Autonomous Mobile Work Device

Abstract

To appropriately continue travel or work while improving convenience of an operator for various steps of a floor.SOLUTION: An autonomous travel work device 1 includes: a device body 2; a travel part 3; a cleaning part 4; a control part 10; a storage part 11 that combines one or more step types for identifying a step present on the floor surface of a cleaning area to previously stores one or more floor types as a floor type and also stores one or more parameters related to travel or cleaning for a step for each step type of each floor type; a step detection part 7 that detects a step based on a shape of a predetermined light of an image taken including the predetermined light irradiated to the floor surface; and a step identification part 22 that identifies a step type based on results of the detection performed by the step detection part 7. The control part 10 controls the travel part 3 or the cleaning part 4 in a manner such as to perform travel or cleaning for the step in accordance with the floor type automatically set.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an autonomous navigation and work device that can perform automatic driving to travel and work automatically. [Background technology]

[0002] The autonomous traveling work device is configured to be capable of performing an automatic operation in which the autonomous traveling and work (cleaning) are performed automatically in a predetermined work area (cleaning area). For example, the autonomous traveling work device is equipped with a rotating brush rotated by an electric motor, a water supply mechanism for spraying cleaning liquid on the floor surface, and a suction mechanism for sucking up the cleaning wastewater on the floor surface, and by rotating the rotating brush on the floor surface on which the cleaning liquid has been sprayed, dirt on the floor surface is scrubbed off and the cleaning wastewater is sucked up, thereby cleaning the floor surface of the cleaning area. In addition, the autonomous traveling work device is equipped with drive wheels driven by an electric motor, and travels in the cleaning area by driving the drive wheels. In this way, the autonomous traveling work device travels in the cleaning area while automatically cleaning the floor surface of the cleaning area.

[0003] For example, Patent Document 1 discloses a traveling robot that moves from a starting point to a destination point based on route information consisting of a path and a series of landmarks, and when it encounters an obstacle or a section of road construction on the route, it stops traveling based on the route information, restarts its travel, and then returns to the original route. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2012-187698 A Summary of the Invention [Problem to be solved by the invention]

[0005] Conventionally, in the case of an autonomous driving work device that performs cleaning or washing work while traveling on a floor surface, when there are steps such as unevenness or grooves on the floor surface, cleaning spots and washing wastewater may be leaked due to poor contact between the rotating brush or suction member and the floor surface. In addition, when the autonomous driving work device travels over steps, vibrations may occur, which may cause malfunctions. Furthermore, when there are steps with large height differences on the floor surface, such as high protrusions or deep grooves, the wheels may run off or the drive wheels may spin, causing the device to roll over or become unable to travel. In addition, since various steps such as braille blocks, drainage ditches, gratings, and boundaries between floor materials are considered on the floor surface, it is difficult to perform automatic driving in response to these. Therefore, in the autonomous driving work device, it is desired to provide a means for avoiding cleaning spots and washing wastewater suction leaks when there are steps on the floor surface during automatic driving, as well as a means for traveling and cleaning in response to steps. Incidentally, the traveling robot of the above-mentioned Patent Document 1 stops traveling if there are steps or unevenness on the route, so the steps, unevenness, and their surroundings are not cleaned.

[0006] The present invention has been made in consideration of the problems described above, and an object of the present invention is to provide an autonomous mobile work device that can continue to travel or work appropriately while improving convenience for the operator, even when there are various unevenness in the floor surface. [Means for solving the problem]

[0007] In order to solve the above problems, a first autonomous traveling work device of the present invention is an autonomous traveling work device capable of performing automatic driving to automatically travel and work, comprising: an apparatus main body; a traveling unit that travels the apparatus main body; a working unit that performs work on a travel path of the apparatus main body; a control unit that controls the traveling unit or the working unit so that the apparatus main body travels or works in a work area manually or automatically; and a memory unit that combines one or more step types that identify steps present on the floor surface of the work area as floor types, stores one or more of the floor types in advance, and stores one or more parameters related to travel or work on the steps for each of the step types of each floor type;The present invention further includes a step detection unit that captures an image including a predetermined light irradiated onto the floor surface and detects a step based on a shape of the predetermined light in the image, and a step identification unit that identifies the step type based on a detection result of the step detection unit, The control unit controls the traveling unit or the working unit so that the robot travels or works on the step depending on the floor type that is automatically set.

[0008] According to the first autonomous mobile work device of the present invention, parameters related to traveling and working can be set individually for various step differences and can also be set individually for various floor types, so that by simply setting the floor type, it is possible to travel and work appropriately in response to various step differences on various work floors. In particular, a step can be identified based on a predetermined light shape contained in an image of the floor surface. In this way, the operator can continue to travel or work appropriately even over various uneven surfaces on the floor while improving convenience.

[0009] In order to solve the above problem, in a second autonomous mobile working device of the present invention, the step detection unit is equipped with a line marker that irradiates a laser line of a predetermined length perpendicular to the traveling direction as the predetermined light.

[0010] According to the second autonomous mobile working device of the present invention, it is possible to identify steps based on the shape of the laser line contained in an image of the floor surface.

[0011] In order to solve the above problems, the present invention 3 In this autonomous mobile work device, the control unit acquires driving conditions or surrounding conditions while traveling in the work area, and determines and automatically sets the floor type based on the driving conditions or surrounding conditions.

[0012] The present invention 3 According to this autonomous mobile work device, the floor type is automatically selected taking into consideration the driving conditions and surrounding conditions, so the operator does not need to check the work area or consider the floor type. This eliminates the need for the operator to manually set the floor type, greatly improving convenience for the operator.

[0013] In order to solve the above problems, in a fourth autonomous driving work device of the present invention, the control unit includes a test drive control unit that controls the driving unit or the working unit to perform a test drive in which the device main body automatically drives from a start point to an end point along the driving route that fills in the work area based on an environmental map of the work area, and creates a driving plan that includes driving data or work data during the test drive, and an automatic driving control unit that controls the driving unit or the working unit to perform the automatic driving in accordance with the driving data or the work data of the driving plan, and the test drive control unit determines the floor type during the test drive, automatically sets it, and associates it with the driving plan.

[0014] According to the fourth autonomous running work device of the present invention, the running conditions and surrounding conditions are taken into consideration during test running, in which the entire work area can be confirmed, so a more appropriate floor type can be selected.

[0015] In order to solve the above problems, the present invention 5 In the autonomous mobile work device, the parameters include a driving rule for the step.

[0016] The present invention 5 According to the autonomous mobile work device, various driving patterns for steps can be set as driving rules, for example, a pattern of driving just over the step, a pattern of driving avoiding the step, a pattern of driving along the step, etc. can be set. The autonomous mobile work device can set driving rules for each step as a parameter, such that an appropriate driving pattern is taken for the step. Therefore, it is possible to improve the safety and accuracy of driving for each step, and it is also possible to drive using the step as a landmark, further improving the convenience of the operator.

[0017] In order to solve the above problems, the present invention 6In the autonomous driving work device, when the step detection unit detects the step while driving in the work area, the control unit acquires the driving rules of the parameters set for the step type of the step, acquires the driving conditions when driving over the step while controlling the driving unit or the working unit in accordance with the driving rules, determines whether or not driving in accordance with the driving rules was successful based on the driving conditions, and if driving in accordance with the driving rules was not successful, resets the parameters based on the driving conditions.

[0018] The present invention 6 According to the autonomous mobile work device, if traveling according to the traveling rules for a certain step is not successful, the parameters for that step are reset based on the traveling situation, so that the next time that step is detected, traveling can be performed with a more appropriate traveling pattern for that step, thereby improving the safety and accuracy of traveling for each step. For example, the parameter resetting can adjust the step threshold value, set a traveling along step flag, a step avoidance flag, or a traveling while traveling impossible flag, etc.

[0019] In order to solve the above problems, the present invention 7 In the autonomous driving work device, when the step detection unit detects the step while driving in the work area, the control unit acquires the driving rules of the parameters set for the step type of the step, acquires the driving conditions when driving over the step while controlling the driving unit or the working unit in accordance with the driving rules, determines whether or not driving in accordance with the driving rules was successful based on the driving conditions, and if driving in accordance with the driving rules was not successful, notifies the operator of the failure of driving in accordance with the driving rules and information prompting the operator to reset the parameters.

[0020] The present invention 7According to the autonomous mobile work device, if the traveling according to the traveling rules is not successful over a certain step, the operator can confirm the failure of the traveling over that step and can set more appropriate parameters for that step. Therefore, the next time that step is detected, the traveling can be performed with a more appropriate traveling pattern over that step, thereby improving the safety and accuracy of traveling over each step.

[0021] In order to solve the above problems, the present invention 8 In the autonomous mobile work device, the work unit is composed of a cleaning unit that performs cleaning as a task on the floor surface, and the parameters include cleaning conditions when the cleaning unit cleans the step or the floor surface.

[0022] The present invention 8 According to the autonomous mobile working device, various cleaning patterns can be set as cleaning rules for steps, for example, a cleaning pattern for traveling just over a step, a cleaning pattern for traveling while avoiding a step, a cleaning pattern for traveling along a step, etc. can be set. The autonomous mobile working device can set cleaning rules for each step as parameters for the step, which will result in an appropriate cleaning pattern for the step. Therefore, the safety and accuracy of cleaning for each step can be improved, and cleaning can be performed using the step as a marker, further improving the convenience of the operator.

[0023] In order to solve the above problems, the present invention 9 In the autonomous navigation work device, the memory unit stores one or more floor surface types that identify a material of the floor surface, and stores the cleaning conditions that are set for each of the one or more floor surface types; The step identifying unit identifies a type of a floor surface on which the vehicle is traveling based on a detection result of the step detecting unit, In the autonomous mobile working device, when the material of the floor surface changes with the step as a boundary line, the cleaning unit changes the cleaning conditions according to the material of the floor surface and performs cleaning.

[0024] The present invention 9According to the autonomous mobile working device, various cleaning patterns can be set as cleaning rules for different floor surface materials, for example, resin-based floors such as ceramics can be set as cleaning targets, while fiber-based floors such as carpets can be set as non-cleaning targets. Furthermore, when floor surfaces of different materials are continuous in a cleaning area, the cleaning rules can be automatically switched according to the material, improving the convenience of the operator.

