleaning area 72, and the direction of travel of the cleaning device 1 may be reversed to perform reciprocating cleaning. As shown in FIG. 7(B), the divided trajectory 70c may be reduced (shortened) by one step in response to a touch operation by the operator. This allows the intensive cleaning area 72 to be designated for the reduced divided trajectory 70c.

[0055] The revised plan may also be revised by changing each setting value on the indoor image (see FIG. 5(B)). By changing each setting value, the travel path L is offset and the virtual cleaning trajectory T2 is redisplayed on the display screen. The offset travel path L is then reflected in the cleaning plan, thereby correcting the revised plan before cleaning the floor surface F. Here, an example of correcting the cleaning plan before cleaning the floor surface F has been described, but the cleaning plan may also be corrected after cleaning the floor surface F. The revised cleaning plan can be stored as a separate plan in the cleaning plan storage unit 54 and used for the next cleaning or later.

[0056] Next, the correction process of the cleaning plan after learning will be described. Fig. 8 is a diagram showing the positional relationship of the cleaning device after learning of the cleaning plan of this embodiment. Fig. 9 is a diagram showing an example of the display screen after learning of this embodiment, where (A) shows the display screen before the setting change and (B) shows the display screen after the setting change. Here, the symbols in Figs. 2 and 3 will be used appropriately for explanation.

[0057] As shown in FIG. 8, after learning the cleaning plan, the cleaning device 1 is positioned at the end point P2 of cleaning. Because the cleaning device 1 faces the wall at the end point P2, the operator manually changes the direction of the cleaning device 1 so that it faces into the room. As shown in FIG. 9(A), when the AR display is enabled after the cleaning device 1 changes direction, the previously cleaned trajectory T1 is displayed superimposed on the floor surface F of the room image. Also displayed on the room image are a distance 73j from the right wall surface to the previously cleaned trajectory T1 and an uncleaned area 73k. The display of the uncleaned area 73k allows the operator to recognize areas that have not been cleaned.

[0058] As shown in FIG. 9(B), when the operator changes the distance 73j from the right wall surface to the previously cleaned trajectory T1, the cleaning plan correction unit 45 offsets the travel path L (see FIG. 8) to narrow the path interval. By offsetting the travel path L, the previously cleaned trajectory T1 is redisplayed superimposed on the floor surface F of the room image. When the operator confirms on the display screen that there is no more uncleaned area, the offset travel path L is reflected in the cleaning plan, and the learned correction plan is corrected. The travel path L may be offset by changing the lap width of the previously cleaned trajectory T1.

[0059] The travel path L may be partially offset by selecting a part of the previously cleaned path T1. In this case, the previously cleaned path T1 is divided into a plurality of divided paths 70c (see FIG. 6(B)) consisting of a straight path and a turning path. The divided paths 70c are selected by the operator, and the travel path L corresponding to the divided paths 70c is directly offset. At this time, the travel path L corresponding to the unselected divided paths 70c may also be automatically offset. If the offset of the travel path L makes the distance 73j from the right wall surface to the previously cleaned path T1 too large, a straight path may be added to the travel path L. The addition of the straight path is performed by manual operation by the operator.

[0060] The above describes the process of correcting the cleaning plan, but the cleaning device of this embodiment is also capable of automatically generating a cleaning plan during learning. The process of generating a cleaning plan during learning will be described. FIG. 10 is a diagram showing an example of a display screen during learning of a cleaning plan of this embodiment, where (A) shows the display screen before the setting is changed, and (B) shows the display screen after the setting is changed. Note that the symbols in FIG. 2 and FIG. 3 will be used appropriately in the description.

[0061] As shown in FIG. 10(A), when the cleaning device 1 is temporarily stopped during learning of a cleaning plan and AR display is enabled, the AR display control unit 41 displays the already cleaned path T1 and the virtual cleaning path T2 superimposed on the floor surface F of the room image. During learning of the cleaning plan, only the travel path L from the cleaning start point P1 (see FIG. 8) to the current point is created. In order to display the virtual cleaning path T2, it is necessary to create the travel path L from the current point to the cleaning end point P2 (see FIG. 8). Therefore, the cleaning device 1 predicts the travel path L from the current point to the cleaning end point P2 from the travel path L from the cleaning start point P1 to the current point.

