Autonomous driving device, autonomous driving system, autonomous driving method, and autonomous driving program

Abstract

To provide an autonomous travel system capable of improving working efficiency of an operator who generates a travel route of an autonomous travel device, an autonomous travel method, and an autonomous travel program.SOLUTION: A cleaning device 10 comprises: an acceptance processing unit 412 which accepts a teaching operation from an operator; a registration processing unit 413 which registers an individual travel route corresponding to the teaching operation in a storage unit 50; an acquisition processing unit 414 which acquires a plurality of individual travel routes selected by the operator among the plurality of individual travel routes registered in the storage unit 50; a setting processing unit 415 which sets an order in each of the plurality of individual travel routes to be acquired; and a generation processing unit 416 which generates a travel route on the basis of the plurality of individual travel routes to be acquired and each order of the plurality of individual travel routes to be set.SELECTED DRAWING: Figure 11

Description

[Technical Field]

[0001] The present invention relates to an autonomous driving system, an autonomous driving method, and an autonomous driving program for driving an autonomous driving device capable of autonomous driving. [Background technology]

[0002] In recent years, labor shortages and rising labor costs have led to a shortage of cleaning personnel to clean large spaces such as concourses at stations and airports, and shopping malls. As a result, industrial-use autonomous cleaning robots (autonomous driving devices) that are designed to be autonomous and have high cleaning capabilities and a high level of safety are being introduced.

[0003] Some of these types of autonomous mobile devices are equipped with a teaching function that teaches a travel route based on the operator's operation (see, for example, Patent Document 1). For example, the operator sets the autonomous mobile device to a route teaching mode and operates the autonomous mobile device to travel a desired route in a work area, thereby storing the travel route (trajectory) traveled by the autonomous mobile device. When set to the autonomous mobile device's autonomous travel mode, it reproduces and travels the travel route stored in the route teaching mode. This makes it possible for the autonomous mobile device to travel autonomously according to a travel route generated based on the operator's operation (teaching operation). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-182175 Summary of the Invention [Problem to be solved by the invention]

[0005] However, with conventional autonomous mobile devices, when an operator wants to modify a portion of the driving route taught to the autonomous mobile device, for example, a portion from the teaching driving start point to the teaching driving end point, the operator must again operate the autonomous mobile device from the teaching driving start point to the teaching driving end point and re-store the driving route, which creates a problem of reduced work efficiency for the operator who generates the driving route for the autonomous mobile device.

[0006] An object of the present invention is to provide an autonomous driving system, an autonomous driving method, and an autonomous driving program that can improve the work efficiency of an operator who generates a driving route for an autonomous driving device. [Means for solving the problem]

[0007] According to one aspect of the present invention, there is provided an autonomous driving system for causing an autonomous driving device to travel based on a travel route. The autonomous driving system includes: a reception processing unit that receives, from an operator, a teaching operation for teaching the autonomous driving device to travel; a registration processing unit that registers, in a storage unit, individual travel routes corresponding to the teaching operation received by the reception processing unit; an acquisition processing unit that acquires, from the storage unit, multiple individual travel routes selected by the operator from the multiple individual travel routes registered in the storage unit; a setting processing unit that sets an order for each of the multiple individual travel routes acquired by the acquisition processing unit; and a generation processing unit that generates the travel route based on the multiple individual travel routes acquired by the acquisition processing unit and the order for each of the multiple individual travel routes set by the setting processing unit.

[0008] According to this configuration, the travel route of the work area can be divided into multiple individual travel routes and registered in the storage unit. Therefore, by connecting multiple individual travel routes selected by the worker, it is possible to easily generate a desired travel route. Furthermore, if it is desired to modify a portion of a generated travel route, the travel route can be modified by replacing the individual travel route corresponding to the modified portion with a newly generated individual travel route. Therefore, when it becomes necessary to modify a portion of a generated travel route, it is not necessary to recreate the entire travel route from scratch. This makes it possible to improve the work efficiency of the worker who generates the travel route for the autonomous mobile device.

[0009] In the autonomous driving system, the registration processing unit may register, in the storage unit, as the individual driving path, a path along which the autonomous driving device travels during a period from when the reception processing unit receives an instruction to start the teaching operation to when the reception processing unit receives an instruction to end the teaching operation. Also, in the autonomous driving system, the registration processing unit may register, in the storage unit, the individual driving path for each teaching operation.

[0010] As a result, a plurality of individual travel routes for each teaching operation are registered in the storage unit 50.

[0011] The autonomous driving system may further include a display processing unit that displays the multiple individual driving routes registered in the memory unit on a display unit, and the acquisition processing unit may acquire multiple individual driving routes selected by an operator from the multiple individual driving routes displayed on the display unit.

[0012] This allows the operator to obtain a plurality of individual travel routes that make up the travel route that the operator intends.

[0013] In the autonomous driving system, the setting processing unit may set a selection order in which an operator selects the plurality of individual driving routes as the order of each of the plurality of individual driving routes.

[0014] In the autonomous driving system, the generation processing unit may generate the driving route by connecting the multiple individual driving routes acquired by the acquisition processing unit in accordance with the order set by the setting processing unit.

[0015] This makes it possible to generate a travel route that is in line with the operator's intention.

[0016] In the autonomous driving system, the generation processing unit may generate an interpolated route connecting the connecting positions of two consecutive individual driving routes when the connecting positions of the two consecutive individual driving routes are different, and generate the driving route using a plurality of the individual driving routes and the interpolated route.

[0017] This eliminates the need for the operator to perform a teaching operation to connect the two individual travel paths.

[0018] The autonomous driving system may further include a display processing unit that displays the driving route generated by the generation processing unit on a display unit, and the display processing unit may display the interpolated route among the driving route on the display unit in a distinguishable manner.

[0019] This allows the operator to easily recognize the interpolated route on the generated travel route.

[0020] In the autonomous driving system, the registration processing unit may register the driving route generated by the generation processing unit in the storage unit.

[0021] The autonomous driving system further includes a driving processing unit that causes the autonomous driving device to drive based on the driving route generated by the generation processing unit, and when the connecting positions of the two consecutive individual driving routes are different, the driving processing unit may cause the autonomous driving device to drive an interpolated route connecting each connecting position based on connecting position information of each connecting position, current position information of the autonomous driving device, and map information.

[0022] This makes it possible to make the autonomous mobile device travel along the route intended by the operator, even if the multiple individual travel routes selected by the operator are far apart.

