Patent Publication Number: US-2021173403-A1

Title: Autonomous traveling system, autonomous traveling method, and autonomous traveling program stored on computer-readable storage medium

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     The present application claims priority to Japanese Patent Application No. 2019-220184 filed with Japan Patent Office on Dec. 5, 2019, the contents of which are incorporated herein by reference. 
     BACKGROUND 
     The disclosure relates to an autonomous traveling system, an autonomous traveling method, and an autonomous traveling program for causing an autonomous traveling device to travel autonomously. 
     Recent labor shortages and increasing labor costs have caused a shortage of cleaning personnel who clean wide places, such as concourses at stations or airports and shopping malls. The labor shortages and other factors have increased the use of industrial autonomous traveling cleaning robots (autonomous traveling devices) with high cleaning performance and a high degree of safety. 
     Some autonomous traveling devices may teach the traveling route (teaching function) based on an operation performed by an operator (refer to, for example, Japanese Unexamined Patent Application Publication No. 2017-182175 (Patent Literature 1)). For example, an operator may set an autonomous traveling device in a route teaching mode, and may drive the autonomous traveling device within a work area to cause the autonomous traveling device to travel on an intended route while recording the traveled route (path). The autonomous traveling device set in an autonomous traveling mode again travels the traveling route recorded in the route teaching mode. The above described arrangement enables the autonomous traveling device to travel autonomously on the traveling route generated based on the operation performed by the operator (teaching operation). 
     SUMMARY 
     However, to correct a part of the taught traveling route of such a known autonomous traveling device, or for example, to correct a part of the route between the starting point and the end point of the taught route, the operator may again drive the autonomous traveling device from the starting point to the end point of the taught route to re-record the entire traveling route. The repeating of the operator interaction to correct all or a part of the route lowers the work efficiency of the operator for generating the traveling route of the autonomous traveling device. 
     One or more embodiments may be directed to an autonomous driving system, an autonomous driving method, and an autonomous traveling program for improving the work efficiency of an operator for generating a traveling route of an autonomous traveling device. 
     An autonomous traveling system according to one or more embodiments may be an autonomous traveling system for causing an autonomous traveling device to travel based on a traveling route. The autonomous traveling system may include a reception unit that receives a teaching operation performed by an operator to cause a teaching travel of the autonomous traveling device, a registration unit that registers, with a storage, an individual traveling route corresponding to the teaching operation received by the reception unit, an obtaining unit that obtains, from a plurality of the individual traveling routes registered with the storage, a plurality of individual traveling routes selected by the operator, a setting unit that sets an order of the plurality of individual traveling routes obtained by the obtaining unit, and a generation unit that generates the traveling route based on the plurality of individual traveling routes obtained by the obtaining unit and the order of the plurality of individual traveling routes set by the setting unit. 
     In the above-described structure, the traveling route in a work area is divided into a plurality of individual traveling routes, which are then registered with the storage. Thus, an intended traveling route may be generated easily by connecting a plurality of individual traveling routes selected by the operator. To partly change the generated traveling route, an individual traveling route corresponding to a part to be changed is replaced with a newly generated individual traveling route. The generated traveling route may be changed partly, without generating an entirely new traveling route, which improves the work efficiency of the operator for generating the traveling route of the autonomous traveling device. 
     In the autonomous traveling system, the registration unit may register, as the individual traveling route with the storage, a route on which the autonomous traveling device travels during a period from when the reception unit receives an instruction to start the teaching operation to when the reception unit receives an instruction to end the teaching operation. In the autonomous traveling system, the registration unit may register, with the storage, the individual traveling route for each teaching operation. 
     Thus, a plurality of individual traveling routes each generated for the teaching operation are registered with the storage. 
     The autonomous traveling system may further include a display unit that displays, on a display, the plurality of individual traveling routes registered with the storage. The obtaining unit may obtain a plurality of individual traveling routes selected by the operator from the plurality of individual traveling routes displayed on the display. 
     The operator may thus obtain a plurality of individual traveling routes included in an intended traveling route. 
     In the autonomous traveling system, the setting unit may set an order of selection in which the operator selects the plurality of individual traveling routes as the order of the plurality of individual traveling routes. 
     In the autonomous traveling system, the generation unit may generate the traveling route by connecting the plurality of individual traveling routes obtained by the obtaining unit in the order set by the setting unit. 
     The operator may thus generate a traveling route with an intended route. 
     In the autonomous traveling system, when two of the individual traveling routes that are in a consecutive order have different connecting positions, the generation unit may generate a supplemental route connecting the connecting positions and generate the traveling route with the plurality of individual traveling routes and the supplemental route. 
     The generation of a supplemental route, for example, eliminates a teaching operation for connecting two of the individual traveling routes to be performed by the operator. 
     The autonomous traveling system may further include a display unit that displays, on a display, the traveling route generated by the generation unit. The display unit may display the supplemental route in the traveling route on the display in an identifiable manner. 
     The operator may thus easily identify the supplemental route included in the generated traveling route. 
     In the autonomous traveling system, the registration unit may register, with the storage, the traveling route generated by the generation unit. 
     The autonomous traveling system may further include a traveling unit that causes the autonomous traveling device to travel based on the traveling route generated by the generation unit. When two of the individual traveling routes that are in a consecutive order have different connecting positions, the traveling unit may cause the autonomous traveling device to travel on a supplemental route connecting the connecting positions based on connecting position information indicating the connecting positions and current position information and map information about the autonomous traveling device. 
     The operator may thus cause the autonomous traveling device to travel on an intended route when the plurality of individual traveling routes selected by the operator are distant from each other. 
     An autonomous traveling method according to one or more embodiments is an autonomous traveling method for causing an autonomous traveling device to travel based on a traveling route. The autonomous traveling method is implementable by one or more processors. The autonomous traveling method includes receiving a teaching operation performed by an operator to cause a teaching travel of the autonomous traveling device, registering, with a storage, an individual traveling route corresponding to the received teaching operation, obtaining, from a plurality of the individual traveling routes registered with the storage, a plurality of individual traveling routes selected by the operator, setting an order of the obtained plurality of individual traveling routes, and generating the traveling route based on the obtained plurality of individual traveling routes and the set order of the plurality of individual traveling routes. 