[0062] More specifically, a previously cleaned trajectory creation unit (work trajectory creation unit) 39 creates a previously cleaned trajectory T1 when cleaning is performed according to manual operation while learning the cleaning plan. At this time, the path interval and straight line length of the travel path L from the cleaning start point P1 to the current point are obtained. A virtual cleaning trajectory creation unit (work trajectory creation unit) 40 predicts the travel path L when cleaning is performed from the current point to the cleaning end point P2 from the path interval and straight line length of the travel path L. Then, a virtual cleaning trajectory T2 is created based on the travel path L from the current point to the cleaning end point P2. In this way, the virtual cleaning trajectory T2 is predicted from the previously cleaned trajectory T1.

[0063] In addition to the already-cleaned trajectory T1 and the virtual cleaning trajectory T2, the following set values ​​are displayed on the indoor image: lap width 73l of the already-cleaned trajectory T1, lap width 73m of the virtual cleaning trajectory T2, distance 73n from the right wall to the virtual cleaning trajectory T2, number of straight paths 73o, etc. The operator visually checks the display screen and determines whether the virtual cleaning trajectory T2 is appropriate or not based on the already-cleaned trajectory T1, the virtual cleaning trajectory T2, each set value, etc. For example, it is determined whether the virtual cleaning trajectory T2 is appropriate or not based on a comparison between the lap width 73m of the virtual cleaning trajectory T2 and the allowable lap width, a comparison between the distance 73n from the right wall to the virtual cleaning trajectory T2 and a safety distance, etc.

[0064] If the virtual cleaning trajectory T2 is appropriate, the cleaning plan creation unit (work plan creation unit) 36 creates a cleaning plan for the previously cleaned trajectory T1 by associating the cleaning conditions implemented during manual operation with the travel path L from the cleaning start point P1 to the current point. The cleaning plan creation unit 36 ​​also creates a cleaning plan for the virtual cleaning trajectory T2 by associating the cleaning conditions already implemented during manual operation with the travel path L from the current point to the cleaning end point P2. Then, the cleaning plan for the previously cleaned trajectory T1 is combined with the cleaning plan for the virtual cleaning trajectory T2 to complete the overall cleaning plan.

[0065] As shown in FIG. 10(B), if the virtual cleaning trajectory T2 is inappropriate, the travel path L is offset by changing the setting value for the virtual cleaning trajectory T2, and the virtual cleaning trajectory T2 is redisplayed. The operation of changing the setting value is repeated, and when the virtual cleaning trajectory T2 matches the operator's intention, a confirmation button (not shown) is pressed. The cleaning plan creation unit 36 ​​associates the cleaning conditions already implemented during manual operation with the offset travel path L to create a cleaning plan for the virtual cleaning trajectory T2. Then, the cleaning plan for the virtual cleaning trajectory T2 is combined with the cleaning plan for the already cleaned trajectory T1 to complete the overall cleaning plan.

[0066] The processing operation of the cleaning device will be described. Fig. 11 is an example of a flowchart of the correction process of the cleaning plan of this embodiment. Fig. 12 is an example of a flowchart of the generation process of the cleaning plan during learning of this embodiment. Note that the symbols in Figs. 2 and 3 will be used appropriately in the description.

[0067] As shown in Fig. 11, the imaging unit 21 captures an image of the room, and the display unit 22 displays the image of the room (step S01). Next, the cleaning track creation unit 39 creates a cleaning track T1 when cleaning is performed according to the cleaning plan, and the virtual cleaning track creation unit 40 creates a virtual cleaning track T2 when cleaning is performed according to the cleaning plan (step S02). Next, when the AR display is enabled, the AR display control unit 41 displays the cleaning track T1, the virtual cleaning track T2, and setting values ​​such as the lap width of the cleaning track, superimposed on the room image (step S03). The operator visually checks the display screen and determines whether or not to modify the cleaning plan.

