Patent ID: 12185888

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

1. First Preferred Embodiment

Hereinafter, an autonomously traveling vehicle100according to a first preferred embodiment of the present invention will be described. With reference toFIG.1, the overall configuration of the autonomously traveling vehicle100will be described.FIG.1is a diagram showing the overall configuration of the autonomously traveling vehicle. The autonomously traveling vehicle100according to the present preferred embodiment autonomously reproduces cleaning conditions set at each passing point of the autonomous travel route while autonomously traveling on the instructed travel route (autonomous travel route) within a predetermined area (e.g., indoors such as within buildings). The autonomously traveling vehicle100is provided mainly with a main body B, a traveling carriage1, a scrubber3and a controller5.

The main body B is a main body of the autonomously traveling vehicle100. A forward sensor21ais arranged at front side of the main body B in a traveling direction and a backward sensor21bis arranged at back side of the main body B in a traveling direction. The forward sensor21aand the backward sensor21bobtain information on obstacles such as a wall existing around the autonomously traveling vehicle100(main body B).

Each of the forward sensor21aand the backward sensor21bare, for example, a Laser Range Finder (LRF) of which a detection range is 180 degrees or more. By using the Laser Range Finder as the forward sensor21aand the backward sensor21b, the distance between the traveling carriage1and an obstacle and the direction in which the obstacle exists are obtained as obstacle information.

Information obtained by the forward sensor21aand the backward sensor21bmay be two-dimensional information that shows the position where any obstacle exists on a predetermined plain surface, and further may be three-dimensional information including information showing the position where any obstacle exists in a height direction.

The detection range (detection angle and/or detection distance) of the forward sensor21amay be wider than the detection range of the backward sensor21b. In this way, the information on any obstacle existing in a wider range in front of the autonomously traveling vehicle100can be obtained. Alternatively, the forward sensor21aand the backward sensor21bmay be replaced with TOF (Time-of-Flight) cameras.

The traveling carriage1provided on the main body B causes the autonomously traveling vehicle100travel. The traveling carriage1includes a pair of wheel motors11and main wheels13, each of which is provided at each of the bottom left and right edges of the main body B. The main wheel13is attached to an output rotary shaft of the wheel motor11and rotates in accordance with rotation of the wheel motor11.

According to another preferred embodiment of the present invention, a traveling carriage1, for example, may include auxiliary wheels15so as to allow an autonomously traveling vehicle100to travel more stably. The auxiliary wheels15may be rotatably attached behind the main wheel13at the bottom left and right edges of a main body B. In view of a position of the center of gravity of an autonomously traveling vehicle100, the auxiliary wheel15may be attached in front of the main wheel13.

A scrubber3, which may be arranged at the bottom of the main body B, is able to clean a floor F according to the predetermined cleaning conditions. The scrubber3according to the present preferred embodiment is able to perform a cleaning operation by brushing the floor F with a washing liquid. The scrubber3includes preferably, a washing liquid discharge port31, a squeegee33, and a washing head35. The washing liquid discharge port31discharges the washing liquid such as water, supplied through a washing liquid supply pump31bfrom a washing liquid supply tank31a, to the floor F in front of the main body B. The squeegee33arranged at the rear bottom of the main body B collects the washing liquid remaining on the floor F. The washing head35arranged at the front bottom of the main body B cleans the floor F by rotating on the floor F where the washing liquid exists through rotation of a washing head motor35a.

According to another preferred embodiment, a suction port02connecting to a collecting section33bmay be provided at the squeegee33. The inside of the collecting section33bbecomes in a negative pressure state with a suction motor33a, allowing the suction port02to absorb the washing liquid and dust collected by the squeegee33and to send to the collecting section33b.

The autonomously traveling vehicle100includes the controller5, which is a computer system including a CPU, a storage (such as RAM, ROM, hard disc drive or SSD), and various interfaces. The controller5performs various controls with respect to the autonomously traveling vehicle100. The structure of the controller5will be described in detail later.

The autonomously traveling vehicle100according to the present preferred embodiment of the present invention has a function to reproduce an autonomously travel taught by a user operation and a function to autonomously travel so as to ‘paint out’ the specific area indicated by a user operation. Hereinafter, the function to reproduce a route traveling taught by the user operation is called a ‘copy travel function’ and the function to autonomously travel so as to ‘paint out’ the specific area indicated by a user operation is called ‘paint-out travel function’.

In order to perform the above functions, the autonomously traveling vehicle100includes a teaching unit7for a travel route (hereafter refer to teaching unit7), which is a device to receive a user instruction on the movement operation of traveling carriage1. The teaching unit7is attached to the upper backside of the main body B with an attachment8. The teaching unit7is an operating device including, for example, a pair of rotatable handles. By using the steering handles or a handle bar of the teaching unit7, a user controls rotation amount of a pair of the main wheel13to steer the autonomously traveling vehicle100.

According to another preferred embodiment of the present invention, a teaching unit7, for example, may be a remote controller such as a joystick that operates the autonomously traveling vehicle100remotely. Further, the autonomously traveling vehicle100may be able to be operated by both of the above teaching unit7attached to a main body B and the remote controller.

The autonomously traveling vehicle100also includes an operation setting unit9, which defines and functions as an operation panel to perform various setting operations for the autonomously traveling vehicle100. The operation setting unit9is, for example, a touch panel with a display.

As will later be described, using partial traveling routes selected from the partial traveling routes stored in a storage57(to be described later) and connection routes connecting these partial traveling routes, the autonomously traveling vehicle100according to the present preferred embodiment creates the travel route (autonomous travel route) on which the autonomously traveling vehicle100autonomously travels. Since the operation setting unit9has a function to select partial traveling routes used for creation of the autonomous travel route, with the operation setting unit, the user can set whether or not the autonomous travel route is created through connecting which the partial traveling routes in which order.

The operation setting unit9also is also able to set the controlled variable of the scrubber3. In detail, the user can set a discharge amount of washing liquid from the washing liquid discharge port31, the number of rotations of the washing head motor35aand the suction force of washing liquid from the suction port02as cleaning conditions using the operation setting unit9.

The operation setting unit9is arranged in the vicinity of the teaching unit7in the main body B, so that the user can operate the operation setting unit9while operating the teaching unit7. The user can clean floor F while the autonomously traveling vehicle100is traveling.

As with the above teaching unit7, the operation setting unit9may be attached separately from the main body B. The operation setting unit9includes a radio-communicable console such as a portable terminal. The teaching unit7and the operation setting unit9may be integrated so as to operate the traveling carriage1and the scrubber3easily at the same time.

Hereinafter, with reference toFIGS.1and2, the overall configuration of the controller5will be described.FIG.2is a diagram showing the overall configuration of the controller. For example, all or part of each functional block of the controller5may be configured by the program stored in a storage and/or a storage device of the computer system and also configured as a custom IC such as a SoC (System on Chip).

The controller5may be provided with a computer system or a plurality of computer systems. In the controller5including a plurality of computer systems, for example, a plurality of the functional blocks of the controller5are allocated to the plurality of computer systems at any rate and performed.

The controller5is configured or programmed to include a traveling controller51, a cleaning controller53, a central controller55and a storage57.

The traveling controller51controls the wheel motors11. In details, the traveling controller51operates the wheel motor11based on a user operation by the teaching unit7or based on a reproductive traveling control instruction from the central controller55. The mode in which the traveling controller51controls the wheel motors11based on the operation performed by the teaching unit7is called ‘manual operation mode’ and the mode in which the traveling controller51controls the wheel motors11based on the reproductive traveling control instruction is called ‘autonomous traveling mode’. The manual operation mode includes a ‘teaching traveling mode’ to teach the desired autonomous travel route and a ‘simple manual operation mode’ without any teaching. The simple manual operation mode is used, for example, to move the autonomously traveling vehicle100to the starting position of reproductive traveling.

These modes are switchable in the traveling controller51based on an instruction from outside (for example, the teaching unit7or the operation setting unit9).

The traveling controller51calculates the target rotational speed of the wheel motors11based on an operation amount of the steering handle or the handle bar of the teaching unit7or the reproductive traveling control instruction. The traveling controller51performs control so that the wheel motors11will rotate at the target rotational speed by outputting drive power to the wheel motors11based on a difference between the actual rotational speed and the target rotational speed of the wheel motor11. The actual rotational speed of the wheel motor11is able to be calculated based on a pulse signal from an encoder17attached to the output rotational shaft of the wheel motor11.

The above control can be performed by use of a control theory such as a PI (Proportional Integral) or a PID (Proportional Integral Differential).

According to the present preferred embodiment, the wheel motor11and the main wheel13are arranged at each of left and right edges of the bottom of the main body B. The traveling controller51determines the traveling direction of the autonomously traveling vehicle100by controlling independently the rotational speed and the direction of respective right and left wheel motors11.