     An autonomous traveling program according to one or more embodiments is an autonomous traveling program for causing an autonomous traveling device to travel based on a traveling route. The autonomous traveling program causes one or more processors to perform operations including receiving a teaching operation performed by an operator to cause a teaching travel of the autonomous traveling device, registering, with a storage, an individual traveling route corresponding to the received teaching operation, obtaining, from a plurality of the individual traveling routes registered with the storage, a plurality of individual traveling routes selected by the operator, setting an order of the obtained plurality of individual traveling routes, and generating the traveling route based on the obtained plurality of individual traveling routes and the set order of the plurality of individual traveling routes. 
     The technique according to one or more embodiments may improve the work efficiency of an operator for generating the traveling route of the autonomous traveling device. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a diagram illustrating an external front perspective view of a cleaner according to one or more embodiments. 
         FIG. 2  is a schematic diagram illustrating a cleaner according to one or more embodiments. 
         FIG. 3  is a diagram illustrating an external rear perspective view of a cleaner according to one or more embodiments. 
         FIG. 4  is a diagram illustrating a front view of a cleaner according to one or more embodiments. 
         FIG. 5  is a functional block diagram illustrating aspects of a cleaner according to one or more embodiments. 
         FIG. 6  is a diagram illustrating example map information registered with a storage in a cleaner according to one or more embodiments. 
         FIG. 7  is a diagram illustrating example route information registered with a storage in a cleaner according to one or more embodiments. 
         FIG. 8  is a diagram illustrating an example route image registered with a storage in a cleaner according to one or more embodiments. 
         FIG. 9  is a diagram illustrating an example teaching operation screen displayed by a cleaner according to one or more embodiments. 
         FIG. 10  is a diagram illustrating example individual traveling routes generated by a cleaner according to one or more embodiments. 
         FIG. 11  is a diagram illustrating an example traveling route generation screen displayed by a cleaner according to one or more embodiments. 
         FIG. 12  is a diagram illustrating an example traveling route confirmation screen displayed by a cleaner according to one or more embodiments. 
         FIG. 13  is a diagram illustrating an example traveling route generation screen displayed by a cleaner according to one or more embodiments. 
         FIG. 14  is a diagram illustrating an example traveling route confirmation screen displayed by a cleaner according to one or more embodiments. 
         FIG. 15  is a diagram illustrating an example teaching operation screen displayed by a cleaner according to one or more embodiments. 
         FIG. 16  is a diagram illustrating an example traveling route generation screen displayed by a cleaner according to one or more embodiments. 
         FIG. 17  is a diagram illustrating an example traveling route confirmation screen displayed by a cleaner according to one or more embodiments. 
         FIG. 18  is a diagram illustrating a flowchart showing an example traveling route generation process performed by a cleaner according to one or more embodiments. 
     
    
    
     DETAILED DESCRIPTION 
     One or more embodiments are described with reference to the drawings. The one or more embodiments described herein are mere examples and should not be construed as limiting the technical scope of the invention. 
     Cleaner  10   
       FIG. 1  is a diagram illustrating an external front perspective view of an autonomous traveling cleaner  10  according to one or more embodiments.  FIG. 2  is a schematic diagram illustrating the cleaner  10  showing its internal structure. A vertical direction D 1 , a front-rear direction D 2 , and a lateral direction D 3  referred to herein are illustrated in the figures. The cleaner  10  is may be example of an autonomous traveling device in one or more embodiments. 
     The cleaner  10  is an autonomous traveling device that moves autonomously on a floor surface  23  (refer to  FIG. 2 ) of a concourse at a facility such as an airport, a station, or a shopping mall. The cleaner  10  is also referred to as a mobile robot. While moving autonomously, the cleaner  10  sucks debris, such as dirt and dust, on the floor surface  23 , separates the debris with a filter, and then collects the debris into a collection box  16  (refer to  FIG. 2 ). The cleaner  10  automatically cleans the floor surface  23  while traveling on the floor surface  23  based on various items of information including traveling routes and cleaning areas that are preliminarily input, the time of day for cleaning, and the home position to which the cleaner  10  returns for charging. 
     The cleaner  10  is a mere example of the autonomous traveling device according to one or more embodiments. One or more embodiments may also be applicable to, for example, cleaners that clean indoor floor surfaces or outdoor surfaces, such as pedestrians and vehicle roads, while traveling autonomously. One or more embodiments may also be applicable to autonomous traveling robots for other uses, or for example, to autonomous traveling security robots, care robots, and load carrying robots. 
     As shown in  FIG. 2 , the cleaner  10  includes a body  11  and functional units included in the body  11 . More specifically, the body  11  includes a traveling assembly  12 , motors  13 , a battery  14 , a suction unit  15 , the collection box  16 , a support holder  17 , a suction nozzle  18 , an extension nozzle  19  (refer to  FIG. 1 ), an operation unit  20 , a display panel  21 , a charging connector  30 , and a control unit  40  (controller). 
     As shown in  FIG. 1 , the body  11  includes an exterior cover  11 A defining the exterior of the body  11 . As shown in  FIG. 2 , the body  11  includes a chassis  11 B in its lower portion. The chassis  11 B is located substantially parallel to the floor surface  23 . The body  11  includes a support frame for supporting the above functional units as appropriate. 
     As shown in  FIG. 2 , the body  11  includes the traveling assembly  12  in its lower portion. The traveling assembly  12 , which is attached to the chassis  11 B, maintains the traveling posture of the body  11  and transmits the moving force of the body  11  in the traveling direction to the floor surface  23 . The traveling assembly  12  includes a pair of traveling wheels  121  and four casters  122 . 
     The wheels  121  are rotatably supported in the middle of the chassis  11 B in the front-rear direction and at the two ends of the chassis  11 B in the lateral (width) direction D 3 . The four casters  122  maintain the traveling posture of the body  11  and are rotatably supported at two front ends and two rear ends of the chassis  11 B. When the cleaner  10  is located on the floor surface  23 , the floor surface  23  supports the outer peripheral surfaces of the wheels  121  and the casters  122 . The body  11  is thus maintained in the traveling posture shown in  FIGS. 1 and 2 . 