[0025] In order to solve the above problems, the present invention 10 The autonomous mobile work device is The step detection unit is The apparatus further includes an optical sensor that detects non-work objects around the apparatus body, a camera that captures the image, and a vibration sensor that detects vibrations from a floor surface, and the control unit is An imaging result of the camera; The detection result of the optical sensor; and / or Detection result of the vibration sensor and The step is identified based on the combination of

[0026] The present invention 10 According to the autonomous mobile work device, it is possible to apply a suitable combination of optical sensors, cameras, and vibration sensors for detecting each step. In addition, by comparing the results of each combination, it is possible to appropriately detect steps. Therefore, it is possible to improve the step detection rate, and to improve the safety and accuracy of cleaning steps. Effect of the Invention

[0027] According to the present invention, the autonomous mobile work device continues to travel or work appropriately over various uneven surfaces on the floor while improving convenience for the operator. [Brief description of the drawings]

[0028] [Figure 1] 1 is a schematic diagram showing a configuration of an autonomous mobile work device according to an embodiment of the present invention. FIG. [Diagram 2] 11 is a table showing combinations of floor types and step types in an autonomous mobile working device according to an embodiment of the present invention. [Diagram 3] 1 is a table showing step types and parameters in an autonomous mobile working device according to an embodiment of the present invention. [Figure 4] 1 is a table showing cleaning areas and floor types in an autonomous mobile work device according to an embodiment of the present invention. [Diagram 5] 1 is a table showing floor surface types and parameters in an autonomous mobile working device according to an embodiment of the present invention. [Figure 6] 11 is a table showing step types and images of step patterns in an autonomous mobile working device according to an embodiment of the present invention. [Figure 7] 1 is a plan view showing an overview of scan traveling in an autonomous mobile working device according to an embodiment of the present invention. FIG. [Figure 8] 1 is a plan view showing an overview of an environmental map created by scan traveling in an autonomous mobile working device according to an embodiment of the present invention. FIG. [Figure 9] 1 is a plan view showing an overview of a test drive in an autonomous mobile work device according to an embodiment of the present invention. FIG. [Figure 10] 1 is a schematic diagram showing a measuring unit and a step detection unit, as well as their detection ranges, from the side, in an autonomous mobile working device according to an embodiment of the present invention. FIG. [Figure 11] 1 is a schematic diagram showing step detection units and their detection ranges from above in an autonomous mobile working device according to an embodiment of the present invention. FIG. [Figure 12] 1 is a schematic diagram showing an image of a floor surface including a laser line captured by a camera of a step detection unit in an autonomous mobile working device according to an embodiment of the present invention. FIG. [Figure 13] 1 is a schematic diagram showing an enlarged example of an image of a floor surface including a laser line captured by a camera of a step detection unit in an autonomous mobile working device according to an embodiment of the present invention. FIG. [Figure 14] 1 is a schematic diagram showing an enlarged example of an image of a floor surface including a laser line captured by a camera of a step detection unit in an autonomous mobile working device according to an embodiment of the present invention. FIG. [Figure 15]1 is a schematic diagram showing an enlarged example of an image of a floor surface including a laser line captured by a camera of a step detection unit in an autonomous mobile working device according to an embodiment of the present invention. FIG. [Figure 16] 4 is a flowchart showing the operation of scan traveling in the autonomous mobile working device according to the embodiment of the present invention. [Figure 17] 5 is a flowchart showing an operation of creating an environmental map for scan traveling in the autonomous mobile working device according to the embodiment of the present invention. [Figure 18] 5 is a flowchart showing the operation of step detection during scan traveling in the autonomous mobile working device according to the embodiment of the present invention. [Figure 19] 5 is a flowchart showing the operation of travel determination for scan travel in the autonomous mobile working device according to the embodiment of the present invention. [Figure 20] 13 is a flowchart showing the operation of a process for a step traversal failure during scan traveling in the autonomous mobile working device according to the embodiment of the present invention. [Figure 21] 4 is a flowchart showing a test driving operation in the autonomous mobile work device according to the embodiment of the present invention. [Figure 22] 5 is a flowchart showing an operation for confirming a travel route for a test drive in the autonomous mobile work device according to the embodiment of the present invention. [Figure 23] 4 is a flowchart showing an automatic driving operation of the autonomous mobile work device according to the embodiment of the present invention. [Figure 24] 5 is a flowchart showing an operation for confirming a travel route for automatic driving in the autonomous mobile work device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The following embodiments are preferred specific examples of the present invention and disclose various preferred techniques, but the technical scope of the present invention is not limited to these aspects.

[0030] An autonomous traveling and working device 1 according to an embodiment of the present invention will be described. As shown in FIG. 1, the autonomous traveling and working device 1 comprises a device body 2 for accommodating each part, and a traveling unit 3 for traveling the device body 2. The autonomous traveling and working device 1 can be equipped with a working mechanism (working unit) for performing a predetermined task on the device body 2, and for example, is equipped with a cleaning unit 4 as a working unit for performing cleaning work on the floor surface below the device body 2, and functions as an autonomous traveling and cleaning device. The autonomous traveling and working device 1 cleans the floor surface of a cleaning area (working area), for example, all or part of the area of ​​a commercial facility such as a shopping mall, an office, a hotel, a hospital, a school, a factory, etc.

[0031] Furthermore, the autonomous mobile work apparatus 1 is equipped with a measurement unit 5 that measures the positional relationship between the apparatus main body 2 and non-work objects such as surrounding walls and obstacles (for example, people or ornaments), an obstacle detection unit 6 that detects walls and obstacles within a predetermined distance, and a step detection unit 7 that detects steps such as unevenness and grooves in the floor surface.The autonomous mobile work apparatus 1 is also equipped with an operation display unit 8 for operating and displaying various functions of the autonomous mobile work apparatus 1, and a power supply unit 9 that supplies power to each unit of the autonomous mobile work apparatus 1 and controls the remaining charge and charging of the battery (not shown).

[0032] Furthermore, the autonomous mobile work device 1 includes a control unit 10 that controls each unit and each function of the autonomous mobile work device 1 (travel by the traveling unit 3, cleaning work by the cleaning unit 4, measurement by the measuring unit 5, etc.), a memory unit 11 that stores a floor type indicating a combination of steps present on the floor surface of the cleaning area and an operation plan registered for the cleaning area, and a communication unit 12 for communicating with external devices. The autonomous mobile work device 1 is connected to an operation terminal 13 held by an operator via the communication unit 12 so as to be able to communicate with it.

[0033] Next, an overview of the operation of the autonomous mobile working device 1 will be described.

[0034] The autonomous driving work device 1 is a vehicle that can be switched between any of the following operating modes: scan driving mode (manual driving mode), test driving mode, and automatic driving mode, and performs scan driving (manual driving), test driving, and automatic driving according to each mode.

[0035] In addition, as shown in FIG. 2, the autonomous mobile working device 1 pre-sets one or more floor types indicating a combination of steps on the floor surface of the cleaning area and stores them in the storage unit 11, and when performing a scan run, a test run, or automatic driving, selects a floor type corresponding to the cleaning area and runs according to the floor type. The steps on the floor surface can be various types of braille blocks, various types of drainage ditches, various types of gratings, boundaries of floor materials, etc., and the floor type is registered in association with one or more step types indicating one or more steps. The floor type may be registered by selecting one or more step types in response to the operation of the operation display unit 8 or the operation terminal 13 by the operator, or the autonomous mobile working device 1 may detect steps while running in the cleaning area and register the floor type including the step type of the detected step.

[0036] 3, the autonomous mobile working device 1 presets one or more parameters related to traveling or cleaning over steps for one or more step types of each floor type and stores them in the storage unit 11. At this time, the same setting value may be set for the same type of parameter between different step types in one floor type, or different setting values ​​may be set.

[0037] For example, the parameters related to driving include driving rules related to driving arrangements, such as a threshold value of the size of the step that can be traveled (for example, height, depth, width, etc. set in 5 mm units), a step-along driving flag indicating whether or not to travel along the step, a step avoidance flag indicating whether or not to travel while avoiding the step, and a driving impossible while traveling flag indicating whether or not the step was actually traveled. The size of the step refers to the protruding height of a braille block or the like, the depth of a groove, the length and depth of the pitch of a grating, etc. Furthermore, the parameters related to cleaning the step include cleaning rules (work rules) such as the pad pressure and pad rotation speed of the cleaning member 16 of the cleaning unit 4, the amount of water supplied by the cleaning liquid supply unit 17, and the amount of suction by the suction unit 18.

[0038] Furthermore, as shown in Fig. 4, the autonomous mobile working device 1 is capable of registering one or more cleaning areas, and each cleaning area is associated with one or more floor types and stored in the storage unit 11. At this time, different floor types may be associated with different cleaning areas, or the same common floor type may be associated with each cleaning area.

[0039] Alternatively, the autonomous mobile working device 1 may associate a floor type with each cleaning area, regardless of whether the combination of step types is the same. For example, floor types with the same combination of step types (same type of floor type) may be associated with different cleaning areas. In this case, instead of associating the same common floor type, floor types of the same type are separately prepared and associated with each cleaning area. Then, each parameter of each step type of floor type can be set for each cleaning area.

[0040] 5, the autonomous mobile working device 1 may preset one or more floor surface types that identify the material of the floor surface of the cleaning area and store them in the memory unit 11. Then, one or more parameters related to cleaning of the floor surface of each floor surface type are preset and stored in the memory unit 11. The parameters related to cleaning of the floor surface type include cleaning rules such as the pad pressure and pad rotation speed of the cleaning member 16 of the cleaning unit 4, the amount of water supplied by the cleaning liquid supply unit 17, and the suction amount of the suction unit 18.

[0041] 6, in order to identify steps detected while traveling, the autonomous traveling work device 1 may set a planar image of each step as a step pattern for each step and store it in the memory unit 11 in advance. The step pattern may be registered in response to an operation of the operation display unit 8 or the operation terminal 13 by the operator, or an image captured by the camera 7b of the step detection unit 7 while traveling may be registered.

[0042] Next, each operation mode of the autonomous mobile working device 1 will be described.

[0043] The scan travel mode is an operation mode for creating a new environmental map of the cleaning area to be cleaned. In the scan travel mode, the autonomous mobile work device 1 performs scan travel to create an environmental map of the cleaning area while traveling by controlling the traveling unit 3 in response to manual operation of the operation display unit 8 or the operation terminal 13 by the operator, as shown in FIG. 7. In the scan travel, the autonomous mobile work device 1 basically does not clean the floor surface by the cleaning unit 4 while the traveling unit 3 is traveling, but cleaning may be performed as an exception.

[0044] In addition, in the scan travel mode, the autonomous mobile work device 1 adjusts the environmental map and sets various areas after scan travel in response to manual operation of the operation display unit 8 or operation terminal 13 by the operator, as shown in Fig. 8, and stores the environmental map and area settings in the storage unit 11. The area settings of the environmental map include, for example, the start point and end point when traveling within the environmental map, the orientation of the autonomous mobile work device 1 at each position, no-entry areas, etc. Fig. 8 shows an example of setting no-entry areas for obstacles such as belt partitions.