[0023] An autonomous driving method according to another aspect of the present invention is an autonomous driving method for causing an autonomous driving device to travel based on a travel route, the autonomous driving method including, by one or more processors, a receiving step of receiving, from an operator, a teaching operation for teaching the autonomous driving device to travel, a registration step of registering, in a storage unit, individual travel routes corresponding to the teaching operation received in the receiving step, an acquisition step of acquiring, in the storage unit, a plurality of individual travel routes selected by the operator from the plurality of individual travel routes registered in the storage unit, a setting step of setting an order of each of the plurality of individual travel routes acquired in the acquisition step, and a generation step of generating, based on the plurality of individual travel routes acquired in the acquisition step and the order of each of the plurality of individual travel routes set in the setting step.

[0024] An autonomous traveling program according to another aspect of the present invention is an autonomous traveling program for causing an autonomous traveling device to travel based on a travel route, the autonomous traveling program causing one or more processors to execute the following steps: a receiving step of receiving, from an operator, a teaching operation for teaching the autonomous traveling device to travel in a teaching manner, a registration step of registering, in a storage unit, individual travel routes corresponding to the teaching operation received in the receiving step, an acquisition step of acquiring, in the storage unit, a plurality of individual travel routes selected by the operator from the plurality of individual travel routes registered in the storage unit, a setting step of setting an order of each of the plurality of individual travel routes acquired in the acquisition step, and a generation step of generating, in the autonomous traveling program, the plurality of individual travel routes acquired in the acquisition step and the order of each of the plurality of individual travel routes set in the setting step. [Effects of the Invention]

[0025] According to the present invention, it is possible to improve the work efficiency of an operator who generates a driving route for an autonomous mobile device. [Brief explanation of the drawings]

[0026] [Figure 1] FIG. 1 is a perspective view showing the appearance of the front side of a cleaning device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a schematic diagram showing the configuration of a cleaning device according to an embodiment of the present invention. [Figure 3] FIG. 3 is a perspective view showing the rear appearance of the cleaning device according to the embodiment of the present invention. [Figure 4] FIG. 4 is a front view of the cleaning device according to the embodiment of the present invention. [Figure 5] FIG. 5 is a functional block diagram showing the configuration of a cleaning device according to an embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing an example of map information registered in the storage unit of the cleaning device according to the embodiment of the present invention. [Figure 7] FIG. 7 is a diagram showing an example of route information registered in the storage unit of the cleaning device according to the embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing an example of a path image registered in the storage unit of the cleaning device according to the embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing an example of a teaching operation screen displayed on the cleaning device according to the embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of an individual travel route generated in the cleaning device according to the embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing an example of a travel route generation screen displayed on the cleaning device according to the embodiment of the present invention. [Figure 12] FIG. 12 is a diagram showing an example of a travel route confirmation screen displayed on the cleaning device according to the embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing an example of a travel route generation screen displayed on the cleaning device according to the embodiment of the present invention. [Figure 14]FIG. 14 is a diagram showing an example of a travel route confirmation screen displayed on the cleaning device according to the embodiment of the present invention. [Figure 15] FIG. 15 is a diagram showing an example of a teaching operation screen displayed on the cleaning device according to the embodiment of the present invention. [Figure 16] FIG. 16 is a diagram showing an example of a travel route generation screen displayed on the cleaning device according to the embodiment of the present invention. [Figure 17] FIG. 17 is a diagram showing an example of a travel route confirmation screen displayed on the cleaning device according to the embodiment of the present invention. [Figure 18] FIG. 18 is a flowchart showing an example of a travel path generation process executed by the cleaning device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0027] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. Note that the following embodiment is an example of the present invention, and does not limit the technical scope of the present invention.

[0028] [Cleaning device 10] Fig. 1 is a perspective view showing the front side of an autonomously traveling cleaning device 10 according to an embodiment of the present invention, and Fig. 2 is a schematic diagram showing the internal structure of the cleaning device 10. In the following description, the up-down direction D1, the front-back direction D2, and the left-right direction D3 shown in each figure will be used. The cleaning device 10 is an example of an autonomously traveling device of the present invention.

[0029] Cleaning device 10 is an autonomous mobile device that moves by autonomously traveling on floor surface 23 (see FIG. 2) of a concourse in an airport, station, shopping mall, etc., and is also called a mobile robot. While moving by autonomous traveling, cleaning device 10 sucks up debris such as dust and dirt from floor surface 23, separates the debris using a filter, and collects it in collection box 16 (see FIG. 2). Cleaning device 10 automatically cleans floor surface 23 while traveling based on various information input in advance, such as the travel route, cleaning area, cleaning time period, and return location for charging.

[0030] Note that cleaning device 10 is merely one example of an autonomous mobile device of the present invention, and the present invention can also be applied to, for example, a cleaning device that autonomously travels to clean indoor floors, or a cleaning device that autonomously travels to clean outdoor road surfaces such as walkways and roads. Of course, the present invention can also be applied to autonomous mobile robots that do not have a cleaning function and are designed for other purposes, such as autonomously mobile security robots, care robots, and luggage transport robots.

[0031] 2, the cleaning device 10 includes a device main body 11 and various functional parts provided in the device main body 11. Specifically, the device main body 11 includes a traveling unit 12, a motor 13, a battery 14, an air intake unit 15, a collection box 16, a support holder 17, an air intake nozzle 18, an extension nozzle 19 (see FIG. 1), an operation unit 20, a display panel 21, a charging connection unit 30, and a control unit 40 (control device).

[0032] As shown in Fig. 1, device main body 11 has exterior cover 11A that forms the exterior of the device. Also, as shown in Fig. 2, device main body 11 has chassis 11B at its bottom. Chassis 11B is provided approximately parallel to floor surface 23. Also, a support frame is provided inside device main body 11 as appropriate to support each of the above-mentioned functional units.

[0033] 2, the running unit 12 is provided at the bottom of the device body 11. The running unit 12 transmits a conveying force in the forward direction to the floor surface 23 while maintaining the running posture of the device body 11, and is attached to the chassis 11B. The running unit 12 has a pair of wheels 121 and four casters 122 for running.

[0034] The wheel 121 is located in the center of the chassis 11B in the front-to-rear direction and is rotatably supported at both ends in the left-right direction D3 (width direction). The four casters 122 are used to maintain the traveling posture of the device main body 11 and are rotatably supported at both ends of the front end of the chassis 11B and both ends of the rear end of the chassis 11B. When the cleaning device 10 is placed on the floor surface 23, the outer circumferential surfaces of the wheels 121 and casters 122 are supported by the floor surface 23. This allows the device main body 11 to be maintained in the traveling posture shown in FIGS. 1 and 2.