     Each wheel  121  includes a rotational shaft connected to an output shaft of the motor  13  through a transmission such as a reduction gear. When the motor  13  is driven to output a rotational driving force from the output shaft, the rotational driving force of the motor  13  is transmitted to the corresponding wheel  121 . In one or more embodiments, the motor  13  is located separately for each of the pair of wheels  121 . Thus, driving of each motor  13  is individually controlled to control the rotational speed of the corresponding wheel  121 . When, for example, the rotational speed of each wheel  121  is controlled at the same speed, the cleaner  10  travels straight. When the rotational speed of each wheel  121  is controlled at a different speed, the floor cleaner  10  turns on the wheel  121  with a lower rotational speed. 
     The suction unit  15  is located above the battery  14  (described later) inside the body  11 . The suction unit  15  generates a suction force for sucking air through the suction nozzle  18 . The suction unit  15  includes multiple suction fans  151 . The suction unit  15  has a suction port  154  that receives a flexible hose  24 . The suction fans  151  are driven to draw air through an inlet at a distal end of the flexible hose  24 . The air then passes through the flexible hose  24 , the suction unit  15 , and an exhaust duct (not shown), and is then discharged outside. 
     The battery  14  is located in a central portion of the body  11 . The battery  14  supplies power for driving the motors  13  and the suction fans  151 . 
       FIG. 3  is a diagram illustrating an external rear perspective view of the cleaner  10 . As shown in  FIGS. 2 and 3 , the collection box  16  is located on a back surface of the body  11 . The body  11  includes, on its back surface, the support holder  17  covering the back surface and supporting the collection box  16  in a detachable manner. The support holder  17  has a recess  171  extending in the vertical direction D 1  in its middle in the lateral (width) direction D 3  and receiving the collection box  16  in a removable manner. 
     As shown in  FIG. 2 , the support holder  17  includes a suction port  174  that extends frontward from a bottom surface of the recess  171 . The suction port  174  communicates with an outlet in an upper portion of the collection box  16 . The suction port  174  receives the end of the flexible hose  24 . 
     As shown in  FIG. 3 , the support holder  17  includes the suction nozzle  18  in its lower portion and the extension nozzle  19  in its side portion. The suction nozzle  18  includes a pair of rotary brushes  26  ( 26 A and  26 B) in a rotatable manner. The rotary brushes  26  rotate with a rotational driving force from a motor (not shown). The motor is driven by the control unit  40  during traveling of the cleaner  10  to rotate the rotary brushes  26 , which collect debris on the floor surface  23  in a reliable manner. The support holder  17  includes the charging connector  30  used for charging the battery  14 . The charging connector  30  includes three receiving terminals  31  connected to three feeding terminals included in a charging station. 
     As shown in  FIG. 3 , the extension nozzle  19  is located in a left portion of the support holder  17 . The support holder  17  includes, on its left, a compartment  176  that may accommodate the extension nozzle  19 . The extension nozzle  19  is supported by the support holder  17 . More specifically, the extension nozzle  19  is supported by the support holder  17  in a manner switchable between a retracted posture (posture shown in  FIGS. 1 and 3 ) of being retracted in the compartment  176  and a lateral cleaning posture (not shown) of being turned leftward from inside the compartment  176  to clean the floor surface  23  on the left of the body  11 . 
       FIG. 4  is a diagram illustrating a front view of the cleaner  10 . As shown in  FIG. 4 , the cleaner  10  includes a front laser sensor  41  and sonar sensors  42  on its front surface. 
     The front laser sensor  41  is received in a groove  175  extending in the width direction and located in a front lower portion of the body  11 . The front laser sensor  41  is located at the center in the groove  175 . The front laser sensor  41  includes a laser oscillator, a laser driver for driving the laser oscillator, a light receiver, and a light-receiving circuit for converting an output from the light receiver 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 an area in front of the cleaner  10  in the width (horizontal) direction with laser light emitted frontward within the range of a predetermined scan angle (e.g., 120°). In response to the front laser sensor  41  receiving laser light that returns after being reflected by an illuminated object (target), the control unit  40  measures the time taken for the laser light to return, and calculates a distance from each scanning position to the object based on the measurement value. Thus, the control unit  40  may determine the distance to an object in front of (in the traveling direction of) the cleaner  10  and the position of the object, as well as the shape and size of the object in the width direction. 
     The sonar sensors  42  are located below the display panel  21 . The sonar sensors  42  are located at the two front ends of the body  11  in the width direction. The sonar sensors  42  are connected to and controlled by the control unit  40 . The sonar sensors  42  detect an object with a sound wave and measure the distance to the object based on the time taken for the sound wave to be reflected by the object and return. 
     As shown in  FIGS. 1 and 3 , the body  11  includes side laser sensors  45  on its two side surfaces. Each side laser sensor  45  has substantially the same structure as the front laser sensor  41 . Each side laser sensor  45  includes a laser oscillator, a laser driver for driving the laser oscillator, a light receiver, and a light-receiving circuit for converting an output from the light receiver 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 areas around the cleaner  10  with laser light emitted frontward, downward, and then rearward within the range of a predetermined scan angle (e.g., 180°). In response to the side laser sensors  45  receiving laser light that returns after being reflected by an illuminated object (target), the control unit  40  measures the time taken for the laser light to return, and calculates the distance from each scanning position to the object based on the measurement value. Thus, the control unit  40  may determine the distances to an object in front of (in the traveling direction of) the cleaner  10  and to a step and an obstacle on the floor surface  23  and their positions, as well as the shapes and sizes of the object, step, and obstacle in the scanning direction. 
     The operation unit  20  (refer to  FIG. 3 ) is located on an upper back surface of the body  11 . The operation unit  20  is attached to the exterior cover  11 A. The operation unit  20  is operable by an operator, and is, for example, a device with a touchscreen operable by touch. The operation unit  20  displays an operation screen to allow the operator to perform operations (e.g., teaching, registration, setting, and travel instruction operations). Information about an operation performed on the operation unit  20  is transmitted to the control unit  40  and used for travel control performed by the control unit  40 . The operation unit  20  may be located on an upper surface (top plate) of the body  11 . The operation unit  20  may be an example of a display in one or more embodiments. 