[0045] Furthermore, in the scan travel mode, after the scan travel, a floor type corresponding to the cleaning area may be selected from one or more floor types already registered, and the floor type may be associated with the cleaning area (environmental map) and stored in the storage unit 11. Alternatively, a floor type including a step detected from the cleaning area during the scan travel may be registered, and the floor type may be associated with the cleaning area (environmental map) and stored in the storage unit 11.

[0046] The test drive mode is an operation mode for performing a test drive in the cleaning area based on the environmental map created in the scan drive mode. In the test drive mode, the autonomous mobile work device 1 performs a test drive in which the autonomous mobile work device 1 controls the cleaning unit 4 based on the predetermined cleaning conditions (work conditions) to automatically clean the floor surface, while controlling the traveling unit 3 based on the environmental map and the predetermined driving conditions to automatically travel from the start point to the end point along a travel path (see the dashed line in FIG. 9) that fills in the cleaning area of ​​the environmental map, as shown in FIG. 9. FIG. 9 shows an example in which the autonomous mobile work device 1 travels while avoiding a set no-entry area and travels along a braille block detected as a step. The driving conditions and cleaning conditions during the test drive may be standard initial settings, but can be set according to manual operation of the operation display unit 8 or the operation terminal 13 before or during the test drive.

[0047] During the test run, the autonomous running work device 1 acquires the running conditions and cleaning conditions for each predetermined step along the running route, and stores the running conditions and cleaning conditions for each step from the start point to the end point of the running route as running data and cleaning data (work data) in the storage unit 11. The interval between steps may be set to a predetermined time interval (e.g., 25 m / s) or a predetermined moving distance (e.g., 0.5 m). During the test run, the autonomous running work device 1 acquires the running status or surrounding status of each step according to the measurement results or detection results of the measurement unit 5, the obstacle detection unit 6, or the step detection unit 7, and stores the acquired status in the storage unit 11. For example, step information when running over a step or information on whether or not the vehicle can run over a step is acquired as the running status or surrounding status.

[0048] If the autonomous mobile work device 1 travels from the starting point to the end point without any problems and the test drive is successful, it registers a driving plan corresponding to that cleaning area (environmental map). In this driving plan, the area settings, driving data, and cleaning data are stored in the storage unit 11 together with the environmental map.

[0049] On the other hand, if a problem such as an obstacle or step occurs during the test drive and the test drive fails, the autonomous mobile work device 1 stops the test drive and notifies the operator of the error. When an error is notified in this way, the autonomous mobile work device 1 can adjust the environmental map and set various areas, as well as the driving conditions and cleaning conditions again, and then perform the test drive again.

[0050] Furthermore, in the test drive mode, after the test drive, a floor type corresponding to the driving plan may be selected from one or more floor types already registered, and the floor type may be associated with the driving plan, i.e., associated with the cleaning area (environmental map), and stored in the storage unit 11. Alternatively, a floor type including a step detected in the cleaning area during the test drive may be registered, and the floor type may be associated with the driving plan, i.e., associated with the cleaning area (environmental map), and stored in the storage unit 11.

[0051] The automatic operation mode is an operation mode for automatically operating the cleaning area so as to reproduce the traveling and cleaning registered as the operation plan. In the automatic operation mode, the autonomous mobile work device 1 controls the traveling unit 3 and the cleaning unit 4 based on the environmental map, area setting, traveling data and cleaning data, and floor type of the operation plan, and performs automatic operation to automatically travel the traveling path of the environmental map from the start point to the end point while automatically cleaning the floor surface. The traveling conditions and cleaning conditions during automatic operation may be set based on the traveling data and cleaning data of the operation plan, but can also be set according to manual operation of the operation display unit 8 or the operation terminal 13 before or during automatic operation.

[0052] During autonomous driving, the autonomous mobile work device 1 acquires the traveling conditions or surrounding conditions of each step according to the measurement results or detection results of the measurement unit 5, the obstacle detection unit 6, or the step detection unit 7, and stores them in the memory unit 11. For example, step information when traveling over steps and information on whether traveling is possible or not are acquired as the traveling conditions or surrounding conditions.

[0053] The autonomous mobile work device 1 may skip the test drive mode and transition to the automatic drive mode so as to perform automatic drive on an environmental map for which drive data and cleaning data of the drive plan are not registered. In this case, the autonomous mobile work device 1 performs automatic drive to automatically drive from the start point to the end point along a drive route that fills in the cleaning area of ​​the environmental map by controlling the traveling unit 3 based on the environmental map and the predetermined driving conditions, while controlling the cleaning unit 4 based on the predetermined cleaning conditions to automatically clean the floor surface.

[0054] The driving plan is composed of a number of steps along a travel route, and each step is associated with travel data, cleaning data, step information, and travel feasibility information. In addition to the above, the driving plan may also store the elapsed time from the start of travel in association with each step.

[0055] The driving conditions (driving data) include, for example, self-position data on the driving route of the driving unit 3 (X and Y coordinates indicating the self-position on the environmental map, and the angle relative to the direction of the starting position), a steering flag (straight ahead, left turn, right turn), a driving speed [m / s] in the forward direction, and a turning speed [deg / s], and the driving route can be illustrated based on the driving data consisting of the driving conditions of each step. Alternatively, the driving speed may be switched to one of a plurality of speed stages, and the driving conditions may convert the stepwise speed of the driving speed into a number (for example, 8 stages from 0 to 7).

[0056] The cleaning conditions (cleaning data) include, for example, the pad pressure and pad rotation speed of the cleaning member 16 of the cleaning unit 4, the amount of water supplied by the cleaning liquid supply unit 17, and the suction amount of the suction unit 18. The pad pressure is the force pressing the cleaning member 16 against the floor surface, the amount of water supplied is the amount of cleaning liquid (working liquid) supplied to the floor surface by the cleaning liquid supply unit 17, and the suction amount is the operating strength of the suction blower (not shown) when the suction unit 18 sucks up dirty water after cleaning from the floor surface. The pad pressure, pad rotation speed, amount of water supplied, and amount of suction may be switched to any one of a plurality of levels of strength, and the cleaning conditions may be stored by converting the level of strength of the pad pressure, pad rotation speed, amount of water supplied, and amount of suction into numbers (for example, three levels from 0 to 2, or five levels from 0 to 4, etc.). The cleaning conditions may include the operation / stop and rotation speed of the cleaning member 16.

[0057] Next, each component of the autonomous mobile work device 1 will be described.

[0058] The traveling unit 3 is provided at the bottom of the device 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 of the device width direction on the front side in the traveling direction, and is journaled by the driving wheel unit 3c. The front wheel 3a includes a traveling drive motor (not shown) and a front wheel rotation encoder (not shown). The traveling unit 3 drives the traveling drive motor to rotate the front wheel 3a to move the device body 2 forward, and stops the device body 2 by stopping the rotation of the front wheel 3a. The traveling speed of the autonomous mobile work device 1 (traveling unit 3) is adjusted (accelerated or decelerated) by controlling the driving of the traveling drive motor. The traveling unit 3 may move the device body 2 backward by causing the traveling drive motor to rotate the front wheel 3a in the reverse direction.

[0059] The front wheels 3a are equipped with a steering shaft (not shown), a steering motor (not shown), and a steering rotation encoder (not shown). The traveling unit 3 drives the steering motor to rotate the steering shaft, thereby changing the direction of the front wheels 3a together with the drive wheel unit 3c to steer the device body 2, and moves the device body 2 forward while changing the direction of the front wheels 3a, thereby making the autonomous mobile work device 1 (traveling unit 3) turn left (left turn) or right (right turn). The steering angle of the autonomous mobile work device 1 (traveling unit 3) is adjusted by controlling the driving of the steering motor. For example, the device body 2 turns forward or backward while controlling the steering motor so as to rotate the steering shaft and tilt the steering angle 90 degrees to the left or right with respect to the traveling direction, thereby making the device body 2 turn left or right.

[0060] The pair of rear wheels 3b are provided at an interval in the device width direction (left and right direction) on the rear side in the traveling direction, and each of them is equipped with an encoder (not shown) for grasping the traveling distance from the rotation amount. The pair of rear wheels 3b rotate in response to the movement of the device body 2 driven by the front wheels 3a. The adjustment (acceleration / deceleration) of the traveling speed and steering of the autonomous mobile work device 1 (traveling unit 3) may be performed by controlling the traveling drive motor and the steering motor while feeding back the rotation amount of each of the rear wheels 3b using the encoder provided on the rear wheels 3b. Note that, in this embodiment, an example in which the front wheels 3a of the driving wheels and the rear wheels 3b of the auxiliary wheels are provided has been described, but the present invention is not limited to this example, and for example, in another embodiment, the front wheels 3a of the auxiliary wheels and a pair of rear wheels 3b of the driving wheels may be provided.

[0061] When the operation mode is set to the scan travel mode, the traveling unit 3 operates in response to manual operation of the operation display unit 8 or the operation terminal 13 by the operator. In manual operation of the operation display unit 8 or the operation terminal 13, for example, travel instructions to start, pause, and end scan travel, travel instructions such as forward, backward, left turn, and right turn, and travel conditions such as travel speed and turning speed are input. The travel instructions of the operation display unit 8 are input to the control unit 10, and the travel instructions of the operation terminal 13 are input to the control unit 10 via the communication unit 12, and the control unit 10 controls the traveling unit 3 in response to the travel instructions.

[0062] Furthermore, when the operation mode is set to the test drive mode or the automatic driving mode, the driving unit 3 operates according to the control of the control unit 10 (the test drive control unit 25 or the automatic driving control unit 26) based on the driving data of the environmental map or the driving plan. When controlling the driving speed and the turning speed, the control unit 10 converts the driving instructions or the driving data (driving conditions) into drive setting values ​​of the driving motor and the steering motor of the driving unit 3, and controls the driving motor and the steering motor based on the drive setting values.

[0063] The cleaning unit 4 is provided below the device body 2 and is configured to clean the floor surface below the device body 2. The cleaning unit 4 operates in response to manual operation of the operation display unit 8 or the operation terminal 13 by an operator, regardless of whether the operation mode is set to the scan driving mode, the test driving mode, or the automatic driving mode.

[0064] By manually operating the operation display unit 8 or the operation terminal 13, cleaning instructions such as turning on / off the rotation of the cleaning member 16, increasing / decreasing the pad pressure or pad rotation speed, turning on / off the supply of the cleaning liquid supply unit 17 and increasing / decreasing the amount of water supplied, and turning on / off the suction of the suction unit 18 and increasing / decreasing the amount of suction are input. The cleaning instructions from the operation display unit 8 are input to the control unit 10, and the cleaning instructions from the operation terminal 13 are input to the control unit 10 via the communication unit 12, and the control unit 10 controls the cleaning unit 4 in accordance with the cleaning instructions.