When the user operation is required for the autonomously traveling vehicle100to clean the floor, the cleaning controller53outputs a signal to control the rotation speeds or outputs of the washing head motor35a, the washing liquid supply pump31band the suction motor33aaccording to the teaching cleaning conditions received from the operation setting unit9.

In the autonomous travel mode that does not require a cleaning operation by a user, the cleaning controller53receives the setting values of cleaning conditions in an autonomous traveling mode from the central controller55to control the scrubber3according to the setting value of cleaning conditions, so that the autonomously traveling vehicle100cleans the floor F autonomously.

The central controller55which organizes all controls of the autonomously traveling vehicle100estimates where the autonomously traveling vehicle100is moving on the floor F based on the data obtained from the forward sensor21a, the backward sensor21band/or the encoder17, and creates the information showing the self-position.

The central controller55creates the autonomous travel route for the autonomously traveling vehicle100to travel autonomously. The details will be described, however, the central controller55links a plurality of the partial traveling routes to the connection route connecting the plurality of partial traveling routes to make an autonomous traveling schedule500.

The partial traveling route is generated within a subarea RA that is a part of the predetermined area A. The partial traveling route includes the partial traveling route for copy travel and the partial traveling route for paint-out travel as described above. The details of a method of generating these partial traveling routes will be described later.

Further, in the autonomous traveling mode, the central controller55calculates the reproductive traveling control instruction based on the data stored in the autonomous traveling schedule500and output to the traveling controller51. In the autonomous travel mode, the central controller55calculates the setting values of cleaning conditions based on the cleaning conditions stored in the autonomous traveling schedule500and outputs them to the cleaning controller53.

The storage57includes a part or all of the storing areas of storage device of computer system included in the controller5records various information on the autonomously traveling vehicle100. In detail, the storage57records various settings of an autonomously traveling vehicle100or the data on the travel route generated by the central controller55.

The storage57records the above autonomous traveling schedule500, the data on the partial traveling route included in the autonomous traveling schedule500(partial traveling route data501), the data on the connection route connecting partial traveling routes (connection route data502) and the connection information503showing the relationships between the partial traveling routes and the connection routes as the data on travel route.

According to another preferred embodiment of the present invention, a controller5may include a data writing device (not illustrated) to record the data stored in a storage57into another storage medium, and also may include a connection terminal connectable to the data writing device such as a USB port. The device or terminal enables the controller5to record the data stored in the storage57into another storage medium or to record the data stored in another storage medium into the storage57. For example, the partial traveling route data501generated by an external computer is able to be recorded into the storage57.

Hereinafter, with reference toFIG.3, the detailed configuration of the central controller55will be described.FIG.3is a diagram showing a configuration of the central controller. The central controller55is configured or programmed to estimate a self-position, generate various travel routes, and provide information on the autonomous traveling schedule500. In detail, the central controller55is configured or programmed to include a self-position estimation unit55a, a partial traveling route generation unit55b, an autonomous travel plan generator55c, and a travel reproduction unit55d.

The self-position estimation unit55agenerates map information showing any obstacles existing around the autonomously traveling vehicle100as well as estimates a self-position of the autonomously traveling vehicle100using the map information.

Using the information on any obstacles existing in front of the autonomously traveling vehicle100obtained by the forward sensor21aand the information on any obstacles existing behind the autonomously traveling vehicle100obtained by the backward sensor, and as needed, converting a coordinate, the self-position estimation unit55agenerates map information. The map information generated in this way shows the surroundings of current self-position. Therefore, the map information is referred to as a ‘local map’.

Further, the self-position estimation unit55aestimates a self-position of the autonomously traveling vehicle100based on a rotation amount of the wheel motors11obtained by the encoder17and a map-matching result between a generated local map and map information (which is called, ‘global map’ or ‘environmental map’) showing the area in which the autonomously traveling vehicle100is traveling.

The partial traveling route generation unit55bgenerates the partial traveling route data501and the route connection data502. In order to generate the partial traveling route data501to perform the above ‘copy travel function’, the partial traveling route generation unit55brecords traveling (and cleaning) of the autonomously traveling vehicle100operated by a user as the partial traveling route data501.

In order to generate the partial traveling route data501to perform the above ‘paint-out travel function’, the partial traveling route generation unit55bgenerates the travel route to be painted out within the specific area (subarea RA) indicated by a user with a prescribed algorithm, and records this as the partial traveling route data501.

The autonomous travel plan generator55ccreates the autonomous travel route where the autonomously traveling vehicle100travels autonomously. In detail, the autonomous travel plan generator55cmakes the autonomous traveling schedule500using the partial traveling route data501selected with the operation setting unit9and the route connection data502for a connection of the selected partial traveling routes.

In detail, the autonomous travel plan generator55clinks the selected partial traveling route data501to the route connection data502connecting these partial traveling routes to make the autonomous traveling schedule500. The detailed method of generating the autonomous traveling schedule500will be described later.

In the autonomous traveling mode, the traveling reproduction unit55dcalculates control instruction (which is called “reproductive traveling control instruction”) for the autonomous traveling of the autonomously traveling vehicle100based on the information stored in the autonomous traveling schedule500and the self-position of the autonomously traveling vehicle100estimated by the self-position estimation unit55a, and outputs this reproductive traveling control instruction to the traveling controller51.

In addition, the traveling reproduction unit55doutputs the autonomous traveling schedule500, the partial traveling route data501included in the autonomous traveling schedule500, or the cleaning conditions (if recorded) of the route connection data502to the cleaning controller53.

With reference toFIG.4, which is a flowchart showing the outline of the operation control routine of the autonomously traveling vehicle100, an exemplary control operation is explained below such that the controller5(the central controller55) generates the autonomous traveling schedule500by which the traveling vehicle100can travel and clean autonomously. In step S1, a user can set the operation mode of the autonomously traveling vehicle100to the teaching travel mode out of the manual operation mode and then operate the traveling vehicle100to travel, thus the partial traveling route generation unit55bcan generate the partial traveling routes and the connection routes and store them in the storage57. Further, the partial traveling route generation unit55bcan record each of the connection routes and the partial traveling routes in the connection information503so that the respective connection routes can be associated with the connected partial traveling routes.

The operation mode is switched into the autonomous traveling mode and then, the autonomous travel plan generator55ccreates autonomous travel routes at step S2as follows. The autonomous travel plan generator55creceives the selection of the partial traveling route in the operation setting unit9and associates the partial traveling route data501of the selected partial traveling route, out of the partial traveling route data501stored in the storage57, with the route connection data502of the connection route connecting to the partial traveling route and then, makes the autonomous traveling schedule500.

In step S3, the traveling reproduction unit55dgenerates the reproductive traveling control instruction according to the autonomous traveling schedule500made in step S2and outputs it to the traveling controller51. When cleaning conditions are included in the autonomous traveling schedule500, the traveling reproduction unit55doutputs the corresponding cleaning conditions to the cleaning controller53in the timing indicated in the autonomous traveling schedule500.

Hereinafter, with reference toFIGS.5and6, the generating operation of partial traveling routes and connection routes performed in the above step S1will be described.FIG.5is a diagram schematically showing an example of instructions of partial traveling routes and connection routes.FIG.6is a flowchart showing generating operation of partial traveling routes and connection routes according to the first preferred embodiment of the present invention. Hereinafter, as describedFIG.5, an example of teaching showing four partial traveling routes PR1to PR4and four connection routes CR (1,2), CR (2,3), CR (3,4) and CR (4,1) within the predetermined area A will be described.

As shown inFIG.5, the partial traveling route PR1is a route generated in the subarea RA1. The copy travel is appropriate for the subarea RA1in which an obstacle exists. Therefore, the partial traveling route PR1is generated as a partial traveling route for the copy travel. The partial traveling route PR2is a boundary of so large subarea RA2that the paint-out travel is appropriate for the subarea RA2. Therefore, the partial traveling route is generated within the subarea RA2for the paint-out travel.

The partial traveling route PR3is a route generated in the subarea RA3. The subarea RA3is such a small area that the partial traveling route PR3is generated as the partial traveling route for the copy travel. The partial traveling route PR4is a route generated in the subarea RA4. The subarea RA4is such a small area that the partial traveling route PR4is generated as the partial traveling route for the copy travel.

As shown inFIG.5, the end point of the partial traveling route PR1connects to the starting point of the partial traveling route PR2with the connection route CR (1,2), and the end point of the partial traveling route PR2connects to the starting point of the partial traveling route PR3with the connection route CR (2,3). The end point of the partial traveling route PR3connects to the starting point of the partial traveling route PR4with the connection route CR (3,4) and the end point of the partial traveling route PR4connects to the starting point of the partial traveling route PR1with the connection route CR (4,1).

The partial traveling routes and connection routes are taught in the following order: the partial traveling route PR1, the connection route CR (1,2), the partial traveling route PR2, the connection route CR (2,3), the partial traveling route PR3, the connection route CR (3,4), the partial traveling route PR4, and the connection route CR (4,1).