     The display panel  21  (refer to  FIG. 1 ) is located on a front surface of the body  11 . The display panel  21  is, for example, a liquid crystal display panel. Various messages are displayed on the display panel  21  by the control unit  40  during cleaning. These messages include a cleaning status message indicating cleaning currently being performed or a guidance message about a floor currently being cleaned. 
     An operation handle  22  (refer to  FIG. 3 ) is located at an uppermost end of the back surface of the body  11 . The operation handle  22  is attached to the exterior cover  11 A. The operation handle  22  is grippable by the operator manually driving the cleaner  10  to clean or perform a teaching operation for teaching a traveling route to the cleaner  10 . As shown in  FIG. 3 , the operation handle  22  includes operation buttons (e.g., a travel button  22 F, a retract button  22 B, a left-turn button  22 L, and a right-turn button  22 R) that receive a driving operation performed by the operator. Information about an operation performed on the operation buttons is transmitted to the control unit  40  and used for travel control performed by the control unit  40 . 
     A communicator  25  (refer to  FIG. 5 ) is a communication interface that connects the cleaner  10  to a network with wires or wirelessly for data communication with an external device such as a server (not shown) through the network in accordance with a predetermined communication protocol. 
     A storage  50  (refer to  FIG. 5 ) is a non-volatile storage, such as a hard disk drive (HDD) or a solid-state drive (SSD), that stores various items of information. More specifically, the storage  50  stores data such as map information  51  and route information  52 .  FIG. 6  is a diagram illustrating an example of the map information  51 .  FIG. 7  is a diagram illustrating an example of the route information  52 . 
     As shown in  FIG. 6 , information about an environment map corresponding to a cleaning area (work area) in which the cleaner  10  travels may be registered as the map information  51 . One or more environment maps may be registered as the map information  51 .  FIG. 6  shows a single environment map M 1  in one example. To generate, for example, an environment map for each floor of a facility, multiple environment maps corresponding to the respective floors of the facility are registered as the map information  51 . More specifically, an environment map M 1  of a floor F 1 , an environment map M 2  of a floor F 2 , and an environment map M 3  of a floor F 3  of the facility are registered as the map information  51 . The environment maps may be generated in advance by an external device, or generated based on a distance to an obstacle and its position detected by the traveling cleaner  10  with sensors (e.g., the front laser sensor  41  and the sonar sensors  42 ). Thus, the control unit  40  may generate an environment map of a traveling area by causing the cleaner  10  to travel. The environment map M 1  shown in  FIG. 6  will now be described. 
     As shown in  FIG. 7 , information about individual traveling routes generated based on the teaching operation performed by the operator is registered as the route information  52 . More specifically, information such as a route identification (ID), a route name, position information, and a route image for each individual traveling route is registered as the route information  52 . The control unit  40  generates the individual traveling routes based on the teaching operation performed by the operator and registers information about the generated individual traveling routes as the route information  52 . The route ID is identification information about each individual traveling route. The route name is the name of each individual traveling route. The position information indicates the position (coordinates) of the individual traveling route. For example, coordinate information about one individual traveling route from a starting point (teaching travel starting point) to a destination (teaching travel end point) is registered as the position information for the individual traveling route. The route image is image information with which the individual traveling route may be identified on the environment map M 1 . For example,  FIG. 8  shows an example of a route image E 1  for an individual traveling route R 1 . The route image E 1  includes a starting point S and a destination G of the individual traveling route R 1  and a travel path (solid arrow in the figure) connecting the starting point S and the destination G. 
     In some embodiments, at least one item of information such as the map information  51  and the route information  52  may be stored into a server accessible from the cleaner  10  through a network. 
     The storage  50  stores a control program such as a traveling route generation program for causing the control unit  40  to perform a traveling route generation process described later (refer to  FIG. 18 ). For example, the traveling route generation program is recorded in a non-transitory computer-readable recording medium, such as a compact disc (CD) or a digital versatile disc (DVD), and is read by a reader (not shown) included in the cleaner  10 , such as a CD drive or a DVD drive, and is stored into the storage  50 . 
     The control unit  40  is located in an upper portion of the body  11  (refer to  FIG. 2 ).  FIG. 5  is a functional block diagram illustrating the control unit  40 . The control unit  40  includes, for example, a central processing unit (CPU), a read-only memory (ROM), and a random-access memory (RAM). The CPU is a processor for performing various computations. The ROM is a non-volatile storage that prestores control programs, such as a basic input-output system (BIOS) and an operating system (OS) for causing the CPU to perform various computations. The RAM is a volatile or non-volatile storage for storing various items of information, and is used as a memory area (work area) for temporarily storing various processes to be performed by the CPU. The control unit  40  causes the CPU to execute various control programs prestored in the ROM or the storage  50  to control the cleaner  10 . 
     More specifically, as shown in  FIG. 5 , the control unit  40  includes various processing units such as a display unit  411 , a reception unit  412 , a registration unit  413 , an obtaining unit  414 , a setting unit  415 , a generation unit  416 , and a traveling unit  417 . The control unit  40  causes the CPU to perform various processes in accordance with the traveling route generation program, thus serving as the various processing units. At least one of these units may include an electronic circuit. The traveling route generation program may be a program for causing multiple processors to serve as the processing units. 
     The display unit  411  displays various items of information on the operation unit  20  and the display panel  21 . More specifically, the display unit  411  displays, on the display panel  21  during cleaning, various messages including a cleaning status message indicating cleaning currently being performed or a guidance message about a floor currently being cleaned. The display unit  411  may display, on the operation unit  20 , a mode switch screen (not shown) for switching an operation mode (e.g., a normal operation mode and a teaching operation mode), a teaching operation screen T 1  (refer to  FIG. 9 ) for performing the teaching operation, a traveling route generation screen T 2  (refer to  FIG. 11 ) for generating a traveling route, and a traveling route confirmation screen T 3  (refer to  FIG. 14 ) for displaying the generated traveling route. The control unit  40  switches the operation mode to the teaching operation mode in response to, for example, an operation for switching to the teaching operation mode performed by the operator on the mode switch screen. The display unit  411  displays, for example, the teaching operation screen T 1  shown in  FIG. 9  on the operation unit  20 . 
