Autonomous Mobile Work Device

Abstract

To safely continue an autonomous traveling work within a narrow path that exists in a work area, thereby preventing an occurrence of an unworked region.SOLUTION: An autonomous traveling work device 1 that can perform automatic travel cleaning while traveling autonomously comprises: a reproduction control unit 26 which controls a travel unit 3 to perform automatic travel cleaning based on a pre-stored environment map of a cleaning area and travel data; a narrow path determination unit 25 which determines a position of a travel route where a road width is less than a predetermined width threshold as a narrow path; a measurement unit 6 which measures a positional relationship between the own body and a peripheral unworked object; and a plurality of proximity sensors 7a which detect the peripheral unworked object. The narrow path determination unit 25 determines narrow path flag information based on a device status of the autonomous traveling work device 1 and a road width at each position on the travel route. The reproduction control unit 26 controls the travel unit 3 to be decelerated or be stopped when the unworked object in proximity to the device body 2 is detected by the proximity sensor 7a according to the narrow path flag information determined by the narrow path determination unit 25.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an autonomous traveling and working device that can perform autonomous traveling and working tasks. [Background technology]

[0002] Conventionally, autonomous mobile work devices are configured to operate by switching between a learning mode in which they manually travel and perform work (cleaning) while storing travel and work data (cleaning data), and a reproduction (autonomous travel) mode in which they control travel and work (autonomous mobile work) according to the stored travel and work data. Autonomous mobile work devices are configured, for example, as industrial (commercial) cleaning robots (autonomous mobile cleaning devices) and are used to clean floors in commercial facilities such as shopping malls, or to perform automated work in work areas such as factories and railway terminals.

[0003] When an autonomous mobile work device travels or turns on a narrow road, it may come into contact with walls or obstacles on either side, potentially damaging the wall, obstacle, or itself. For this reason, the autonomous mobile work device is designed to stop traveling if it determines that the planned route is a narrow road.

[0004] For example, in the autonomous vehicle of Patent Document 1, the narrow road determination unit determines whether the sum of the absolute values ​​of the X-axis components of the right composite wall distance vector and the left composite wall distance vector, which are wall distance vectors obtained by adding a reference distance to an environmental map vector extending from a reference position to a surrounding point and having the same X-axis component orientation, exceeds a first threshold value, thereby performing narrow road determination. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-4230 Summary of the Invention [Problem to be solved by the invention]

[0006] Conventional autonomous mobile work devices can accurately determine whether a road is narrow by averaging the road width along the travel direction, even when a bottleneck section, where the passageway width is merely temporarily narrow, is present in the travel route. The autonomous mobile work device then determines that a roadway with a width that does not allow safe turning is narrow and halts travel. However, depending on the operator, work area, or work location, there are cases where the operator wishes to continue autonomous work even on a narrow road. In contrast, conventional autonomous mobile work devices halt their travel when they determine that a road is narrow, which means that they are unable to perform autonomous work on narrow roads and areas beyond the narrow roads. This creates a problem where the narrow roads and areas beyond the narrow roads remain unworked.

[0007] The present invention has been made in consideration of the problems described above, and the object of the present invention is to provide an autonomous mobile work device that can safely continue autonomous driving work within narrow roads, even when narrow roads are present on the driving route in the work area, and can prevent the occurrence of unworked areas. [Means for solving the problem]

[0008] In order to solve the above problems, a first autonomously traveling work device of the present invention is an autonomously traveling work device that can perform autonomous traveling work by traveling autonomously and working automatically, and includes a device main body, a traveling unit that causes the device main body to travel within a predetermined work area, a reproduction control unit that controls the traveling unit to perform the autonomous traveling work based on a pre-stored environmental map of the work area and traveling data, a narrow road determination unit that determines that a position of a traveling route within the work area where the road width is less than a predetermined width threshold is a narrow road, a measurement unit that measures the positional relationship between the device main body and non-work objects around the device main body, and the device main body. From both sides of the front to Throughout and a plurality of detection units that detect surrounding non-work objects, and the narrow road determination unit determines whether or not the narrow road is narrow depending on the state of the autonomous mobile work device and the size of the road width at each position on the travel route. , in the case of the narrow road,Gradual Indicates the narrow road level The reproduction control unit controls the traveling unit to control traveling at each position on the traveling route in accordance with the stepwise narrow road flag information determined by the narrow road determination unit, and the reproduction control unit controls the traveling unit to control traveling at each position on the traveling route in accordance with the stepwise narrow road flag information determined by the narrow road determination unit, and when the device main body travels on the narrow road, the reproduction control unit detects the narrow road flag information determined by the narrow road determination unit among the plurality of detection units. Gradual According to the narrow road flag information The above-mentioned selected The device is characterized in that the non-work object is detected by a detection unit, and when the non-work object is detected to be close to the device body, the traveling unit is controlled to slow down or stop.

[0009] According to the first autonomous mobile work device of the present invention, various narrow roads existing in a work area can be accurately determined based on the device's status. Therefore, by referencing narrow road flag information, it is possible to understand how narrow roads affect the autonomous mobile work device's passage. Furthermore, narrow road flag information appropriate for the device's status can be determined from the tiered narrow road flag information. Furthermore, by performing control based on narrow road flag information, even when a narrow road exists on the travel route in the work area, autonomous mobile work can safely continue its work within the narrow road and prevent the occurrence of unworked areas. Furthermore, when traveling through a narrow road in the work area during autonomous mobile work, the detection range on both sides of the autonomous mobile work device can be changed based on the width of the narrow road. Furthermore, since non-work objects such as walls and obstacles that constitute the narrow road on both sides of the autonomous mobile work device are no longer detected on both sides of the narrow road, the autonomous mobile work device does not slow down or stop due to the presence of non-work objects on both sides, allowing the autonomous mobile work to continue without prolonging the work time. Furthermore, since non-work objects in front of the autonomous mobile work device are reliably detected in narrow roads, autonomous mobile work can safely continue.

[0010] In order to solve the above problem, in the second autonomous mobile work device of the present invention, the narrow road determination unit applies the device width of the autonomous mobile work device, which is the width of the device body or the maximum width when a wide part larger than the width is attached, as the device state.

[0011] According to the second autonomous mobile work device of the present invention, the width of the road that the autonomous mobile work device can travel on can be more accurately determined based on the device width, making it possible to determine more appropriate narrow road flag information.

[0012] In order to solve the above problem, in a third autonomous mobile work device of the present invention, the narrow road determination unit applies the minimum turning radius of the autonomous mobile work device when turning as the device state.

[0013] According to the third autonomous mobile work device of the present invention, the width of the road on which the autonomous mobile work device can turn can be determined more accurately, making it possible to determine more appropriate narrow road flag information.

[0014] In order to solve the above problems, in a fourth autonomous navigation work device of the present invention, the narrow road determination unit applies performance information of the measurement unit or the detection unit as the device state.

[0015] According to the fourth autonomous mobile work device of the present invention, the performance of the measurement unit and detection unit is more accurately understood before detecting surrounding information, thereby making it possible to further reduce contact with non-work objects such as walls and obstacles.

[0016] In order to solve the above problem, in the fifth autonomous driving work device of the present invention, the narrow road determination unit applies as the device state a combination of at least two of the device width of the autonomous driving work device, which is the width of the device body or the maximum width when a wide part larger than that width is attached, the minimum turning radius when the autonomous driving work device turns, and performance information of the measuring unit or the detecting unit.

[0017] According to the fifth autonomous mobile work device of the present invention, by combining various information, it is possible to more accurately grasp the device status of the autonomous mobile work device, and by applying this device information, it is possible to determine more appropriate narrow road flag information.

[0018] In order to solve the above problem, in a sixth autonomous mobile work device of the present invention, the narrow road determination unit calculates the minimum turning radius based on tire information of the traveling unit.

[0019] According to the sixth autonomous mobile work device of the present invention, by utilizing tire information of the traveling part and work member information of the working part, it is possible to more accurately grasp the width of the road on which the autonomous mobile work device can turn, taking into account the frictional force with the floor surface, and therefore to determine more appropriate narrow road flag information.

[0020] In order to solve the above problem, in the seventh autonomous mobile work device of the present invention, the narrow road determination unit determines the narrow road flag information as information prohibiting passage, information allowing passage only, or information allowing passage and limited turning.

[0021] According to the seventh autonomous mobile work device of the present invention, the traveling method of the autonomous mobile work device can be limited by each of the stages of narrow road flag information.

[0022] In order to solve the above problem, in the eighth autonomous mobile work device of the present invention, the narrow road determination unit calculates the road width at each position on the travel route from an environmental map of the work area created based on the measurement results of the measurement unit when creating the environmental map, or calculates the road width at each position on the travel route based on the measurement results of the measurement unit and the maximum width of the device body, and determines the narrow road based on the calculated road width.

[0023] According to the eighth autonomous mobile work device of the present invention, it is possible to reliably determine narrow roads included in the travel route of a work area before autonomous mobile work begins. Furthermore, if a narrow road is included in the travel route, the narrow road will become a work area, but by performing control in accordance with narrow road flag information, it is possible to safely continue autonomous mobile work within the narrow road and prevent the occurrence of unworked areas.

[0024] In order to solve the above problem, in the ninth autonomous driving work device of the present invention, when performing the autonomous driving work, the narrow road determination unit calculates the road width at a position on the traveling direction side of the driving path based on the measurement results of the measurement unit and the maximum width of the device main body, and if the calculated road width is equal to or greater than the predetermined width threshold, determines that the traveling direction side is not the narrow road, and if the road width is less than the predetermined width threshold, determines that the traveling direction side is the narrow road.

[0025] According to the ninth autonomous mobile work device of the present invention, it is possible to perform autonomous mobile work in a work area where narrow roads and normal roads are mixed, while accurately identifying various narrow roads. This allows autonomous mobile work to be performed efficiently without much effort, and because narrow roads can be used as work areas, it is possible to perform autonomous mobile work without leaving any unworked areas.

[0026] In order to solve the above problem, the tenth autonomous mobile work device of the present invention further comprises a pivot turn button for instructing the traveling unit to make a pivot turn of the device main body, and when the traveling unit is manually operated and traveling along the narrow road determined by the narrow road determination unit, if the road width of the narrow road is less than the width at which manual turning is possible but greater than or equal to the width at which a pivot turn is possible, the turning operation of the device main body is limited to a pivot turn made by the pivot turn button.

[0027] According to the tenth autonomous mobile work device of the present invention, when the autonomous mobile work device is manually operated to travel on a narrow road, the autonomous mobile work device can continue to travel safely without colliding with non-work objects such as walls or obstacles.

[0028] In order to solve the above problem, the 11th autonomous mobile work device of the present invention, when the narrow road determination unit determines that a predetermined position on the travel route is a narrow road, notifies the operator of the existence of the narrow road and stores the narrow road flag information corresponding to the width of the narrow road.

[0029] According to the eleventh autonomous mobile work device of the present invention, an operator can determine whether to navigate a narrow road by noticing the existence of a narrow road while manually operating the device. Also, by noticing the existence of a narrow road while the autonomous mobile work device is performing autonomous navigation operations, the operator can move undetected obstacles on the narrow road in advance and grasp the progress of the autonomous navigation operations.

[0030] In order to solve the above problem, the 12th autonomous driving work device of the present invention further comprises a mode switching unit that can switch the operating mode between a learning mode and a reproduction mode, and a learning control unit that, in the learning mode, creates the environmental map and performs learning driving work by acquiring and storing the driving data when the driving unit is manually driving, and when performing the learning driving work, the learning control unit controls driving at each position on the driving route in accordance with the narrow road flag information determined by the narrow road determination unit, and the reproduction control unit performs the autonomous driving work in the reproduction mode.

[0031] According to the 12th autonomous mobile work device of the present invention, in both learning mobile work and automatic mobile work, narrow roads can be appropriately determined and narrow road flag information can be determined according to the device state of the autonomous mobile work device.

[0032] In order to solve the above problem, in the 13th autonomous mobile work device of the present invention, the learning control unit stops the learning driving operation when, in the learning mode, the narrow road determination unit determines that the narrow road has a width that is less than the minimum width of the autonomous mobile work device.