[0035] An output shaft of the motor 13 is connected to the rotation shaft of the wheel 121 via a transmission mechanism such as a reduction gear. Therefore, when the motor 13 is driven and its rotational drive force is output from the output shaft, the rotational drive force of the motor 13 is transmitted to the wheel 121. In this embodiment, an individual motor 13 is provided for each of the pair of wheels 121. Therefore, the rotational speed of each wheel 121 is controlled by individually driving and controlling each motor 13. For example, when the rotational speeds of the wheels 121 are controlled to be uniform, the cleaning device 10 moves straight, and when the rotational speeds of the wheels 121 are controlled to be different speeds, the cleaning device 10 turns toward the wheel 121 with the slower rotational speed.

[0036] The intake unit 15 is provided inside the device main body 11, above the battery 14 (described later). The intake unit 15 generates suction force to draw air through an intake nozzle 18, and has multiple intake fans 151. A flexible hose 24 is connected to an intake port 154 of the intake unit 15. When the intake fan 151 is driven, air is sucked in from an intake port at the tip of the flexible hose 24, and the air passes through the flexible hose 24, the inside of the intake unit 15, and an exhaust pipe (not shown) before being discharged to the outside.

[0037] The battery 14 is provided in the center of the device body 11. The battery 14 supplies the motor 13 and the intake fan 151 with driving power.

[0038] Fig. 3 is a perspective view showing the exterior of the rear side of the cleaning device 10. As shown in Figs. 2 and 3, the collection box 16 is provided on the rear surface of the device body 11. A support holder 17 is provided on the rear surface of the device body 11, covering the rear surface and for detachably supporting the collection box 16. A recess 171 extending in the up-down direction D1 is formed in the center of the support holder 17 in the left-right direction D3 (width direction), and the collection box 16 is detachably attached to the recess 171.

[0039] 2, the support holder 17 is provided with an intake port 174 that extends forward from the bottom surface of the recess 171. The intake port 174 is connected to an outlet provided at the top of the collection box 16. An end of the flexible hose 24 is connected to the intake port 174.

[0040] As shown in FIG. 3, an air intake nozzle 18 is provided at the bottom of the support holder 17, and an extension nozzle 19 is provided on one side of the support holder 17. A pair of rotating brushes 26 (26A, 26B) are rotatably mounted on the air intake nozzle 18. The rotating brushes 26 rotate when a rotational driving force is transmitted from a motor (not shown). When the motor is driven by the control unit 40 while the cleaning device 10 is traveling, the rotating brushes 26 rotate, thereby efficiently collecting debris from the floor surface 23. The support holder 17 is also provided with a charging connection unit 30 that is used when charging the battery 14. The charging connection unit 30 has three power receiving terminals 31 that are connected to three power supply terminals provided on a charging station.

[0041] As shown in Fig. 3, the extension nozzle 19 is provided on the left side of the support holder 17. A storage section 176 is provided on the left side of the support holder 17, and the extension nozzle 19 can be stored in the storage section 176. The extension nozzle 19 is supported by the support holder 17. Specifically, the extension nozzle 19 is supported by the support holder 17 so that its position can be changed between a storage position (the position shown in Figs. 1 and 3) in which it is stored in the storage section 176, and a side cleaning position (not shown) in which it is tilted to the left from the storage section 176 and can clean the floor surface 23 on the left side of the device main body 11.

[0042] Fig. 4 is a front view of the cleaning device 10. As shown in Fig. 4, a front laser sensor 41 and a sonar sensor 42 are provided on the front side of the cleaning device 10.

[0043] The front laser sensor 41 is provided in a groove 175 extending in the width direction and formed in the lower part of the front surface of the device body 11. The front laser sensor 41 is disposed in the center of the groove 175. The front laser sensor 41 includes a laser emitting element, a laser driver for driving the laser emitting element, a light receiving element, and a light receiving processing circuit for converting the output of the light receiving element into a digital signal. The front laser sensor 41 is connected to and controlled by the control unit 40. The front laser sensor 41 scans a laser beam forward in the width direction (horizontal direction) within a predetermined scanning angle (e.g., 120°). When the front laser sensor 41 receives the laser beam reflected by an irradiated object (target), the control unit 40 measures the time it takes for the laser beam to return and calculates the distance to the object at each scanning position based on the measured value. This allows the control unit 40 to determine the distance and position of an object located in front of the cleaning device 10 (in the direction of travel), as well as the shape and size of the object in the width direction.

[0044] The sonar sensor 42 is provided below the display panel 21. A sonar sensor 42 is provided at each end in the width direction on the front of the device main body 11. The sonar sensor 42 is connected to and controlled by the control unit 40. The sonar sensor 42 detects an object using sound waves, and measures the distance to the object based on the time it takes for the sound waves to reflect off the object and return.

[0045] As shown in FIGS. 1 and 3, side laser sensors 45 are provided on both sides of the device body 11. The side laser sensors 45 are configured similarly to the front laser sensor 41 and include a laser emitting element, a laser driver for driving the laser emitting element, a light receiving element, and a light receiving processing circuit for converting the output of the light receiving element into a digital signal. The side laser sensors 45 are connected to and controlled by the control unit 40. The side laser sensors 45 scan with a laser beam from the front, downward, and rearward within a predetermined scanning angle (e.g., 180°). When the side laser sensors 45 receive the laser beam reflected by an object (target), the control unit 40 measures the time it takes for the laser beam to return and calculates the distance to the object at each scanning position based on the measured value. This allows the control unit 40 to determine the distance and position of objects located in front of the cleaning device 10 (in the direction of travel), as well as steps and obstacles on the floor 23, and their shapes and sizes in the scanning direction.

[0046] The operation unit 20 (see FIG. 3) is provided at the top of the back surface of the device main body 11. The operation unit 20 is attached to the exterior cover 11A. The operation unit 20 is a device operated by an operator, and is, for example, a device having a touch panel that allows touch operation. The operation unit 20 displays an operation screen that allows the operator to perform various operations (teaching operation, registration operation, setting operation, travel instruction operation, etc.). Operation information for the operation unit 20 is transferred to the control unit 40 and used for travel control by the control unit 40. The operation unit 20 may also be provided on the top surface (top plate) of the device main body 11. The operation unit 20 is an example of a display unit of the present invention.

[0047] The display panel 21 (see FIG. 1) is provided on the front of the device main body 11. The display panel 21 is, for example, a liquid crystal panel. Various types of announcement information are displayed on the display panel 21 by the control unit 40 during cleaning. The announcement information includes, for example, information indicating that cleaning is in progress, guidance information regarding the floor being cleaned, etc.