[0065] Furthermore, when the operation mode is set to the test drive mode or the automatic driving mode, the cleaning unit 4 operates according to the control of the control unit 10 (the test drive control unit 25 or the automatic driving control unit 26) based on the cleaning data of the environmental map or the driving plan. When the control unit 10 controls the cleaning member 16, the cleaning liquid supply unit 17, and the suction unit 18, it converts the cleaning instruction or cleaning data (cleaning conditions) into drive setting values ​​of each actuator that drives the cleaning member 16, the cleaning liquid supply unit 17, and the suction unit 18, and controls each actuator based on the drive setting values.

[0066] The cleaning unit 4 is, for example, configured with a wet cleaning mechanism that cleans the floor surface using cleaning liquid, and includes a cleaning member 16 that comes into contact with the floor surface to clean the floor surface, a cleaning liquid supply unit 17 that supplies the cleaning liquid to the floor surface, and a suction unit 18 that sucks up the cleaning liquid used to clean the floor surface, i.e., dirty water. The cleaning unit 4 also includes a cleaning member motor (not shown) that rotates the cleaning member 16 on the floor surface, and a cleaning member actuator (not shown) that moves the cleaning member 16 up and down relative to the floor surface. The cleaning unit 4 also includes a dirty water recovery unit (not shown) that recovers the dirty water sucked by the suction unit 18.

[0067] The cleaning member 16 is detachably attached to a cleaning shaft (not shown) that protrudes downward from inside the device body 2. When the cleaning member motor rotates the cleaning shaft, the cleaning member 16 rotates around the cleaning shaft as a rotation axis, and when the cleaning member actuator moves the cleaning shaft up and down, the cleaning member 16 also moves up and down.

[0068] The cleaning member 16 is composed of a pair of cleaning pads or a pair of cleaning brushes, and the pair of cleaning pads or the pair of cleaning brushes are attached side by side in the width direction (left and right direction) of the device at approximately the center in the traveling direction. The left cleaning pad or cleaning brush rotates clockwise when viewed from above, and the right cleaning pad or cleaning brush rotates counterclockwise when viewed from above, rotating from the front to the rear at the center in the width direction. As a result, dirty water and dust in front of the pair of cleaning pads or pair of cleaning brushes are collected at the center in the width direction and discharged to the rear.

[0069] The cleaning liquid supply unit 17 includes a cleaning liquid tank that contains the 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. The cleaning liquid supply unit 17 supplies the cleaning liquid, for example, by applying a voltage to the supply pump to rotate an impeller of the supply pump. The amount of cleaning liquid supplied is adjusted by changing the voltage to adjust the impeller rotation speed. For example, by storing correlation data between the voltage and the amount of cleaning liquid supplied in the storage unit 11 in advance, when a specific amount of water is requested, a voltage corresponding to this amount of water is applied to the supply water pump to adjust the amount of water supplied to the requested amount.

[0070] The suction unit 18 is composed of a suction blower. The wastewater collection unit includes a squeegee 19, a wastewater duct (not shown), and a wastewater tank (not shown), and the squeegee 19 is provided behind the cleaning member 16 and in contact with the floor surface. The wastewater collection unit receives and collects the wastewater discharged rearward from the cleaning member 16 with the squeegee 19, and the suction unit 18 is connected to the wastewater duct and sucks the wastewater collected by the squeegee 19 into the wastewater duct. In the wastewater collection unit, the wastewater sucked into the wastewater duct is collected in the wastewater tank connected to the wastewater duct.

[0071] In this type of cleaning unit 4, the cleaning liquid supply unit 17 sprays cleaning liquid onto the floor surface while the cleaning member motor rotates the cleaning pad or cleaning brush of the cleaning member 16 and the cleaning member actuator presses it against the floor surface, thereby cleaning the floor surface, and the wastewater after cleaning is collected by the wastewater recovery unit.

[0072] The measurement unit 5 includes a laser range finder (LRF) 5a that measures position information (e.g., angle and distance with respect to the traveling direction of the device body 2) between the device body 2 and non-work objects such as surrounding walls and obstacles. For example, the LRF 5a is provided on the front upper part of the device body 2 and detects non-work objects present in front and to the sides. The measurement unit 5 measures position information between the device body 2 and non-work objects, for example, at predetermined timings while the device body 2 is traveling.

[0073] The obstacle detection unit 6 includes an ultrasonic sensor 6a that detects the presence or absence of a wall or obstacle within a predetermined distance from the device body 2. For example, the ultrasonic sensor 6a is provided at the front of the device body 2. The obstacle detection unit 6 may be in operation at all times while the device body 2 is traveling.

[0074] The step detection unit 7 includes an infrared sensor 7a and a camera 7b as optical sensors that detect steps on the floor surface in the traveling direction of the device body 2, a line marker 7c that projects a line onto the step, and a vibration sensor 7d that detects steps on the floor surface while the device body 2 is traveling. The step detection unit 7 may be in operation at all times while the device body 2 is traveling. The optical sensor does not have to be an infrared sensor, and may be a visible light sensor.

[0075] The infrared sensor 7a and the camera 7b are provided on the front side of the device body 2 as shown in FIG. 1 and FIG. 10, and the line marker 7c is attached to the drive wheel unit 3c of the front wheel 3a on the front side of the device body 2 as shown in FIG. 1 and FIG. 10. As shown in FIG. 11, the irradiation position and irradiation range of the line marker 7c can be changed by changing the direction of the drive wheel unit 3c, i.e., the direction of the front wheel 3a. Alternatively, the line marker 7c does not need to be attached to the drive wheel unit 3c as long as it can take the irradiation position and irradiation range on the front side of the device body 2, and may be configured to change the irradiation position and irradiation range by following the direction of the front wheel 3a by a mechanism other than the drive wheel unit 3c. The infrared sensor 7a and the camera 7b may be attached to the drive wheel unit 3c of the front wheel 3a, and in this case, the detection range of the infrared sensor 7a and the shooting range of the camera 7b can be changed by changing the direction of the drive wheel unit 3c, i.e., the direction of the front wheel 3a. In addition, the infrared sensor 7a and the camera 7b may be configured to change the detection range and the shooting range in response to the direction of the front wheel 3a by a mechanism separate from the drive wheel unit 3c. The vibration sensor 7d is provided on the drive wheel unit 3c of the front wheel 3a or on a driven wheel unit (not shown) that supports the rear wheel 3b.

[0076] The infrared sensor 7a includes a light-emitting unit and a light-receiving unit, and the light-emitting unit irradiates infrared rays onto the floor surface in front of it, and the light-receiving unit receives the infrared rays reflected by the floor surface. For example, convex parts such as braille blocks reflect infrared rays earlier than the floor surface, and concave parts such as drains and gratings do not reflect infrared rays or reflect them later than the floor surface. Therefore, the infrared sensor 7a detects a step based on the result of receiving the infrared rays reflected by the floor surface, and the step identification unit 22 of the control unit 10 identifies the step type and size based on the detection result.

[0077] The camera 7b captures an image of the surroundings of the device body 2, and the step identifying section 22 of the control section 10 determines whether or not the image contains a step pattern, detects a step, and identifies the step type and size.

[0078] The camera 7b also captures an image including the line irradiated by the line marker 7c, and the step identification unit 22 of the control unit 10 detects the step and identifies the step type and size based on the shape of the line in the image. The line marker 7c is a so-called line laser, and projects a laser line on the irradiating unit by diffusing the light in one direction with a lens on the optical axis of the laser pointer. As shown in FIG. 12, the line marker 7c irradiates a laser light toward the traveling direction side of the device main body 2 (the direction of the front wheels 3a), and irradiates a laser line of a predetermined length perpendicular to the traveling direction on the floor surface at a position a predetermined distance away from the line marker 7c, and the camera 7b also captures an image of the floor surface together with the laser line. The line marker 7c is not limited to one that irradiates laser light, and may be one that irradiates other light.

[0079] The vibration sensor 7d is composed of an acceleration sensor and the like, and detects vibrations from the floor surface while the autonomous mobile working device 1 is traveling, detects a step on the floor surface or a change in the material of the floor surface based on the change in the amount of vibration, and the step identification unit 22 of the control unit 10 identifies the step type, step size, or floor surface type based on the detection result. For example, the vibration sensor 7d detects a step on the floor surface by detecting vibrations when descending from the floor surface to a step such as a groove or recess, vibrations when ascending from the floor surface to a step such as a protrusion, and vibrations when traveling in a sinking manner, and detects the material of the floor surface by detecting vibrations due to an increase in the traveling load when moving onto a fiber-based floor such as a carpet, and vibrations due to a decrease in the traveling load when moving onto a resin-based floor such as a ceramic.

[0080] The operation display unit 8 is provided at the upper rear of the device body 2 and includes, for example, a key switch, an emergency stop button, and a touch panel, and each unit of the operation display unit 8 is connected to the control unit 10. The operation display unit 8 may be configured as an operation display panel attached to the device body 2, or may be configured as a tablet terminal or the like that is detachably attached to the device body 2. The operation display unit 8 configured as a tablet terminal or the like is connected to the control unit 10 via wireless communication by the communication unit 12, making it possible to remotely control the autonomous traveling work apparatus 1.

[0081] The key switch is configured to be switchable between on and off. By switching the key switch on, power is supplied from the power supply unit 9 to each unit and the autonomous mobile work apparatus 1 operates, whereas by switching the key switch off, power supply from the power supply unit 9 to each unit is stopped and operation of the autonomous mobile work apparatus 1 is stopped. By operating the emergency stop button, the operation of each unit of the autonomous mobile work apparatus 1 (particularly, automatic operation in the autonomous operation mode) is forcibly stopped (braked).

[0082] The touch panel displays various screens in response to control signals from the control unit 10, and transmits operation signals based on touch operations on each screen to the control unit 10. For example, when the key switch is turned on to operate the autonomous mobile working apparatus 1, the touch panel displays a mode selection screen (not shown) that allows the user to select an operation mode.

[0083] On the mode selection screen, for example, a scan drive button, a test drive button, and an automatic drive button are displayed so that they can be operated (although not shown in the figure). When the scan drive button, the test drive button, or the automatic drive button is operated, the operation mode is switched to the scan drive mode, the test drive mode, or the automatic drive mode.

[0084] In the scan driving mode, the touch panel displays a setting screen on which driving instructions such as starting, pausing and ending the scan driving are input, driving instructions such as forward, backward, left turn and right turn, and driving conditions such as driving speed and turning speed can be set.

[0085] When the scan run is completed and an environmental map is created, a test run button becomes operable to perform a test run on the environmental map, and in the test run mode, the touch panel displays a setting screen on which each running instruction and each running condition of the test run, as well as cleaning instructions and cleaning conditions of the cleaning member 16, the cleaning liquid supply unit 17, and the suction unit 18 for the test run can be set. Note that the test run button may be operable when an environmental map is stored in the memory unit 11. In this case, the touch panel displays a selection screen on which an environmental map can be selected in response to the operation of the test run button, and when the environmental map is selected, a setting screen on which each running instruction and each running condition of the test run, as well as each cleaning instruction and each cleaning condition of the test run can be set is displayed.