[0068] If no change operation is received for the setting values, etc., of the already cleaned trajectory T1 and / or the virtual cleaning trajectory T2 (No in step S04), the change operation is accepted until the operator disables the AR display (No in step S08). If a change operation is received for the setting values, etc., of the already cleaned trajectory T1 and / or the virtual cleaning trajectory T2 (Yes in step S04), the cleaning plan correction unit 45 offsets the travel path L. Then, the AR display control unit 41 redisplays the setting values, such as the already cleaned trajectory T1, the virtual cleaning trajectory T2, and the lap width of the cleaning trajectory, superimposed on the room image (step S05).

[0069] The processing of steps S04 and S05 is repeated until the operator visually confirms the display screen and the changes to the already cleaned trajectory T1 and / or the virtual cleaning trajectory T2 are confirmed (No in step S06). When the changes to the already cleaned trajectory T1 and / or the virtual cleaning trajectory T2 are confirmed (Yes in step S06), the cleaning plan correction unit 45 reflects the changes in the cleaning plan and corrects the cleaning plan (step S07). Then, the processing of steps S04-S07 is repeated until the operator disables the AR display (No in step S08).

[0070] As shown in FIG. 12, during the learning of the cleaning plan, the imaging unit 21 captures an image of the room, and the display unit 22 displays the image of the room (step S11). Next, the cleaning track creation unit 39 creates a cleaning track T1 when cleaning is performed according to a manual operation (step S12). Next, the virtual cleaning track creation unit 40 creates a virtual cleaning track T2 to be cleaned, which is predicted from the cleaning track T1 (step S13). Next, when the AR display is enabled, the AR display control unit 41 displays the cleaning track T1, the virtual cleaning track T2, and the setting values ​​such as the lap width of the cleaning track, superimposed on the room image (step S14). The operator visually checks the display screen and judges whether the virtual cleaning track T2 is appropriate.

[0071] If no operation for changing the setting values, etc., related to the virtual cleaning trajectory T2 is received (No in step S15), the change operation is accepted until the setting for the virtual cleaning trajectory T2 is confirmed by the operator (No in step S17). If an operation for changing the setting values, etc., related to the virtual cleaning trajectory T2 is received (Yes in step S15), the travel path L corresponding to the virtual cleaning trajectory T2 is offset. Then, the AR display control unit 41 redisplays the setting values, such as the already cleaned trajectory T1, the virtual cleaning trajectory T2, and the lap width of the cleaning trajectory, superimposed on the indoor image (step S16).

[0072] The processing of steps S15 and S16 is repeated until the operator visually confirms the display screen and the setting for the virtual cleaning trajectory T2 is confirmed (No in step S17). When the setting for the virtual cleaning trajectory T2 is confirmed (Yes in step S17), the cleaning plan creation unit 36 ​​creates a cleaning plan for the virtual cleaning trajectory T2, which is an unlearned part (step S18). Then, the cleaning plan creation unit 36 ​​combines the cleaning plan for the already cleaned trajectory T1 and the cleaning plan for the virtual cleaning trajectory T2 to create an overall cleaning plan (step S19).

[0073] As described above, according to this embodiment, the operator is allowed to visually confirm the already cleaned trajectory T1 and / or the virtual cleaning trajectory T2 on the floor surface F in the captured image, and a change operation by the operator regarding the already cleaned trajectory T1 and / or the virtual cleaning trajectory T2 is accepted. The change operation regarding the already cleaned trajectory T1 and / or the virtual cleaning trajectory T2 corrects the cleaning plan of the cleaning device 1, and the operator's intention is reflected in the cleaning plan, thereby improving cleaning efficiency and cleaning quality.