[0048] The operating handle 22 (see FIG. 3) is provided at the top of the back surface of the device body 11. The operating handle 22 is attached to the exterior cover 11A. The operating handle 22 is an operating member that is held by an operator when the operator manually drives and operates the cleaning device 10 to clean, or when the operator performs a teaching operation (teaching operation) to teach the cleaning device 10 a travel path. As shown in FIG. 3, the operating handle 22 is provided with various operation buttons (travel button 22F, reverse button 22B, left turn button 22L, right turn button 22R, etc.) that accept driving operations from the operator. Operation information for the operation buttons is transferred to the control unit 40 and is used for travel control by the control unit 40.

[0049] The communication unit 25 (see FIG. 5) is a communication interface for connecting the cleaning device 10 to a network via a wired or wireless connection and for performing data communication with an external device such as a server (not shown) via the network in accordance with a predetermined communication protocol.

[0050] The storage unit 50 (see FIG. 5) is a non-volatile storage unit such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various types of information. Specifically, the storage unit 50 stores data such as map information 51 and route information 52. FIG. 6 is a diagram showing an example of the map information 51. FIG. 7 is a diagram showing an example of the route information 52.

[0051] As shown in FIG. 6, the map information 51 registers information about an environmental map corresponding to a cleaning area (work area) in which the cleaning device 10 travels. One or more environmental maps are registered in the map information 51. FIG. 6 illustrates one environmental map M1. For example, if an environmental map is generated for each floor of a facility, multiple environmental maps corresponding to the respective floors of the facility are registered in the map information 51. Specifically, an environmental map M1 for floor F1 of the facility, an environmental map M2 for floor F2, and an environmental map M3 for floor F3 are registered in the map information 51. The environmental maps may be generated in advance by an external device, or may be generated based on the distance and position of obstacles detected by each sensor (such as the front laser sensor 41 and the sonar sensor 42) while the cleaning device 10 travels. That is, the control unit 40 may generate an environmental map of the travel area by traveling the cleaning device 10. The following description will be given using the environmental map M1 shown in FIG. 6 as an example.

[0052] As shown in FIG. 7, the route information 52 registers information about individual driving routes generated based on the teaching operation by the operator. Specifically, the route information 52 registers information such as a “route ID,” “route name,” “position information,” and “route image” for each individual driving route. The control unit 40 generates an individual driving route based on the teaching operation by the operator and registers information about the generated individual driving route in the route information 52. The “route ID” is identification information for the individual driving route, and the “route name” is the name of the individual driving route. The “position information” is information indicating the position (coordinates) of the individual driving route. For example, coordinate information from the starting point (start point of the taught driving) to the destination point (end point of the taught driving) of one individual driving route is registered in the position information of the individual driving route. The “route image” is image information that identifiably represents the individual driving route on the environmental map M1. For example, FIG. 8 shows an example of a route image E1 corresponding to an individual driving route R1. The route image E1 includes a starting point S of the individual travel route R1, a destination point G, and a travel locus connecting the starting point S and the destination point G (solid arrow in the figure).

[0053] In another embodiment, some or all of the information such as the map information 51 and the route information 52 may be stored in a server accessible from the cleaning device 10 via a network.

[0054] Furthermore, the storage unit 50 stores control programs such as a travel path generation program for causing the control unit 40 to execute a travel path generation process (see FIG. 18 ) described below. For example, the travel path generation program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, and is read by a reading device (not shown) such as a CD drive or a DVD drive provided in the cleaning device 10 and stored in the storage unit 50.

[0055] The control unit 40 is provided on the top of the device main body 11 (see FIG. 2). FIG. 5 is a functional block diagram showing the configuration of the control unit 40. The control unit 40 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as a temporary storage memory (work area) for the various types of processing executed by the CPU. The control unit 40 controls the cleaning device 10 by having the CPU execute various control programs that are stored in advance in the ROM or the storage unit 50.

[0056] Specifically, as shown in Fig. 5, the control unit 40 includes various processing units such as a display processing unit 411, a reception processing unit 412, a registration processing unit 413, an acquisition processing unit 414, a setting processing unit 415, a generation processing unit 416, and a driving processing unit 417. The control unit 40 functions as the various processing units by executing various processes in accordance with the driving route generation program using the CPU. Some or all of the processing units may be configured with electronic circuits. The driving route generation program may be a program for causing multiple processors to function as the processing units.

[0057] The display processing unit 411 displays various types of information on the operation unit 20 and the display panel 21. Specifically, during cleaning, the display processing unit 411 displays various types of announcement information on the display panel 21, such as information indicating that cleaning is in progress and guidance information regarding the floor being cleaned. The display processing unit 411 also displays, on the operation unit 20, a mode switching screen (not shown) for switching between operation modes (normal operation mode, teaching operation mode, etc.), a teaching operation screen T1 (see FIG. 9) for performing the teaching operation, a travel path generation screen T2 (see FIG. 11) for generating a travel path, and a travel path confirmation screen T3 (see FIG. 14) for displaying the generated travel path. For example, when the control unit 40 receives an operation to switch to the teaching operation mode from the operator on the mode switching screen, the control unit 40 switches the operation mode to the teaching operation mode. The display processing unit 411 displays, for example, the teaching operation screen T1 shown in FIG. 9 on the operation unit 20.

[0058] Furthermore, the display processing unit 411 displays the environmental map selected by the operator (here, environmental map M1) on the teaching operation screen T1. The display processing unit 411 is an example of the display processing unit of the present invention.

[0059] The reception processing unit 412 accepts various operations by the operator. Specifically, the reception processing unit 412 accepts the teaching operation from the operator. For example, the reception processing unit 412 accepts the selection operation of the start button K1 and the selection operation of the end button K2 from the operator on the teaching operation screen T1. When the operator selects the start button K1, the registration process of the individual travel route starts, and when the operator selects the end button K2, the registration process of the individual travel route ends. The reception processing unit 412 also accepts the selection operation (travel operation) of the operation buttons (travel button 22F, reverse button 22B, left turn button 22L, right turn button 22R) (see FIG. 3) provided on the operation handle 22 from the operator. When the operator selects (presses) an operation button, the cleaning device 10 travels in accordance with the operation button. The operator's operation on the teaching operation screen T1 and the operator's operation on the operation handle 22 are examples of the teaching operation (the teaching operation of the present invention). The reception processing unit 412 is an example of the reception processing unit of the present invention.

[0060] The registration processing unit 413 registers the individual travel route corresponding to the teaching operation received by the reception processing unit 412 in the route information 52 of the storage unit 50. Specifically, the registration processing unit 413 registers, as an individual travel route, in the route information 52, the route along which the cleaning device 10 travels during the period from when the reception processing unit 412 receives an instruction to start the teaching operation to when the reception processing unit 412 receives an instruction to end the teaching operation.