[0033] According to the thirteenth autonomous mobile work device of the present invention, the work plan created from the driving data and work data during learning driving work will not include narrow roads with widths equal to or less than the minimum width of the autonomous mobile work device as work areas. As a result, when the created work plan is executed in reproduction mode, it is possible to prevent the creation of unworked areas. [Effects of the Invention]

[0034] According to the present invention, even if a narrow road is present on the travel route in the work area, the autonomous mobile work device can safely continue autonomous travel work within the narrow road, thereby preventing the occurrence of unworked areas. [Brief explanation of the drawings]

[0035] [Figure 1] 1 is a schematic diagram showing the configuration of an autonomous mobile work device according to an embodiment of the present invention. [Figure 2] 1 is a block diagram showing the configuration of an autonomous mobile work device according to an embodiment of the present invention. [Figure 3] 10 is a table showing an example of a cleaning plan created in a cleaning learning traveling operation in the autonomous mobile work device according to an embodiment of the present invention. [Figure 4] 1 is a schematic diagram showing examples of normal roads and narrow roads according to the width of a travel route in an autonomous mobile working device according to an embodiment of the present invention. FIG. [Figure 5] FIG. 10 is a schematic diagram showing, from above, an example of the detection ranges of the measurement unit and obstacle detection unit when an avoidance travel pattern is set in an autonomous mobile working device according to an embodiment of the present invention. [Figure 6] FIG. 10 is an overview diagram showing an example of the detection range of the measurement unit and obstacle detection unit from above when a narrow road driving pattern is set and the autonomous mobile working device is traveling on a narrow road of narrow road level 1 or narrow road level 2 in an embodiment of the present invention. [Figure 7] FIG. 10 is a schematic diagram showing an example of the detection ranges of the measurement unit and obstacle detection unit from above when a narrow road driving pattern is set and the autonomous mobile working device is traveling on a narrow road of narrow road level 3 in an embodiment of the present invention. [Figure 8] FIG. 10 is a schematic diagram showing, from the right, an example of the detection ranges of the measurement unit and obstacle detection unit when a narrow road driving pattern is set in an autonomous mobile work device according to an embodiment of the present invention. [Figure 9] FIG. 2 is a front view showing an example of an operation display unit and a mode selection screen of the autonomous mobile working device according to an embodiment of the present invention. [Figure 10]FIG. 10 is a front view showing an example of a data setting screen displayed on the operation display unit when an avoidance travel pattern is set in the autonomous mobile working device according to an embodiment of the present invention. [Figure 11] FIG. 10 is a front view showing an example of a data setting screen displayed on the operation display unit when a narrow road driving pattern is set in the autonomous mobile work device according to an embodiment of the present invention. [Figure 12] 10 is a flowchart illustrating an example of an operation at the start of autonomous traveling and cleaning in an autonomous traveling work device according to an embodiment of the present invention. [Figure 13] 10 is a flowchart showing an example of an autonomous traveling and cleaning operation when a narrow road traveling pattern is set in an autonomous traveling work device according to an embodiment of the present invention. [Figure 14] 10 is a flowchart showing an example of an autonomous traveling and cleaning operation when an avoidance traveling pattern is set in the autonomous traveling work device according to an embodiment of the present invention. [Figure 15] FIG. 10 is a schematic diagram showing an example of the operation of the autonomous traveling and cleaning device when an undetected obstacle is detected in an autonomous traveling and working device according to an embodiment of the present invention, when an avoidance traveling pattern is set. [Figure 16] FIG. 10 is a schematic diagram showing an example of the operation of automatic traveling and cleaning when an undetected obstacle is detected in an autonomous traveling work device according to an embodiment of the present invention, when a narrow road traveling pattern is set. DETAILED DESCRIPTION OF THE INVENTION

[0036] 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.

[0037] An autonomous mobile work device 1 according to an embodiment of the present invention will now be described. As shown in FIG. 1, the autonomous mobile work device 1 comprises a device main body 2 for housing various components, a travel unit 3 for propelling the device main body 2, and a travel operation unit 4 for manually operating the travel unit 3. The autonomous mobile work device 1 can be equipped with a work mechanism (working unit) for performing a predetermined task on the device main body 2, and, for example, can function as an autonomous mobile cleaning device by including a cleaning unit 5 as the working unit for cleaning the floor surface FL below the device main body 2. The autonomous mobile work device 1 cleans the floor surface FL of a cleaning area (working area), for example, all or part of a commercial facility such as a shopping mall, office, hotel, hospital, school, factory, etc.

[0038] The autonomous mobile work device 1 also includes a measurement unit 6 that measures the positional relationship between the device main body 2 and non-work objects such as surrounding walls and obstacles (e.g., ornaments), and an obstacle detection unit 7 that detects walls and obstacles within a predetermined distance. The autonomous mobile work device 1 also includes an operation display unit 8 consisting of a touch panel 29 (see FIG. 9) for operating and displaying various functions of the autonomous mobile work device 1, and a power supply unit 9 that supplies power to each unit of the autonomous mobile work device 1 and monitors the remaining capacity of the battery (not shown) and controls charging. The autonomous mobile work device 1 also includes a control unit 10 that provides overall control of each unit and various functions of the autonomous mobile work device 1 (travel by the mobile unit 3, cleaning work by the cleaning unit 5, measurement by the measurement unit 6, etc.), and a memory unit 11 that stores a cleaning plan (work plan) consisting of travel data from the mobile unit 3 and cleaning data (work data) from the cleaning unit 5 (see FIG. 2).

[0039] It is preferable that autonomous mobile work device 1 is provided with bumper 12 on device body 2 to prevent damage when it collides with an obstacle, etc. Furthermore, as shown in Fig. 2, autonomous mobile work device 1 may be provided with warning light 13 for issuing warnings to the operator of autonomous mobile work device 1, speaker 14 for notifying the operator of autonomous mobile work device 1 and users of the cleaning area of ​​the operation of autonomous mobile work device 1 and warnings, and communication unit 15 for communicating with external devices.

[0040] Next, an overview of the operation of the autonomous mobile work device 1 will be described.

[0041] Autonomous mobile work device 1 is a vehicle capable of traveling autonomously under manual operation and autonomously under automatic operation, and operates by switching between one of the following operating modes: learning mode, reproduction (automatic traveling) mode, and manual mode. Note that, regardless of the shape of device main body 2, autonomous mobile work device 1 is not circular in plan view, and has a device shape in which the overall length and overall width differ, so when rotating or turning, it requires a wider road width than when stationary or traveling straight.

[0042] In learning mode and manual mode, the autonomous mobile work device 1 performs learning travel and cleaning (learning travel work) and manual travel and cleaning (manual travel work), respectively, and performs manual travel and manual cleaning (manual work) in response to manual operation of the travel operation unit 4 and the operation display unit 8 by the operator. As an example of manual travel, when the operator manually pushes the autonomous mobile work device 1 to travel, the autonomous mobile work device 1 may turn and travel back and forth, turning with a turning radius such that the round-trip travel trajectories of the device main body 2 or the cleaning member 16 of the cleaning unit 5 overlap by a predetermined width. Hereinafter, such a turn will be referred to as a manual turn. In learning travel and cleaning, an environmental map of the cleaning area is created and stored during the learning travel, and travel data indicating the travel route and travel conditions during the learning travel and cleaning data indicating the cleaning conditions during the learning cleaning are acquired. A cleaning plan including the travel data and cleaning data, as shown in FIG. 3, is stored. The cleaning plan is stored in association with the environmental map used during learning travel and the travel pattern set in learning mode (avoidance travel pattern or narrow road travel pattern). When an undetected obstacle that was not detected in the learning mode is detected in the reproduction mode, the travel pattern is set to either an avoidance travel pattern in which the robot travels while avoiding the undetected obstacle, or a narrow road travel pattern in which the robot stops automatic travel cleaning without avoiding the undetected obstacle.

[0043] In the reproduction mode, the autonomous mobile work device 1 performs automatic traveling and cleaning (automatic traveling work) and performs automatic traveling and cleaning (automatic work) in accordance with automatic operation by the control unit 10 based on the selected cleaning plan and the corresponding environmental map and traveling pattern so as to reproduce the cleaning plan selected by the operator from among the cleaning plans stored in the learning traveling and cleaning. For example, if a cleaning plan was created while performing the manual turning described above in the learning traveling and cleaning, the same manual turning will be performed by automatic traveling in the automatic traveling and cleaning that reproduces this cleaning plan. Note that the manual turning described above is not limited to being stored in the cleaning plan (travel data) in accordance with the manual operation in the learning traveling and cleaning; for example, a cleaning plan (travel data) including the manual turning described above can also be created using pre-entered data or a program.

[0044] As shown in Figure 3, the cleaning plan is made up of multiple steps along the travel route, and each step is associated with travel data, cleaning data, and narrow road flag information. The step interval may be set to a predetermined time interval (e.g., 25 ms) when performing learning travel and cleaning, or may be set to a predetermined travel distance (e.g., 0.5 m) of the autonomous mobile work device 1. In addition to the above, the cleaning plan may also store the time elapsed since the start of learning travel and cleaning in association with each step.

[0045] The travel data includes, for example, self-position data on the travel route of the travel 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), travel speed [m / s] in the travel direction, and turning speed [deg / s], and the travel route can be diagrammed based on the travel data. Alternatively, the travel speed may be switched to one of multiple speed levels, and the travel data may be stored by converting the stepwise travel speed into a number (for example, 8 levels from 0 to 7).

[0046] The cleaning data includes, for example, the pad pressure of the cleaning members 16 of the cleaning unit 5, the amount of water supplied by the cleaning liquid supply unit 17, and the suction volume of the suction unit 18. The pad pressure is the force pressing the cleaning members 16 against the floor surface FL, the amount of water supplied is the amount of cleaning liquid (working liquid) supplied to the floor surface FL by the cleaning liquid supply unit 17, and the suction volume is the operating strength of the suction blower (not shown) when the suction unit 18 sucks the dirty water from the floor surface FL after cleaning. The pad pressure, amount of water supplied, and amount of suction may be switched to one of multiple levels of strength, and the cleaning data may be stored by converting the level of strength of the pad pressure, 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 data may also include the operation / stop and rotation speed of the cleaning members 16.

[0047] As shown in FIG. 4, the narrow road flag information is determined according to the device status of the autonomous mobile work apparatus 1 and each position on the travel route, i.e., the road width at the position of each step in the travel data, and indicates whether the travel route is narrow or not. If the travel route is narrow, a narrow road level corresponding to the road width is indicated. As the device status of the autonomous mobile work apparatus 1, for example, the device width of the autonomous mobile work apparatus 1 is applied. This device width is the width of the device main body 2 when the autonomous mobile work apparatus 1 is not equipped with a wide component such as a squeegee 19 (large squeegee) that is larger than the width of the device main body 2. On the other hand, when the autonomous mobile work apparatus 1 is equipped with a wide component, it is the width of the wide component, i.e., the maximum width. For example, if the travel route is a normal road rather than a narrow road, the narrow road flag information may be set to a normal road, or may be set to no narrow road. A normal road that is not a narrow road may be an open space, and is a travel route with a road width that is equal to or wider than the width at which the autonomous mobile work device 1 can manually turn, and the width at which manual turning can be performed is determined according to the state of the autonomous mobile work device 1, and for example, taking into account the width of the autonomous mobile work device 1, it is a width that allows the operator to turn safely when manually operating the autonomous mobile work device 1 without coming into contact with surrounding walls or obstacles, and without the operator being pinched between the autonomous mobile work device 1 and the wall, and may also be a width with a safety distance added. If the travel route is a narrow road, the narrow road flag information is set to narrow, and a narrow road level is also set.

[0048] As shown in FIG. 4, the narrow road level of the narrow road flag information is set in stages according to the state of the autonomous mobile work apparatus 1 and the width of the narrow road. Preferably, the narrower the road width, the higher the level is set. For example, if the road width of the narrow road is less than the width at which a manual turn is possible but is equal to or greater than the width at which a pivot turn is possible, the narrow road level is set to narrow road level 1. Here, the width at which a pivot turn is possible refers to the width at which the autonomous mobile work apparatus 1, equipped with wide parts, can make a pivot turn without coming into contact with surrounding walls or obstacles. Note that a pivot turn is an operation in which the autonomous mobile work apparatus 1 turns on the spot around the center of its main body as an axis, and is the turn with the smallest turning radius (turn with the smallest turning radius). Furthermore, if the road width of the narrow road is less than the width at which a pivot turn is possible but is equal to or greater than the width at which the autonomous mobile work apparatus 1, equipped with wide parts, can safely pass through without coming into contact with surrounding walls or obstacles, the narrow road level is set to narrow road level 2. Furthermore, if the width of the narrow road is less than the width that the autonomous mobile work device 1 can safely pass through when it is equipped with wide parts, but is equal to or greater than the width that the autonomous mobile work device 1 can safely pass through without coming into contact with surrounding walls or obstacles when it is removed from the wide parts, i.e., at its minimum width (larger than the width of the device main body 2), it is set to narrow road level 3. Here, the state in which the autonomous mobile work device 1 is at its minimum width also includes a state in which it is equipped with parts (narrow parts) such as a squeegee 19 (small squeegee) that are smaller in width than the device main body 2.