[0086] The automatic driving button can be operated when an operation plan is stored in the memory unit 11. In the automatic driving mode, the touch panel displays a selection screen on which an operation plan can be selected in response to the operation of the automatic driving button, and when an operation plan is selected, displays a setting screen on which each driving instruction and each driving condition for automatic driving, as well as each cleaning instruction and each cleaning condition for automatic driving, can be set.

[0087] The power supply unit 9 includes a battery (power source) and a charging circuit mounted inside the device main body 2, and charges the battery by connecting to an external power source, and also supplies power to each part of the autonomous traveling work device 1. The power supply unit 9 may output a signal indicating the remaining charge of the battery to the control unit 10.

[0088] The control unit 10 is composed of a computer such as a CPU (Central Processing Unit), and is connected to a storage unit 11 including a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk, a flash memory, etc. The control unit 10 is also connected to each unit of the autonomous traveling work apparatus 1, such as the traveling unit 3, the cleaning unit 4, the measuring unit 5, the obstacle detection unit 6, the step detection unit 7, the operation display unit 8, the power supply unit 9, and the communication unit 12.

[0089] The control unit 10 is also communicably connected to an external device such as an operation terminal 13 via the communication unit 12. The communication unit 12 performs wireless communication with the external device such as the operation terminal 13 using a communication standard such as a wireless LAN such as Wi-Fi, Bluetooth (registered trademark), or an LTE line.

[0090] The operation terminal 13 is equipped with an operation display such as a touch panel, and can operate and display various functions of the autonomous navigation work apparatus 1 together with the operation display unit 8 or instead of the operation display unit 8. In other words, like the touch panel of the operation display unit 8, the operation terminal 13 displays a mode selection screen on which an operation mode can be selected, a setting screen for each travel instruction and each travel condition of the scan travel in the scan travel mode, a selection screen for an environmental map in the test travel mode, a setting screen for each travel instruction, each travel condition, each cleaning instruction, and each cleaning condition of the test travel, a selection screen for a driving plan in the automatic driving mode, and a setting screen for each travel instruction, each travel condition, each cleaning instruction, and each cleaning condition of the automatic driving, and transmits various input settings and various selections to the communication unit 12.

[0091] The memory unit 11 stores programs and data for controlling each part and various functions of the autonomous traveling work apparatus 1, and the control unit 10 executes arithmetic processing based on the programs and data stored in the memory unit 11 to centrally control each part and various functions. For example, the control unit 10 operates as a mode switching unit 20, a map creation unit 21, a step identification unit 22, a traveling determination unit 23, a scan traveling control unit 24, a test traveling control unit 25, and an automatic driving control unit 26 by executing a program stored in the memory unit 11. This allows the autonomous traveling work apparatus 1 to travel autonomously and work automatically according to a program stored in advance. The memory unit 11 also stores each environmental map of one or more cleaning areas, and also stores a driving plan corresponding to each cleaning area (environmental map).

[0092] The mode switching unit 20 switches the operation mode to any one of a scan driving mode, a test driving mode, and an automatic driving mode. For example, the mode switching unit 20 switches the operation mode to the scan driving mode, the test driving mode, or the automatic driving mode in response to the operation of a scan driving button, a test driving button, or an automatic driving button on a mode selection screen.

[0093] The map creation unit 21 estimates its own position and creates an environmental map in real time using a technique such as SLAM (Simultaneous Localization and Mapping) while the autonomous mobile work device 1 is traveling. Specifically, while traveling in a predetermined cleaning area, the map creation unit 21 acquires position information of the device body 2 and non-work objects around the device body 2 as a measurement result of the measurement unit 5, and creates a local map of the surroundings of the device body 2 at predetermined time intervals or predetermined distance intervals based on the measurement result of the measurement unit 5. In addition, the map creation unit 21 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 (movement amount of the traveling unit 3) by each encoder of the traveling unit 3.

[0094] Then, the map creation unit 21 creates an environmental map of the cleaning area by stitching (combining) each local map. The map creation unit 21 also recreates the travel trajectory (travel route) on the environmental map by stitching (combining) the self-position (each piece of position information measured by the measurement unit 5) in the local map.

[0095] While the autonomous mobile work apparatus 1 is traveling (for example, during scan traveling, test traveling, or automatic driving), the step identification unit 22 identifies the step type of the step present in the direction of travel or on the floor surface and the floor surface type of the floor surface on which the autonomous mobile work apparatus 1 is traveling, based on the detection results of the step detection unit 7 regarding the step and material of the floor surface. The step identification unit 22 may also estimate the self-position of the autonomous mobile work apparatus 1 on the local map or environmental map based on the position information measured by the measurement unit 5 and the local map or environmental map created by the map creation unit 21, and identify the step based on the deviation of the odometry (course or position) calculated based on the self-position on the local map or environmental map. When the autonomous mobile work apparatus 1 is traveling with a predetermined floor type set, the step identification unit 22 identifies the step type from one or more step types included in the floor type.

[0096] When the step detection unit 7 detects a step, the step identification unit 22 calculates position information of the detected step based on the position information of the measurement result of the measurement unit 5. The step identification unit 22 stores the identified step type and the calculated position information in the memory unit 11. Note that the step identification unit 22 may determine which step of the driving data of the driving plan the step position information corresponds to, and include the step type and the position information in the corresponding step of the driving plan.

[0097] Furthermore, the step identifying unit 22 identifies the step type and floor surface type according to a combination of the detection results of the infrared sensor 7a, the camera 7b, and the vibration sensor 7d of the step detection unit 7. For example, the step identifying unit 22 can detect a fibrous floor, such as a carpet, that is not to be cleaned, based on a combination of the reception result of the reflected infrared light detected by the infrared sensor 7a and the amount of vibration during travel detected by the vibration sensor 7d.

[0098] Alternatively, the step identifying unit 22 performs image processing such as pattern matching on the image captured by the camera 7b using the step pattern stored in the storage unit 11, and when a partial image matching the step pattern is detected from the captured image, the step identifying unit 22 detects a step corresponding to the step pattern from the capture position. Alternatively, when a step pattern of different colors is detected as a result of pattern matching of the image captured by the camera 7b, the step identifying unit 22 obtains the result of receiving reflected infrared light by the infrared sensor 7a at the position on the floor surface where the step pattern of different colors was detected, and when unevenness of the floor surface is detected based on the light receiving result, the step identifying unit 22 detects a step corresponding to the step pattern of different colors from the capture position.

[0099] In addition, as shown in FIG. 12, when the camera 7b captures the laser line projected onto the floor surface by the line marker 7c, the step identification unit 22 detects the step at the location where the laser line is projected based on the shape of the laser line in the image, and identifies the type and size of the step.

[0100] For example, as shown in FIG. 13, when there is no step on the floor surface, the laser line of the image is detected as a straight line, so the step identification unit 22 does not detect the step. As shown in FIG. 14, when there is a deep concave step such as a grating on the floor surface, the laser line of the image is detected intermittently, so the step identification unit 22 detects the step of the grating. As shown in FIG. 15, when there is a convex step such as a braille block on the floor surface, the laser line of the image is detected with a part protruding in the traveling direction, so the step identification unit 22 detects the step of the braille block. Although not shown, when there is a shallow concave step such as a groove on the floor surface, the laser line of the image is detected with a part protruding in the opposite direction to the traveling direction, so the step identification unit 22 detects the step of the groove.

[0101] When the autonomous mobile working apparatus 1 is traveling on a predetermined floor type, if the step identification unit 22 identifies the step type or floor surface type of the step detected by the step detection unit 7, the travel determination unit 23 determines whether the autonomous mobile working apparatus 1 travels on the step and whether the autonomous mobile working apparatus 1 cleans the step or cleans the floor surface. At this time, the travel determination unit 23 acquires parameters related to travel and cleaning stored in the storage unit 11 for the set floor type and the identified step type, and acquires travel rules such as a step threshold, a step-along travel flag, a step avoidance flag, and a travel-impossible-while-traveling flag. The travel determination unit 23 then controls the travel unit 3 to travel on the detected step according to the acquired travel rules while monitoring the travel situation of the autonomous mobile working apparatus 1 based on the travel state of the travel unit 3 and the detection result of the step detection unit 7 by the infrared sensor 7a, the camera 7b, or the vibration sensor 7d. Furthermore, the travel determination unit 23 judges whether the autonomous mobile working apparatus 1 has successfully traveled on the step according to the travel rules based on the acquired travel situation.

[0102] For example, if the size (height or depth) of the step detected by the step detection unit 7 is larger than the step threshold value of the driving rules, the driving determination unit 23 determines that the step is not travelable. In this case, the driving determination unit 23 determines that the step travel in accordance with the driving rules was not successful because the step cannot be traveled according to the driving rules. Then, the driving determination unit 23 controls the traveling unit 3 to travel along the step when the step-along driving flag is on, or controls the traveling unit 3 to travel while avoiding the step when the step avoidance flag is on. In this way, when it is determined that the step cannot be traveled before traveling over the step, the driving determination unit 23 controls the traveling unit 3 to travel along the step or while avoiding the step. At this time, the driving determination unit 23 notifies the operator of the failure of the step travel via the operation display unit 8 or the operation terminal 13.

[0103] On the other hand, if the size (height or depth) of the step detected by the step detection unit 7 is less than (or greater than) the step threshold value of the driving rules, the driving judgment unit 23 judges that the step is drivable and controls the driving unit 3 to drive over the step.

[0104] In addition, when the size of the step (height or depth) is less than (or greater than) the step threshold value or when the driving-prohibited flag is off, even while driving over a step that the driving judgment unit 23 has determined to be drivable, the driving judgment unit 23 continues to monitor the driving status of the autonomous driving work device 1 and judges whether or not the step was successfully driven over in accordance with the driving rules.

[0105] For example, if the front wheels 3a of the traveling unit 3 or the traveling drive motor spins on the step and cannot overcome the step, the traveling determination unit 23 determines that the traveling over the step according to the traveling rule was not successful. Also, if an excessive load is applied to the traveling drive motor of the traveling unit 3 due to an increase in the traveling load when traveling over the step, or if the vibration sensor 7d detects excessive vibration, the traveling determination unit 23 determines that the traveling over the step according to the traveling rule was not successful. In this way, when the traveling over the step is determined to be unsuccessful, the traveling determination unit 23 notifies the operator of the failure of the step traveling via the operation display unit 8 or the operation terminal 13 at the time of the determination or after the autonomous traveling work device 1 has finished traveling.