[0061] For example, the worker moves the cleaning device 10 to a starting point S in a work area corresponding to the environmental map M1 and selects the start button K1 on the teaching operation screen T1 (see FIG. 9). Thereafter, the worker operates the operating handle 22 of the cleaning device 10 to travel a desired route. While the cleaning device 10 is traveling in response to the operator's operation, the registration processing unit 413 acquires position information of the cleaning device 10. Furthermore, the display processing unit 411 displays the movement trajectory of the cleaning device 10 (the dotted line portion shown in FIG. 9) and the current position (the "★" mark shown in FIG. 9) on the environmental map M1 on the teaching operation screen T1. When the worker stops the travel of the cleaning device 10 and selects the end button K2 (see FIG. 9) on the teaching operation screen T1, the registration processing unit 413 terminates acquisition of the position information. Then, the registration processing unit 413 registers the position information acquired during the period from when the worker selects the start button K1 to when the worker selects the end button K2 in the route information 52 (see FIG. 7) as an individual travel route traveled by the cleaning device 10 during that period. In the example shown in FIG. 9, the registration processing unit 413 registers the route ID "0001", the route name "R1", the position information "P1", and the route image "E1" (see FIG. 8) in the route information 52.

[0062] The registration processing unit 413 registers an individual travel route, which is made up of information such as a "route ID," "route name," "position information," and "route image," in the route information 52 for each teaching operation by the worker. Fig. 10 shows five individual travel routes R1 to R5 corresponding to the route information 52 shown in Fig. 7. That is, Fig. 10 shows that the worker has performed the teaching operation five times, and five individual travel routes R1 to R5 have been registered in the storage unit 50. The registration processing unit 413 is an example of a registration processing unit of the present invention.

[0063] The acquisition processing unit 414 acquires one or more individual travel routes selected by the worker from among the multiple individual travel routes registered in the route information 52 of the storage unit 50. Specifically, when multiple individual travel routes are registered in the storage unit 50, the display processing unit 411 displays a travel route generation screen T2 (see FIG. 11 ) on the operation unit 20 based on the operation of the worker. Furthermore, the display processing unit 411 displays route images E1 to E5 of the individual travel routes R1 to R5 selectably on the travel route generation screen T2. ​​The acquisition processing unit 414 acquires the individual travel routes selected by the worker on the travel route generation screen T2. ​​For example, when the worker selects (by touch operation) individual travel routes R1, R2, R3, R4, and R5 in this order on the travel route generation screen T2, the acquisition processing unit 414 acquires the individual travel routes R1 to R5. The acquisition processing unit 414 is an example of an acquisition processing unit of the present invention.

[0064] The setting processing unit 415 sets an order for each of the multiple individual travel routes acquired by the acquisition processing unit 414. For example, the setting processing unit 415 sets the selection order in which the operator selects the multiple individual travel routes as the order for each of the multiple individual travel routes. In the example shown in FIG. 11, the setting processing unit 415 sets "No. 1" for the individual travel route R1, "No. 2" for the individual travel route R2, "No. 3" for the individual travel route R3, "No. 4" for the individual travel route R4, and "No. 5" for the individual travel route R5. The setting processing unit 415 also sets an arbitrary route name "route pattern A" as the name of the route including the individual travel routes R1 to R5 selected by the operator. The setting processing unit 415 displays the route name "route pattern A" and information that can identify the order of each individual travel route ("R1 → R2 → R3 → R4 → R5") on the travel route generation screen T2 (see FIG. 11). The setting processing unit 415 is an example of a setting processing unit of the present invention.

[0065] The generation processing unit 416 generates a travel route for autonomously traveling the cleaning device 10. Specifically, the generation processing unit 416 generates the travel route based on the plurality of individual travel routes acquired by the acquisition processing unit 414 and the respective orders of the plurality of individual travel routes set by the setting processing unit 415. For example, the generation processing unit 416 generates the travel route by connecting the individual travel routes R1 to R5 acquired by the acquisition processing unit 414 in accordance with the order (1st to 5th) set by the setting processing unit 415.

[0066] For example, when the operator selects the registration button K3 on the driving route generation screen T2 (see FIG. 11), the generation processing unit 416 connects the destination point G of the individual driving route R1 with the departure point S of the individual driving route R2, connects the destination point G of the individual driving route R2 with the departure point S of the individual driving route R3, connects the destination point G of the individual driving route R3 with the departure point S of the individual driving route R4, and connects the destination point G of the individual driving route R4 with the departure point S of the individual driving route R5, thereby generating one driving route (route pattern A) connecting the departure point S of the individual driving route R1 to the destination point G of the individual driving route R5. The departure points and destination points of the individual driving routes are each an example of a connecting point of the present invention. The generation processing unit 416 is also an example of a generation processing unit of the present invention.

[0067] The display processing unit 411 displays the driving route generated by the generation processing unit 416 on a driving route confirmation screen T3 (see FIG. 12). When the worker selects the confirmation button K4 on the driving route confirmation screen T3, the registration processing unit 413 registers the driving route (route pattern A) in the storage unit 50. When the worker selects the back button K5 on the driving route confirmation screen T3, the screen returns to the driving route generation screen T2 (see FIG. 11), and the worker can, for example, reselect an individual driving route.

[0068] Here, for example, if the connecting positions of two consecutive individual driving routes are the same, that is, if the destination point G of one individual driving route and the starting point S of the other individual driving route are at the same position (same coordinates), the generation processing unit 416 connects the two individual driving routes at that same position.

[0069] On the other hand, when the connecting positions of the two consecutive individual travel routes are different, i.e., when the destination point G of one individual travel route and the starting point S of the other individual travel route are far apart (their coordinates are different), the generation processing unit 416 generates an interpolated route connecting the connecting positions, and generates the travel route using multiple individual travel routes and the interpolated route. In the example shown in FIG. 10, the connecting positions of the individual travel routes R1 and R2 are different, the connecting positions of the individual travel routes R2 and R3 are different, the connecting positions of the individual travel routes R3 and R4 are different, and the connecting positions of the individual travel routes R4 and R5 are different. For this reason, as shown in FIG. 12, the generation processing unit 416 generates an interpolated route R12 connecting the connecting positions of the individual travel routes R1 and R2, an interpolated route R23 connecting the connecting positions of the individual travel routes R2 and R3, an interpolated route R34 connecting the connecting positions of the individual travel routes R3 and R4, and an interpolated route R45 connecting the connecting positions of the individual travel routes R4 and R5. Then, the generation processing unit 416 generates the driving route that connects the individual driving route R1, the interpolated route R12, the individual driving route R2, the interpolated route R23, the individual driving route R3, the interpolated route R34, the individual driving route R4, the interpolated route R45, and the individual driving route R5.