With reference toFIG.6, a generating operation of connection route will be described. In step S11, the partial traveling route generation unit55bgenerates the partial traveling route data501of the partial traveling route PR1and records it in the storage57. When performing generation and recording of the partial traveling route, a user informs the controller5(the central controller55) of which a partial traveling route is generated at this time, with the operation setting unit9.

When the autonomously traveling vehicle100reaches the end point of the partial traveling route PR1which is being generated at present, in step S12, the partial traveling route generation unit55bstarts generating and recording the route connection data502of the connection route CR (1,2) which has the end point of the partial traveling route PR1of which generation has been finished as the starting point. The information that the autonomously traveling vehicle100has reached the end point of the partial traveling route PR1being generated at present, is, for example, given to the controller5(the central controller55) by a user with the operation setting unit9. The information that the generation and storing of the route connection data502of the connection route CR (1,2) will be starting may also be explicitly given by a user with the operation setting unit9.

When any connection route corresponding to the partial traveling route generated in the above step S11is not generated, in other words, when the teaching is finished at the end point of this partial traveling route, the partial traveling route generation unit55bfinish the teaching of partial traveling route and connection route without executing the following steps S12to S14.

In the same manner as generating operation of the partial traveling route for the copy travel, as will later be described, the partial traveling route generation unit55bgenerates the route connection data502according to user operation and stores it in the storage57.

After the autonomously traveling vehicle100reaches at the end point of the connection route CR (1,2), which is the starting point of the route PR2to be generated next, a user can inform the controller5(the central controller55) of which a partial traveling route (the route PR2) is generated with the operation setting unit9. Thus, generating the connection route CR (1,2) is completed.

In another variant, a user may expressly instruct the autonomously traveling vehicle100to complete generating the route connection data502of the connection route CR (1,2) and storing it in the storage with the operation setting unit9, after that may expressly instruct which a partial traveling route (the route PR2) is to be generated next time.

In step S13, the partial traveling route generation unit55bassociate a first connection information, a second connection information, and a third connection information with each other to create a connection information503. The first connection information relates the connection route CR (1,2) that has been generated at Step S12, the second connection information relates a partial traveling route (partial traveling route PR1) that has been generated prior to generation of the connection route CR (1,2) informed in step S11, and the third connection information relates the partial traveling sub-route (the route PR2) to be generated just after notifying when generation of the connection route (1,2) is finished.

The first connection information on the connection route CR (1,2) that has been generated, the second connection information on the partial traveling route which is a connection source of the connection route, and the third connection information on the partial traveling route of connection destination of the connection route are associated with each other and recorded as the connection information503.

For example, the partial traveling route generation unit55bassociates information (for example, file name, ID number) identifying the route connection data502which is the connection information on the connection route that has been generated, information (for example, file name, ID number) identifying the partial traveling route data501of the partial traveling route of the connection source, and information (for example, file name, ID number) identifying the partial traveling route data501of the partial traveling route of the connection destination with each other, and generates the connection information503.

Until the route PR2and the partial traveling route PR3and PR4are generated after generating the connection information503at the stage prior to generating the connection route CR (1,2), and generation of the connection routes CR (2,3), CR (3,4) and CR (4,1), which connects them each other, has finished (‘No’ at step S14), the partial traveling route generation unit55bexecutes repeatedly the above steps S11to S13.

The connection information503is finally generated after the four partial traveling routes PR1to PR4and the connection routes CR (1,2), CR (2,3), CR (3,4), and CR (4,1) connecting these partial traveling routes PR1to PR4as shown inFIG.5are generated. The connection information503has a data structure as shown inFIG.7, which shows an example of a data structure of connection information.

FIG.7shows, for example, for the connection route CR (1,2) having identification information as ‘connection route #1’, the connection source is ‘partial traveling route #1’ (the partial traveling route PR1) and the connection destination is ‘route #2’ (the route PR2). Accordingly, from this connection information503, it can be understood that the starting point of the connection route CR (1,2) is consistent with the end point of the partial traveling route PR1and the end point of the connection route CR (1,2) is consistent with the starting point of the route PR2.

It is also shown that for the connection route CR (2,3) having identification information as ‘connection route #2’, the connection source is ‘the route #2’ (the route PR2) and the connection destination is ‘the partial traveling route #3’ (the partial traveling route PR3). Accordingly, it can be understood that the starting point of the connection route CR (2,3) is consistent with the end point of the route PR2and that the end point of the connection route CR (2,3) is consistent with the starting point of the partial traveling route PR3.

It is shown that for the connection route CR (3,4) having identification information as ‘connection route #3’, the connection source is ‘the partial traveling route #3’ (the partial traveling route PR3) and the connection destination is ‘the partial traveling route #4’ (the partial traveling route PR4). Accordingly, it can be understood that the starting point of the connection route CR (3,4) is consistent with the end point of the partial traveling route PR3and that the end point of the connection route CR (3,4) is consistent with the starting point of the partial traveling route PR4.

It is shown that for the connection route CR (4,1) having identification information as ‘connection route #4’, the connection source is ‘the partial traveling route #4’ (the partial traveling route PR4) and the connection destination is ‘the partial traveling route #1’ (the partial traveling route PR1). Accordingly, it can be understood that the starting point of the connection route CR (4,1) is consistent with the end point of the partial traveling route PR4and that the end point of the connection route CR (4,1) is consistent with the starting point of the partial traveling route PR1.

Hereinafter, generation of the partial traveling route executed in the above step S11will be described in details. According to the present preferred embodiment of the present invention, the partial traveling route generation unit55bis capable of generating the routes to realize the ‘copy travel function’ and the routes to realize the ‘paint-out travel function’ as partial traveling routes.

With reference toFIG.8, a generating operation of the route to realize the copy travel function (partial traveling route for copy travel) will be described.FIG.8is a flowchart showing generating operation of the partial traveling route for the copy travel. The generation of the partial traveling route for copy travel can be realized by obtaining the routes on which the autonomously traveling vehicle100has traveled as dot sequences of a plurality of passing points through the operation of the traveling route teaching unit7. In the present preferred embodiment of the present invention, the connection route is also generated in the same or similar way as the generating operation of the partial traveling route for the copy travel as described below.

The partial traveling route generation unit55bindicates a user interface as shown inFIG.9A(refer to as first teaching graphical user interface GUI1) on a display of the operation setting unit9.FIG.9Ais a diagram illustrating an example of a first teaching graphical user interface.

The first teaching graphical user interface GUI1is a user interface displaying a list of the partial traveling routes created and recorded until this time and includes a route display unit D1to display names of recorded partial traveling routes (referred to as partial traveling route name) as a list. Out of items which are displayed in the route display unit D1, new partial traveling routes are generated and stored in the items which are blank, and the partial traveling routes are already stored in the items in which are the route names are described.

The blank item of the route display unit D is selected (for example, select by coinciding the blank item with a reverse-C-shaped display) and an enter button B1is pressed, so that a user interface (referred to as a second teaching user interface GUI2) is displayed as shown inFIG.9B.FIG.9Bis a diagram illustrating an example of the second teaching graphical user interface.

The second teaching graphical user interface GUI2is a user interface for setting the partial traveling route name, and includes a route type selection unit D2to select the travel routes for the copy travel or the paint-out travel routes, and a keyboard D3to set the partial traveling route name.

The copy travel is selected as a type of the partial traveling route on the route type selection unit D2of the second teaching graphical user interface GUI2, the partial traveling route name to be newly created is set by using the keyboard D3, and the enter button B2is pressed, so that a user interface (referred to as a third teaching graphical user interface GUI3) as shown inFIG.9Cis displayed.FIG.9Cis a diagram showing an example of the third teaching graphical user interface.

By selecting the picture linking two points with a line on the route type selection unit D2, the copy travel is selected as a type of the partial traveling route.

The third teaching graphical user interface GUI3is displayed when teaching the partial traveling route starts, and includes a teaching start button B3. When the teaching start button B3is pressed, a user interface (a fourth teaching graphical user interface GUI4) as shown inFIG.9Dis displayed.FIG.9Dis a diagram showing an example of the fourth teaching graphical user interface.

While the fourth teaching graphical user interface GUI4is displayed, a user moves the autonomously traveling vehicle to the start point of the new partial traveling route by using the traveling route teaching unit7. When the autonomously traveling vehicle100is moved to the position appropriate for a start point of the partial traveling route, the third teaching graphical user interface GUI3is re-displayed.

The above-described ‘the position appropriate for a start point of the partial traveling route’ is, for example, a position where a characteristic local map is able to be obtained and the self-position of the autonomously traveling vehicle100is able to be estimated correctly.

If the autonomously traveling vehicle100is not moved to the position appropriate for a start point of the partial traveling route, an alert WD will be displayed as shown inFIG.9E.FIG.9Eis a diagram showing an example of the alert.