     The display unit  411  also displays, on the teaching operation screen T 1 , an environment map (the environment map M 1  in this example) selected by the operator. The display unit  411  may be an example of a display unit in one or more embodiments. 
     The reception unit  412  receives operations performed by the operator. More specifically, the reception unit  412  receives the teaching operation performed by the operator. For example, the reception unit  412  receives selection of a start button K 1  and an end button K 2  performed by the operator on the teaching operation screen T 1 . In response to the operator selecting the start button K 1 , an individual traveling route starts being registered. In response to the operator selecting the end button K 2 , the registration of the individual traveling route ends. The reception unit  412  receives, for example, selection of the operation buttons (the travel button  22 F, the retract button  22 B, the left-turn button  22 L, and the right-turn button  22 R) (refer to  FIG. 3 ) performed by the operator on the operation handle  22  (traveling operation). In response to the operator selecting (pressing) the operation button, the cleaner  10  travels in accordance with the selected operation button. The operations performed by the operator on the teaching operation screen T 1  and on the operation handle  22  are examples of the teaching operation (the teaching operation in one or more embodiments.) The reception unit  412  may be an example of a reception unit in one or more embodiments. 
     The registration unit  413  registers, as the route information  52  in the storage  50 , an individual traveling route corresponding to the teaching operation received by the reception unit  412 . More specifically, the registration unit  413  registers, as the individual traveling route with the route information  52 , a route traveled by the cleaner  10  during a period from when the reception unit  412  receives an instruction to start the teaching operation to when the reception unit  412  receives an instruction to end the teaching operation. 
     For example, the operator moves the cleaner  10  to the starting point S in the work area corresponding to the environment map M 1  and selects the start button K 1  on the teaching operation screen T 1  (refer to  FIG. 9 ). The operator then operates the operation handle  22  on the cleaner  10  to allow the cleaner  10  to travel on an intended route. During traveling of the cleaner  10  based on the operation performed by the operator, the registration unit  413  obtains position information about the cleaner  10 . The display unit  411  displays the moving path (indicated by the dotted lines in  FIG. 9 ) and the current position (indicated by the black star in  FIG. 9 ) about the cleaner  10  on the environment map M 1  on the teaching operation screen T 1 . In response to the operator stopping the traveling of the cleaner  10  and selecting the end button K 2  (refer to  FIG. 9 ) on the teaching operation screen T 1 , the registration unit  413  stops obtaining the position information. The registration unit  413  then registers, as the route information  52  (refer to  FIG. 7 ), the position information obtained during a period from when the operator selects the start button K 1  to when the operator selects the end button K 2  as the individual traveling route traveled by the cleaner  10  during the period. In the example shown in  FIG. 9 , the registration unit  413  registers a route ID of 0001, a route name of R 1 , position information of P 1 , and a route image of E 1  (refer to  FIG. 8 ) as the route information  52 . 
     The registration unit  413  registers, as the route information  52 , the individual traveling route including information such as the route ID, the route name, the position information, and the route image for each teaching operation performed by the operator.  FIG. 10  shows five individual traveling routes R 1  to R 5  corresponding to the route information  52  shown in  FIG. 7 . In  FIG. 10 , the operator has performed the teaching operation five times, and the five individual traveling routes R 1  to R 5  are registered with the storage  50 . The registration unit  413  may be an example of a registration unit in one or more embodiments. 
     The obtaining unit  414  obtains one or more individual traveling routes selected by the operator from the multiple individual traveling routes registered as the route information  52  with the storage  50 . More specifically, when multiple individual traveling routes are registered with the storage  50 , the display unit  411  displays the traveling route generation screen T 2  (refer to  FIG. 11 ) on the operation unit  20  based on an operation performed by the operator. The display unit  411  displays route images E 1  to E 5  of the individual traveling routes R 1  to R 5  on the traveling route generation screen T 2  in a selectable manner. The obtaining unit  414  obtains one or more individual traveling routes selected by the operator on the traveling route generation screen T 2 . In response to the operator sequentially selecting (touching) the individual traveling routes R 1 , R 2 , R 3 , R 4 , and R 5  in this order on the traveling route generation screen T 2 , for example, the obtaining unit  414  obtains the individual traveling routes R 1  to R 5 . The obtaining unit  414  may be an example of an obtaining unit in one or more embodiments. 
     The setting unit  415  sets an order of the multiple individual traveling routes obtained by the obtaining unit  414 . For example, the setting unit  415  sets an order of selection in which the operator selects the multiple individual traveling routes as the order of the individual traveling routes. In the example shown in  FIG. 11 , the setting unit  415  sets the individual traveling routes R 1 , R 2 , R 3 , R 4 , and R 5  to be the first, second, third, fourth, and fifth sequentially. The setting unit  415  sets a route pattern A to be any route name as the name of a route including the individual traveling routes R 1  to R 5  selected by the operator. The setting unit  415  displays, on the traveling route generation screen T 2 , the route pattern A, which is a route name, and information with which the order of the individual traveling routes may be identified (the order of R 1 , R 2 , R 3 , R 4 , and R 5 ) (refer to  FIG. 11 ). The setting unit  415  may be an example of a setting unit in one or more embodiments. 
     The generation unit  416  generates a traveling route to be autonomously traveled by the cleaner  10 . More specifically, the generation unit  416  generates the traveling route based on the multiple individual traveling routes obtained by the obtaining unit  414  and the order of the individual traveling routes set by the setting unit  415 . For example, the generation unit  416  generates the traveling route by connecting the individual traveling routes R 1  to R 5  obtained by the obtaining unit  414  in accordance with the order (first to fifth) set by the setting unit  415 . 