[0049] If the width of the narrow road is less than the width that the autonomous mobile work device 1 can travel with the wide parts removed, that is, if it is equal to or less than the minimum width of the autonomous mobile work device 1, the narrow road flag information will indicate a no-passage narrow road, and the autonomous mobile work device will not travel on this narrow road during learning travel cleaning. In this case, the narrow road flag information or narrow road level does not need to be set, but may be set to a no-passage narrow road.

[0050] The device status of the autonomous mobile work apparatus 1 that is applied to determining whether a road is narrow and the narrow road level of the narrow road flag information includes, for example, the turning method of the autonomous mobile work apparatus 1 and the minimum turning radius when turning. The turning methods of the autonomous mobile work apparatus 1 include, for example, the manual turning and pivot turning described above, each of which has a different turning radius when turning. Another device status of the autonomous mobile work apparatus 1 includes the device width of the autonomous mobile work apparatus 1. As described above, the device width of the autonomous mobile work apparatus 1 is the width of the device main body 2 when the autonomous mobile work apparatus 1 is not equipped with wide components. On the other hand, when the autonomous mobile work apparatus 1 is equipped with wide components, it is the width of the wide components, i.e., the maximum width. The device width of the autonomous mobile work apparatus 1 can be used to calculate the road width on which the autonomous mobile work apparatus 1 can travel straight and the road width on which it can turn. Furthermore, the device status of the autonomous mobile work device 1 includes tire information indicating the type and size of tires attached to the front wheels 3a of the travel unit 3, and cleaning element information (work element information) indicating the type and dimensions (thickness, outer diameter) of cleaning elements 16, such as cleaning pads, attached to the cleaning unit 5 and used while in contact with the ground. Because the turning radius of the autonomous mobile work device 1 may change depending on the tires and cleaning elements 16, a more accurate turning radius can be calculated using tire information and cleaning element information. Further, the device status of the autonomous mobile work device 1 includes performance information of the measurement unit 6 and obstacle detection unit 7. Performance improvements when changing the measurement unit 6 or obstacle detection unit 7, or performance degradation due to dirt or malfunction of the measurement unit 6 or obstacle detection unit 7, can change the measurement and detection results of position information relative to non-work objects, such as surrounding walls and obstacles. Therefore, performance information from the measurement unit 6 and obstacle detection unit 7 can be used to more accurately calculate position information relative to non-work objects, allowing for more accurate calculation of road width. In addition, the performance information of the measurement unit 6 and the obstacle detection unit 7 may be determined by the control unit 10 by comparing it with the results (past data) of repeated automatic cleaning runs, or according to information input by the operator via the operation display unit 8.

[0051] Next, each part of the autonomous mobile work device 1 will be described.

[0052] The travel unit 3 is provided below the device body 2 and includes one front wheel 3a as a drive wheel and a pair of rear wheels 3b as auxiliary wheels, with tires attached to each of the front wheel 3a and the pair of rear wheels 3b. The front wheel 3a is provided at the front in the direction of travel, in the center of the device widthwise direction, and includes a travel drive motor (not shown) and a front wheel rotation encoder (not shown). The travel unit 3 drives the travel 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 travel speed (acceleration / deceleration) of the autonomous mobile work device 1 (travel unit 3) is adjusted by controlling the drive of the travel drive motor. Note that the travel unit 3 may move the device body 2 backward by having the travel drive motor rotate the front wheels 3a in the reverse direction.

[0053] 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 and steering the device main body 2, and by moving the device main body 2 forward while changing the direction of the front wheels 3a, the autonomous mobile work device 1 (traveling unit 3) turns 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 drive of the steering motor. For example, by rotating the steering shaft and controlling the steering motor to tilt the steering angle 90 degrees to the left or right with respect to the direction of travel, the device main body 2 turns forward or backward, causing it to make a pivot turn to the left or right. In addition, if the type, width, and other dimensions of the parts (tires) attached to the front wheels 3a change, the steering angle of the front wheels 3a will change and the minimum turning radius during turning will also change (increase or decrease), so tire information for the front wheels 3a may be applied as the device status of the autonomous mobile work device 1.

[0054] The pair of rear wheels 3b are spaced apart in the device width direction (left-right direction) at the rear side in the direction of travel, and each is equipped with an encoder (not shown) for determining the travel distance from the amount of rotation. The pair of rear wheels 3b rotate in response to the movement of the device main body 2 driven by the front wheels 3a. Adjustment of the travel speed (acceleration / deceleration) and steering of the autonomous mobile work device 1 (travel unit 3) may be performed by controlling the travel drive motor and the steering motor while feeding back the amount of rotation of each of the rear wheels 3b using the encoders provided on the rear wheels 3b. Note that, although an example in which the front drive wheels 3a and the rear auxiliary wheels 3b are provided has been described in this embodiment, the present invention is not limited to this example. For example, in other embodiments, the autonomous mobile work device may be equipped with a front auxiliary wheel 3a and a pair of rear drive wheels 3b.

[0055] When the operation mode is set to learning mode or manual mode, the traveling unit 3 operates in response to manual operation of the traveling operation unit 4 by the operator. When the operation mode is set to reproduction mode, the traveling unit 3 operates in response to control by the control unit 10 (reproduction control unit 26) based on the travel data and environmental map of the cleaning plan selected by the operator.

[0056] The travel operation unit 4 is provided on the upper rear side of the device body 2, and includes a handle (not shown) and a throttle (not shown) that can be manually operated by the operator. The travel operation unit 4 accepts manual operations by the operator while the operation mode is set to the learning mode or manual mode, but is configured not to accept manual operations by the operator other than the operation of the emergency stop button 28 while the operation mode is set to the reproduction mode.

[0057] The travel operation unit 4 converts the steering amount of the steering wheel by the operator into an electrical signal and outputs the electrical signal to the steering motor to drive it, thereby rotating the steering shaft of the front wheels 3a and turning the device main body 2 left (left turn) or right (right turn). The steering angle of the autonomous mobile work device 1 (travel unit 3) is adjusted according to the steering amount of the steering wheel of the travel operation unit 4. Specifically, by counting the number of pulses of the steering rotation encoder when the steering wheel is operated, the steering amount of the steering wheel is converted into a pulse number, and the steering motor is controlled according to this pulse number, the steering angle of the autonomous mobile work device 1 can be adjusted. The steering angle (deg) is determined by taking the direction of travel of the travel unit 3 as the reference (0 degrees), with a left turn relative to the direction of travel indicated as a positive angle and a right turn relative to the direction of travel indicated as a negative angle. The steering angle may be detected by converting it into an electrical signal using a variable resistor.

[0058] Additionally, the travel operation unit 4 converts the amount of throttle rotation (opening) by the operator into an electric signal, and outputs the electric signal to the travel drive motor to drive it, thereby rotating the front wheels 3a and moving the device main body 2 forward in the direction of travel. The travel speed of the autonomous mobile work device 1 (travel unit 3) is adjusted according to the amount of throttle rotation of the travel operation unit 4.

[0059] The cleaning unit 5 is provided below the device main body 2 and is configured to clean the floor surface FL below the device main body 2. When the operation mode is set to the learning mode or manual mode, the cleaning unit 5 operates in response to manual operation by the operator on the operation display unit 8. When the operation mode is set to the reproduction mode, the cleaning unit 5 operates in response to control (automatic operation) of the control unit 10 (reproduction control unit 26) based on the cleaning data of the cleaning plan selected by the operator.

[0060] The cleaning unit 5 is configured, for example, as a wet cleaning mechanism that cleans the floor surface FL using cleaning liquid, and includes cleaning members 16 (working members) that come into contact with the floor surface FL to clean it, a cleaning liquid supply unit 17 that supplies cleaning liquid to the floor surface FL, and a suction unit 18 that sucks up the cleaning liquid used to clean the floor surface FL, i.e., dirty water. The cleaning unit 5 also includes a cleaning member motor (not shown) that rotates the cleaning members 16 on the floor surface FL, and a cleaning member actuator (not shown) that moves the cleaning members 16 up and down relative to the floor surface FL. The cleaning unit 5 also includes a dirty water collection unit (not shown) that collects the dirty water sucked up by the suction unit 18.

[0061] 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 its rotation axis, and when the cleaning member actuator moves the cleaning shaft up and down, the cleaning member 16 also moves up and down.

[0062] The cleaning members 16 are composed of a pair of cleaning pads or a pair of cleaning brushes, and are attached side by side in the width direction (left-right direction) of the device, approximately at the center of 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 front to rear at the center of the width direction. This causes dirty water and dust in front of the pair of cleaning pads or pair of cleaning brushes to collect in the center of the width direction and then be discharged rearward. Note that the resistance (friction) force of cleaning members 16, such as cleaning pads or cleaning brushes, against the floor surface FL changes depending on their type and dimensions (thickness and outer diameter). The steering angle of the front wheels 3a during turning changes depending on the friction force of the cleaning members 16 against the floor surface FL, and the minimum turning radius during turning also changes (increases or decreases). Therefore, cleaning member information of the cleaning members 16 may be applied as the device status of the autonomous mobile work device 1.

[0063] The cleaning liquid supply unit 17 includes a cleaning liquid tank that stores cleaning liquid and a supply pump connected to the cleaning liquid tank, and uses the supply pump to supply and spray cleaning liquid from the cleaning liquid tank onto the floor surface FL. The cleaning liquid supply unit 17 supplies cleaning liquid, for example, by applying a voltage to the supply pump to rotate the impeller of the supply pump. The amount of cleaning liquid supplied is adjusted by changing this voltage to adjust the impeller rotation speed. For example, by storing correlation data between voltage and the amount of cleaning liquid supplied in the memory unit 11 in advance, when a specified amount of water is requested, the requested amount of water is adjusted by applying a voltage corresponding to this amount of water to the supply water pump.

[0064] 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 installed behind the cleaning member 16 and in contact with the floor surface FL. 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 collected wastewater 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.

[0065] In such a cleaning unit 5, the cleaning liquid supply unit 17 sprays cleaning liquid onto the floor surface FL, while the cleaning member motor rotates the cleaning pad or cleaning brush of the cleaning member 16 and the cleaning member actuator forces it against the floor surface FL, thereby cleaning the floor surface FL, and the wastewater after cleaning is collected by the wastewater collection unit.

[0066] The measurement unit 6 includes a laser range finder (LRF) 6a that measures position information (e.g., angle and distance relative to the traveling direction of the device main body 2) between the device main body 2 and non-work objects such as surrounding walls and obstacles. While the device main body 2 is traveling, the measurement unit 6 measures the position information of the non-work objects, for example, at predetermined intervals (e.g., every 25 ms). The LRF 6a is disposed in a cutout formed by cutting out the front side of the device main body 2 in the left-right direction, and has a detection range extending to the front and both the left and right sides, as shown in FIGS. 5 to 8. Note that in FIGS. 5 to 8, the detection range of the LRF 6a is indicated by a sector around the LRF 6a. Note that the measurement results of the position information of the non-work objects change depending on performance improvements due to model changes of the LRF 6a used as the measurement unit 6, or performance degradation due to dirt or malfunction. Therefore, performance information of the measurement unit 6 may be used as the device status of the autonomous mobile work device 1. The measurement performance of the measuring unit 6 may be determined, for example, by the control unit 10 by comparing the change (increase or decrease) in the longest measurement distance (measurement limit value) of the measuring unit 6 with the results of repeated automatic cleaning runs (past data), or may be determined according to information input by the operator via the operation display unit 8.

[0067] The obstacle detection unit 7 includes multiple proximity sensors 7a (detection units), such as ultrasonic sensors, that detect the presence or absence of walls or obstacles within a predetermined distance from the device main body 2; a step sensor 7b, such as an infrared sensor, that detects steps on the floor surface FL near the device main body 2; and a bumper sensor 7c attached to the bumper 12 on the front lower side of the device main body 2 to detect contact with walls or obstacles. The obstacle detection unit 7 may operate continuously while the device main body 2 is traveling. Note that the detection results of surrounding walls and obstacles may change depending on performance improvements due to model changes in the proximity sensors 7a used as the obstacle detection unit 7, or performance degradation due to dirt or malfunction. Therefore, performance information of the obstacle detection unit 7 may be used as the device status of the autonomous mobile work device 1. The measurement performance of the obstacle detection unit 7 may be determined, for example, by the control unit 10 by comparing changes (increases or decreases) in the longest measurement distance (measurement limit value) of the obstacle detection unit 7 with the results (past data) of repeated automatic traveling and cleaning operations, or by information input by the operator via the operation and display unit 8.

[0068] As shown in FIGS. 5 to 7 , the proximity sensors 7a are arranged on both the left and right sides and the front of the device body 2, preferably arranged symmetrically. In FIGS. 5 to 7 , the detection range of each proximity sensor 7a is shown as a sector around the proximity sensor 7a. For example, the proximity sensors 7a arranged at the center left and right sides of the device body 2 have detection ranges to the left and right of the device body 2 and detect non-work objects such as walls and obstacles to the left and right of the device body 2. The proximity sensors 7a arranged at the front left and front right of the device body 2 have detection ranges to the front left and front right of the device body 2 and detect non-work objects to the front left and front right of the device body 2. Furthermore, the proximity sensors 7a arranged at the front left and front right of the device body 2 have detection ranges to the front left and front right of the device body 2 and detect non-work objects to the front left and front right of the device body 2.