The autonomously traveling vehicle100is moved to the position appropriate for a start point of the partial traveling route and then the teaching start button B3is pressed on the third teaching graphical user interface re-displayed, so that the partial traveling route teaching starts. When the teaching of the partial traveling route starts, a user interface (referred to as the fifth teaching graphical user interface GUI5) is displayed as shown inFIG.9F.FIG.9Fis a diagram showing an example of the fifth teaching graphical user interface GUI5.

The fifth teaching user interface GUI5is displayed while the partial traveling route is taught and includes an elapsed time display portion D4showing an elapsed time from the start of teaching the partial traveling route, a pause button B4for a temporary stop of teaching, and a stop button B5for completion of teaching.

When the partial traveling route teaching starts, the partial traveling route generation unit55bobtains self-position information from the self-position estimation unit55ain a predetermined cycle (select ‘yes’ at step S22) while operating the autonomously traveling vehicle100with the traveling route teaching unit7(in step S21). The predetermined cycle is, for example, a control cycle of the controller5.

The self-position information obtained in step S23, for example, is estimated with the self-position estimation unit55aas follows. Note that, if a self-position is required not only for generating the partial traveling route for the copy travel but also for autonomous traveling, the self-position would be estimated as follows.

The self-position estimation unit55acalculates the traveling distance from the time of previous estimation to the time of present estimation based on a rotation amount (a pulse quantity output from the encoder17) of the main wheel13(the wheel motor11) from the time of previous estimation to the time of present estimation, and adds the traveling distance to the self-position estimated previously so as to estimate a tentative self-position (self-position estimation with dead reckoning).

Next, the self-position estimation unit55atemporarily places some candidates of self-position around the above tentative self-position, arranges the local map obtained at the present position on the positions corresponding to the above self-position candidates on global map, and performs a map matching between the local map and the global map. Then, the self-position estimation unit55aestimates the self-position candidate with the highest degree of coincidence between the local map and the global map as the present position (the self-position estimation by map matching).

As will later be described, in order to generate a partial traveling route for the copy travel, each passing point of the partial traveling route (partially traveling schedule501a(to be described later)) is associated with a corresponding environmental map reproducing data501b(to be described later). In other words, the global map showing subareas may be generated by using the environmental map reproducing data501b.

In such a case, the self-position estimation unit55aperforms self-position estimation with the global map generated by using the environmental map reproducing data501bobtained before the time of previous estimation. In detail, the global map is generated by arranging, on the self-position estimated at previous estimation and each of self-positions within the predetermined range from said self-position, the environmental map reproducing data501bobtained at the corresponding self-position.

In order to generate the partial traveling routes for the paint-out travel to be described later, one environmental map data501d(to be described later) is associated with one partial traveling route (partially traveling schedule501c(to be described later). That is, entire subareas may be shown with one environmental map data501d. In such a case, the self-position estimation unit55aperforms self-position estimation by using the environmental map data501das the global map.

When the self-position estimation by the map matching between the local map and the global map is not easy, alternatively, the self-position estimation unit55amay estimate a self-position by the above dead reckoning based on the rotation amount of the main wheel13from the previous estimation time to the present estimation time. For example, a case that the self-position estimation by the map matching is difficult includes a case that the local map and/or the global map are monotonous, a case that the local map is not allowed to be obtained due to traveling on a large area without any walls or obstacles, and so on.

After the current self-position is estimated as above, in step S24, the partial traveling route generation unit55bassociates the self-position estimated in step S23with the time when the self-position information is obtained or estimated, makes the partially traveling schedule501a, and records the partial traveling schedule501ain the partial traveling route data501.

In step S25, the partial traveling route generation unit55bassociates the local map obtained when the self-position is estimated with the time when the self-position is obtained as the environmental map reproducing data501b(an example of the reproducing map information), and records them in the partial traveling route data501.

The above steps S21to S25are executed repeatedly while the operation with the traveling route teaching unit7is continued or until a user presses the stop button B5on the fifth teaching user interface GUI5to instruct the completion of the teaching (select ‘No’ at step S26). Whereas, when no operation with the traveling route teaching unit7is performed for a predetermined time or when stop button B5is pressed to instruct the completion of teaching (select ‘Yes’ at step S26), acquisition of position information and storage into the partial traveling schedule501awill be stopped.

When teaching of the partial traveling route is finished, the fourth teaching user interface GUI4is shown on the screen of the operation setting unit9and the completion operations of teaching of the partial traveling route are performed. When the completion operations of teaching of the partial traveling route are completed, a user interface as shown inFIG.9G(referred to as a sixth teaching user interface GUI6) is displayed on the screen of the operation setting unit9.

The sixth teaching user interface GUI6displays the information on the partial traveling route the vehicle taught and includes a starting position display D5to display map information around the start point of the partial traveling route, a route display D6to display a list of partial traveling routes generated, and an edit button B6.

When the edit button B6is pressed, a user interface as shown inFIG.9H(referred to as an edit graphical user interface GUI7) is displayed on the screen of the operation setting unit9.FIG.9His a diagram showing an example of an edit graphical user interface.

The edit graphical user interface GUI7is a user interface for changing the name of the partial traveling route and for deleting the partial traveling route and includes a selection display D7to display the partial traveling route name being selected at present, a keyboard D8to change the partial traveling route name, a delete button B7to delete the partial traveling route being selected, and an enter button B8to fix the partial traveling route name after change.

When the delete button B7of the edit graphical user interface GUI7is pressed, the partial traveling route being displayed on the selection display D7is deleted. When the partial traveling route name displayed on the selection display D7is changed with the keyboard D8and then the enter button B8is pressed, the partial traveling route name being selected is changed.

The partial traveling route generation unit55bis able to generate the partial traveling route data501having the data structure, for example, as shown inFIG.10by executing the above steps S21to S26.FIG.10is a diagram showing an example of data structure of the partial traveling route for copy travel. The route connection data502according to the present preferred embodiment of the present invention also has a data structure similar to that inFIG.10.

As shown inFIG.10, the partial traveling schedule501aof the partial traveling route data501for copy travel associates a plurality of times, the coordinate value of the passing point at each time (coordinate value of x-y coordinate), and posture angle θ with each other and recorded them. Moreover, each time (coordinate value) of the partial traveling schedule501ais associated with the environmental map reproducing data501bobtained at the corresponding time.

After a cleaning operation is performed with the autonomously traveling vehicle100on the instructed partial traveling route, the partial traveling route generation unit55bmay obtain the cleaning conditions set at each passing point of the partial traveling route from the cleaning controller53, may associate the obtained cleaning condition with the corresponding passing point (time) of the partial traveling schedule501a, and may store it. This enables the cleaning operations performed at subareas to be stored in the partial traveling route data. Thus, the autonomously traveling vehicle100is capable of autonomously cleaning the subareas in the autonomous traveling mode.

With reference toFIGS.11to14, generating operation of partial traveling routes for paint-out travel will be described.FIG.11is a flowchart showing generating operations of partial traveling routes for paint-out travel.FIG.12is a diagram showing an example in a case where subarea is divided into multiple cell aggregates.FIG.13is a diagram showing an example of scores given to each cell of the subarea.FIG.14is a diagram showing an example of partial traveling route for paint-out travel.

Hereinafter, by showing an example of generation of partial traveling routes for paint-out travel on the subarea RA2of which boundary is the route PR2shown inFIG.5, the generating operation of the partial traveling routes will be described.

A user operates the traveling route teaching unit7to teach the boundary lines of the subarea RA2for paint-out travel. The generating operation of the partial traveling route for paint-out travel is realized by the partial traveling route generation unit55bgenerating partial traveling route data501for paint-out travel within the subarea RA2.

Similar to the generating operation of the partial traveling route for copy travel, the partial traveling route generation unit55bdisplays the first teaching user interface GUI1on the screen of the operation setting unit9. In the first teaching user interface GUI1, the blank item of the route display D1is selected and the enter button is pressed, so that the second teaching user interface GUI2is displayed on the screen of the operation setting unit9.

In the route type selection unit D2of the second teaching user interface GUI2, the paint-out travel is selected as a type of the partial traveling route, the name of the partial traveling route to be created newly is input with the keyboard D3, and the enter button B2is pressed, so that the third teaching user interface GUI3is displayed on the screen of the operation setting unit9.

In the route type selection unit D2, the paint-out travel is selected as a type of the partial traveling routes by selecting the hatched square.

In the third teaching user interface GUI3, the teaching start button B3is pressed, so that the fourth teaching user interface GUI4is displayed on the screen of the operation setting unit9. While the user interface GUI4is displayed, a user moves the autonomously traveling vehicle100to the start point of the boundary line of subarea RA.