[0074] Furthermore, according to this embodiment, the operator is made to visually confirm the virtual cleaning trajectory T2 on the floor surface F in the captured image while the cleaning plan is being learned. By making the operator confirm whether the virtual cleaning trajectory T2, which is an unlearned portion, is appropriate or not, generation of a cleaning plan contrary to the operator's intention is suppressed. The operator's intention can be reflected in the cleaning plan for the virtual cleaning trajectory T2 without having the cleaning device 1 repeat learning by manual operation.

[0075] In this embodiment, a cleaning device that performs cleaning work is exemplified as the autonomous traveling work device, but the autonomous traveling work device is not limited to a cleaning device. The autonomous traveling work device may be a work device that performs other work such as dry cleaning work, polishing work, polishing work, wax application work, etc. That is, the autonomous traveling work device may be a robotic cleaning machine, polisher, buffing machine, or wax application machine. Therefore, instead of cleaning members such as pads, cleaning brushes, polishing brushes, polishing brushes, and application members may be used in the autonomous traveling work device, and further, abrasives, polishing agents, and coating agents may be used as cleaning fluids.

[0076] In addition, in this embodiment, a floor surface is exemplified as the surface to be cleaned, but the surface to be cleaned may be a wall surface, a ceiling surface, a window surface, a mirror surface, etc.

[0077] In addition, in this embodiment, the environmental map is created by SLAM, but the environmental map may be created by V-SLAM or LiDAR-SLAM, or the environmental map may be prepared in advance by the operator.

[0078] Furthermore, in this embodiment, the operator manually operates the cleaning device by holding the handle, but the operator may manually operate the cleaning device remotely using a display terminal.

[0079] In addition, in this embodiment, when touching the already cleaned trajectory and / or the virtual cleaning trajectory on the floor surface in the captured image, the wall surface and the ceiling may be set to be unselectable, or the wall surface and the ceiling may be set to be selectable. If the wall surface is selectable, the cleaning device may have a function of spraying a disinfectant or irradiating UV light on the wall surface. In response to the operator's touch operation on the wall surface, the cleaning device may confirm the operator's intention by a display or audio notification, and the operation may be switched from cleaning the floor surface to spraying a disinfectant or irradiating UV light on the wall surface.

[0080] Furthermore, in this embodiment, both unchangeable and changeable setting values ​​are displayed on the display screen, but it is also possible for only the changeable setting values ​​to be displayed on the display screen.

[0081] In addition, in this embodiment, a program may be installed in the cleaning device to add a function of prompting the operator to revise the cleaning plan by having the operator visually recognize the already-cleaned trajectory and / or the virtual cleaning trajectory on the floor surface in the captured image. Also, a program may be installed in the cleaning device to add a function of prompting the operator to visually recognize the virtual cleaning trajectory on the floor surface in the captured image during learning of the cleaning plan and generating a cleaning plan for the virtual cleaning trajectory. These programs are stored in a storage medium. The storage medium is not particularly limited, and may be a non-transitory storage medium such as an optical disk, a magneto-optical disk, or a flash memory.

[0082] Although the present embodiment has been described, other embodiments may be obtained by combining the above-described embodiments and modified examples in whole or in part.

[0083] In addition, the technology of the present invention is not limited to the above-mentioned embodiment, and may be variously changed, substituted, or modified within the scope of the gist of the technical idea. Furthermore, if the technical idea can be realized in a different way due to the progress of technology or a different technology derived therefrom, it may be implemented using that method. Therefore, the claims cover all embodiments that can be included in the scope of the technical idea. [Industrial Applicability]

[0084] INDUSTRIAL APPLICABILITY As described above, the technique of the present invention is useful for industrial robots suitable for automated work in a work area, such as an autonomously traveling cleaning device. [Explanation of symbols]

[0085] 1: Cleaning device (autonomous mobile work device) 36: Cleaning Plan Creation Department (Work Plan Creation Department) 39: Cleaned trajectory creation section (already worked trajectory creation section) 40: Virtual cleaning path creation unit (virtual work path creation unit) 41: AR display control unit (display control unit) 45: Cleaning Plan Modification Department (Work Plan Modification Department) 46:Cleaning trajectory division part (work trajectory division part) 70c: Split trajectory F: Floor surface (work surface) L: Travel route P1: Starting point P2: End point T1: Cleaned trajectory (already worked trajectory) T2: Virtual cleaning trajectory (virtual work trajectory)