[0069] Furthermore, as shown in Fig. 8, the multiple proximity sensors 7a may be arranged at different positions in the vertical direction on the front side of the device body 2 so as to have detection ranges at different positions in the vertical direction. Note that in Fig. 8, the detection range of each proximity sensor 7a is shown as a sector around each proximity sensor 7a. For example, the proximity sensors 7a arranged at the front left and front right parts of the device body 2 may each be arranged at multiple positions in the vertical direction.

[0070] The operation display unit 8 is provided near the traveling operation unit 4 on the upper rear side of the device body 2, and as shown in FIG. 9, it includes a key switch 27, an emergency stop button 28, and a touch panel 29, 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, which is configured as a tablet terminal or the like, is connected to the control unit 10 via wireless communication by the communication unit 15, making it possible to remotely control the autonomous mobile work device 1.

[0071] Key switch 27 is configured to be switchable between on and off. Switching key switch 27 on supplies power to each component from power supply unit 9, causing autonomous mobile work apparatus 1 to operate, while switching key switch 27 off stops the supply of power to each component from power supply unit 9, causing autonomous mobile work apparatus 1 to stop operating. Operating emergency stop button 28 forcibly stops (brakes) the operation of each component of autonomous mobile work apparatus 1 (particularly, automatic traveling and cleaning in reproduction mode).

[0072] Touch panel 29 displays various screens in response to control signals from control unit 10, and transmits operation signals based on touch operations on each screen to control unit 10. For example, when key switch 27 is turned on to operate autonomous mobile work device 1, touch panel 29 displays mode selection screen 30, as shown in FIG. 9, which allows selection of an operation mode.

[0073] On the mode selection screen 30, a learn button 31, an automatic button 32, and a manual button 33 are displayed so that they can be operated.

[0074] When the learn button 31 or the manual button 33 is operated, the operation mode is switched to the learn mode or the manual mode, and the touch panel 29 displays a data setting screen 40 on which data relating to manual driving and manual cleaning can be set, as shown in Figures 10 and 11. When the auto button 32 is operated, the operation mode is switched to the reproduction mode, and the touch panel 29 displays a cleaning plan selection screen (not shown) on which a cleaning plan for automatic driving and cleaning can be selected.

[0075] The data setting screen 40 displays a speed change button 41 for changing the traveling speed of the traveling unit 3. The speed change button 41 includes, for example, an up button that increases the traveling speed in stages each time the button is operated, and a down button that decreases the traveling speed in stages each time the button is operated.

[0076] The data setting screen 40 displays a cleaning switch 42 for the cleaning member 16 of the cleaning unit 5 and a pad pressure adjustment button 43 for adjusting the pad pressure of the cleaning member 16. Each time the cleaning switch 42 is operated, it switches between running and stopping cleaning by the cleaning member 16. Each time the pad pressure adjustment button 43 is operated, it switches the pad pressure of the cleaning member 16 in a stepwise and cyclical manner.

[0077] The data setting screen 40 displays a supply switch 44 for the cleaning liquid supply unit 17 of the cleaning unit 5 and a supply water volume adjustment button 45 for adjusting the volume of water supplied by the cleaning liquid supply unit 17. Each time the supply switch 44 is operated, it switches between on and off the supply of cleaning liquid by the cleaning liquid supply unit 17. Each time the supply water volume adjustment button 45 is operated, it switches the volume of water supplied by the cleaning liquid supply unit 17 in a stepwise and cyclical manner.

[0078] The data setting screen 40 displays a suction switch 46 for the suction unit 18 of the cleaning unit 5 and a suction volume adjustment button 47 for adjusting the suction volume of the suction unit 18. Each time the suction switch 46 is operated, it switches between operating and stopping suction by the suction unit 18. Each time the suction volume adjustment button 47 is operated, it switches the suction volume of the suction unit 18 in a stepwise and cyclical manner.

[0079] Furthermore, in the learning mode, the data setting screen 40 operably displays a learning start button 48 for starting a learning cleaning run, a learning interrupt button 49 for interrupting the learning cleaning run, a learning completion button 50 for completing the learning cleaning run, and a memory button 51 for storing the results of the learning cleaning run as a cleaning plan. Note that the learning interrupt button 49 and the learning completion button 50 may be displayed only while the learning cleaning run is in progress, and the memory button 51 may be displayed only after the learning cleaning run is completed.

[0080] Furthermore, a driving pattern setting button 52 and a pivot turn button 53 are displayed on the data setting screen 40.

[0081] In learning mode and reproduction mode, the driving pattern setting button 52 sets the driving pattern to either an avoidance driving pattern or a narrow road driving pattern according to manual operation, and for example, switches between the avoidance driving pattern and the narrow road driving pattern each time it is pressed. In the avoidance driving pattern, as shown in FIG. 10, the driving pattern setting button 52 displays "Avoidance," and in the narrow road driving pattern, as shown in FIG. 11, the driving pattern setting button 52 displays "No Avoidance." Furthermore, the driving pattern setting button 52 may be operable when traveling on a narrow road with a road width less than a predetermined width threshold in learning mode. Here, the width threshold is, for example, set by the driving operation unit 4 to a width that allows the autonomous mobile work device 1 to safely make a manual turn without coming into contact with surrounding walls, obstacles, etc.

[0082] In manual mode or learning mode, the pivot turn button 53 instructs the driving unit 3 to make a pivot turn in response to manual operation, without relying on steering operation of the driving operation unit 4. For example, the pivot turn button 53 may instruct the driving unit 3 to make a pivot turn by a unit angle with a single press, or may instruct the driving unit 3 to continue making a pivot turn while the button is being pressed. The pivot turn button 53 may be configured with different buttons for left and right turns. It is preferable that the pivot turn button 53 be operable when the driving unit 3 is stopped. In this embodiment, an example is described in which the pivot turn button 53 is provided on the data setting screen 40; however, as another example, the pivot turn button 53 may be provided on the driving operation unit 4.

[0083] The cleaning plan selection screen (not shown) is configured to allow selection of each cleaning plan stored in the memory unit 11, and also includes operation buttons (not shown) that allow operations such as starting, pausing, and stopping automatic traveling and cleaning of the selected cleaning plan. When automatic traveling and cleaning of the selected cleaning plan starts, the touch panel 29 displays a screen indicating that automatic traveling and cleaning is currently being performed.

[0084] The power supply unit 9 includes a battery (power supply) and a charging circuit mounted inside the device main body 2, and when connected to an external power source, the battery is charged and power is supplied to each part of the autonomous mobile work device 1. The power supply unit 9 may output a signal indicating the remaining battery charge to the control unit 10.

[0085] The control unit 10 is composed of a computer such as a CPU (Central Processing Unit), and is connected to a storage unit 11 that includes a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk, a flash memory, etc., as shown in Fig. 2. The control unit 10 is also connected to each part of the autonomous mobile work device 1, such as the traveling unit 3, the traveling operation unit 4, the cleaning unit 5, the measuring unit 6, the obstacle detection unit 7, the operation display unit 8, the power supply unit 9, the warning light 13, the speaker 14, and the communication unit 15.

[0086] The control unit 10 is also connected to be able to communicate with external devices via the communication unit 15. The communication unit 15 performs wireless communication with external devices such as the operation display unit 8 configured as a tablet terminal or the like separate from the device main body 2, and the operator terminal 60 held by the operator, using a communication standard such as a wireless LAN such as Wi-Fi or Bluetooth (registered trademark).

[0087] Memory unit 11 stores programs and data for controlling each part and function of autonomous mobile work apparatus 1, and control unit 10 performs arithmetic processing based on the programs and data stored in memory unit 11, thereby providing overall control of each part and function. For example, by executing a program stored in memory unit 11, control unit 10 operates as mode switching unit 20, learning control unit 21, map creation unit 22, cleaning plan creation unit 23, driving pattern setting unit 24, narrow road determination unit 25, and reproduction control unit 26. This allows autonomous mobile work apparatus 1 to autonomously travel and work automatically according to a pre-stored program. Memory unit 11 also stores one or more cleaning plans, as well as environmental maps and driving patterns corresponding to each cleaning plan.

[0088] The mode switching unit 20 switches the operation mode to one of the learning mode, reproduction mode, and manual mode. For example, the mode switching unit 20 switches the operation mode to the learning mode, reproduction mode, and manual mode in response to the operation of the learning button 31, the automatic button 32, and the manual button 33 on the mode selection screen 30, respectively.

[0089] In the learning mode, the learning control unit 21 starts learning travel and cleaning in response to operation of the learning start button 48 on the data setting screen 40, and starts acquiring travel data for the travel unit 3 and cleaning data for the cleaning unit 5. While the learning travel and cleaning is being performed, the learning control unit 21 acquires the travel data and cleaning data at predetermined step intervals and temporarily stores them in the memory unit 11.

[0090] The learning control unit 21 acquires, for example, self-position data (X and Y coordinates, angle) as traveling data based on the position information measured by the measurement unit 6. The learning control unit 21 also detects the number of traveling rotations of the front wheels 3a using a front wheel rotation encoder of the front wheels 3a of the traveling unit 3, and acquires the traveling speed of the traveling unit 3 based on the detection result. The learning control unit 21 also detects the number of steering rotations of the front wheels 3a using a steering rotation encoder of the front wheels 3a of the traveling unit 3, and acquires the turning speed of the traveling unit 3 based on the detection result.

[0091] The learning control unit 21 acquires, for example, as cleaning data, the stepped strengths set via the data setting screen 40 for the pad pressure of the cleaning member 16 of the cleaning unit 5, the amount of water supplied by the cleaning liquid supply unit 17, and the suction amount of the suction unit 18.

[0092] Furthermore, the learning control unit 21 may temporarily store the travel pattern set by the travel pattern setting unit 24 during the learning travel cleaning in the memory unit 11. Also, the learning control unit 21 may temporarily store in the memory unit 11 the narrow road determination result by the narrow road determination unit 25 for each position (each step) of the travel route of the learning travel cleaning, in association with each step as narrow road flag information. The learning control unit 21 controls travel at each position of the travel route according to the narrow road flag information determined by the narrow road determination unit 25.

[0093] For example, if the narrow road determination unit 25 determines that each step is a narrow road during the learning travel and cleaning, the learning control unit 21, as described below, acquires narrow road flag information determined by the narrow road determination unit 25 at each step interval during the learning travel and cleaning, and stores the information in association with each step in the memory unit 11. That is, in this case, narrow road flag information is acquired and stored one by one at each step during the learning travel and cleaning, similar to the travel data and cleaning data. Alternatively, if the narrow road determination unit 25 does not determine that each step is a narrow road during the learning travel and cleaning, the learning control unit 21 acquires narrow road flag information for each step determined by the narrow road determination unit 25 based on the environmental map when the learning travel and cleaning is completed, and stores the information in association with each step in the memory unit 11. That is, in this case, narrow road flag information is acquired for all steps after the learning travel and cleaning is completed and stored all at once.

[0094] Furthermore, when traveling on a narrow road determined by narrow road determination unit 25 during learning travel cleaning, if the road width of the narrow road is less than the width at which manual turning is possible but is equal to or greater than the width at which pivot turning is possible, learning control unit 21 may restrict the turning operation of device main body 2 by manual operation using travel operation unit 4, and allow only pivot turning using pivot turn button 53. Note that, when the road width of the narrow road is less than the width at which pivot turning is possible, learning control unit 21 may restrict not only the turning operation using travel operation unit 4 but also the turning operation using pivot turn button 53.

[0095] Furthermore, when the narrow road determination unit 25 determines during learning driving and cleaning that the road width is narrower than the minimum width of the autonomous driving work device 1, i.e., a no-passage narrow road, the learning control unit 21 may control the driving unit 3 and the cleaning unit 5 to stop learning driving and cleaning if the autonomous driving work device 1 approaches the no-passage narrow road through manual operation by the driving operation unit 4.

[0096] Then, the learning control unit 21 interrupts the learning driving and cleaning in response to operation of the learning interrupt button 49 on the data setting screen 40 (operation to interrupt the learning driving and cleaning), forcibly stops manual driving and manual cleaning in the learning mode, and stops acquiring driving data and cleaning data.

[0097] Furthermore, the learning control unit 21 completes the learning travel and cleaning in response to operation of the learning completion button 50 on the data setting screen 40, and stops acquiring travel data and cleaning data.

[0098] While the learning traveling and cleaning is being performed in the learning mode, the map creation unit 22 estimates its own position and creates an environmental map in real time using a technique such as SLAM (Simultaneous Localization and Mapping).