[0106] As described above, when it is determined that traveling over the step in accordance with the travel rules was not successful, the travel determination unit 23 sets the travel-prohibited flag for the step type to ON, and also issues information indicating the failure of traveling in accordance with the travel rules and information prompting the resetting of the parameters for the step type, and notifies the operator by outputting the information as a display or an alert via the operation display unit 8 or the operation terminal 13. Note that the information prompting the resetting of the parameters for the step type may be displayed on the operation display unit 8 or the operation terminal 13 when it is determined that traveling over the step was not successful or after the autonomous mobile work apparatus 1 has finished traveling. At this time, the resetting of the parameters is prompted by prompting the resetting of the step threshold value and the setting of the travel-along-step flag or the step avoidance flag to ON.

[0107] Furthermore, when the travel determination unit 23 detects a change in the material of the floor surface based on the identified floor surface type, it acquires the cleaning rules stored in the storage unit 11 for the changed floor surface type. Then, the travel determination unit 23 changes the cleaning conditions of the cleaning unit 4 based on the acquired cleaning rules, and controls the cleaning unit 4 to clean under the changed cleaning conditions. For example, when the floor surface is a resin-based floor such as ceramic, the travel determination unit 23 controls the cleaning unit 4 to clean, but when the floor surface is a fiber-based floor such as carpet, the travel determination unit 23 controls the cleaning unit 4 not to clean.

[0108] The scan travel control unit 24 will be described with reference to the flowcharts of Fig. 16 to Fig. 20. In the scan travel mode, the scan travel control unit 24 starts scan travel in response to a scan travel start operation via the operation display unit 8 or the operation terminal 13 (step S1). When scan travel starts, the scan travel control unit 24 inputs travel instructions such as forward, backward, left turn, right turn, etc. and travel conditions such as travel speed and turning speed via the operation display unit 8 or the operation terminal 13, and controls the travel unit 3 in response to the travel instructions and travel conditions to travel the autonomous traveling work apparatus 1.

[0109] The scan travel control unit 24 creates an environmental map while traveling the autonomous traveling work device 1 (step S2), and specifically, measures the position information of surrounding non-work objects by the measurement unit 5 at predetermined time intervals or predetermined distance intervals (step S21), and creates a local map of the surroundings by the map creation unit 21. The scan travel control unit 24 creates an environmental map of the cleaning area by connecting each local map created by the map creation unit 21 (step S22).

[0110] When the environmental map of the cleaning area is complete (step S3: YES), the scan travel control unit 24 ends the scan travel in response to an operation to end the scan travel via the operation display unit 8 or the operation terminal 13 (step S4), and stores the created environmental map in the memory unit 11. When the environmental map of the cleaning area is not complete (step S3: NO), the scan travel control unit 24 continues the scan travel.

[0111] In addition, the scan travel control unit 24 sets the floor type for the cleaning area when starting the scan travel, so that the scan travel can be performed while identifying the step with the step identification unit 22 and determining travel over the step according to the floor type with the travel determination unit 23. For example, the floor type is selected and set from one or more floor types stored in the storage unit 11 via the operation display unit 8 or the operation terminal 13.

[0112] Specifically, the scan running control unit 24 detects a step on the floor surface while performing the scan running (step S5), specifically, the step detection unit 7 detects a step on the floor surface (step S31), and the step identification unit 22 identifies the step type (step S32). If no step is detected (step S6: NO), the scan running control unit 24 continues the scan running as is.

[0113] On the other hand, if a step is detected (step S6: YES), the scan travel control unit 24 determines travel over the step according to the floor type using the travel determination unit 23 (step S7). At this time, the travel determination unit 23 acquires parameters set in the memory unit 11 for the step type of this floor type (step S41), and also acquires travel rules such as a step threshold, a travel along step flag, a step avoidance flag, and a travel-while-traveling disabled flag from among the parameters, and determines travel over the step based on the travel rules (step S42).

[0114] Then, the scan traveling control unit 24 controls the traveling unit 3 to travel over the step according to the traveling rule acquired by the traveling determination unit 23 (step S8). For example, when the step avoidance flag is on, the traveling determination unit 23 controls the traveling unit 3 to travel while avoiding the step (step S9). In this case, when the traveling while avoiding the step is ended, that is, when the step is passed, the scan traveling control unit 24 continues the scan traveling.

[0115] Alternatively, if the step-along-travel flag is on, the travel determination unit 23 controls the travel unit 3 to travel along the step (step S10). In this case, when the travel along the step is terminated, that is, when the step is passed, the scan travel control unit 24 continues the scan travel.

[0116] Alternatively, if the step avoidance flag, step-following flag, and travel-while-traveling-impossible flag are all off and the size of the step identified by the step identification unit 22 is equal to or smaller than the step threshold, the travel determination unit 23 controls the travel unit 3 to travel over the step (step S11). At this time, if travel over the step is successful (step S12: YES), the scan travel control unit 24 continues the test travel.

[0117] On the other hand, if the step travel is not successful (step S12: YES), the scan travel control unit 24 performs processing for the step travel failure (step S13), specifically, by having the travel determination unit 23 output information indicating the failure of travel and information prompting the resetting of parameters to notify the operator (step S51), and also by having the travel-time travel-disabled flag, which is a parameter for that step, set to ON (step S52). Then, when the step is passed, the scan travel control unit 24 continues the scan travel.

[0118] In addition, when the scan driving control unit 24 ends the scan driving, it prompts, via the operation display unit 8 or the operation terminal 13, to adjust the created environmental map (rotate the map, add or delete obstacles or walls, etc.) and set various areas (set the start point, end point, no-entry areas, etc.), and stores the environmental map and area settings in the memory unit 11.

[0119] Furthermore, after the scan run is completed, the scan run control unit 24 may select a floor type corresponding to the cleaning area (environmental map) where the scan run has been performed from one or more floor types stored in the memory unit 11 via the operation display unit 8 or the operation terminal 13, and associate the floor type with the cleaning area. Alternatively, the scan run control unit 24 may newly register a floor type including a step detected by the step identification unit 22 during the scan run, and associate the floor type with the cleaning area.

[0120] The test drive control unit 25 will be described with reference to the flowcharts of Figures 21 to 22 and Figures 18 to 20. In test drive mode, in response to a test drive start operation via the operation display unit 8 or the operation terminal 13, the test drive control unit 25 starts a test drive for an environmental map created by scan driving, or for an environmental map selected via the operation display unit 8 or the operation terminal 13 from one or more environmental maps stored in the storage unit 11 (step S61). Below, an example in which floor cleaning is performed during test driving will be described, but floor cleaning may be stopped.

[0121] At this time, the test driving control unit 25 inputs, via the operation display unit 8 or the operation terminal 13, driving conditions such as the driving speed and turning speed of the traveling unit 3, and cleaning conditions such as the pad pressure and pad rotation speed of the cleaning member 16 of the cleaning unit 4, the amount of water supplied by the cleaning liquid supply unit 17, and the suction amount of the suction unit 18, and controls the traveling unit 3 and the cleaning unit 4 according to the driving conditions and cleaning conditions to perform a test drive of the autonomous driving work device 1.

[0122] The test driving control unit 25 also performs test driving while checking the driving route based on the environmental map and various area settings (such as the start and end points) (step S62). Specifically, the measurement unit 5 measures the position information of surrounding non-work objects, and the map creation unit 21 creates a local map of the surroundings, and further estimates the self-position of the autonomous mobile work device 1 in the local map (step S81). The test driving control unit 25 determines a driving route from the start point to the end point so as to fill in the cleaning area of ​​the environmental map, and controls the traveling unit 3 to follow this driving route while checking the self-position of the autonomous mobile work device 1 in the environmental map (step S82).

[0123] During the test drive, the test drive control unit 25 acquires the driving conditions, cleaning conditions, and step types at predetermined step intervals and stores them in the memory unit 11. Driving data and cleaning data consisting of the driving conditions and cleaning conditions from the start point to the end point of the drive route are stored in the memory unit 11.

[0124] The test driving control unit 25 acquires, for example, the self-position (X coordinate and Y coordinate, angle) based on the position information measured by the measurement unit 5 as the driving conditions. In addition, the front wheel rotation encoder of the front wheel 3a of the driving unit 3 detects the driving rotation speed of the front wheel 3a, and acquires the driving speed of the driving unit 3 based on the detection result. In addition, the steering rotation encoder of the front wheel 3a of the driving unit 3 detects the steering rotation speed of the front wheel 3a, and acquires the turning speed of the driving unit 3 based on the detection result. For example, the test driving control unit 25 acquires, as the cleaning conditions, the step-by-step strength set for the pad pressure and pad rotation speed of the cleaning member 16 of the cleaning unit 4, the supply water amount of the cleaning liquid supply unit 17, and the suction amount of the suction unit 18. In addition, the test driving control unit 25 acquires the step type detected by the step detection unit 7 and identified by the step identification unit 22 during the test driving.

[0125] When the autonomous mobile work device 1 has traveled from the start point to the end point and has finished filling in the cleaning area (step S63: YES), the test driving control unit 25 ends the test driving (step S64) and creates a driving plan corresponding to the cleaning area (environmental map) and stores it in the memory unit 11. If the autonomous mobile work device 1 has not reached the end point or has not finished filling in the cleaning area (step S63: NO), the test driving control unit 25 continues the test driving.

[0126] When starting a test run, the test run control unit 25 sets a floor type for the cleaning area, so that the test run can be performed in the same manner as the scan run, while identifying steps with the step identification unit 22 and determining whether to run over the step according to the floor type with the run determination unit 23. For example, a floor type associated with the environmental map in which the test run will be performed is set, or a floor type is selected and set from one or more floor types via the operation display unit 8 or the operation terminal 13.

[0127] Specifically, the test driving control unit 25 detects any steps on the floor surface while the test driving is being performed (step S65), specifically, the step detection unit 7 detects any steps on the floor surface (step S31), and the step identification unit 22 identifies the type of step (step S32). If no step is detected (step S66: NO), the test driving control unit 25 continues the test driving as is.

[0128] On the other hand, if a step is detected (step S66: YES), the test drive control unit 25 determines whether the robot should drive over the step depending on the floor type by using the drive determination unit 23 (step S67). At this time, the drive determination unit 23 acquires parameters set in the memory unit 11 for the step type of this floor type (step S41), and also acquires cleaning rules such as the pad pressure and pad rotation speed of the cleaning member 16 of the cleaning unit 4, the supply water volume of the cleaning liquid supply unit 17, and the suction volume of the suction unit 18 from the parameters, as well as drive rules such as a step threshold, a drive along step flag, a step avoidance flag, and a drive while driving impossible flag, and determines whether the robot should drive over the step and clean it based on the drive rules and cleaning rules (step S42).