Claims

1. An autonomous mobile work device that performs work on a work surface while autonomously traveling according to a work plan, a work trajectory creation unit that creates a work trajectory of completed work and / or a virtual work trajectory of planned work when work is performed according to the work plan; a display control unit that displays the completed work trajectory and / or the virtual work trajectory superimposed on a work surface in a captured image acquired from an imaging unit; a work plan correction unit that corrects a work plan when a change operation related to the existing work trajectory and / or the virtual work trajectory is received, the work trajectory creation unit creates the completed work trajectory based on a travel path from a work start point to a current point and a width of a work member, and creates the virtual work trajectory based on a travel path from the current point to a work end point and the width of the work member; An autonomous mobile work device, characterized in that a travel path is offset by changes to the previous work trajectory and / or the virtual work trajectory displayed superimposed on the work surface in an captured image, and the previous work trajectory and / or the virtual work trajectory are re-displayed on the captured image.

2. A work trajectory division unit that divides the existing work trajectory and / or the virtual work trajectory into a plurality of divided trajectories, The display control unit displays a plurality of the division trajectories in a superimposed manner on a work surface in a captured image, 2. The autonomous mobile work device according to claim 1, wherein the work plan correction unit corrects the work plan when a change operation is received for the divided trajectory.

3. It learns the work plan according to manual operation, and performs the work on the work surface while autonomously traveling according to the learned work plan. The display control unit displays the completed work trajectory superimposed on a work surface in a captured image after learning the work plan, 3. The autonomous mobile work device according to claim 1 or 2, wherein the work plan correction unit corrects the learned work plan when a change operation related to the previous work trajectory is received.

4. The change operation regarding the completed work trajectory is an operation of changing a distance from a wall surface to the completed work trajectory, An autonomous mobile work device as described in any one of claims 1 to 3, characterized in that the change operation related to the virtual work trajectory is an operation to change at least one of a lap width of the virtual work trajectory, a distance from a wall surface to the virtual work trajectory, and a number of straight paths of a travel path.

5. A method for correcting a work plan of an autonomous mobile work device that performs work on a work surface while traveling autonomously, comprising: A step of creating a completed work trajectory and / or a virtual work trajectory of a planned work when work is performed according to the work plan; A step of superimposing and displaying the already worked trajectory and / or the virtual work trajectory on a worked surface in a captured image acquired from an imaging unit; and modifying the work plan when a change operation is received regarding the existing work trajectory and / or the virtual work trajectory, In the creating step, the already-worked trajectory is created based on a travel path from a work start point to a current point and a width of the work member, and the virtual work trajectory is created based on a travel path from the current point to a work end point and the width of the work member; A method for modifying a work plan, characterized in that a travel path is offset by changes to the already worked trajectory and / or the virtual work trajectory displayed superimposed on the work surface in an captured image, and the already worked trajectory and / or the virtual work trajectory are re-displayed on the captured image.

6. A program for an autonomous mobile work device that performs work on a work surface while autonomously traveling according to a work plan, A step of creating a completed work trajectory and / or a virtual work trajectory of a planned work when work is performed according to the work plan; A step of superimposing and displaying the already worked trajectory and / or the virtual work trajectory on a worked surface in a captured image acquired from an imaging unit; and modifying a work plan when a change operation is received regarding the existing work trajectory and / or the virtual work trajectory. In the creating step, the already-worked trajectory is created based on a travel path from a work start point to a current point and a width of the work member, and the virtual work trajectory is created based on a travel path from the current point to a work end point and the width of the work member; A program characterized by offsetting a travel path by making changes to the previous work trajectory and / or the virtual work trajectory displayed superimposed on the work surface in an captured image, and re-displaying the previous work trajectory and / or the virtual work trajectory on the captured image.

Images