When the autonomously traveling vehicle100is moved to the appropriate start position of the boundary line of the subarea RA, the third teaching user interface GUI3is re-displayed. Pressing the teaching start button B3causes the teaching operation of the boundary line of subarea RA to start. During this teaching operation, the fifth teaching user interface GUI5is displayed on the screen of the operation setting unit9.

When a teaching of boundary line of the subarea RA2starts, at step S31, a user operates the traveling route teaching unit7to cause the autonomously traveling vehicle to travel along the boundary line of the subarea RA2. The partial traveling route generation unit55bobtains the information on the boundary line of the subarea RA2by obtaining the information of self-position during traveling which is estimated with the self-position estimation unit in a predetermined cycle and recording it as a sequence of points. Alternatively, the boundary line of the subarea RA may be created by using CAD.

The partial traveling route generation unit55barranges the local map obtained when the route PR2is generated into the corresponding self-position in the route PR2to generate the environmental map information501dshowing the area including the subarea RA2. The partial traveling route generation unit55brecords the generated environmental map information501din the partial traveling route data501. When the partial traveling route for the paint out travel is generated, the entire area including the subarea RA2is shown as an environmental map information501d.

Moreover, the boundary line of the subarea RA2(the route PR2) is a closed loop, however, the starting point and the end point of the boundary line, which should coincide with each other, may be significantly mismatched. In this case, the partial traveling route generation unit55bmay modify the boundary line of the generated subarea RA2and the environmental map information501dusing a traveling route modification algorithm such as GraphSLAM so that the starting point and the end point will substantially coincide with each other.

After obtaining the boundary line of the subarea RA2, at step S32, the partial traveling route generation unit55bconverts the subarea RA2defined by this boundary line into an aggregation of a number of cells C. The cell C corresponds to a small area having the predetermined size within the subarea RA2. In the procedure of the partial traveling route generation unit55b, each cell C is defined as a ‘structure’ including, for example, a parameter relating to the cell C (such as a parameter to identify cell C, position information of cell C, validity or invalidity of cell C, scores given to cell C). For example, as shown inFIG.12, the subarea RA2is converted into an aggregation of a number of the cells C.

At step S33, the partial traveling route generation unit55bgives a score to each of cells included in the subarea RA. Specifically, the partial traveling route generation unit55bgives an equivalent score to the cells which are aligned in a main direction (a longitudinal direction) of a rectangular subarea RA, and gives the larger scores to the cells which are aligned in the direction perpendicular to the main direction as far from the cell of starting point (which is called a ‘starting point cell’).

For example, the cell C placed at the right bottom edge of the subarea RA2shown inFIG.13is designated as a starting point cell SC and, a score is given to each cell. Since there are eleven cells C in the main direction of subarea RA shown inFIG.13, a score ‘11’ is given to the cells C arranged in the direction along the main direction from the starting point cell SC.

A score multiply increased based on the number of cells away from the start point SC is given to the cells C arranged along the vertical direction to the main direction from the starting point sell SC. For example, a score ‘22’ is given to the cell C adjacent to the starting point cell SC with the score ‘11’ in the above vertical direction. Further, a score ‘33’ is given to the cell C two (2) cells away from the starting point cell SC, a score ‘44’ is given to the cell C three cells away from the starting point cell SC, and a score ‘55’ is given to the cell C four cells away from the starting point cell SC.

After scores are given to respective cells Cat step S33, by extending the route from the starting point cell SC to respective cells C based on the predetermined rule, the partial traveling route generation unit55bgenerates the route that passes through all cells C included in the subarea RA as the partial traveling route for paint-out travel at step S34.

For example, in order to determine the next cell to move sequentially from the start point cell SC, the partial traveling route generation unit55bgenerates the route that passes through all cells C by extending the route to the cell C, which has not been included in the route, with the higher score adjacent to the present cell C in the main direction or in the vertical direction to the main direction. Hereinafter, generation of the route will be further described by using the example shown inFIG.13.

For example, the score ‘11’ is given to the starting point cell SC and the same score ‘11’ is given to the cell C adjacent in the main direction. The higher score ‘22’ is given to the cell C adjacent in the vertical direction to the main direction. In this case, since the partial traveling route generation unit55bselects the cell C with the higher score ‘22’ out of cells adjacent to the start point cell SC, the route extends in the direction vertical to the main direction.

When the route extending from the starting point cell SC by turns in the direction vertical to the main direction reaches the cell C with score ‘55’ (the cell C at the right top edge of the subarea RA2ofFIG.13), the partial traveling route generation unit55bchanges the route extending direction and extends the route from right to left along the main direction in the figure. Because, the cell C not being included in the route and with the higher score among the cells adjacent to the cell C (score ‘55’) at the right top edge is the cell C (score ‘55’) left adjacent to such cell C.

After the above route extending in the main direction reaches the cell C (score ‘55’) at the left top edge ofFIG.13, the partial traveling route generation unit55bchanges the route extending direction and extends the route in the direction downwardly vertical to the main direction. Because, the cell C not being included in the route and with the higher score among the cells adjacent to the cell C (score ‘55’) at the left top edge is the cell C (score ‘44’) below adjacent to such cell C.

After the route extends to the cell below the cell C at the left top edge ofFIG.13, the partial traveling route generation unit55bfurther changes the route extending direction, and extends the route to the cell C with score ‘44’ from left to right along the main direction. In the same way thereafter, by extending the route to the adjacent cell C based on the above described rule, the partial traveling route generation unit55bgenerates the route that passes through all cells C of the subarea RA2as shown inFIG.14as the partial traveling route that paints out the subarea RA2.

After the route that passes through all cells C is generated, the partial traveling route generation unit55barranges a plurality of the passing points (points shown in coordinate value) on the route, makes the partially traveling schedule501cby associating the time to pass each passing point with the corresponding passing point, and records it in the partial traveling route data501. In the partial traveling schedule501cfor paint-out travel, the starting point and the end point of boundary line (route PR2) of the subarea RA2are the starting point and the end point of the partial traveling schedule501c, respectively. For example, the starting point of boundary line (route PR2) of the subarea RA2is the starting point of the partial traveling schedule501cand the end point of boundary line (route PR2) of the subarea RA2is the end point of the partial traveling schedule501c.

By executing the above steps S31to S34, the partial traveling route generation unit55bcan generate the partial traveling route data having the data structure as shown inFIG.15.FIG.15shows an example of the data structure of the partial traveling route data for paint-out travel.

As shown inFIG.15, the partial traveling schedule501cof the partial traveling route data501for paint-out travel associates a plurality of times, a coordinate value (coordinate value of x-y coordinate) at each time, and an attitude angle θ with each other and records them.

The partial traveling route data501for paint-out travel shown inFIG.15includes the environmental map data501d, which is not associated with each passing point of the partially traveling schedule501c. Accordingly, in the partial traveling route data501for paint-out travel, the environmental map data501dis associated with the partial traveling schedule501c.

As described above, a plurality of the partial traveling route data501and the route connection data502are generated for the subareas separated each other included in the predetermined area A. Accordingly, a plurality of the partial traveling route data501and the route connection data502include individual environmental map reproducing data501b(for copy travel, connection route) or the environmental map data501d(for paint-out travel), respectively. In addition, each passing point of the traveling schedule included in the partial traveling route data501and the route connection data502is a coordinate point based on the self-position estimated by using the individual environmental map reproducing data501bor environmental map data501d. According to the present preferred embodiment, a plurality of the partial traveling route data501and the route connection data502are generated for the subarea including individual coordinate system, respectively.

Note that, when the partial traveling route for paint-out travel is generated in the subarea, the cleaning conditions desired to be set at each passing point of the partial traveling route for paint-out travel may be associated with the corresponding passing points (time) of the partial traveling schedule501aand recorded by the partial traveling route generation unit55b.

This enables the autonomously traveling vehicle100to perform autonomously the cleaning operation in the manner of painting out the subarea.

Next, with reference toFIG.16, the creating operation of the autonomous travel route executed at step S2of the flowchart shown in the aboveFIG.4will be described.FIG.16is a flowchart showing the creating operation of autonomous travel route. The autonomous travel route is created by selecting a plurality of the partial traveling routes desired to be traveled, searching the connection routes to connect the selected partial traveling routes, and associating a plurality of the partial traveling routes with the connection routes to create the autonomous traveling schedule500.

First, at step S41, a user selects the partial traveling routes to cause the autonomously traveling vehicle100to travel autonomously.

In detail, the autonomous travel route plan generator55cdisplays a user interface (referred to as selection user interface GUI8) as shown inFIG.17on the screen of the operation setting unit9.FIG.17is a diagram showing an example of the selection user interface.

The selection user interface GUI8is a user interface to select the desired one from partial traveling routes stored in the storage57. The selection user interface GUI8includes a route display D9, which displays a list of the name of the stored partial traveling routes, a starting position display D10, which displays map information around the starting point of the partial traveling route being selected, a switching button B9to switch whether only partial traveling routes selected by the route display D9are displayed in order of selection or all partial traveling routes are displayed, an enter button B10, which determines the selected partial traveling routes being selected, and a route selection display SE1to provide a display area for selection of partial traveling routes.