[0099] Specifically, during learning travel cleaning of a predetermined cleaning area, map creation unit 22 acquires position information of device main body 2 and non-work objects around device main body 2 as measurement results from measurement unit 6, and creates a local map of the area around device main body 2 at predetermined time intervals or predetermined distance intervals based on the measurement results from measurement unit 6. Map creation unit 22 also estimates the self-position (coordinates) of autonomous mobile work device 1 in the local map based on the local map and the detection results (amount of movement of traveling unit 3) by each encoder of traveling unit 3.

[0100] Then, when completing the learning travel cleaning, the map creation unit 22 creates an environmental map of the cleaning area by stitching (combining) each local map. The map creation unit 22 also creates a travel route by stitching (combining) the self-position (each piece of position information measured by the measurement unit 6) in the local map. By using this environmental map, it is possible to determine the travelable range along the travel route based on the self-position in the local map and the position information of non-work targets measured by the measurement unit 6, and based on this travelable range, it is possible to calculate the road width at each position (each step) of the travel route.

[0101] When the learning driving and cleaning is completed in response to the operation of the learning completion button 50 on the data setting screen 40, the cleaning plan creation unit 23 creates a cleaning plan (work plan) by associating the driving data, cleaning data, and narrow road flag information that the learning control unit 21 temporarily stored in the memory unit 11 with each step.

[0102] The cleaning plan creation unit 23 displays an inquiry screen on the touch panel 29, inquiring the operator about inputting a plan name for the created cleaning plan, and adds the plan name input by the operator to the created cleaning plan. After the plan name is input, the cleaning plan creation unit 23 stores the created cleaning plan in the memory unit 11 in association with the environmental map created by the map creation unit 22 and the driving pattern set by the driving pattern setting unit 24 for the same learning driving cleaning in response to operation of the memory button 51 on the data setting screen 40. Note that if the environmental map, driving data, and cleaning data have been created in advance by using the autonomous mobile work device 1 as a computer, by an external device such as the operator terminal 60, or by automatically creating a driving route according to a previously input program, without performing learning driving cleaning, the cleaning plan creation unit 23 may create a cleaning plan for the environmental map, driving data, and cleaning data. In this case, narrow road flag information and driving patterns may also be set.

[0103] The travel pattern setting unit 24 sets either an avoidance travel pattern in which the robot travels while avoiding the undetected obstacle, or a narrow road travel pattern in which the robot stops automatic cleaning without avoiding the undetected obstacle, as the travel pattern when an undetected obstacle that was not detected in the learning mode (when creating the environmental map) is detected in the reproduction mode (when performing automatic cleaning). The avoidance travel pattern and the narrow road travel pattern may be set by manual operation, such as pressing a button, by the operator in both the learning mode and the reproduction mode. Note that the cleaning area for which the narrow road travel pattern is set by manual operation by the operator may be set to a road width equal to or greater than a predetermined width threshold, at the operator's discretion.

[0104] When setting a travel pattern in learning mode, travel pattern setting unit 24 basically sets a narrow road travel pattern in response to manual operation of travel pattern setting button 52 or automatically in response to the determination of a narrow road by narrow road determination unit 25 if autonomous mobile work apparatus 1 travels (detects) a narrow road with a road width less than a predetermined width threshold during learning travel cleaning (when creating the environmental map), in other words, if a narrow road is included in the travel route of the cleaning area where learning travel cleaning was performed. On the other hand, travel pattern setting unit 24 may set an avoidance travel pattern if autonomous mobile work apparatus 1 does not travel on a narrow road with a road width less than a predetermined width threshold during learning travel cleaning, i.e., if a narrow road travel pattern is not set. Furthermore, when the reproduction control unit 26 performs automatic driving and cleaning based on a pre-created environmental map, driving data, and cleaning data, regardless of whether it is learning driving and cleaning, the driving pattern setting unit 24 may set a driving pattern for when an undetected obstacle that was not detected when the environmental map was created is detected when performing automatic driving and cleaning, and may manually or automatically set a narrow road driving pattern if a narrow road with a road width less than a predetermined width threshold is detected when the environmental map is created.

[0105] Travel pattern setting unit 24 accepts manual operation of the narrow road travel pattern using travel pattern setting button 52 while autonomous mobile work device 1 is performing learning travel cleaning or when learning travel cleaning is completed. Alternatively, travel pattern setting unit 24 automatically sets the narrow road travel pattern when narrow road determination unit 25 determines that a road is narrow while autonomous mobile work device 1 is performing learning travel cleaning in learning mode.

[0106] Furthermore, when setting a travel pattern in reproduction mode, the travel pattern setting unit 24 accepts manual operation of a narrow road travel pattern using the travel pattern setting button 52 after selecting a cleaning plan and before starting automatic travel cleaning. Alternatively, while automatic travel cleaning is being performed, the travel pattern is switched and set depending on the narrow road determination result by the narrow road determination unit 25. At this time, if the narrow road determination unit 25 determines that the position on the travel route in the traveling direction is not a narrow road, the travel pattern setting unit 24 automatically sets an avoidance travel pattern, and on the other hand, if it determines that the road is a narrow road, it automatically sets a narrow road travel pattern.

[0107] Furthermore, when performing automatic cleaning, the travel pattern setting unit 24 may automatically set a travel pattern depending on the time period during which users of the cleaning area are active. For example, the travel pattern setting unit 24 sets a narrow road travel pattern during time periods such as daytime when there are many users of the cleaning area, and sets an avoidance travel pattern during time periods such as nighttime when there are fewer users.

[0108] In the learning mode or reproduction mode, narrow road determination unit 25 calculates the road width at each position on the travel route, and determines that the position on the travel route is not a narrow road if the road width is equal to or greater than a predetermined width threshold, and determines that the position on the travel route is a narrow road if the road width is less than the predetermined width threshold. Narrow road determination unit 25 may determine whether a road is narrow depending on the device state of autonomous mobile work apparatus 1, as described above.

[0109] When the narrow road determination unit 25 determines that a narrow road exists, the learning control unit 21 or the reproduction control unit 26 controls the speaker 14, the operation and display unit 8, the warning light 13, or the communication unit 15 to notify the operator of the existence of the narrow road by at least one of sound output from the speaker 14, screen display by the operation and display unit 8, lighting or flashing of the warning light 13, and communication with the operator terminal 60 held by the operator via the communication unit 15. At this time, the communication with the operator terminal 60 by the communication unit 15 may be by sending an email or a short message via a short message service. In the learning mode, it is preferable to notify the operator of the existence of a narrow road and to prompt the operator to set a narrow road driving pattern.

[0110] For example, when determining whether a road is narrow in the learning mode, the narrow road determination unit 25 acquires positional information of the device main body 2 and non-work objects around the device main body 2 as a measurement result of the measurement unit 6 while the learning travel cleaning is being performed, and calculates the road width at each position of the travel route based on the measurement result of the measurement unit 6 and the maximum width of the device main body 2. Furthermore, when completing the learning travel cleaning, the narrow road determination unit 25 uses an environmental map of the cleaning area created based on the measurement result of the measurement unit 6 to determine the travelable range at each position (each step) of the travel route based on the self-position in the local map and the positional information of the non-work objects as a measurement result of the measurement unit 6, and calculates the road width at each position of the travel route by measuring the road width of this travelable range.

[0111] Alternatively, when determining a narrow road in reproduction mode, the narrow road determination unit 25 calculates the road width at a position in the direction of travel of the travel route based on the measurement results of the measurement unit 6 and the maximum width of the device main body 2, while automatic travel cleaning is being performed, in the same manner as the operation during the learning travel cleaning described above.

[0112] Furthermore, in the learning mode, when the narrow road determination unit 25 calculates the road width at each position (each step) of the travel route, it determines narrow road flag information corresponding to the road width and stores the narrow road flag information in association with each step of the cleaning plan.

[0113] For example, when the road width of the travel route is equal to or greater than the width at which manual turning is possible, the narrow road determination unit 25 determines the narrow road flag information as a normal road, and when the road width of the travel route is less than the width at which manual turning is possible, the narrow road flag information as a narrow road. Note that the narrow road determination unit 25 may or may not store the narrow road flag information for a normal road in the cleaning plan.

[0114] If the narrow road flag information indicates a narrow road, the narrow road determination unit 25 further determines a narrow road level according to the road width. When the road width of the narrow road is less than the width necessary for a manual turn but greater than or equal to the width necessary for a pivot turn, the narrow road determination unit 25 determines the road to be narrow road level 1. Furthermore, when the road width of the narrow road is less than the width necessary for a pivot turn but greater than or equal to the width necessary for the autonomous mobile work apparatus 1 to pass through with wide parts attached, the narrow road determination unit 25 determines the road to be narrow road level 2. Furthermore, when the road width of the narrow road is less than the width necessary for the autonomous mobile work apparatus 1 to pass through with wide parts attached but greater than or equal to the width necessary for the autonomous mobile work apparatus 1 to pass through with the minimum width attached, the narrow road determination unit 25 determines the road to be narrow road level 3. In addition, when the road is narrow, the narrow road determination unit 25 may store the narrow road level in the cleaning plan instead of the narrow road flag information. The narrow road determination unit 25 may also determine the narrow road level according to the device status of the autonomous mobile work apparatus 1, as described above.

[0115] Furthermore, if the width of the narrow road is equal to or less than the minimum width of the autonomous mobile work device 1, the narrow road determination unit 25 determines that the narrow road level is a no-passage narrow road, but since the autonomous mobile work device 1 does not travel on a no-passage narrow road, the narrow road flag information or narrow road level of the no-passage narrow road is not stored in the cleaning plan.

[0116] When the operation mode is reproduction mode and a cleaning plan is selected in response to an operation on the cleaning plan selection screen displayed on the touch panel 29, the reproduction control unit 26 reads out the selected cleaning plan from the memory unit 11, and controls the traveling unit 3 and cleaning unit 5 to perform automatic traveling and cleaning based on the traveling data and cleaning data of this cleaning plan as well as the environmental map and traveling pattern corresponding to the cleaning plan.

[0117] At this time, the reproduction control unit 26 performs the autonomous traveling and cleaning while estimating the self-position of the autonomous traveling and cleaning device 1 on an environmental map corresponding to the cleaning plan. For example, the reproduction control unit 26 uses the map creation unit 22 to create a local map using technology such as SLAM, estimates the self-position of the autonomous traveling and cleaning device 1 in the local map, and matches the local map with the environmental map to estimate its self-position on the environmental map. Furthermore, the reproduction control unit 26 may acquire narrow road flag information determined by the narrow road determination unit 25 during the autonomous traveling and cleaning and store it in the memory unit 11. In this case, the reproduction control unit 26 may connect multiple local maps created for self-position estimation to create a partial environmental map, which may then be used for narrow road determination to acquire narrow road flag information. The reproduction control unit 26 can obtain accurate narrow road flag information, such as whether the narrow road is narrowing partially or continuously, and can continue the autonomous traveling and cleaning in accordance with the accurate narrow road flag information.

[0118] The reproduction control unit 26 then controls the traveling unit 3 by matching the self-position data for each step of the traveling data of the cleaning plan with the self-position estimated on the environmental map, and controls the cleaning work for each step based on the cleaning data of the cleaning unit 5.

[0119] Furthermore, reproduction control unit 26 controls traveling at each position on the traveling route in accordance with narrow road flag information determined by narrow road determination unit 25. Furthermore, when an undetected obstacle that was not detected in the learning mode is detected in the traveling direction by measurement unit 6 or obstacle detection unit 7 during automatic traveling and cleaning, reproduction control unit 26 controls traveling unit 3 and cleaning unit 5 in accordance with the traveling pattern.

[0120] For example, when an avoidance travel pattern is set, the reproduction control unit 26 performs automatic travel and cleaning until the distance between the device main body 2 and an undetected obstacle becomes a predetermined safe distance, and then controls the travel unit 3 to travel while avoiding the undetected obstacle while maintaining the predetermined safe distance between the device main body 2 and the undetected obstacle. During such an operation to avoid an undetected obstacle, the reproduction control unit 26 may control the cleaning unit 5 to continue automatic cleaning, or may control the cleaning unit 5 to stop automatic cleaning. Also, when an avoidance travel pattern is set, if the narrow road determination unit 25 determines that the road is narrow with a width less than a predetermined width threshold, the reproduction control unit 26 controls the travel unit 3 and the cleaning unit 5 to perform automatic travel and cleaning until the distance from the narrow road becomes a predetermined safe distance, and then stop automatic travel and cleaning. Alternatively, the reproduction control unit 26 may search for and move to a position where the reproduction mode can be resumed without entering the narrow road, and then resume the reproduction mode from the resumable position to continue automatic travel and cleaning.

