Self-propelled control program and self-propelled work equipment

摘要

To provide a self-traveling work device capable of reducing work trouble, time and cost when correcting destination registration and positional deviation from the destination.SOLUTION: A self-traveling control program functions as means 21c for estimating a global self position about a self direction and a relative positional relation in each of a plurality of maps having different resolution by using SLAM technology, means 21d for retrieving and estimating a scale adjustment parameter while narrowing down a range about a map having high resolution in order from a map having the lowest resolution about ranges in which scale coincidence between the plurality of maps and actual environment data is equal to or more than a prescribed level, means 21e for performing adjustment for causing scales between an environment map and the actual environment data to be coincident on the basis of the estimated scale adjustment parameter, means 21f for updating data of the environment map, and means 21g for estimating a self current position by using SLAM technology in the updated environment map.SELECTED DRAWING: Figure 3