On the screen of the route display D9of the selection user interface GUI8, the partial traveling routes can be selected, for example, by pressing the route selection display SE1in the manner of showing the name of desired partial traveling route within the reverse C-shaped selection area of the route selection display SE1.

After the partial traveling route is selected as described above, at Step S42, with reference to the connection information503, the autonomous travel plan generator55csearches the connection route such that connection destination is the currently selected partial traveling route and the connection source is the previously selected partial traveling route.

Note that, when no partial traveling route is selected prior to the selected partial traveling route at this time, the search of the connection route and judgment of existence of the connection route are not performed. The autonomous travel plan generator55cincorporates the currently selected partial traveling route in the autonomous traveling schedule500.

As a result of the search at step S42, when there is the connection route such that the currently selected partial traveling route is regarded as a connection destination and the previously selected partial traveling route is regarded as a connection source (select ‘Yes’ at step S43), the autonomous travel planning unit55cassociates the partial traveling route selected just before (partial traveling route data501), the connection route found at the search (connection route data502), and the partial traveling route (partial traveling route data501) selected at this time with each other to create the autonomous traveling schedule500at step44.

Specifically, the autonomous travel plan generator55c, for example, as shown inFIG.18, generates the autonomous traveling schedule500which lists identification data of the partial traveling route selected just before(e.g., the file name of the partial traveling route data501), identification data of the connection route found at search (e.g., the file name of connection route data502), and identification data of the partial traveling route selected at this time(e.g., the file name of the partial traveling route data501) in order of autonomous travel.FIG.18shows an example of the autonomous traveling schedule.

When the connection route configured such that the partial traveling route selected at this time is a connection destination and the partial traveling route selected just before it is a connection source is found, the autonomous travel plan generator55c, as shown inFIG.19, adds a triangle sign next to the name of the partial traveling route selected at this time on the screen of the route display D9of the selection user interface GUI8. As a result, it can be visually showed that the partial traveling route selected at this time is appreciated.

FIG.19shows an example of the selection user interface displaying the expression for identifying the selected partial traveling route.

When the route selection display SE1is further pressed while the partial traveling route selected temporarily is shown within the reverse C-shaped display section of the route selection display SE1, the traveling route is unselected and deleted from the autonomous traveling schedule500.

Moreover, when a plurality of the partial traveling routes are selected and one partial traveling route out of the plurality of the partial traveling routes is unselected or deleted, not only the partial traveling route but also the partial traveling route selected after the partial traveling route are unselected.

In addition, as shown inFIG.20, the switch button B9is pressed while all partial traveling routes are displayed on the screen of the route display D9in the selection user interface GUI8, so that only the partial traveling routes selected to date may be displayed on the screen of the route display D9. When a plurality of partial traveling routes are selected, the names of these partial traveling routes are displayed on the screen of the route display D9in order of selection.FIG.20shows an example of selection user interface displaying only selected partial traveling routes.

Whereas, the switch button B9is pressed while only the partial travelling routes selected to date are displayed on the screen of the route display D9, so that, as shown inFIGS.17and19, all partial traveling routes including the partial traveling routes that have not been selected are displayed on the screen of the route display D9.

Returning toFIG.16, as a result of the search at step S42, when the partial traveling route selected at this time is a connection destination and the partial traveling route selected just before it is a connection source (selected ‘No’ at step S43), the autonomous travel plan generator55cnotifies the operation setting unit9of the absence of connection routes corresponding to the selected partial traveling routes at step S45.

The operation setting unit9(an example of notifier) which receives this information notifies a user of the error. Specifically, the selection user interface GUI8displays information that the continuous autonomous travel route cannot be created with the selected partial traveling routes. Other than visual information, the above error may be notified with an alarm.

An error is notified when there is no connection route corresponding to at least a portion of the selected partial traveling routes. This allows users to know that the continuous autonomous travel route cannot be created with the selected partial traveling routes.

After the partial traveling routes are selected, the autonomous travel plan generator55cdetermines at step S46whether the selection of partial traveling route has been finished or not. For example, it can be determined that the selection has been finished by pressing the enter button B10of the selection user interface GUI8.

When the selection of the partial traveling route has not been finished (select ‘No’ at step S46), the creating operation of the autonomous traveling schedule500returns to step S41to continue the selection of partial traveling routes and creation of the autonomous traveling schedule500.

When the selection of the partial traveling route has been finished (select ‘Yes’ at step S46), creation of the autonomous traveling schedule500is finished.

By implementing the above steps S41to S46to create the autonomous traveling schedule500(autonomous travel route), the autonomous travel plan generator55cconnects a plurality of partial traveling routes created on different coordinates respectively so as to create the autonomous traveling schedule500that allows for an autonomous travel in the large area where the map information cannot be created correctly by the data obtained from the forward sensor21aand the backward sensor21b.

A user interface displayed on the screen of the operation setting unit9while the autonomous traveling schedule500is created is not limited to the selection user interface GUI8as shown inFIG.17,19, or20.

For example, a user interface GUI9showing all partial traveling routes stored in the storage57in the graphical manner as shown inFIG.21Amay be displayed on the screen of the operation setting unit9. In this case, a user selects a graphic of the partial traveling route displayed on such user interface GUI9(for example, touches the graphic of partial traveling route to be selected) so as to select the partial traveling route to be autonomously traveled on.FIG.21Ashows another example of a user interface displayed to select a partial traveling route.

Thus, the selectable partial traveling routes are displayed in the graphical manner, so that the selection of the partial traveling routes can be performed intuitively.

Triangle buttons are provided at the both sides of the graphics showing three partial traveling routes on the user interface GUI9shown inFIG.21A. By pressing these buttons, other partial traveling routes which are not shown at this time are displayed in the graphical manner, and the other partial traveling route can be selected.

As the substitute variation, for example, the user interface, which displays a list of file names of the partial traveling route data501stored in the storage57on the operation setting unit9, is displayed on the screen of the operation setting unit9and a user selects (for example, touches the display portion of the file name), so that the partial traveling route with the selected file name can be selected.

When a partial traveling route is selected by use of the user interface GUI9shown inFIG.21A, for example, as shown inFIG.21B, the order of selection of the partial traveling routes are displayed on the bottom left corner of each figure of the partial traveling routes.

For example, when the partial traveling route displayed ‘C COURSE’ is selected first, the partial route displayed ‘A COURSE’ is selected second, and the partial route displayed ‘B COURSE’ is selected third, ‘1’ is displayed on the bottom left corner of the figure of the partial traveling route named ‘C COURSE’, ‘2’ is displayed on the bottom left corner of the figure of the partial traveling route named ‘A COURSE’, and ‘3’ is displayed on the bottom left corner of the figure of the partial traveling route named ‘B COURSE’.FIG.21Bshows an example of display just after the partial traveling routes are selected.

Thereafter, when the selection of the partial traveling route has been finished by pressing the ‘OK’ button on the user interface GUI9, rearrangement situation figures of the partial traveling routes being displayed at present are displayed as an animation as shown inFIG.21C, and the figures of the partial traveling routes are finally rearranged in order of selection (for example, from left to right) and redisplayed as shown inFIG.21D.FIG.21Cis one example of an animation diagram showing the situation that the figures of the partial traveling routes are rearranged in order of selection.FIG.21Dis one example of a diagram just after partial traveling routes have been rearranged in order of selection.

As described above, the selection order of the partial traveling routes can be displayed in number and the partial traveling routes are rearranged and displayed, so that the order of selection of partial traveling routes can be confirmed intuitively.

With reference toFIG.22, the autonomous traveling operation performed at step S3of the flowchart shown inFIG.4after creation of the autonomous travel route will be described.FIG.22is a flowchart showing the autonomous traveling operation. The traveling reproduction unit55dselects the partial traveling routes and the connection routes listed in the autonomous traveling schedule500in order, generates the reproductive traveling instruction for autonomous travel on the selected partial traveling route or the connection route, and outputs the instruction to the travelling controller51(and the cleaning controller53), so that the autonomous traveling operation can be achieved.

After starting the autonomous travel, the central controller55displays the instruction for moving the autonomously traveling vehicle100to the starting point of the partial traveling route, which is determined to autonomously travel first, on the screen of the operation setting unit9. A user checks the instruction and operates the teaching unit7to move the autonomously traveling vehicle100to the starting point of the first partial traveling route.

In this time, the central controller55may display on the screen of the operation setting unit9the information instructing which direction and a distance that the autonomously traveling vehicle100should be moved in order to reach the starting point of the first partial traveling route. This enables a user to operate the traveling route teaching unit7while checking the navigation information displayed on the setting device9to make sure to move the autonomously traveling vehicle100to the starting point described above.