[0129] Then, the test driving control unit 25 controls the driving unit 3 to drive over the step according to the driving rule acquired by the driving determination unit 23, and also controls the cleaning unit 4 to clean the step according to the acquired cleaning rule (step S68). For example, if the step avoidance flag is on, the driving determination unit 23 controls the driving unit 3 to drive while avoiding the step (step S69). In this case, the cleaning unit 4 is controlled to stop cleaning the floor surface while avoiding the step. Then, when the driving while avoiding the step ends, that is, when the step is passed, the test driving control unit 25 continues the test driving.

[0130] Alternatively, if the step-along-travel flag is on, the travel determination unit 23 controls the travel unit 3 to travel along the step (step S70). In this case, the cleaning unit 4 is controlled to clean the floor surface in accordance with the cleaning rules while traveling along the step. Then, when the travel along the step is finished, that is, when the step is passed, the test travel control unit 25 continues the test travel.

[0131] Alternatively, if the step avoidance flag, step running along flag and running while running disabled flag are all off and the size of the step identified by the step identification unit 22 is equal to or smaller than the step threshold, the running determination unit 23 controls the running unit 3 to run over the step as is, and controls the cleaning unit 4 to clean according to the cleaning rule (step S71). At this time, if running over the step is successful (step S72: NO), the test running control unit 25 continues the test running.

[0132] On the other hand, if traveling over the step is not successful (step S72: YES), the test driving control unit 25 performs processing for the step traveling failure (step S73), specifically, by causing the traveling determination unit 23 to output information indicating the failure of traveling and information prompting the resetting of parameters to notify the operator (step S51), and also by causing the traveling-disabled flag, which is a parameter for that step, to be set to ON (step S52). Then, once the step has been passed, the test driving control unit 25 continues the test driving.

[0133] Furthermore, after the test drive is completed, the test drive control unit 25 may have the user select a floor type corresponding to the driving plan created in the test drive from one or more floor types stored in the memory unit 11 via the operation display unit 8 or the operation terminal 13, and associate the floor type with the driving plan. Alternatively, the test drive control unit 25 may detect a step that exists in the cleaning area by the step identification unit 22 during the test drive, register a floor type including the detected step, and associate the floor type with the driving plan.

[0134] The automatic driving control unit 26 will be described with reference to the flowcharts of Figures 23 to 24 and Figures 18 to 20. In the automatic driving mode, in response to an operation to start automatic driving via the operation display unit 8 or the operation terminal 13, the automatic driving control unit 26 starts automatic driving for a driving plan created in a test drive, or for a driving plan selected via the operation display unit 8 or the operation terminal 13 from one or more driving plans stored in the memory unit 11 (step S91).

[0135] At this time, the automatic driving control unit 26 inputs, via the operation display unit 8 or the operation terminal 13, driving conditions such as the driving speed and turning speed of the traveling unit 3, and cleaning conditions such as the pad pressure and pad rotation speed of the cleaning member 16 of the cleaning unit 4, the amount of water supplied by the cleaning liquid supply unit 17, and the suction amount of the suction unit 18, and controls the traveling unit 3 and the cleaning unit 4 according to the driving conditions and cleaning conditions to perform automatic operation of the autonomous mobile work device 1.

[0136] The automatic driving control unit 26 performs automatic driving while checking the driving route based on the environmental map, driving data, and cleaning data of the driving plan (step S92). Specifically, the measuring unit 5 measures the position information of surrounding non-work objects, the map creating unit 21 creates a local map of the surroundings, estimates the self-position of the autonomous mobile work device 1 in the local map, and further matches the local map with the environmental map to estimate the self-position on the environmental map (step S111). The automatic driving control unit 26 controls the traveling unit 3 to follow the driving route indicated in the driving data while checking the self-position of the autonomous mobile work device 1 on the environmental map (step S112), and controls the cleaning unit 4 to perform cleaning indicated in the cleaning data (step S113).

[0137] During the autonomous driving, the autonomous driving control unit 26 acquires the step type at every predetermined step interval and stores it in the memory unit 11. The autonomous driving control unit 26 acquires, for example, the step type detected by the step detection unit 7 and identified by the step identification unit 22 during the autonomous driving.

[0138] If the autonomous mobile work device 1 has traveled from the start point to the end point based on the travel data (step S93: YES), the autonomous driving control unit 26 ends the autonomous driving (step S94). If the autonomous mobile work device 1 has not reached the end point (step S93: NO), the autonomous driving control unit 26 continues the autonomous driving.

[0139] When starting automatic driving, the automatic driving control unit 26 sets a floor type for the cleaning area, so that automatic driving can be performed while identifying steps with the step identification unit 22 and determining whether to drive over the step according to the floor type with the driving determination unit 23, in the same manner as in scan driving and test driving. For example, a floor type associated with a driving plan for automatic driving is set, or a floor type is selected and set from one or more floor types via the operation display unit 8 or the operation terminal 13.

[0140] Specifically, the automatic driving control unit 26 detects a step on the floor surface while performing automatic driving (step S95), specifically, the step detection unit 7 detects a step on the floor surface (step S31), and the step identification unit 22 identifies the type of step (step S32). If no step is detected (step S96: NO), the driving determination unit 23 controls the cleaning unit 4 to clean according to the cleaning rules (step S102), and the automatic driving control unit 26 continues the automatic driving as is.

[0141] On the other hand, when a step is detected (step S96: YES), the automatic driving control unit 26 determines whether to travel over the step according to the floor type using the travel determination unit 23 (step S97). At this time, the travel determination unit 23 acquires parameters set in the memory unit 11 for the step type of this floor type (step S41), and also acquires cleaning rules such as the pad pressure and pad rotation speed of the cleaning member 16 of the cleaning unit 4, the supply water volume of the cleaning liquid supply unit 17, and the suction volume of the suction unit 18 from the parameters, and travel rules such as the step threshold, the travel along step flag, the step avoidance flag, and the travel while traveling impossible flag, and determines whether to travel over the step and clean based on the travel rules and cleaning rules (step S42).

[0142] Then, the automatic driving control unit 26 controls the driving unit 3 to drive over the step according to the driving rule acquired by the driving determination unit 23, and also controls the cleaning unit 4 to clean the step according to the cleaning rule acquired (step S98). For example, when the step avoidance flag is on, the driving determination unit 23 controls the driving unit 3 to drive while avoiding the step (step S99). In this case, the cleaning unit 4 is controlled to stop cleaning the floor surface while avoiding the step. Then, when the driving while avoiding the step ends, that is, when the step is passed, the automatic driving control unit 26 continues the automatic driving.

[0143] Alternatively, if the step-along running flag is on, the running determination unit 23 controls the running unit 3 to run along the step (step S100). In this case, while running along the step, the cleaning unit 4 is controlled to clean the floor surface according to the cleaning rule (step S102). Then, when the running along the step is finished, that is, when the step is passed, the automatic driving control unit 26 continues the automatic driving.

[0144] Alternatively, if the step avoidance flag, step running along flag and running while running disabled flag are all off and the size of the step identified by the step identification unit 22 is equal to or smaller than the step threshold, the running determination unit 23 controls the running unit 3 to run over the step (step S101). At this time, if running over the step is successful (step S103: NO), the running determination unit 23 controls the cleaning unit 4 to clean according to the cleaning rules (step S102), and the test running control unit 25 continues the test running.

[0145] On the other hand, if traveling over the step is not successful (step S103: YES), the automatic driving control unit 26 performs processing for the step traveling failure (step S104), specifically, by causing the traveling determination unit 23 to output information indicating the failure of traveling and information prompting the resetting of parameters to notify the operator (step S51), and also by causing the traveling-disabled flag, which is a parameter for that step, to be set to ON (step S52). Then, once the step has been passed, the automatic driving control unit 26 continues the automatic driving.

[0146] As described above, according to the present embodiment, the autonomous mobile work device 1 capable of performing automatic operation to automatically travel and clean includes the device body 2, the travel unit 3 that travels the device body 2, the cleaning unit 4 that cleans on the travel path of the device body 2, the control unit 10 that controls the travel unit 3 or the cleaning unit 4 so that the device body 2 travels or cleans the cleaning area manually or automatically, and the storage unit 11 that stores one or more floor types in advance as floor types by combining one or more step types that identify steps present on the floor surface of the cleaning area, and stores one or more parameters related to travel or cleaning on steps for each step type of each floor type. The control unit 10 controls the travel unit 3 or the cleaning unit 4 to travel or clean on steps according to the floor type that is set manually or automatically.

[0147] With this configuration, the autonomous mobile work device 1 can set parameters related to traveling and cleaning for various steps and can also set parameters for various floor types, so that by simply setting the floor type, the autonomous mobile work device can travel and clean appropriately in response to various steps on various cleaning floors. In this way, the autonomous mobile work device can continue to travel or clean appropriately for various steps on the floor surface while improving the convenience of the operator.

[0148] Also, in this embodiment, in the autonomous mobile work device 1, the control unit 10 acquires the driving conditions or surrounding conditions while traveling in the cleaning area, and determines and automatically sets the floor type based on the driving conditions or surrounding conditions.

[0149] With this configuration, the autonomous mobile work device 1 automatically selects the floor type taking into consideration the driving conditions and surrounding conditions, so the operator does not need to check the cleaning area or consider the floor type. This eliminates the need for the operator to manually set the floor type, greatly improving convenience for the operator.

[0150] In the present embodiment, the control unit 10 of the autonomous mobile work device 1 includes a test drive control unit 25 that controls the traveling unit 3 or the cleaning unit 4 to perform a test drive in which the device main body 2 automatically travels from a start point to an end point along a travel route that fills in the cleaning area based on an environmental map of the cleaning area, and creates a drive plan including the driving data or cleaning data during the test drive, and an automatic driving control unit 26 that controls the traveling unit 3 or the cleaning unit 4 to perform automatic driving according to the driving data or cleaning data of the drive plan. The test drive control unit 25 determines the floor type during the test drive, automatically sets it, and associates it with the drive plan.

[0151] With this configuration, the autonomous running work device 1 takes into consideration the running conditions and surrounding conditions during test running, which allows the entire cleaning area to be confirmed, so a more appropriate floor type can be selected.

[0152] Furthermore, in this embodiment, the autonomous mobile working device 1 makes it possible to set the parameters of each step type for each floor type in response to manual operation.

[0153] With this configuration, the operator of the autonomous navigating work device 1 can freely adjust parameters appropriate for each floor type and each step, greatly improving convenience for the operator.

[0154] In this embodiment, the storage unit 11 in the autonomous navigation work apparatus 1 registers one or more cleaning areas and stores a floor type that is set manually or automatically for each of the one or more cleaning areas in association with each other. The autonomous navigation work apparatus 1 then makes it possible to set, in accordance with manual operation, each parameter of each step type of the corresponding floor type for each of the one or more cleaning areas.