[0070] Furthermore, the generation processing unit 416 may generate an interpolated route that connects the connecting positions of the two consecutive individual driving routes in the shortest distance, or may generate an interpolated route that connects the two individual driving routes in the shortest time, or may generate an interpolated route that minimizes the driving load between the two connecting positions.

[0071] Furthermore, the display processing unit 411 may display the interpolated routes among the driving routes in a distinguishable manner on the driving route confirmation screen T3. For example, as shown in Fig. 12, the display processing unit 411 displays the interpolated routes R12, R23, R34, and R45 in a display mode (for example, dotted lines) different from the individual driving routes R1 to R5.

[0072] The registration processing unit 413 may register in the memory unit 50 a travel route made up of the individual travel routes R1 to R5, or may register in the memory unit 50 a travel route made up of the individual travel routes R1 to R5 and the interpolated routes R12, R23, R34, and R45.

[0073] The travel processing unit 417 causes the cleaning device 10 to travel autonomously based on the travel route generated by the generation processing unit 416. Specifically, the travel processing unit 417 causes the cleaning device 10 to travel autonomously along the travel route by outputting a drive signal corresponding to the travel route to the motor 13 to drive the travel unit 12. For example, when the worker selects a desired travel route (route pattern) on a travel instruction screen (not shown), the travel processing unit 417 causes the cleaning device 10 to travel autonomously along the selected travel route. Furthermore, when the worker has set a travel schedule for the travel route in advance, the travel processing unit 417 causes the cleaning device 10 to travel autonomously based on the travel schedule.

[0074] In addition, when the connecting positions of two consecutive individual travel routes among the plurality of individual travel routes set by the setting processing section 415 are different, the travel processing section 417 causes the cleaning device 10 to autonomously travel an interpolated route connecting each connecting position based on the connecting position information of each connecting position, the current position information of the cleaning device 10, and map information.

[0075] 10, after the cleaning device 10 reaches the destination point G of the individual travel route R1, the travel processing unit 417 causes the cleaning device 10 to autonomously travel to the starting point S of the individual travel route R2 based on the current position information and the map information of the environmental map M1. In this way, the travel processing unit 417 causes the cleaning device 10 to autonomously travel along each individual travel route in accordance with the order (travel order) set by the operator.

[0076] In addition, when a travel route consisting of individual travel routes R1 to R5 and interpolated routes R12, R23, R34, and R45 is registered in the memory unit 50, the travel processing unit 417 may cause the cleaning device 10 to travel autonomously based on the position information corresponding to the travel route.

[0077] Here, a processing example of the control unit 40 when the worker selects (by touch operation) the individual travel routes R5, R1, and R3 in this order on the travel route generation screen T2 shown in FIG. 13 will be described below.

[0078] The acquisition processing unit 414 acquires the individual travel routes R1, R3, and R5 selected by the worker. The setting processing unit 415 sets "No. 1" to the individual travel route R5, "No. 2" to the individual travel route R1, and "No. 3" to the individual travel route R3. The setting processing unit 415 also sets an arbitrary route name "route pattern B" as the name of the route including the individual travel routes R1, R3, and R5 selected by the worker. The setting processing unit 415 displays the route name "route pattern B" and information that can identify the order of the individual travel routes ("R5 → R1 → R3") on the travel route generation screen T2. ​​The generation processing unit 416 generates an interpolated route R51 that connects the respective connecting positions of the individual travel routes R5 and R1, and an interpolated route R13 that connects the respective connecting positions of the individual travel routes R1 and R3, as shown in FIG. 14. Then, the generation processing unit 416 generates the travel route from the individual travel route R5, the interpolated route R51, the individual travel route R1, the interpolated route R13, and the individual travel route R3.

[0079] In this way, the generation processing unit 416 generates one travel route (route pattern B) (see FIG. 14) connecting the starting point S of individual travel route R5 to the destination point G of individual travel route R3. The travel processing unit 417 causes the cleaning device 10 to travel based on route pattern B. Note that if the worker sets a travel schedule on a travel schedule setting screen (not shown) to start travel according to route pattern A at date and time t1 and start travel according to route pattern B at date and time t2, the travel processing unit 417 causes the cleaning device 10 to travel autonomously based on the travel schedule.

[0080] Furthermore, when it becomes necessary to modify part of the travel route (route pattern) registered in the storage unit 50, the control unit 40 executes the following process. Here, an example will be described in which the route of the individual travel route R3 in the route pattern A shown in FIG. 12 is modified.

[0081] In the work area, the worker moves the cleaning device 10 to the starting point S of the route to be corrected and selects the start button K1 on the teaching operation screen T1 (see FIG. 15). Then, the worker operates the operating handle 22 of the cleaning device 10 to travel the desired route (the dotted line portion shown in FIG. 15). When the worker stops the travel of the cleaning device 10 and selects the end button K2 on the teaching operation screen T1, the registration processing unit 413 registers the position information acquired during the period from when the worker selected the start button K1 to when the worker selected the end button K2 in the route information 52 (see FIG. 7) as the individual travel route traveled by the cleaning device 10 during that period. In the example shown in FIG. 15, the registration processing unit 413 registers the individual travel route with the route ID "0006" and the route name "R6" in the route information 52. As a result, the individual travel route R6 is added to the travel route generation screen T2 (see FIG. 16).

[0082] When the worker selects (by touch operation) individual travel routes R1, R2, R6, R4, and R5 in this order on the travel route generation screen T2, the acquisition processing unit 414 acquires these individual travel routes, and the setting processing unit 415 sets "No. 1" to the individual travel route R1, "No. 2" to the individual travel route R2, "No. 3" to the individual travel route R6, "No. 4" to the individual travel route R4, and "No. 5" to the individual travel route R5 (see FIG. 16). Then, the generation processing unit 416 generates an interpolated route R12 connecting the respective connecting positions of the individual travel routes R1 and R2, an interpolated route R26 connecting the respective connecting positions of the individual travel routes R2 and R6, an interpolated route R64 connecting the respective connecting positions of the individual travel routes R6 and R4, and an interpolated route R45 connecting the respective connecting positions of the individual travel routes R4 and R5, as shown in FIG. 17. Then, the generation processing unit 416 generates the driving route (route pattern C) that connects the individual driving route R1, the interpolated route R12, the individual driving route R2, the interpolated route R26, the individual driving route R6, the interpolated route R64, the individual driving route R4, the interpolated route R45, and the individual driving route R5.