[0121] When a narrow road travel pattern is set, the reproduction control unit 26 controls the travel unit 3 and the cleaning unit 5 to perform automatic travel and cleaning until the distance between the device main body 2 and an undetected obstacle reaches a predetermined safe distance, and then stop the automatic travel and cleaning. When stopping the automatic travel and cleaning according to the narrow road travel pattern, the reproduction control unit 26 stops the automatic travel and cleaning for a predetermined stop time. If an undetected obstacle is no longer detected after the predetermined stop time has elapsed, the reproduction control unit 26 resumes the automatic travel and cleaning. On the other hand, if an undetected obstacle is detected again, the reproduction control unit 26 repeats the process of stopping the automatic travel and cleaning for the predetermined stop time again. Furthermore, when a narrow road travel pattern is set, the reproduction control unit 26 continues the automatic travel and cleaning even if the narrow road determination unit 25 determines that the road is narrow with a width less than a predetermined width threshold, as long as the road is not a no-passage narrow road. The reproduction control unit 26 may also control the travel unit 3 to decelerate in narrow roads.

[0122] Furthermore, when the reproduction control unit 26 stops the automatic traveling and cleaning according to the narrow road traveling pattern, it controls the speaker 14, the operation and display unit 8, the warning light 13, or the communication unit 15 to notify the operator that the automatic traveling and cleaning has stopped by at least one of sound output from the speaker 14, a screen display on the operation and display unit 8, lighting or flashing of the warning light 13, and communication with the operator terminal 60 held by the operator via the communication unit 15. At this time, the communication with the operator terminal 60 by the communication unit 15 may be by sending an email or a short message via a short message service. Note that the reproduction control unit 26 also notifies the operator that the automatic traveling and cleaning has stopped again when an undetected obstacle is detected again after the above-mentioned predetermined stop time has elapsed.

[0123] Furthermore, during automatic traveling and cleaning, the reproduction control unit 26 may detect non-work objects such as obstacles using the laser range finder 6a of the measurement unit 6 and the multiple proximity sensors 7a of the obstacle detection unit 7, and may control the traveling unit 3 to decelerate when the distance to the non-work object approaches a predetermined safe distance, and to stop when the distance to the non-work object falls below the predetermined safe distance. At this time, the reproduction control unit 26 may selectively use the proximity sensors 7a according to the traveling pattern set by the traveling pattern setting unit 24 or according to narrow road flag information determined by the narrow road determination unit 25.

[0124] For example, when an avoidance travel pattern is set, the reproduction control unit 26 activates all of the multiple proximity sensors 7a on both the left and right sides and on the front side of the device main body 2, as shown in Fig. 5, and detects non-work objects based on the detection results of all of the multiple proximity sensors 7a. Furthermore, when an avoidance travel pattern is set, the reproduction control unit 26 activates only one proximity sensor 7a of the multiple proximity sensors 7a on the front side of the device main body 2 in the vertical direction and obtains the detection result of this proximity sensor 7a, or activates all of the multiple proximity sensors 7a and obtains the detection result of only one proximity sensor 7a, and detects non-work objects based on the obtained detection result.

[0125] On the other hand, when a narrow road driving pattern is set, as shown in Figures 6 and 7, the reproduction control unit 26 operates only the proximity sensor 7a located on the front side of the device main body 2 out of the multiple proximity sensors 7a located on both the left and right sides and the front side of the device main body 2 so as not to detect the walls on either side of the device main body 2 as non-work objects, and obtains the detection result of this proximity sensor 7a, or operates all of the multiple proximity sensors 7a and obtains the detection result of only the proximity sensor 7a located on the front side of the device main body 2, and detects non-work objects based on the obtained detection result.

[0126] Alternatively, when a narrow road driving pattern is set, the reproduction control unit 26 operates only the proximity sensor 7a selected from the multiple proximity sensors 7a according to the narrow road flag information determined by the narrow road determination unit 25, and acquires the detection result of this proximity sensor 7a, or operates all of the multiple proximity sensors 7a and acquires the detection result of only the proximity sensor 7a selected according to the narrow road flag information, and detects non-work objects based on the acquired detection result.

[0127] For example, when the narrow road flag information is narrow road level 1 or narrow road level 2, as shown in Figure 6, the detection results of the proximity sensors 7a located in the center left and center right of the device main body 2 are not obtained, but the detection results of the proximity sensors 7a located in the front left and front right parts of the device main body 2 and the proximity sensors 7a located in the front left and front right parts of the device main body 2 are obtained to detect non-work objects.

[0128] Furthermore, when the narrow road flag information is narrow road level 3, as shown in Figure 7, the detection results of the proximity sensors 7a located in the center left and center right of the device main body 2 and the proximity sensors 7a located in the front left and front right of the device main body 2 are not obtained, but the detection results of the proximity sensors 7a located in the front left and front right of the device main body 2 are obtained to detect non-work objects.

[0129] Furthermore, when a narrow road driving pattern is set, the reproduction control unit 26 operates all of the multiple proximity sensors 7a arranged vertically on the front side of the device main body 2, as shown in Figure 8, and detects non-work objects based on the detection results of all of the multiple proximity sensors 7a.

[0130] The reproduction control unit 26 will now be described with reference to the flow charts of Figures 12 to 14. First, the operation of setting a travel pattern at the start of automatic travel cleaning will be described.

[0131] When the operation mode is the reproduction mode, the reproduction control unit 26 reads out the cleaning plan selected by the operator from the storage unit 11 (step S1 in FIG. 12), and controls the automatic travel and cleaning based on the travel data and cleaning data of the cleaning plan. At this time, if a travel pattern is associated with the cleaning plan (step S2: YES in FIG. 12), and if the travel pattern is a narrow road travel pattern (step S3: YES in FIG. 12), the reproduction control unit 26 causes the travel pattern setting unit 24 to set the narrow road travel pattern (step S11 in FIG. 13); on the other hand, if the travel pattern is an avoidance travel pattern (step S3: NO in FIG. 12), the travel pattern setting unit 24 sets the avoidance travel pattern (step S21 in FIG. 14).

[0132] Furthermore, if no travel pattern is associated with the cleaning plan (step S2 in FIG. 12: NO), the reproduction control unit 26 acquires an environmental map associated with the cleaning plan, and the narrow road determination unit 25 determines whether or not a narrow road is included in the travel route of the environmental map (step S4 in FIG. 12). If a narrow road is included (step S5 in FIG. 12: YES), the travel pattern setting unit 24 sets a narrow road travel pattern (step S11 in FIG. 13). On the other hand, if a narrow road is not included (step S5 in FIG. 12: NO), the travel pattern setting unit 24 sets an avoidance travel pattern (step S21 in FIG. 14).

[0133] Next, the operation when the narrow road travel pattern is set (step S11 in FIG. 13) will be described. While the automatic travel and cleaning is being performed (step S12 in FIG. 13), the reproduction control unit 26 detects non-work objects such as obstacles using the laser range finder 6a of the measurement unit 6 and the multiple proximity sensors 7a of the obstacle detection unit 7 (step S13 in FIG. 13). If no non-work objects are detected (step S13 in FIG. 13: NO), the reproduction control unit 26 continues the automatic travel and cleaning (step S14 in FIG. 13).

[0134] On the other hand, if a non-work object is detected (step S13 in FIG. 13: YES), as shown in FIG. 16, the reproduction control unit 26 continues the automatic traveling and cleaning until the distance between the device main body 2 and the non-work object becomes a predetermined safe distance (step S15 in FIG. 13: NO). Furthermore, when the distance between the device main body 2 and the non-work object becomes equal to or less than the predetermined safe distance (step S15 in FIG. 13: YES), the reproduction control unit 26 temporarily suspends the automatic traveling and cleaning (step S16 in FIG. 13) and notifies the operator that the automatic traveling and cleaning has stopped (step S17 in FIG. 13).

[0135] After that, when a predetermined stop time has elapsed, the reproduction control unit 26 detects the non-work object again (step S18 in Figure 13), and if the non-work object is detected again (step S18 in Figure 13: YES), it repeats stopping the automatic traveling and cleaning (step S16 in Figure 13) and notifying the operator (step S17 in Figure 13).On the other hand, if the non-work object itself moves or the operator moves the non-work object and the non-work object is no longer detected (step S18 in Figure 13: NO), it continues the automatic traveling and cleaning (step S14 in Figure 13).

[0136] Then, the reproduction control unit 26 repeats the above processing until the autonomous mobile work device 1 reaches the destination (end point of the travel route) in the cleaning area during the autonomous mobile cleaning (step S19: NO in Figure 13), and when the autonomous mobile work device 1 reaches the destination (step S19: YES in Figure 13), the autonomous mobile cleaning ends.

[0137] Next, the operation when an avoidance travel pattern is set (step S21 in FIG. 14) will be described. While automatic travel and cleaning is being performed (step S22 in FIG. 14), the reproduction control unit 26 detects non-work objects such as obstacles using the laser range finder 6a of the measurement unit 6 and the multiple proximity sensors 7a of the obstacle detection unit 7 (step S23 in FIG. 14). If no non-work objects are detected (step S23 in FIG. 14: NO), the reproduction control unit 26 continues automatic travel and cleaning (step S24 in FIG. 14).

[0138] On the other hand, if a non-work object is detected (step S23 in FIG. 14: YES), as shown in FIG. 15, the reproduction control unit 26 continues automatic traveling and cleaning until the distance between the device main body 2 and the non-work object becomes a predetermined safe distance (step S25 in FIG. 14: NO). Also, when the distance between the device main body 2 and the non-work object reaches the predetermined safe distance (step S25 in FIG. 14: YES), the reproduction control unit 26 controls the traveling unit 3 to travel while avoiding the non-work object while maintaining the safe distance between the device main body 2 and the non-work object (step S26 in FIG. 14). Furthermore, when the autonomous traveling work device 1, which has avoided the non-work object, returns to the travel route of the cleaning plan, the reproduction control unit 26 continues automatic traveling and cleaning (step S24 in FIG. 14).

[0139] Then, the reproduction control unit 26 repeats the above processing until the autonomous mobile work device 1 reaches the destination (end point of the travel route) in the cleaning area during the autonomous mobile cleaning (step S27: NO in Figure 14), and when the autonomous mobile work device 1 reaches the destination (step S27: YES in Figure 14), the autonomous mobile cleaning ends.

[0140] As described above, according to this embodiment, the autonomous mobile work device 1, which can perform autonomous traveling and cleaning (autonomous traveling work), includes a device main body 2, a traveling unit 3 that causes the device main body 2 to travel within a predetermined cleaning area (working area), a cleaning unit 5 (working unit) that cleans (works) along the traveling path of the device main body 2 within the cleaning area, a reproduction control unit 26 that controls the traveling unit 3 and the cleaning unit 5 based on a pre-stored environmental map of the cleaning area, as well as traveling data and cleaning data, to perform the autonomous traveling and cleaning (autonomous traveling work), and a narrow road determination unit 25 that determines whether a position on the traveling path where the road width is less than a predetermined width threshold is a narrow road. The narrow road determination unit 25 determines narrow road flag information based on the device state of the autonomous mobile work device 1 and the road width at each position on the traveling path. The reproduction control unit 26 also controls the traveling at each position on the traveling path based on the narrow road flag information determined by the narrow road determination unit 25.

[0141] With this configuration, the autonomous mobile work device 1 can accurately determine various narrow roads that exist in the cleaning area according to the device's status. Therefore, by referencing the narrow road flag information, it is possible to understand how narrow roads will affect the passage of the autonomous mobile work device 1. Then, by performing control according to the narrow road flag information, even if a narrow road exists on the travel route in the cleaning area, autonomous mobile work device 1 can safely continue cleaning within the narrow road and reduce the occurrence of uncleaned areas.

[0142] Furthermore, in this embodiment, in the autonomous mobile work device 1, the narrow road determination unit 25 applies the device width of the autonomous mobile work device 1, which is the width of the device main body 2 or the maximum width when a wide part larger than this width is attached, as the device state of the autonomous mobile work device 1.

[0143] With this configuration, the autonomous running and working device 1 can more accurately determine the width of the road that the autonomous running and working device 1 can travel on based on the device width, and can therefore determine more appropriate narrow road flag information.

[0144] Furthermore, in this embodiment, in the autonomous mobile work apparatus 1, the narrow road determination unit 25 applies the minimum turning radius when the autonomous mobile work apparatus 1 turns as the apparatus state of the autonomous mobile work apparatus 1.

[0145] With this configuration, the autonomous running and working device 1 can more accurately grasp the width of the road on which the autonomous running and working device 1 can turn, and can therefore determine more appropriate narrow road flag information.