     In response to the operator selecting a register button K 3  on the traveling route generation screen T 2  (refer to  FIG. 11 ), for example, the generation unit  416  generates a single traveling route (route pattern A) connecting the starting point S of the individual traveling route R 1  and the destination G of the individual traveling route R 5  by connecting the destination G of the individual traveling route R 1  and the starting point S of the individual traveling route R 2 , the destination G of the individual traveling route R 2  and the starting point S of the individual traveling route R 3 , the destination G of the individual traveling route R 3  and the starting point S of the individual traveling route R 4 , and the destination G of the individual traveling route R 4  and the starting point S of the individual traveling route R 5 . The starting point and the destination of each individual traveling route may be examples of a connection point in one or more embodiments. The generation unit  416  may be an example of a generation unit in an one or more embodiments. 
     The display unit  411  displays the traveling route generated by the generation unit  416  on the traveling route confirmation screen T 3  (refer to  FIG. 12 ). In response to the operator selecting a confirm button K 4  on the traveling route confirmation screen T 3 , the registration unit  413  registers the traveling route (route pattern A) with the storage  50 . In response to the operator selecting a return button K 5  on the traveling route confirmation screen T 3 , the screen returns to the traveling route generation screen T 2  (refer to  FIG. 11 ) to allow the operator to, for example, re-select the individual traveling routes. 
     When, for example, two individual traveling routes that are in the consecutive order have the same connecting position, or more specifically, the destination G of one individual traveling route and the starting point S of the other individual traveling route are at the same position (at the same coordinates), the generation unit  416  connects the two individual traveling routes at the same position. 
     However, when two individual traveling routes that are in the consecutive order have different connecting positions, or more specifically, the destination G of one individual traveling route and the starting point S of the other individual traveling route are distant from each other (with different coordinates), the generation unit  416  generates a supplemental route connecting the connecting positions and the traveling route with the multiple individual traveling routes and the supplemental routes. In the example shown in  FIG. 10 , the individual traveling routes R 1  and R 2 , the individual traveling routes R 2  and R 3 , the individual traveling routes R 3  and R 4 , and the individual traveling routes R 4  and R 5  have different connecting positions. As shown in  FIG. 12 , the generation unit  416  thus generates a supplemental route R 12  connecting the connecting positions of the individual traveling routes R 1  and R 2 , a supplemental route R 23  connecting the connecting positions of the individual traveling routes R 2  and R 3 , a supplemental route R 34  connecting the connecting positions of the individual traveling routes R 3  and R 4 , and a supplemental route R 45  connecting the connecting positions of the individual traveling routes R 4  and R 5 . The generation unit  416  then generates the traveling route connecting the individual traveling route R 1 , the supplemental route R 12 , the individual traveling route R 2 , the supplemental route R 23 , the individual traveling route R 3 , the supplemental route R 34 , the individual traveling route R 4 , the supplemental route R 45 , and the individual traveling route R 5 . 
     The generation unit  416  may generate, as a supplemental route, a route connecting the connecting positions of the two individual traveling routes that are in the consecutive order with the shortest distance or time or a route minimizing the travel load between the connecting positions. 
     The display unit  411  may display the supplemental routes in the traveling route on the traveling route confirmation screen T 3  in an identifiable manner. As shown in  FIG. 12 , for example, the display unit  411  displays the supplemental routes R 12 , R 23 , R 34 , and R 45  in a manner (indicated by, for example, dotted lines) different from the manner in which the individual traveling routes R 1  to R 5  are displayed. 
     The registration unit  413  may register, with the storage  50 , the traveling route including the individual traveling routes R 1  to R 5  or the traveling route including the individual traveling routes R 1  to R 5  and the supplemental routes R 12 , R 23 , R 34 , and R 45 . 
     The traveling unit  417  causes the cleaner  10  to travel autonomously on the traveling route generated by the generation unit  416 . More specifically, the traveling unit  417  outputs a drive signal based on the traveling route to the motors  13 , and drives the traveling assembly  12  to cause the cleaner  10  to travel autonomously on the traveling route. In response to the operator selecting an intended traveling route (route pattern) on a travel instruction screen (not shown), for example, the traveling unit  417  causes the cleaner  10  to travel autonomously on the traveling route. When the operator presets a traveling schedule for the traveling route, the traveling unit  417  causes the cleaner  10  to travel autonomously based on the traveling schedule. 
     When two individual traveling routes that are in the consecutive order set by the setting unit  415  have different connecting positions, the traveling unit  417  causes the cleaner  10  to travel autonomously on the supplemental route connecting the connecting positions based on connecting position information indicating the connecting positions and current position information and map information about the cleaner  10 . 
     In the example shown in  FIG. 10 , the traveling unit  417  causes the cleaner  10  to travel autonomously to the starting point S of the individual traveling route R 2  based on the current position information and the map information included in the environment map M 1  after the cleaner  10  reaches the destination G of the individual traveling route R 1 . In this manner, the traveling unit  417  causes the cleaner  10  to travel autonomously on the individual traveling routes in the order (traveling order) set by the operator. 
     When the traveling route including the individual traveling routes R 1  to R 5  and the supplemental routes R 12 , R 23 , R 34 , and R 45  is registered with the storage  50 , the traveling unit  417  may cause the cleaner  10  to travel autonomously based on position information corresponding to the traveling route. 
     An example process performed by the control unit  40  in response to the operator sequentially selecting (touching) the individual traveling routes R 5 , R 1 , and R 3  in this order on the traveling route generation screen T 2  shown in  FIG. 13  will now be described. 
     The obtaining unit  414  obtains the individual traveling routes R 1 , R 3 , and R 5  selected by the operator. The setting unit  415  sets the individual traveling route R 5  to be the first, the individual traveling route R 1  to be the second, and the individual traveling route R 3  to be the third. The setting unit  415  sets a route pattern B, which may be any route name, as the name of a route including the individual traveling routes R 1 , R 3 , and R 5  selected by the operator. The setting unit  415  displays, on the traveling route generation screen T 2 , the route pattern B, which is a route name, and information (the order of R 5 , R 1 , and R 3 ) with which the order of each individual traveling route may be identified. As shown in  FIG. 14 , the generation unit  416  generates a supplemental route R 51  connecting the connecting positions of the individual traveling routes R 5  and R 1  and a supplemental route R 13  connecting the connecting positions of the individual traveling routes R 1  and R 3 . The generation unit  416  generates the traveling route with the individual traveling route R 5 , the supplemental route R 51 , the individual traveling route R 1 , the supplemental route R 13 , and the individual traveling route R 3 . 