[0155] With this configuration, the operator can freely adjust appropriate parameters for each step for each cleaning area in the autonomous mobile work device 1, greatly improving the convenience for the operator. For example, even when the same floor type having the same combination of step types is associated with different cleaning areas, the same common floor type is not associated, but rather the same floor type is prepared and associated separately for each cleaning area, so that each parameter for each step type of floor type can be set for each cleaning area.

[0156] Furthermore, in this embodiment, the parameters of the autonomous mobile working device 1 include a travel rule for steps.

[0157] With this configuration, the autonomous mobile work device 1 can set various driving patterns for steps as driving rules, for example, a pattern of driving just over the steps, a pattern of driving avoiding the steps, a pattern of driving along the steps, etc. The autonomous mobile work device 1 can set driving rules for taking appropriate driving patterns for steps as parameters for each step. Therefore, it is possible to improve the safety and accuracy of driving for each step, and it is also possible to drive using the steps as markers, further improving the convenience of the operator.

[0158] In this embodiment, the autonomous mobile work device 1 further includes a step detection unit 7 that detects steps on the floor surface. When the step detection unit 7 detects a step while traveling in a cleaning area, the control unit 10 acquires the travel rules of the parameters set for the step type of the step, acquires the travel situation when traveling over the step while controlling the traveling unit 3 or the cleaning unit 4 according to the travel rules, determines whether traveling according to the travel rules was successful based on the travel situation, and if traveling according to the travel rules was not successful, resets the parameters based on the travel situation.

[0159] With this configuration, when the autonomous mobile working device 1 fails to travel over a certain step in accordance with the travel rules, it resets the parameters for that step based on the travel situation, so that the next time the step is detected, the autonomous mobile working device 1 can travel over that step in a more appropriate travel pattern, thereby improving the safety and accuracy of travel over each step. For example, parameter resetting can adjust the step threshold value, set a step-following flag, a step-avoidance flag, or a travel-when-traveling-prohibited flag, etc.

[0160] In this embodiment, the autonomous mobile work device 1 further includes a step detection unit 7 that detects steps on the floor surface. When the step detection unit 7 detects a step while traveling in a cleaning area, the control unit 10 acquires the travel rules of the parameters set for the step type of the step, acquires the travel situation when traveling over the step while controlling the traveling unit 3 or the cleaning unit 4 according to the travel rules, determines whether or not traveling according to the travel rules was successful based on the travel situation, and if traveling according to the travel rules was not successful, notifies the operator of the failure of traveling according to the travel rules and information prompting the operator to reset the parameters.

[0161] With this configuration, when the autonomous mobile working device 1 fails to travel over a certain step in accordance with the travel rules, the operator can confirm the failure of the travel over that step and can set more appropriate parameters for that step. Therefore, the next time that step is detected, the autonomous mobile working device 1 can travel over that step in a more appropriate travel pattern, thereby improving the safety and accuracy of travel over each step.

[0162] In addition, in this embodiment, the autonomous mobile work device 1 is equipped with a cleaning unit 4 that cleans the floor surface as a work unit that performs work on the floor surface, and the parameters include cleaning rules for when the cleaning unit 4 cleans steps.

[0163] With this configuration, the autonomous mobile working device 1 can set various cleaning patterns for steps as cleaning rules, for example, a cleaning pattern for traveling just over a step, a cleaning pattern for traveling while avoiding a step, and a cleaning pattern for traveling along a step. The autonomous mobile working device 1 can set cleaning rules for each step as a parameter. This can improve the safety and accuracy of cleaning for each step, and can also perform cleaning using the step as a marker, further improving the convenience of the operator.

[0164] In this embodiment, the storage unit 11 of the autonomous mobile working device 1 stores one or more floor surface types that identify the material of the floor surface, and stores cleaning rules set for each of the one or more floor surface types. When the material of the floor surface changes with a step as the boundary line, the cleaning unit 4 performs cleaning according to the cleaning rule according to the material of the floor surface.

[0165] With this configuration, the autonomous mobile working device 1 can set various cleaning patterns for different floor surface materials as cleaning rules, for example, setting resin-based floors such as ceramic as targets for cleaning, while setting fiber-based floors such as carpet as excluded from cleaning. Furthermore, when floor surfaces of different materials are continuous in a cleaning area, the cleaning rules can be automatically switched according to the material, improving the convenience of the operator.

[0166] Furthermore, in this embodiment, autonomous mobile work device 1 further includes an optical sensor such as infrared sensor 7a that detects non-work objects around device body 2, a camera 7b that captures images of the surroundings of device body 2, and a vibration sensor 7d that detects vibrations from the floor surface. Control unit 10 identifies a step based on a combination of two or more of the detection results of the optical sensor such as infrared sensor 7a, the imaging results of camera 7b, and the detection results of vibration sensor 7d.

[0167] With this configuration, the autonomous mobile working device 1 can apply a suitable combination of optical sensors such as the infrared sensor 7a, the camera 7b, and the vibration sensor 7d to detect each step. Also, by comparing the results of each combination, the step can be appropriately detected. Therefore, the step detection rate can be improved, and the safety and accuracy of cleaning the step can be improved.

[0168] In the above embodiment, an example was described in which driving rules such as a step threshold, a step along driving flag, a step avoidance flag, and a driving impossible flag while driving are set as parameters related to driving, but the present invention does not limit the driving rules to these, and driving rules corresponding to other driving patterns may be included. Also, an example was described in which cleaning rules such as the pad pressure and pad rotation speed of the cleaning member 16 of the cleaning unit 4, the amount of water supplied by the cleaning liquid supply unit 17, and the amount of suction by the suction unit 18 are set as parameters related to cleaning, but the present invention does not limit the cleaning rules to these, and cleaning rules corresponding to other cleaning patterns may be included.

[0169] In addition, in the above embodiment, an example has been described in which the traveling unit 3 is operated using the operation display unit 8 and the operation terminal 13, but the present invention is not limited to this example, and the traveling unit 3 may be configured to be operated by an operator using a handle and throttle that can be manually operated by the operator.

[0170] Furthermore, the present invention can be modified as appropriate within the scope that does not contradict the gist or concept of the invention that can be read from the claims and the entire specification, and an autonomous mobile work device involving such modifications is also included in the technical concept of the present invention. [Industrial Applicability]

[0171] The present invention is an autonomous traveling work device that can perform autonomous traveling tasks by traveling autonomously and working automatically, and can be suitably used for industrial (commercial) work robots such as automatic floor washing and cleaning devices that perform floor cleaning tasks in commercial facilities such as shopping malls, and automatic tasks in work areas such as factories and railway terminals, and security devices that perform surveillance with cameras. [Explanation of symbols]

[0172] 1. Autonomous mobile work device 2. Device body 3 Running part 4 Cleaning Department (Working Department) 5. Measurement section 6 Obstacle detection section 7. Level difference detection unit 7a Infrared sensor 7b Camera 7c Line marker 7d Vibration Sensor 8 Operation display section 10 Control section 11 Storage section 12 Communications Department 13 Operation terminal 20 Mode switching section 21 Cartography Department 22 Step Identification Unit 23 Driving Judgment Unit 24 Scanning control unit 25 Test Drive Control Unit 26 Automatic driving control unit

Claims

1. An autonomous mobile work device capable of performing automatic driving to automatically travel and work, A device body, A running unit that runs the device body; A working unit that performs work on a travel path of the device body; A control unit that controls the traveling unit or the working unit so that the device body travels or works in a work area manually or automatically; a storage unit that stores one or more floor types in advance by combining one or more step types that identify steps present on a floor surface of the working area, and stores one or more parameters related to travel or work on the steps for each step type of each floor type, a level difference detection unit that captures an image including a predetermined light irradiated onto the floor surface and detects a level difference based on a shape of the predetermined light in the image; a level difference identifying unit that identifies the level difference type based on a detection result of the level difference detecting unit, The control unit controls the traveling unit to travel over the step based on the one or more parameters in accordance with the floor type that is automatically set.

2. The autonomous driving work device as described in Claim 1, characterized in that the step detection unit is equipped with a line marker that emits a laser line of a specified length perpendicular to the direction of travel as the specified light.

3. The autonomous mobile work device according to claim 1, characterized in that the control unit acquires driving conditions or surrounding conditions while traveling in the work area, and determines and automatically sets the floor type based on the driving conditions or the surrounding conditions.

4. a test drive control unit that controls the traveling unit or the working unit to execute a test drive in which the device main body automatically travels from a start point to an end point along the travel route that fills in the work area based on an environmental map of the work area, and creates a driving plan including travel data or work data during the test drive; an automatic driving control unit that controls the traveling unit or the working unit so as to execute the automatic driving according to the traveling data or the work data of the driving plan, 4. The autonomous driving work device according to claim 3, wherein the test drive control unit determines and automatically sets the floor type during the test drive and associates the floor type with the driving plan.

5. 5. The autonomous mobile work device according to claim 1, wherein the parameters include a driving rule for the step.

6. The autonomous mobile work device of claim 5, wherein when the step is detected by the step detection unit while traveling in the work area, the control unit acquires the driving rules of the parameters set for the step type of the step, acquires the driving conditions when traveling over the step while controlling the traveling unit or the working unit in accordance with the driving rules, determines whether traveling in accordance with the driving rules was successful based on the driving conditions, and if traveling in accordance with the driving rules was not successful, re-sets the parameters based on the driving conditions.

7. The autonomous mobile work device of claim 5, wherein when the step is detected by the step detection unit while traveling in the work area, the control unit acquires the driving rules of the parameters set for the step type of the step, acquires the driving conditions when traveling over the step while controlling the traveling unit or the working unit in accordance with the driving rules, determines whether traveling in accordance with the driving rules was successful based on the driving conditions, and, if traveling in accordance with the driving rules was not successful, notifies an operator of the failure of traveling in accordance with the driving rules and information prompting the operator to reset the parameters.

8. The working unit is configured as a cleaning unit that performs cleaning as an operation on the floor surface, 8. The autonomous mobile working device according to claim 1, wherein the parameters include cleaning conditions for when the cleaning unit cleans the step or the floor surface.

9. the storage unit stores one or more floor surface types that identify the material of the floor surface, and stores the cleaning conditions that are set for each of the one or more floor surface types; The step identifying unit identifies a type of a floor surface on which the vehicle is traveling based on a detection result of the step detecting unit, The autonomous mobile work device according to claim 8, characterized in that when the material of the floor surface changes with the step as a boundary line, the cleaning unit changes the cleaning conditions according to the material of the floor surface and performs cleaning.

10. The step detection unit is An optical sensor that detects non-work objects around the device body; A camera for capturing the image; A vibration sensor that detects vibrations from a floor surface, An autonomous mobile work device as described in any one of claims 1 to 9, characterized in that the control unit identifies the step based on a combination of the imaging results of the camera and the detection results of the optical sensor and / or the detection results of the vibration sensor.

Images