[0083] This makes it possible to generate a new route pattern C by correcting the individual travel route R3 of the route pattern A shown in Fig. 12 to the individual travel route R6. Note that the control unit 40 may update (overwrite) the individual travel route R3 with the individual travel route R6 and register it in the storage unit 50. In this case, the route pattern A is updated to the new route.

[0084] In addition, the control unit 40 controls the driving of the intake fan 151 of the intake unit 15, the return to the charging station (not shown), and the like.

[0085] [Route generation process] The travel path generation process executed by the cleaning device 10 will be described below with reference to Fig. 18. Specifically, in this embodiment, the control unit 40 of the cleaning device 10 executes the travel path generation process.

[0086] The present invention can be understood as an invention of a driving route generation method that executes one or more steps included in the driving route generation process. Furthermore, one or more steps included in the driving route generation process described herein may be omitted as appropriate. The steps in the driving route generation process may be executed in a different order as long as the same operational effect is achieved. Furthermore, while the description here takes as an example a case where each step in the driving route generation process is executed by the control unit 40, another embodiment of the driving route generation method may also be considered, in which each step in the driving route generation process is executed in a distributed manner by multiple processors.

[0087] First, in step S11, the control unit 40 determines whether or not an instruction to start a teaching operation has been received from the operator. Specifically, after switching the operation mode to the teaching operation mode, the control unit 40 determines whether or not a selection operation of the start button K1 has been received from the operator on the teaching operation screen T1 (see FIG. 9). If it is determined that an instruction to start a teaching operation has been received (S11: Yes), the process proceeds to step S12, and the process waits in step S11 until it is determined that an instruction to start a teaching operation has been received (S11: No). The process of step S11 is executed by the reception processing unit 412 of the control unit 40. Step S11 is an example of a reception step of the present invention.

[0088] In step S12, the control unit 40 acquires position information of the current position of the cleaning device 10. For example, the control unit 40 sequentially acquires position information of the cleaning device 10 while the worker manually drives the cleaning device 10 by operating (driving operation) the operation buttons (driving button 22F, reverse button 22B, left turn button 22L, right turn button 22R) (see FIG. 3) provided on the operating handle 22.

[0089] In step S13, the control unit 40 determines whether or not an instruction to end the teaching operation has been received from the operator. Specifically, the control unit 40 determines whether or not the operator has selected the end button K2 on the teaching operation screen T1 (see FIG. 9). If it is determined that an instruction to end the teaching operation has been received (S13: Yes), the process proceeds to step S14, and the processes of steps S12 and S13 are repeated until it is determined that an instruction to end the teaching operation has been received (S13: No).

[0090] In step S14, the control unit 40 registers an individual travel route corresponding to the teaching operation in the route information 52 of the storage unit 50. Specifically, the control unit 40 registers, as an individual travel route, a route along which the cleaning device 10 travels during the period from when the control unit 40 receives an instruction to start the teaching operation to when the control unit 40 receives an instruction to end the teaching operation in the route information 52 (see FIG. 7). The processing of steps S12 to S14 is executed by the registration processing unit 413 of the control unit 40. Steps S12 to S14 are an example of a registration step of the present invention.

[0091] In step S15, the control unit 40 determines whether or not the registration of all individual travel routes has been completed. For example, in the work area corresponding to the environmental map M1 shown in FIG. 11, if the teaching operation has been completed for all travel routes intended by the operator (S15: Yes), the process proceeds to step S16. On the other hand, if the teaching operation has not been completed (S15: No), the process returns to step S11. By repeating the processes of steps S11 to S14, multiple individual travel routes are registered in the memory unit 50.

[0092] The processes of steps S11 to S15 described above correspond to the teaching process. When the teaching process ends, the control unit 40 executes the processes of steps S16 to S19 (travel route generation process). Note that the teaching process and the travel route generation process do not have to be executed consecutively (continuously) in time.

[0093] In step S16, the control unit 40 determines whether or not an operation to select an individual driving route has been received from the worker. Specifically, the control unit 40 determines whether or not an operation to select an individual driving route has been received from the worker on the driving route generation screen T2 (see FIG. 11). If it is determined that an operation to select an individual driving route has been received (S16: Yes), the process proceeds to step S17, and the process of step S16 is repeated until it is determined that an operation to select an individual driving route has been received (S16: No). For example, if the worker selects individual driving routes R1 to R5 in this order on the driving route generation screen T2, the process proceeds to step S17.

[0094] In step S17, the control unit 40 acquires a plurality of individual travel routes selected by the worker. Here, the control unit 40 acquires individual travel routes R1 to R5. The process of step S17 is executed by the acquisition processing unit 414 of the control unit 40. Step S17 is an example of an acquisition step of the present invention.

[0095] In step S18, the control unit 40 sets an order for each of the acquired multiple individual driving routes. In the example shown in FIG. 11, the control unit 40 sets "No. 1" for individual driving route R1, "No. 2" for individual driving route R2, "No. 3" for individual driving route R3, "No. 4" for individual driving route R4, and "No. 5" for individual driving route R5. The processing of step S18 is executed by the setting processing unit 415 of the control unit 40. Step S18 is an example of a setting step of the present invention.

[0096] In step S19, the control unit 40 generates a travel route for the cleaning device 10 based on the acquired plurality of individual travel routes and the respective orders of the set plurality of individual travel routes. For example, the control unit 40 generates the travel route by connecting the individual travel routes R1 to R5 in the set order (numbers 1 to 5).

[0097] Furthermore, when the connecting positions of the two consecutive individual travel routes are different, i.e., when the destination point G of one individual travel route and the starting point S of the other individual travel route are far apart (they have different coordinates), the control unit 40 generates an interpolated route connecting the connecting positions, and generates the travel route from multiple individual travel routes and the interpolated route. For example, as shown in FIG. 12, the control unit 40 generates an interpolated route R12 connecting the connecting positions of the individual travel routes R1 and R2, an interpolated route R23 connecting the connecting positions of the individual travel routes R2 and R3, an interpolated route R34 connecting the connecting positions of the individual travel routes R3 and R4, and an interpolated route R45 connecting the connecting positions of the individual travel routes R4 and R5. Then, the control unit 40 generates the travel route from the individual travel route R1, the interpolated route R12, the individual travel route R2, the interpolated route R23, the individual travel route R3, the interpolated route R34, the individual travel route R4, the interpolated route R45, and the individual travel route R5. The process of step S19 is executed by the generation processing unit 416 of the control unit 40. Step S19 is an example of a generation step of the present invention.

[0098] The travel route (route pattern) generated in this manner is registered in the storage unit 50. When the operator causes the cleaning device 10 to travel autonomously, the operator selects a desired travel route from one or more travel routes (route patterns) registered in the storage unit 50. The control unit 40 causes the cleaning device 10 to travel autonomously according to the travel route selected by the operator.