While the autonomous travel vehicle100is moving by user operation of the traveling route teaching unit7, the central controller55displays a user interface (referred to as a first autonomous travel user interface GUI10) as shown inFIG.23Aon the operation setting unit9when it is determined that the autonomously traveling vehicle100arrives at the starting point of the first partial traveling route.FIG.23Ashows an example of the first autonomous travel user interface.

The first autonomous travel user interface GUI10is a user interface for instructing the start of autonomous travel, and includes a start button B11to start an autonomous travel and a starting position display D11to display the map information around the starting point of the first partial traveling route.

When the start button B11on the first autonomous travel user interface GUI10is pressed, a user interface is displayed as shown inFIG.23B(referred to as a second autonomous travel user interface GUI11).FIG.23Bis a diagram showing an example of the second autonomous travel user interface.

The second autonomous travel user interface GUI11is a user interface for displaying the condition of autonomous travel, and includes a time display D12to display the time required for autonomous travel on all routes stored in the autonomous traveling schedule500, a pause button B12to stop an autonomous travel temporarily, and a stop button B13to stop an autonomous travel.

When the start button B11of the first autonomous travel user interface GUI10is pressed and an autonomous travel starts, the traveling reproduction unit55dselects the partial traveling route data501of the partial traveling route to be used for autonomous travel or the route connection data502of the connection route with reference to the autonomous traveling schedule500at step S52.

Thereafter, at step S53, the traveling reproduction unit55dgenerates the reproductive traveling instruction for autonomous travel by using the partial traveling schedule501a,501cincluded in the selected partial traveling route data501or the traveling schedule included in the selected route connection data502and outputs the instruction to the travelling controller51(and the cleaning controller53). As a result, the autonomously traveling vehicle100travels autonomously in accordance with the selected partial traveling schedule501a,501cor the traveling schedule of the connection route.

At step S53, the self-position estimation unit55aestimates a self-position during autonomously traveling by using the environmental map reproducing data501bor the environmental map501dincluded in the selected partial traveling route data501or the environmental map reproducing data included in the selected connection route data502as the global map.

After the autonomously travel vehicle100reaches the end point of the currently selected partial traveling route or connection route, at step S54, with reference to the autonomous traveling schedule500, the traveling reproduction unit55ddetermines whether the partial traveling route or the connection route to be autonomously traveled next time exists or not.

When the partial traveling route or connection route to be autonomously traveled exists (select ‘yes’ at step S54), the autonomous traveling operation will return to step S52. In other words, the above steps S52to S54are executed repeatedly until any partial traveling route or any connection route to be autonomously traveled does not exist (until selecting ‘No’ at step S54).

The traveling reproduction unit55dexecutes the above steps S51to S54, which enables the autonomously traveling vehicle100to travel autonomously continuously on the partial traveling routes and the connection routes listed in the autonomous traveling schedule500in order (e.g., the determined order of autonomous traveling).

2. Second Preferred Embodiment

According to the above first preferred embodiment, the connection route is taught by a user, and the route connection data502is generated in the same way as the partial traveling routes for copy travel. However, generating methods of connection routes are not limited to the method by copy travel. For example, the autonomously traveling vehicle200according to a second preferred embodiment generates the connection route from a path planning.

Hereinafter, with reference toFIG.24, a connection route generating method for the autonomously traveling vehicle200according to the second preferred embodiment will now be described.FIG.24is a flowchart showing the method of generating a connection route according to the second preferred embodiment. Note that, other than generating the connection route by the path planning in the second preferred embodiment, the configurations and functions of the autonomously traveling vehicle200according to the second preferred embodiment is the same as those of the autonomously traveling vehicle100according to the first preferred embodiment. Accordingly, the descriptions other than the method to generate the connection route are omitted herein. In addition, the operations in accordance with the flowchart shown inFIG.24are performed, similarly to the first preferred embodiment, by the partial traveling route generation unit55b.

First, at step S61, the partial traveling route generation unit55bobtains a global map for the connection route to be generated. For example, the partial traveling route generation unit55bobtains a local map while the autonomously traveling vehicle100moves from a position as a starting point of the connection route (an end point of the partial traveling route of connection source) to a position as an end point (a starting point of the partial traveling route of connection destination) and arrange the local map on the corresponding position to generate the global map.

As a substitute preferred embodiment of the present invention, for example, the global map may be generated by creating the map information which shows the situation of the surrounding of the connection route with CAD or the like and converting the map information into the data.

Next, at step S62, using the generated global map, the partial traveling route generation unit55bexecutes a path planning of the route connecting the starting point of connection (the end point of partial traveling route of the connection source) and the end point (the starting point of partial traveling route of the connection destination) to regard the route as the connection route.

The partial traveling route generation unit55b, for example, either plans the shortest route between the starting point and the end point as the connection route, or creates the optimum route to prevent obstacles as the connection route when there are such obstacles between the starting point and the end point. Alternatively, at step S62, a plurality of the connection routes may be created. In this case, for example, in accordance with the selection by a user or the situation during autonomously traveling, the partial traveling route generation unit55bcan determine which the connection route connects the partial traveling routes.

After the connection route is created, at step S63, the partial traveling route generation unit55bgenerates the route connection data502for the created connection route. Specifically, the partial traveling route generation unit55barranges a plurality of the passing points (point shown with coordinate value and attitude angle) on the created route, makes the connection route schedule502a(FIG.25) by associating the time for passing at each passing point with the corresponding passing point, and records it in the route connection data502. The global map generated at the above step S61is stored in the route connection data502as the environment map data502b(FIG.25).

By executing the above steps S61to S63, the partial traveling route generation unit55bcan generate the route connection data502having a data structure, for example, as shown inFIG.25.FIG.25is a diagram showing an example of a data structure of the connection route data generated in the second preferred embodiment of the present invention.

As shown inFIG.25, the route connection data502generated in the second preferred embodiment has a data structure similar to one of the partial traveling route data501for the paint-out travel described in the above first preferred embodiment. Specifically, in the route connection data502, the environment map data502bis not associated with each passing point of the connection route schedule502a.

As described above, the connection route can be generated also by using the methods other than the copy travel by user teaching.

3. Third Preferred Embodiment

According to the above first preferred embodiment and the second preferred embodiment, the partial traveling route and the connection route are alternately generated in order of the generation of the partial traveling route, generation of the connection route, and generation of the partial traveling route. This allows the partial traveling route and the connection route to be continuously generated. However, the order of generation of the partial traveling route and the connection route is not limited to this order.

In the autonomously traveling vehicle300according to the third preferred embodiment, after the necessary partial traveling routes are generated, the connection routes that connect these partial traveling routes are generated. Hereinafter, with reference toFIG.26, a method of generating the partial traveling routes and the connection routes for the autonomously traveling vehicle300according to the third preferred embodiment will be described.FIG.26is a flowchart showing a method to generate the partial traveling routes and the connection routes according to the third preferred embodiment.

Note that, other than the order of generation of the partial traveling route and the connection route in the third preferred embodiment being different, the configurations and functions of the autonomously traveling vehicle300according to the third preferred embodiment are the same as those of the autonomously traveling vehicle100according to the first preferred embodiment and the autonomously traveling vehicle200according to the second preferred embodiment. Therefore, only description of the method to generate the partial traveling routes and the connection routes will be provided. Operations of the flowchart shown inFIG.26are performed by the partial traveling route generation unit55b, similarly to the first preferred embodiment and the second preferred embodiment.

First, at step S71, the partial traveling route generation unit55bgenerates all partial traveling routes to be generated in the predetermined area A. For example, for each subarea of the predetermined area A, either the operations to generate the partial traveling route for copy travel described in the first preferred embodiment (steps S21to S26of the flowchart shown inFIG.8) or the operations to generate the partial traveling route for paint-out travel (steps S31to S34of the flowchart shown inFIG.11) is performed, so as to generate the partial traveling route.

After all of the necessary partial traveling routes are generated, at step S72, the partial traveling route generation unit55bgenerates the connection routes to connect these generated partial traveling routes. For example, the connection route is generated either by user teaching described in the first preferred embodiment or by the path planning (executing steps S61to S63of the flowchart shown inFIG.24) described in the second preferred embodiment.

After generating the one connection route, at step S73, the partial traveling route generation unit55bassociates the partial traveling route of the connection source with the partial traveling route of the connection destination according to the generated connection route to generate the connection information503.

After the above steps S72and S73are executed, when there are any connection routes required to be further generated (select ‘No’ at step S74), the generating operation of the partial traveling routes and the connection routes returns to step S72. On the other hand, when all connection routes required have been generated (select ‘Yes’ at step S74), generation of the partial traveling routes and the connection routes is finished.

Executing the above steps S71to S74allows the autonomous travel route (autonomous traveling schedule500) to be further flexibly created. Specifically, with respect to the selected partial traveling routes, various patterns of autonomous travel routes can be generated.