     In this manner, the generation unit  416  generates a single traveling route (route pattern B) (refer to  FIG. 14 ) connecting the starting point S of the individual traveling route R 5  and the destination G of the individual traveling route R 3 . The traveling unit  417  causes the cleaner  10  to travel using the route pattern B. When the operator sets, on a setting screen (not shown) for a traveling schedule, a traveling schedule for starting the travel using the route pattern A on the date and time t 1  and starting the travel using the route pattern B on the date and time t 2 , the traveling unit  417  causes the cleaner  10  to travel autonomously based on the traveling schedule. 
     When the traveling route (route pattern) registered with the storage  50  is to be partly changed, the control unit  40  performs the process described below. In this example, the individual traveling route R 3  in the route pattern A shown in  FIG. 12  is changed. 
     The operator moves the cleaner  10  to the starting point S of a route to be changed in the work area and selects the start button K 1  on the teaching operation screen T 1  (refer to  FIG. 15 ). The operator then operates the operation handle  22  on the cleaner  10  to cause the cleaner  10  to travel on an intended route (indicated by the dotted lines shown in  FIG. 15 ). In response to the operator stopping the traveling of the cleaner  10  and selecting the end button K 2  on the teaching operation screen T 1 , the registration unit  413  registers, as the route information  52  (refer to  FIG. 7 ), the position information obtained during a period from when the operator selects the start button K 1  to when the operator selects the end button K 2  as the individual traveling route traveled by the cleaner  10  during the period. In the example shown in  FIG. 15 , the registration unit  413  registers, as the route information  52 , an individual traveling route with the route ID of 0006 and the route name of R 6 . Thus, an individual traveling route R 6  is added to the traveling route generation screen T 2  (refer to  FIG. 16 ). 
     In response to the operator sequentially selecting (touching) the individual traveling routes R 1 , R 2 , R 6 , R 4 , and R 5  in this order on the traveling route generation screen T 2 , the obtaining unit  414  obtains the individual traveling routes, and the setting unit  415  sets the individual traveling route R 1  to be the first, the individual traveling route R 2  to be the second, the individual traveling route R 6  to be the third, the individual traveling route R 4  to be the fourth, and the individual traveling route R 5  to be the fifth (refer to  FIG. 16 ). As shown in  FIG. 17 , the generation unit  416  generates the supplemental route R 12  connecting the connecting positions of the individual traveling routes R 1  and R 2 , a supplemental route R 26  connecting the connecting positions of the individual traveling routes R 2  and R 6 , a supplemental route R 64  connecting the connecting positions of the individual traveling routes R 6  and R 4 , and the supplemental route R 45  connecting the connecting positions of the individual traveling routes R 4  and R 5 . The generation unit  416  generates the traveling route (route pattern C) connecting the individual traveling route R 1 , the supplemental route R 12 , the individual traveling route R 2 , the supplemental route R 26 , the individual traveling route R 6 , the supplemental route R 64 , the individual traveling route R 4 , the supplemental route R 45 , and the individual traveling route R 5 . 
     The generation unit  416  thus generates the new route pattern C by replacing the individual traveling route R 3  in the route pattern A shown in  FIG. 12  with the individual traveling route R 6 . The control unit  40  may register the individual traveling route R 3  with the storage  50  by updating (overwriting) the individual traveling route R 6  using the individual traveling route R 3 . In this case, the route pattern A is updated to a new route. 
     The control unit  40  also controls, for example, the driving of the suction fans  151  in the suction unit  15  and the returning to the charging station (not shown). Traveling Route Generation Process 
     A traveling route generation process performed by the cleaner  10  will be described with reference to  FIG. 18 . More specifically, the control unit  40  in the cleaner  10  performs the traveling route generation process in one or more embodiments. 
     A traveling route generation method according to one or more embodiments for performing one or more steps included in the traveling route generation process. One or more steps included in the traveling route generation process described below may be eliminated as appropriate. The steps in the traveling route generation process may be performed in a different order to produce the same advantageous effects. Although the control unit  40  performs the steps in the traveling route generation process in this example, a traveling route generation method according to another embodiment or embodiments may allow multiple processors to separately perform the steps in the traveling route generation process. 
     The control unit  40  first determines whether it has received an instruction to start the teaching operation performed by the operator in step S 11 . More specifically, the control unit  40  determines whether it has received selection of the start button K 1  performed by the operator on the teaching operation screen T 1  (refer to  FIG. 9 ) after switching the operation mode to the teaching operation mode. In response to the instruction to start the teaching operation (Yes in S 11 ), the processing advances to step S 12 . The processing waits in step S 11  (No in S 11 ) until reception of the instruction to start the teaching operation. The processing in step S 11  is performed by the reception unit  412  in the control unit  40 . Step S 11  may be an example of a reception step in one or more embodiments. 
     In step S 12 , the control unit  40  obtains the position information about the current position of the cleaner  10 . For example, during manual driving of the cleaner  10  with the operator operating the operation buttons (the travel button  22 F, the retract button  22 B, the left-turn button  22 L, and the right-turn button  22 R) (refer to  FIG. 3 ) on the operation handle  22  (performing a traveling operation), the control unit  40  obtains the position information about the cleaner  10  sequentially. 
     In step S 13 , the control unit  40  determines whether it has received an instruction to end the teaching operation performed by the operator. More specifically, the control unit  40  determines whether it has received selection of the end button K 2  performed by the operator on the teaching operation screen T 1  (refer to  FIG. 9 ). In response to the instruction to end the teaching operation (Yes in S 13 ), the processing advances to step S 14 . Until reception of the instruction to end the teaching operation, the control unit  40  then repeats the processing in steps S 12  and S 13  (No in S 13 ). 