[0146] Furthermore, in this embodiment, autonomous traveling work apparatus 1 is equipped with a measurement unit 6 that measures the positional relationship between the apparatus main body 2 and non-work objects around this apparatus main body 2, or a proximity sensor 7a (detection unit) of an obstacle detection unit 7 that detects non-work objects around the apparatus main body 2. Narrow road determination unit 25 uses performance information from the measurement unit 6 or obstacle detection unit 7 as the apparatus status of autonomous traveling work apparatus 1.

[0147] With this configuration, the autonomous mobile work device 1 detects surrounding information after more accurately understanding the performance of the measurement unit 6 and obstacle detection unit 7, thereby further reducing contact with non-work objects such as walls and obstacles.

[0148] Alternatively, in this embodiment, autonomous mobile work apparatus 1 is equipped with a measurement unit 6 that measures the positional relationship between the apparatus main body 2 and non-work objects around this apparatus main body 2, or a proximity sensor 7a (detection unit) of an obstacle detection unit 7 that detects non-work objects around the apparatus main body 2. Narrow road determination unit 25 combines at least two of the apparatus width of autonomous mobile work apparatus 1, which is the width of the apparatus main body 2 or the maximum width when a wide part larger than this width is attached, the minimum turning radius when autonomous mobile work apparatus 1 turns, and performance information from measurement unit 6 or obstacle detection unit 7, and applies this as the apparatus status of autonomous mobile work apparatus 1.

[0149] With this configuration, the autonomous mobile work apparatus 1 can more accurately grasp the device status of the autonomous mobile work apparatus 1 by combining various information, and by applying this device information, it can determine more appropriate narrow road flag information.

[0150] In this embodiment, the narrow road determination unit 25 in the autonomous mobile work device 1 calculates the minimum turning radius based on tire information of the traveling unit 3 or cleaning member information (working member information) of the cleaning unit 5.

[0151] With this configuration, the autonomous mobile work device 1 can use tire information from the traveling unit 3 and cleaning member information from the cleaning unit 5 to more accurately determine the width of the road on which the autonomous mobile work device 1 can turn, taking into account the frictional force with the floor surface, and therefore determine more appropriate narrow road flag information.

[0152] Furthermore, in this embodiment, narrow road determining section 25 in autonomous mobile working device 1 determines narrow road flag information in stages according to the size of the road width.

[0153] With this configuration, the autonomous mobile work apparatus 1 can determine narrow road flag information that is appropriate for the apparatus state of the autonomous mobile work apparatus 1 from among the various narrow road flag information.

[0154] In addition, in this embodiment, in the autonomous mobile work device 1, the narrow road determination unit 25 determines narrow road flag information as information that prohibits passage, information that allows passage only, or information that allows passage and limited turning.

[0155] With this configuration, the autonomous mobile work device 1 can limit the traveling method of the autonomous mobile work device 1 according to each of the stages of narrow road flag information.

[0156] Furthermore, in this embodiment, autonomous mobile work device 1 is equipped with a measurement unit 6 that measures the positional relationship between device main body 2 and non-work objects around device main body 2. When creating an environmental map, narrow road determination unit 25 calculates the road width at each position on the travel route from the environmental map of the cleaning area created based on the measurement results of measurement unit 6, or calculates the road width at each position on the travel route based on the measurement results of measurement unit 6 and the maximum width of device main body 2, and determines whether the road is a narrow road based on the calculated road width.

[0157] With this configuration, autonomous mobile work device 1 can reliably determine narrow roads included in the travel route of the cleaning area before performing autonomous mobile cleaning. Furthermore, if a narrow road is included in the travel route, the narrow road will become a cleaning area, but by performing control according to narrow road flag information, autonomous mobile cleaning can be continued safely within the narrow road and the occurrence of uncleaned areas can be reduced.

[0158] Furthermore, in this embodiment, in the autonomous mobile work device 1, when performing automatic mobile cleaning, the narrow road determination unit 25 calculates the road width at a position on the traveling direction side of the traveling path based on the measurement results of the measurement unit 6 and the maximum width of the device main body 2, and if the calculated road width is equal to or greater than a predetermined width threshold, determines that the traveling direction side is not a narrow road, and if the road width is less than the predetermined width threshold, determines that the traveling direction side is a narrow road.

[0159] With this configuration, the autonomous mobile work device 1 can perform automatic cleaning while accurately identifying various narrow roads in a cleaning area where narrow roads and normal roads are mixed. This allows automatic cleaning to be performed efficiently without much effort, and because narrow roads can be included in the cleaning area, automatic cleaning can be performed without leaving any uncleaned areas.

[0160] Furthermore, in this embodiment, autonomous mobile work device 1 further includes a pivot turn button 53 for instructing traveling unit 3 to make a pivot turn of device main body 2. When traveling on a narrow road determined by narrow road determination unit 25 during manual operation of traveling unit 3, if the road width of the narrow road is less than the width at which manual turning is possible but is equal to or greater than the width at which pivot turning is possible, autonomous mobile work device 1 limits the turning operation of device main body 2 to a pivot turn made by pivot turn button 53.

[0161] With this configuration, when the autonomous mobile work device 1 is manually operated to travel on a narrow road, the autonomous mobile work device 1 can continue to travel safely without colliding with non-work objects such as walls or obstacles.

[0162] Furthermore, in this embodiment, when the narrow road determination unit 25 determines that a predetermined position on the travel route is a narrow road, the autonomous mobile work device 1 notifies the operator of the presence of a narrow road and stores narrow road flag information corresponding to the width of the narrow road.

[0163] With this configuration, the operator of the autonomous mobile work device 1 can determine whether to navigate a narrow road by noticing the existence of a narrow road while manually operating the device. Also, by noticing the existence of a narrow road while the autonomous mobile work device is performing automatic cleaning, the operator can move undetected obstacles in the narrow road in advance and understand the progress of the automatic mobile cleaning.

[0164] In this embodiment, autonomous mobile work device 1 further includes a mode switching unit 20 that can switch the operation mode between learning mode and reproduction mode, and a learning control unit 21 that, in learning mode, creates an environmental map and performs learning traveling and cleaning by acquiring and storing traveling data during manual traveling by traveling unit 3 and cleaning data during manual cleaning by cleaning unit 5. When performing learning traveling and cleaning, learning control unit 21 controls traveling at each position on the traveling route in accordance with narrow road flag information determined by narrow road determination unit 25. Reproduction control unit 26 performs autonomous traveling and cleaning in reproduction mode.

[0165] With this configuration, the autonomous mobile work device 1 can appropriately determine narrow roads and determine narrow road flag information according to the device state of the autonomous mobile work device 1, in both learning mobile work and automatic mobile work.

[0166] Furthermore, in this embodiment, in the autonomous mobile work device 1, the learning control unit 21 stops the learning traveling cleaning when, in learning mode, the narrow road determination unit 25 determines that the road is narrow and has a width that is less than the minimum width of the autonomous mobile work device 1.

[0167] With this configuration, the cleaning plan created by the autonomous mobile work device 1 during the mobile cleaning learning process will not include narrow roads with widths equal to or less than the minimum width of the autonomous mobile work device 1 as cleaning areas. This prevents uncleaned areas from occurring when the created cleaning plan is executed in reproduction mode.

[0168] In this embodiment, the autonomous mobile work device 1 further includes a travel pattern setting unit 24 that sets either an avoidance travel pattern in which the autonomous mobile work device avoids the undetected obstacle when an undetected obstacle that was not detected in learning mode (when the environmental map was created) is detected in reproduction mode (when performing automatic cleaning), or a narrow road travel pattern in which the autonomous mobile work device stops automatic cleaning without avoiding the undetected obstacle. The travel pattern setting unit 24 manually or automatically sets the narrow road travel pattern when traveling on a narrow road in learning mode (when the environmental map is created). The reproduction control unit 26 controls the travel unit 3 according to the travel pattern set by the travel pattern setting unit 24, and when a narrow road travel pattern is set, the autonomous mobile work device 1 travels on a narrow road regardless of whether the road is narrow or not.

[0169] With this configuration, even if a narrow road exists in the cleaning area, the autonomous mobile work device 1 can travel through the narrow road in reproduction mode by setting a narrow road travel pattern. This allows the narrow road to be included in the cleaning area, preventing uncleaned areas from occurring. Furthermore, when a narrow road travel pattern is set, the autonomous mobile work device 1 stops autonomous cleaning when it detects an undetected obstacle, thereby avoiding dangers when performing autonomous cleaning in narrow roads. In other words, safety can be ensured. In this way, even if a narrow road exists in the travel route of the cleaning area, autonomous cleaning can be safely continued in the narrow road, preventing uncleaned areas from occurring.

[0170] Furthermore, in this embodiment, in autonomous mobile work device 1, when narrow road determination unit 25 determines a narrow road in learning mode, travel pattern setting unit 24 automatically sets a narrow road travel pattern.

[0171] With this configuration, the autonomous mobile work device 1 can perform learning mobile cleaning to reliably determine narrow roads included in the driving route of the cleaning area before performing automatic mobile cleaning.If the driving route includes a narrow road, the narrow road will become part of the cleaning area, but a narrow road driving pattern is automatically set, allowing the autonomous mobile work device 1 to safely continue automatic mobile cleaning within narrow roads and prevent the occurrence of uncleaned areas.

[0172] Furthermore, in this embodiment, in the autonomous mobile work device 1, in reproduction mode, if the narrow road determination unit 25 determines that the road in the direction of travel is not a narrow road, the driving pattern setting unit 24 automatically sets an avoidance driving pattern, and if the narrow road determination unit 25 determines that the road in the direction of travel is a narrow road, the driving pattern setting unit 24 automatically sets a narrow road driving pattern.

[0173] With this configuration, when autonomous mobile work device 1 performs automatic traveling and cleaning in a cleaning area that includes a mixture of narrow and normal roads, it can continue automatic traveling and cleaning in narrow roads according to the narrow road traveling pattern, and on normal roads it can continue automatic traveling and cleaning while avoiding undetected obstacles according to the avoidance traveling pattern. This allows automatic traveling and cleaning to be performed efficiently without any effort, and because narrow roads can be included in the cleaning area, automatic traveling and cleaning can be performed without leaving any uncleaned areas.

[0174] Furthermore, in this embodiment, in the autonomous mobile work device 1, when a narrow road driving pattern is set in the reproduction mode, the reproduction control unit 26 stops the automatic traveling cleaning for a predetermined stopping time when an undetected obstacle is detected on the narrow road.

[0175] With this configuration, when the autonomous traveling work device 1 detects a moving object such as a person or a placed object such as luggage as an undetected obstacle on a narrow road during automatic traveling cleaning, the moving object will leave the detection range during the stopping time, or the placed object will be carried out of the detection range during the stopping time, so the undetected obstacle will no longer be detected, and the autonomous traveling cleaning can continue by passing the moving object or placed object.

[0176] Furthermore, in this embodiment, in the autonomous mobile work device 1, when a narrow road driving pattern is set in the reproduction mode, if an undetected obstacle is detected on a narrow road and the automatic traveling and cleaning is stopped according to the narrow road driving pattern, the reproduction control unit 26 notifies the operator that the automatic traveling and cleaning has been stopped.

[0177] With this configuration, when autonomous mobile work device 1 detects a moving object such as a person or a placed object such as luggage as an undetected obstacle on a narrow road during autonomous cleaning, the operator, who is notified that autonomous cleaning must be stopped, can immediately urge the moving object to leave the detection range or remove the placed object from the detection range. Therefore, the detected undetected obstacle can be moved immediately, allowing autonomous cleaning to continue without prolonging the work time.

[0178] Furthermore, in this embodiment, in the autonomous mobile work device 1, the reproduction control unit 26 notifies the operator that automatic mobile cleaning has stopped by at least one of sound output from the speaker 14, screen display on the operation display unit 8, lighting or flashing of the warning light 13, and communication with the operator terminal 60 held by the operator.

[0179] With this configuration, the autonomous mobile work device 1 can more reliably and quickly notify the operator that autonomous mobile cleaning has stopped. This allows detected undetected obstacles to be moved more quickly, allowing autonomous mobile cleaning to continue without prolonging the operation time.

[0180] Furthermore, in this embodiment, in the autonomous mobile work device 1, the reproduction control unit 26 resumes automatic traveling and cleaning if an undetected obstacle is no longer detected on the narrow road after a predetermined stop time has elapsed since the automatic traveling and cleaning was stopped according to the narrow road traveling pattern, and if an undetected obstacle is detected on the narrow road, it again notifies the operator that automatic traveling and cleaning has been stopped.

[0181] With this configuration, the autonomous mobile work device 1 can more reliably and quickly notify the operator that autonomous mobile cleaning has stopped. This allows detected undetected obstacles to be moved more quickly, allowing autonomous mobile cleaning to continue without prolonging the operation time.