For example, the partial traveling route generation unit55baccording to the third preferred embodiment generates the connection routes connected from each end point of the generated partial traveling route in all subareas to each starting point of all partial traveling routes in another subarea. The partial traveling route generation unit55bcapable of generating connection routes from one end point to a plurality of starting points can generate, for example, the autonomous travel route connecting the partial traveling route PR1and the partial traveling route PR3in addition to the connection route CR (1,2) to the partial traveling route PR2shown inFIG.5.

As described above, even if a user selects the partial traveling routes in any combination and any order during creating the autonomous travel route, the autonomously traveling vehicle300according to the third preferred embodiment can create an autonomous travel route in accordance with the user selection without any errors (e.g., no connection route exists and partial traveling routes cannot be connected).

4. Another Preferred Embodiment

As above, a plurality of the preferred embodiments of the present invention are described, however, the preferred embodiments of the present invention are not limited to the above preferred embodiments, and various changes may be made without departing from the scope of the present invention. Especially, a plurality of preferred embodiments and variations described in this description may be combined as desired.

For example, the first to third above-described preferred embodiments are able to be combined. In addition, the order and/or contents of operations at each step in each flowchart described in each preferred embodiment may be changed in an appropriate manner without departing from the scope of the present invention.

When an autonomous travel route is created, the partial traveling route for autonomous travel being first started is selected and the autonomously traveling vehicle100is moved to the starting point of the partial traveling route. Then, the connection route connecting the remaining partial traveling routes with them may be selected.

The generated partial traveling routes and connection routes may be individually set whether a cleaning operation is executed or not.

For example, when generating the partial traveling routes and the connection routes, the partial traveling route generation unit55bcan record cleaning conditions into the sub-route traveling data501and/or the route connection data502at places where a user actually performs cleaning operation. Thus, when the user performs the cleaning operation at the specific partial traveling routes and/or the connection routes, the partial traveling route generation unit55bjudges that the specific route has been set to perform the cleaning operation and records such cleaning conditions into a sub-route traveling data501and/or a route connection data502. On the contrary, the partial traveling route generation unit55bcan judge that the partial traveling route and/or the connection route, which the user has not yet clean, has set not to be performed the cleaning operation.

Alternatively, for example, using the operation setting unit9, a user may be able to set whether cleaning operations of each of the partial traveling route and connection route are performed or not.

In this case, for the partial traveling routes and/or connection routes which have been set that the cleaning operation is not performed, even if the cleaning operation is performed in the partial traveling route and/or the connection route when generating the partial traveling routes and/or the connection routes, the partial traveling route generation unit55bdoes not record such cleaning conditions in the partial traveling route data501and/or the route connection data502.

The connection route is not limited to the connection route that connects the partial traveling routes generated as described above. For example, the connection route can be generated from a charging station of a backyard to the partial traveling route. Alternatively, the connection route can be generated from the partial traveling route to the charging station of a backyard. Further, the connection route can be generated from the specific position of the predetermined area A (for example, a common starting point of autonomous traveling) to the partial traveling route.

Therefore, for example, it can be realized that both the autonomous traveling on the partial traveling route (and cleaning operation) starts after charging a battery (not shown) of the autonomously traveling vehicle100at a charging station, and the autonomously traveling is performed to autonomously move to the charging station and start charging the battery when the remaining battery becomes low while autonomously traveling on the partial traveling route. Moreover, for example, even if any partial traveling route is selected, the autonomous traveling is able to start from any starting position.

A method of generating the connection route is not limited to the method to generate while moving the autonomously traveling vehicle100in a manual mode. For example, the end point of a certain partial traveling route and the starting point of the next partial traveling route are matched without moving the autonomously traveling vehicle100, and without generating the connection route, the autonomously traveling vehicle100may start the next partial travel immediately after finishing autonomous travel of a partial travel.

According to the above first preferred embodiment to third preferred embodiment, the autonomously travel routes (autonomous traveling schedule500) in which all selected partial traveling routes are connected with the connection routes are generated. However, the autonomous travel plan generator55cmay create the autonomous travel route by connecting a selected partial traveling route with a connection route every time.

For example, by connecting the partial traveling route for n-th autonomously travel with the partial traveling route for n+1-th autonomously travel, the autonomous traveling schedule500is generated, and then the autonomous traveling starts. After autonomous traveling of the n+1-th partial traveling route has finished, a new autonomous traveling schedule500is generated by connecting the partial traveling route for n+1-th autonomously travel with the partial traveling route for n+2-th autonomously travel and then the autonomous traveling starts. These operations can also be repeatedly performed to create the autonomous travel route.

When selecting the partial traveling route at step S41in generating operations of the autonomous travel route shown inFIG.16, a user may set the order of the partial traveling routes to be traveled on by the autonomously traveling vehicle100. In this case, after selecting the partial traveling route, the autonomous travel plan generator55cmay determine that the autonomously traveling vehicle100will autonomously travel on the partial traveling route in the order set by the user.

In addition, when selecting the partial traveling route at step S41in the generating operation of the autonomous travel route shown inFIG.16, a user may determine whether the partial traveling route is connected or not. Therefore, when the starting point and end point of the partial traveling route are the same, the autonomously traveling vehicle user may skip the traveling operation on the partial traveling route and move to the following connection traveling by a user's judgment. For example, when a predetermined area has been cleaned manually, this prevents the area from being cleaned twice.

In performing the generating operation of the autonomous travel route shown inFIG.16, the autonomous travel plan generator55cmay determine automatically the optimum order of autonomous traveling for the partial traveling routes selected by a user at step S41. For example, autonomous travel plan generator55cmay determine the order that allows the autonomously traveling vehicle100to travel autonomously on all the partial traveling routes in the shortest way using the path planning. For example, this enables generation of a more optimum autonomous travel route than that selected by a user. For example, the autonomous travel route that allows the autonomously traveling vehicle to complete autonomous traveling in a shorter time than the autonomous travel route selected by a user can be generated.

When the partial traveling routes are selected in an inappropriate combination and/or order, the autonomous travel plan generator55cmay lead a user to reselect the partial traveling route instead of suspending the generation of the autonomous travel route by notifying error.

If the partial traveling routes are selected in an inappropriate combination and/or order, or if there is any connectable partial traveling route in those selected, the autonomous travel plan generator55cmay generate the autonomous travel route by connecting the connectable partial traveling routes.

In this case, for example, the autonomous travel route plan generator55cmay generate the autonomous travel route from the partial traveling route to be first traveled to the connectable partial traveling route. Alternatively, the autonomous travel plan generator55cmay generate the autonomous travel route by connecting the connectable partial traveling routes and skip the partial traveling route that cannot be connected (remove from the autonomous travel route), and then connect another connectable partial traveling route so as to generate the autonomous travel route.

At step S41, the partial traveling route for the autonomous travel generated by the autonomous travel plan generator55cmay be added to the partial traveling route for another autonomous travel selected by a user. In this case, for example, the autonomous travel plan generator55cmay determine that the autonomous travel starts from a specific partial traveling route regardless of whether the specific partial traveling route is included or not in the partial traveling route selected by the user. The autonomous travel plan generator55cmay determine, for example, that a highest priority partial traveling route is to be traveled first.

The traveling reproduction unit55dmay lead the vehicle to travel autonomously on the route corresponding to the specific time (e.g., a specific time has passed from the start of the autonomous traveling) for each of the partial traveling routes and connection routes included in the autonomous travel route (autonomous traveling schedule500). In this case, for example, in order to generate autonomous traveling schedule500, the autonomous travel plan generator55cmay associate each of identification information of partial traveling routes and the connection routes with the starting time of the autonomous traveling of the corresponding route, and may record them.

The autonomous travel plan generator55cmay generate the autonomous traveling schedule500by connecting the traveling schedules501a,501cof the selected partial traveling routes and the traveling schedule of the connection route with each other. Thus, the autonomous traveling schedule500associating a plurality of passing points (coordinate value) with the time for passing through each passing point, may be generated.

In this case, in the autonomous traveling schedule500, the information (for example, a flag) showing that global map used for a self-position estimation is switched may be incorporated in the connecting section of the partial traveling schedules501a,501cand the traveling schedule of the connection route. This allows the timing to switch the global map used for self-position estimation to be known in the autonomous traveling schedule500associating the time and passing point with each other.

As the partial traveling route data501of the partial traveling route for painting out and the route connection data502of the connection route by path planning, the traveling schedule in the partial traveling route data501for copy travel and/or the route connection data502of the connection route by user teaching, may be associated with one environmental map data (global map).

The preferred embodiments of present invention are widely applicable to autonomously traveling vehicles that travel autonomously on an autonomous travel route.

While preferred embodiments of the present invention have been described above, it is to be understood that variations and modifications will be apparent to those skilled in the art without departing from the scope and spirit of the present invention. The scope of the present invention, therefore, is to be determined solely by the following claims.