[0099] As described above, the cleaning device 10 according to this embodiment receives a teaching operation (teaching operation) from the operator to cause the cleaning device 10 to perform teaching travel (instructed travel), and registers individual travel routes corresponding to the teaching operation in the storage unit 50. The cleaning device 10 also acquires a plurality of individual travel routes selected by the operator from the plurality of individual travel routes registered in the storage unit 50, and sets an order for each of the acquired plurality of individual travel routes. Then, the cleaning device 10 generates a travel route for the cleaning device 10 to travel autonomously based on the plurality of individual travel routes and the order.

[0100] According to this configuration, the travel route of the work area can be divided into multiple individual travel routes and registered in the storage unit 50. Therefore, by connecting multiple individual travel routes selected by the worker, it is possible to easily generate a desired travel route. Furthermore, if it is desired to modify a portion of a generated travel route, the travel route can be modified by replacing the individual travel route corresponding to the modified portion with a newly generated individual travel route. Therefore, when it becomes necessary to modify a portion of a generated travel route, it is not necessary to recreate the entire travel route from scratch. This improves the work efficiency of the worker who generates the travel route for the cleaning device 10.

[0101] In the above-described embodiment, the cleaning device 10 alone corresponds to the autonomous driving system according to the present invention. However, the autonomous driving system according to the present invention may also include one or more of the components of the cleaning device 10 and a server (information processing device). For example, if multiple components of the cleaning device 10 and the server cooperate to share and execute the driving path generation process (see FIG. 18 ), a system including the multiple components that execute the process can be considered as the autonomous driving system according to the present invention. For example, the server alone may constitute the autonomous driving system according to the present invention. Specifically, the server may include each processing unit (display processing unit 411, reception processing unit 412, registration processing unit 413, acquisition processing unit 414, setting processing unit 415, generation processing unit 416, and driving processing unit 417) of the control unit 40 shown in FIG. 5 and control the cleaning device 10. [Explanation of symbols]

[0102] 10:Cleaning device 11: Device body 20:Operation section 22: Operating handle 40: Control section 50: Storage section 51: Map information 52: Route information 411: Display processing unit 412: Reception processing unit 413: Registration processing unit 414: Acquisition processing unit 415: Setting processing section 416: Generation processing unit 417: Driving processing unit

Claims

1. An autonomous driving device that travels based on a travel route, a storage unit that stores an environmental map corresponding to a travel area generated by traveling the autonomous traveling device; a reception processing unit that receives a teaching operation from an operator to teach the autonomous mobile device to travel; a display processing unit that selectably displays a plurality of route images that identifiably represent individual travel routes corresponding to the teaching operation on the environmental map; an acquisition processing unit that acquires the individual travel routes shown in each of the route images selected by an operator from the plurality of route images; a generation processing unit that generates the travel route based on the plurality of individual travel routes acquired by the acquisition processing unit; a travel processing unit that causes the autonomous mobile device to start cleaning based on the travel route when a predetermined time set by an operator arrives; An autonomous driving device comprising:

2. The display processing unit displays a line image representing a travel trajectory during the teaching travel on the environmental map. The autonomous driving device according to claim 1 .

3. displaying a setting screen for an operator to set the time; The autonomous driving device according to claim 1 or 2.

4. a setting processing unit that sets an order for each of the plurality of individual travel routes acquired by the acquisition processing unit; the generation processing unit generates the travel route based on the plurality of individual travel routes acquired by the acquisition processing unit and the order of each of the plurality of individual travel routes set by the setting processing unit. The autonomous driving device according to any one of claims 1 to 3.

5. the setting processing unit sets a selection order in which an operator selects the plurality of route images as the order of each of the plurality of individual travel routes; The autonomous driving device according to claim 4 .

6. When the connecting positions of the two consecutive individual driving routes are different, the driving processing unit causes the autonomous driving device to travel an interpolated route connecting the connecting positions based on connecting position information of each connecting position, current position information of the autonomous driving device, and map information. The autonomous driving device according to claim 4 or 5.

7. displaying a movement trajectory and a current position of the autonomous mobile device on the environmental map during a period from when the reception processing unit receives an instruction to start the teaching operation until when the reception processing unit receives an instruction to end the teaching operation; The autonomous driving device according to any one of claims 1 to 6.

8. The autonomous driving device automatically cleans the floor while traveling on it. The autonomous driving device according to any one of claims 1 to 7.

9. An autonomous driving system that causes an autonomous driving device to travel based on a travel route, a reception processing unit that receives a teaching operation from an operator to teach the autonomous mobile device to travel; a storage unit that stores an environmental map corresponding to a travel area generated by traveling the autonomous traveling device; a display processing unit that selectably displays a plurality of route images that identifiably represent individual travel routes corresponding to the teaching operation on the environmental map; an acquisition processing unit that acquires the individual travel routes shown in each of the route images selected by an operator from the plurality of route images; a generation processing unit that generates the travel route based on the plurality of individual travel routes acquired by the acquisition processing unit; a travel processing unit that causes the autonomous mobile device to start cleaning based on the travel route when a predetermined time set by an operator arrives; An autonomous driving system equipped with

10. An autonomous driving method for driving an autonomous driving device based on a driving route, comprising: a receiving step of receiving a teaching operation for teaching the autonomous mobile device to travel from an operator; a storage step of storing an environmental map corresponding to a travel area generated by traveling the autonomous traveling device; a display step of selectively displaying a plurality of route images on the environmental map, the route images representing individual travel routes corresponding to the teaching operation in a distinguishable manner; an acquisition step of acquiring the individual travel routes shown in each of the route images selected by an operator from the route images; a generating step of generating the travel route based on the plurality of individual travel routes acquired in the acquiring step; a travel step of causing the autonomous mobile device to start cleaning based on the travel route when a predetermined time set by an operator arrives; An autonomous driving method executed by one or more processors.

11. An autonomous driving program that causes an autonomous driving device to travel based on a travel route, a receiving step of receiving a teaching operation for teaching the autonomous mobile device to travel from an operator; a storage step of storing an environmental map corresponding to a travel area generated by traveling the autonomous traveling device; a display step of selectively displaying a plurality of route images on the environmental map, the route images representing individual travel routes corresponding to the teaching operation in a distinguishable manner; an acquisition step of acquiring the individual travel routes shown in each of the route images selected by an operator from the route images; a generating step of generating the travel route based on the plurality of individual travel routes acquired in the acquiring step; a travel step of causing the autonomous mobile device to start cleaning based on the travel route when a predetermined time set by an operator arrives; An autonomous driving program for causing one or more processors to execute the above.

Images