[0182] Furthermore, in this embodiment, autonomous mobile work device 1 is equipped with multiple proximity sensors 7a (detection units) that detect non-work objects around device main body 2, located on both the left and right sides and on the front side of device main body 2. In reproduction mode, when an avoidance travel pattern is set, reproduction control unit 26 causes all of the multiple proximity sensors 7a to detect non-work objects, and when a narrow road travel pattern is set, reproduction control unit 26 causes the proximity sensor 7a located on the front side of device main body 2 to detect non-work objects, and controls traveling unit 3 to slow down or stop when a non-work object approaching device main body 2 is detected.

[0183] With this configuration, when the autonomous mobile work device 1 travels through narrow paths in a cleaning area during autonomous cleaning, it will no longer detect non-work objects such as walls or obstacles that make up the narrow path on either side of the autonomous mobile work device 1, so it will not slow down or stop due to the presence of non-work objects on either side, allowing it to continue autonomous cleaning without prolonging work time. Also, because non-work objects in front of the autonomous mobile work device 1 are reliably detected in narrow paths, it can continue autonomous cleaning safely.

[0184] Alternatively, in this embodiment, autonomous mobile work device 1 is equipped with multiple proximity sensors 7a (detection units) that detect non-work objects around device main body 2, located on both the left and right sides and on the front side of device main body 2. In reproduction mode, when an avoidance travel pattern is set, reproduction control unit 26 causes all of the multiple proximity sensors 7a to detect non-work objects, and when a narrow road travel pattern is set, reproduction control unit 26 causes one of the multiple proximity sensors 7a to detect the non-work object according to the narrow road flag information determined by narrow road determination unit 25, and controls traveling unit 3 to slow down or stop when a non-work object approaching device main body 2 is detected.

[0185] With this configuration, when the autonomous mobile work device 1 travels through narrow roads in a cleaning area during autonomous cleaning, it can change the detection range on both the left and right sides of the autonomous mobile work device 1 depending on the width of the narrow road. Furthermore, because the autonomous mobile work device 1 no longer detects non-work objects such as walls or obstacles that make up the narrow road on both sides, it does not slow down or stop due to the presence of non-work objects on both sides, allowing it to continue autonomous cleaning without prolonging its work time. Furthermore, because non-work objects in front of the autonomous mobile work device 1 are reliably detected on narrow roads, it can continue autonomous cleaning safely.

[0186] Furthermore, in this embodiment, autonomous mobile work device 1 is equipped with multiple proximity sensors 7a (detection units) that detect non-work objects around device main body 2, arranged vertically on the front side of device main body 2. In reproduction mode, when an avoidance travel pattern is set, reproduction control unit 26 causes one of the multiple proximity sensors 7a to detect a non-work object, and when a narrow road travel pattern is set, causes all of the multiple proximity sensors 7a to detect a non-work object, and controls traveling unit 3 to slow down or stop when a non-work object approaching device main body 2 is detected.

[0187] With this configuration, even if there is a non-work object in front of the device main body 2 that is difficult to detect by the LRF 6a of the measurement unit 6 due to its vertical position, for example, if the non-work object is near the floor surface FL, the autonomous mobile work device 1 can more reliably detect the non-work object because the multiple proximity sensors 7a arranged vertically provide a wide vertical detection range. This makes it possible to more reliably prevent contact with the non-work object, allowing the autonomous mobile work device 1 to continue autonomous cleaning more safely.

[0188] Furthermore, in this embodiment, in the autonomous mobile work device 1, the driving pattern setting unit 24 sets a driving pattern according to the time periods during which users using the cleaning area are active, and at this time, a narrow road driving pattern is set during times when there are many users, and an avoidance driving pattern is set during times when there are few users.

[0189] With this configuration, autonomous mobile work device 1 can easily set, without any effort on the part of the operator, a travel pattern suitable for the activity time period in the cleaning area as the travel pattern for the reproduction mode. Therefore, the number of times the automatic cleaning operation is stopped can be reduced, and the automatic cleaning operation can be continued without prolonging the operation time.

[0190] In the above embodiment, when an undetected obstacle that was not detected in learning mode is detected in reproduction mode, the robot avoids the undetected obstacle if an avoidance driving pattern is set, while stopping the automatic driving operation without avoiding the undetected obstacle if a narrow road driving pattern is set. However, the present invention is not limited to this example. For example, in another embodiment, when an undetected obstacle that was not detected in learning mode is detected in reproduction mode, the narrow road determination unit 25 may determine that the road is a narrow road based on the width of the road formed by the undetected obstacle. The reproduction control unit 26 may then perform automatic cleaning according to narrow road flag information, which is the determination result of the narrow road determination unit 25 due to the undetected obstacle. Furthermore, such narrow road flag information due to the undetected obstacle may be temporarily referenced during automatic cleaning, or may be rewritten within the cleaning plan. The rewritten cleaning plan may be stored in the memory unit 11, or may be further stored in the memory unit 11 after reflecting the operator's intention through manual operation. For example, when a store in a shopping mall closes and temporary fencing construction is carried out, the fencing may extend significantly into the aisle, narrowing the path and temporarily narrowing the normal path. Later, when a new store opens, the temporary fencing is removed, widening the path and returning it to the normal path. However, it is best for the operator to decide whether to rewrite the change in narrow path flag information caused by such a temporary undetected obstacle in the cleaning plan and then store the rewritten cleaning plan.

[0191] 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 that involves such modifications is also included in the technical concept of the present invention. [Industrial Applicability]

[0192] The present invention is an autonomous traveling and working device that can perform autonomous traveling and working tasks, and can be suitably used in industrial (business) work robots such as automatic floor washing and cleaning devices that perform floor cleaning tasks in commercial facilities such as shopping malls, and automatic work in work areas such as factories and railway terminals, as well as security devices that monitor using cameras. [Explanation of symbols]

[0193] 1. Autonomous mobile work device 3 Running part 4 Travel control unit 5 Cleaning Department (Working Department) 6. Measurement section 7 Obstacle detection unit 8 Operation display section 9 Power supply section 10 Control Unit 11 Storage section 13 Warning light 14 Speaker 15 Communications Department 20 Mode switching section 21 Learning control unit 22 Map Creation Department 23 Cleaning Plan Creation Department 24 Driving pattern setting section 25 Narrow road determination section 26 Reproduction control section 60 Operator terminal

Claims

1. An autonomous traveling and working device capable of performing an autonomous traveling and working operation, A device body, a traveling unit that causes the device body to travel within a predetermined work area; a reproduction control unit that controls the traveling unit based on a pre-stored environmental map of the work area and traveling data to perform the automatic traveling work; a narrow road determination unit that determines a position of a travel route within the work area where the road width is less than a predetermined width threshold as a narrow road; a measuring unit that measures the positional relationship between the device main body and a non-work object around the device main body; a plurality of detectors provided on both the left and right sides of the device body and extending to the front side thereof, for detecting surrounding non-work objects; the narrow road determination unit determines narrow road flag information indicating a graded level of narrow road when the road is narrow, depending on the device state of the autonomous mobile work device and the road width at each position on the travel route; the reproduction control unit controls the traveling unit to control traveling at each position on the traveling route in accordance with the stepwise narrow road flag information determined by the narrow road determination unit, The reproduction control unit, when the device main body travels through the narrow road, detects the non-work object using a detection unit selected from the plurality of detection units in accordance with the staged narrow road flag information determined by the narrow road determination unit, and controls the traveling unit to slow down or stop when the non-work object approaching the device main body is detected.

2. the plurality of detectors include detectors arranged at the left center and the right center of the device body, detectors arranged at the left front and the right front of the device body, and detectors arranged at the front left and the front right of the device body; The reproduction control unit, in response to the stepwise narrow road flag information determined by the narrow road determination unit, Acquire all detection results of the plurality of detection units; Alternatively, the detection results of the detection units arranged at the left and right center of the device body among the plurality of detection units are not acquired, but the detection results of the detection units arranged at the left front and right front of the device body and the detection units arranged at the front left and front right of the device body are acquired, Alternatively, the autonomous mobile work device of claim 1 detects the non-work object by obtaining the detection results of the detection units located at the front left and front right of the device body, without obtaining the detection results of the detection units located at the center left and center right of the device body and the detection units located at the front left and front right of the device body.

3. An autonomous traveling and working device capable of performing an autonomous traveling and working operation, A device body, a traveling unit that causes the device body to travel within a predetermined work area; a reproduction control unit that controls the traveling unit based on a pre-stored environmental map of the work area and traveling data to perform the automatic traveling work; a mode switching unit that can switch the operation mode between a learning mode and a reproduction mode; a learning control unit that performs a learning driving operation in the learning mode, which creates the environmental map and acquires and stores the driving data during manual driving of the driving unit; a narrow road determination unit that determines a position of a travel route within the work area where the road width is less than a predetermined width threshold as a narrow road; a measuring unit that measures the positional relationship between the device main body and a non-work object around the device main body; a plurality of detectors provided in the front side of the device body in the up-down direction to detect surrounding non-work objects; the narrow road determination unit determines narrow road flag information in stages according to the state of the autonomous mobile work device and the road width at each position on the travel route; the learning control unit controls travel at each position on the travel route in accordance with the narrow road flag information determined by the narrow road determination unit when performing the learning travel operation; the reproduction control unit controls the traveling unit in the reproduction mode to control traveling at each position on the traveling route in accordance with the stepwise narrow road flag information determined by the narrow road determination unit, The reproduction control unit, in the reproduction mode, when the device main body travels through the narrow road, detects the non-work object using all of the multiple detection units arranged in the vertical direction on the front side of the device main body, and controls the traveling unit to slow down or stop when the non-work object is detected close to the device main body.

4. The autonomous mobile work device according to claim 1 or 3, characterized in that the narrow road determination unit applies, as the device state, the device width of the autonomous mobile work device, which is the width of the device body or the maximum width when a wide part larger than the width is attached.

5. 4. The autonomous mobile work device according to claim 1, wherein the narrow road determination unit applies a minimum turning radius of the autonomous mobile work device when turning as the device state.

6. 4. The autonomous mobile work device according to claim 1, wherein the narrow road determination unit applies performance information of the measurement unit or the detection unit as the device state.

7. The autonomous mobile work device described in claim 1 or claim 3, characterized in that the narrow road determination unit combines at least two of the following as the device state: the device width of the autonomous mobile work device, which is the width of the device body or the maximum width when a wide part larger than that width is attached; the minimum turning radius when the autonomous mobile work device turns; and performance information of the measuring unit or the detecting unit.

8. 8. The autonomous mobile work device according to claim 5, wherein the narrow road determination unit calculates the minimum turning radius based on tire information of the traveling unit.

9. The autonomous mobile work device according to claim 1 or 3, characterized in that the narrow road determination unit determines, as the narrow road flag information, information that prohibits passage, information that permits passage only, or information that permits passage and limited turning.

10. The autonomous mobile work device of claim 9, characterized in that when creating the environmental map, the narrow road determination unit calculates the road width at each position on the travel route from an environmental map of the work area created based on the measurement results of the measurement unit, or calculates the road width at each position on the travel route based on the measurement results of the measurement unit and the maximum width of the device main body, and determines the narrow road based on the calculated road width.

11. The autonomous driving work device of claim 10, characterized in that, when performing the autonomous driving work, the narrow road determination unit calculates the road width at a position on the traveling direction side of the driving route based on the measurement results of the measurement unit and the maximum width of the device main body, and if the calculated road width is equal to or greater than the predetermined width threshold, determines that the traveling direction side is not the narrow road, and if the road width is less than the predetermined width threshold, determines that the traveling direction side is the narrow road.

12. The travel unit further includes a pivot turn button for instructing the device body to pivot, An autonomous mobile work device as described in any one of claims 9 to 11, characterized in that when the traveling unit is manually operated and traveling on the narrow road determined by the narrow road determination unit, if the road width of the narrow road is less than the width at which manual turning is possible but is greater than the width at which pivot turning is possible, the turning operation of the device main body is limited to pivot turning using the pivot turn button.

13. An autonomous mobile work device as described in any one of claims 1 to 12, characterized in that when the narrow road determination unit determines that a predetermined position on the travel route is a narrow road, it notifies an operator of the existence of the narrow road and stores the narrow road flag information corresponding to the width of the narrow road.

14. a mode switching unit that can switch the operation mode between a learning mode and a reproduction mode; a learning control unit that, in the learning mode, creates the environmental map and performs a learning driving operation of acquiring and storing the driving data during manual driving of the driving unit, the learning control unit controls travel at each position on the travel route in accordance with the narrow road flag information determined by the narrow road determination unit when performing the learning travel operation; 3. The autonomous mobile work device according to claim 1, wherein the reproduction control unit performs the autonomous mobile work in the reproduction mode.

15. The autonomous mobile work device according to claim 3 or claim 14, characterized in that the learning control unit stops the learning driving operation when, in the learning mode, the narrow road determination unit determines that the narrow road has a width that is equal to or less than the minimum width of the autonomous mobile work device.

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