     In step S 14 , the control unit  40  registers, as the route information  52 , the individual traveling route corresponding to the teaching operation with the storage  50 . More specifically, the control unit  40  registers, as the route information  52  (refer to  FIG. 7 ), an individual traveling route traveled by the cleaner  10  during a period from when receiving the instruction to start the teaching operation to when receiving the instruction to end the teaching operation. The processing in steps S 12  to S 14  is performed by the registration unit  413  in the control unit  40 . Steps S 12  to S 1  may be examples of a registration step in one or more embodiments. 
     In step S 15 , the control unit  40  determines whether the registration is complete for all the individual traveling routes. When, for example, the teaching operation is complete for all the traveling routes intended by the operator on the work area corresponding to the environment map M 1  shown in  FIG. 11  (Yes in S 15 ), the processing advances to step S 16 . When the teaching operation is incomplete (No in S 15 ), the processing returns to step S 11 . The multiple individual traveling routes are registered with the storage  50  by repeating the processing in steps S 11  to S 14 . 
     The above processing in steps S 11  to S 15  corresponds to a teaching process. The control unit  40  performs the processing in steps S 16  to S 19  (traveling route generation process) after the teaching process ends. The teaching process and the traveling route generation process may not be performed consecutively (continuously). 
     In step S 16 , the control unit  40  determines whether it has received selection of the individual traveling routes performed by the operator. More specifically, the control unit  40  determines whether it has received the selection of the individual traveling routes performed by the operator on the traveling route generation screen T 2  (refer to  FIG. 11 ). In response to the selection of the individual traveling routes (Yes in S 16 ), the processing advances to step S 17 . Until reception of the selection of the individual traveling routes, the control unit  40  repeats the processing in step S 16  (No in S 16 ). When, for example, the operator sequentially selects the individual traveling routes R 1  to R 5  in this order on the traveling route generation screen T 2 , the processing advances to step S 17 . 
     In step S 17 , the control unit  40  obtains the multiple individual traveling routes selected by the operator. In this example, the control unit  40  obtains the individual traveling routes R 1  to R 5 . The processing in step S 17  is performed by the obtaining unit  414  in the control unit  40 . Step S 17  may be an example of an obtaining step in one or more embodiments. 
     In step S 18 , the control unit  40  sets the order of the obtained multiple individual traveling routes. In the example shown in  FIG. 11 , the control unit  40  sets the individual traveling route R 1  to be the first, the individual traveling route R 2  to be the second, the individual traveling route R 3  to be the third, the individual traveling route R 4  to be the fourth, and the individual traveling route R 5  to be the fifth. The processing in step S 18  is performed by the setting unit  415  in the control unit  40 . Step S 18  may be an example of a setting step in one or more embodiments. 
     In step S 19 , the control unit  40  generates a traveling route traveled by the cleaner  10  based on the obtained multiple individual traveling routes and the set order of the individual traveling routes. For example, the control unit  40  generates the traveling route by connecting the individual traveling routes R 1  to R 5  in the set order (first to fifth). 
     When two individual traveling routes that are in the consecutive order have different connecting positions, or more specifically, the destination G of one individual traveling route and the starting point S of the other individual traveling route are distant from each other (at different coordinates), the control unit  40  generates a supplemental route connecting the connecting positions and the traveling route with the multiple individual traveling routes and the supplemental routes. As shown in  FIG. 12 , for example, the control unit  40  generates the supplemental route R 12  connecting the connecting positions of the individual traveling routes R 1  and R 2 , the supplemental route R 23  connecting the connecting positions of the individual traveling routes R 2  and R 3 , the supplemental route R 34  connecting the connecting positions of the individual traveling routes R 3  and R 4 , and the supplemental route R 45  connecting the connecting positions of the individual traveling routes R 4  and R 5 . The control unit  40  generates the traveling route with the individual traveling route R 1 , the supplemental route R 12 , the individual traveling route R 2 , the supplemental route R 23 , the individual traveling route R 3 , the supplemental route R 34 , the individual traveling route R 4 , the supplemental route R 45 , and the individual traveling route R 5 . The processing in step S 19  is performed by the generation unit  416  in the control unit  40 . Step S 19  may be an example of a generation step in one or more embodiments. 
     The traveling route (route pattern) generated in this manner is registered with the storage  50 . The operator selects an intended traveling route from one or more traveling routes (route patterns) registered with the storage  50  when causing the cleaner  10  to travel autonomously. The control unit  40  causes the cleaner  10  to travel autonomously on the traveling route selected by the operator. 
     As described above, the cleaner  10  according to one or more embodiments receives a teaching operation performed by the operator to cause a teaching travel of the cleaner  10 , and registers, with the storage  50 , the individual traveling route corresponding to the teaching operation. The cleaner  10  obtains the multiple individual traveling routes selected by the operator from the multiple individual traveling routes registered with the storage  50 , and sets the order of the obtained multiple individual traveling routes. The cleaner  10  generates a traveling route autonomously traveled by the cleaner  10  based on the multiple individual traveling routes and the order. 
     This structure allows the traveling route in a work area to be divided into multiple individual traveling routes and registered with the storage  50 . Thus, an intended traveling route may be generated easily by connecting multiple individual traveling routes selected by the operator. To partly change the generated traveling route, an individual traveling route corresponding to a part to be changed is replaced with a newly generated individual traveling route. The generated traveling route may be changed partly, without generating an entirely new traveling route. This structure improves the work efficiency of the operator for generating the traveling route of the cleaner  10 . 
     In the above described embodiment or embodiments, although the cleaner  10  alone corresponds to the autonomous traveling system, the autonomous traveling system according to one or more embodiments may include one or more components included in the cleaner  10  and a server (information processing device). When, for example, multiple components in the cleaner  10  and the server cooperate with one another to implement the traveling route generation process (refer to  FIG. 18 ) in a shared manner, a system including the multiple components that implement the process may be the autonomous traveling system according to one or more embodiments. For example, the server alone may function as the autonomous traveling system according to one or more embodiments. More specifically, the server may include the processing units (the display unit  411 , the reception unit  412 , the registration unit  413 , the obtaining unit  414 , the setting unit  415 , the generation unit  416 , and the traveling unit  417 ) in the control unit  40  shown in  FIG. 5  and control the cleaner  10 .