JP2006087507A - Self-propelled cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To effectively clean a floor surface by performing the cleaning in a mode according to the state of the floor surface. <P>SOLUTION: Two step detection sensors (a left outer side level difference detection sensor 363 and a left inner side level difference detection sensor 364) are juxtaposed left and right in a left end part of the bottom of the body 2 of a self-propelled cleaner 1. When a difference in level is detected, the body 2 is made to travel while the floor surface is detected by the left inner side level difference detection sensor 364 and the difference in level is detected by the left outer side level difference detection sensor 363. The body 2 is made to travel along the floor surface on the front side of the difference in level so that the body 2 does not fall down to the difference in level. With this structure, dust on the floor surface on the front side of the difference in level can more be efficiently sucked in a short period of time than a conventional structure to make the body 2 recede whenever a difference in level is detected. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a self-propelled cleaner capable of automatically cleaning a main body along a floor surface.

  In recent years, so-called self-propelled self-propelled cleaners that have a moving function added to a cleaner and are equipped with a microcomputer and various sensors have been developed (see, for example, Patent Document 1). According to this type of self-propelled vacuum cleaner, the main body automatically moves on the floor surface by simply starting the operation on the floor surface, and the floor surface is cleaned evenly. It is very convenient.

  When there is a step on the floor surface, the main body falls on the step when the main body is run as it is. In this case, not only the cleaning is interrupted, but the main body of the self-propelled cleaner may be broken. Therefore, a self-propelled cleaner has been proposed in which means for detecting a level difference on the floor surface is provided, and when the level difference is detected, a control corresponding to the level difference is performed (see, for example, Patent Document 2). ).

In addition, floor types include flooring, tatami mats, carpets, etc. If cleaning is not performed according to the type of the floor surface, flooring or tatami mats may be damaged, or lint entangled in the carpet. There is a risk of not being able to inhale the garbage properly.
JP-A-6-327599 JP 2004-174149 A

  The present invention has been made under such a background, and an object of the present invention is to provide a self-propelled cleaner that can be cleaned satisfactorily by performing cleaning in a manner according to the state of the floor surface. .

  In order to achieve the above object, the invention according to claim 1 is characterized in that the main body (2) is self-propelled along the floor surface, and the dust on the floor surface is sucked from the suction port (6) provided in the main body. A self-propelled cleaner (1) capable of performing automatic cleaning, comprising a floor surface detection means (364) for detecting a floor surface on which the main body travels, and a step on the floor surface. By detecting the step surface with the step detecting means (363) for detecting and the floor surface detecting means, and detecting the step with the step detecting means, the main body travels so that the main body does not fall on the step. And a means (51, SF8) for causing the main body to travel along the floor surface on the near side of the step.

The alphanumeric characters in parentheses indicate corresponding components in the embodiments described later. The same applies hereinafter.
According to this configuration, since the main body can be run along the floor surface on the near side of the step so that the main body does not fall on the step, it is compared with a configuration in which the main body is retracted every time a step is detected. Thus, the dust on the floor surface on the near side of the step can be sucked well in a short time. Therefore, it can clean well by cleaning in the aspect according to the state of the floor surface.

The invention according to claim 2 is the case where the wheel (3) arranged on the lower surface of the main body (2) so as to move up and down, and the wheel falls on a step on the floor surface and is displaced downward by its own weight. The self-propelled washing machine (1) according to claim 1, further comprising emergency stop means (51) for stopping the operation of the main body.
According to this configuration, it is possible to prevent the operation of the self-propelled cleaner from being unnecessarily continued in a state where the wheels have fallen to the level difference on the floor surface and the main body cannot travel.

  The invention according to claim 3 performs automatic cleaning by causing the main body (2) to self-propell along the floor and sucking in dust on the floor from the suction port (6) provided in the main body. A self-propelled cleaner (1) capable of moving, and wheels (4L, 4R) disposed on the lower surface of the main body so as to be movable up and down, and a biasing means for biasing the wheels downward, Wheel position detection means (63L, 63R) for detecting the vertical position of the wheel and control means (51 for controlling the operation of the main body in a different manner depending on the vertical position of the wheel detected by the wheel position detection means. Is a self-propelled vacuum cleaner characterized by including.

For example, when the wheel is on the carpet, the wheel may be sunk into the carpet, and the bottom surface of the main body (especially, around the suction port) may be received by the tip of the carpet. In this case, the weight of the main body acting on the wheel is reduced, and the protrusion amount of the wheel with respect to the main body is increased.
According to the configuration of the present invention, since the operation of the main body is controlled in a different manner depending on the vertical position of the wheel (the amount of protrusion of the wheel with respect to the main body), it is better to perform cleaning in a manner according to the state of the floor surface. Can be cleaned.

  The invention according to claim 4 further includes a scraping means (40) which is rotatably provided and scrapes dust on the floor surface toward the main body (2), and the control means (51) As the vertical position of the wheel (4L, 4R) detected by the wheel position detection means (63L, 63R) is lower, the rotational speed of the scraping means is increased (SG4). A self-propelled cleaner (1) according to claim 3.

According to this configuration, when the vertical position of the wheel is downward as in the case where the main body is on the carpet (when the protruding amount of the wheel with respect to the main body is large), the rotational speed of the scraping means is increased. Therefore, litter such as lint entangled in the carpet can be sucked in well.
In addition, when the main body is on the flooring or tatami mat, when the wheel is in the upper and lower position (when the amount of protrusion of the wheel relative to the main body is small), the rotation speed of the scraping means is reduced. , You can inhale the dust on the flooring and tatami mats with less power.

  The invention according to claim 5 further includes a suction motor (11) that is driven to suck in dust on the floor surface from the suction port (6), and the control means (51) includes the wheel position detection means ( The rotation speed of the said suction motor is raised (SG2), so that the up-and-down position of the said wheel (4L, 4R) detected by 63L, 63R) is downward, The Claim 3 or 4 characterized by the above-mentioned. This is a self-propelled vacuum cleaner (1).

According to this configuration, the rotational speed of the suction motor is increased when the upper and lower positions of the wheel are downward (when the protruding amount of the wheel with respect to the main body is large), such as when the main body is on the carpet. , Litter such as lint entangled in the carpet can be sucked in well.
In addition, when the main body is on the flooring or on the tatami mat, when the vertical position of the wheel is upward (when the protruding amount of the wheel with respect to the main body is small), the rotation speed of the suction motor is reduced. The waste on the flooring and tatami can be sucked in with less power.

  The invention described in claim 6 further includes traveling means (8L, 8R) for traveling the main body (2), and the control means (51) is detected by the wheel position detecting means (63L, 63R). The lower the vertical position of the wheels (4L, 4R), the lower the speed of the main body that is traveled by the travel means (SG5). Is a self-propelled cleaner (1).

According to this configuration, the traveling speed of the main body is reduced when the vertical position of the wheel is downward (when the protrusion amount of the wheel with respect to the main body is large), such as when the main body is on the carpet, Garbage such as lint entangled in the carpet can be sucked in well.
Also, when the main body is on the flooring or tatami mat, when the vertical position of the wheel is upward (when the protruding amount of the wheel relative to the main body is small), the traveling speed of the main body is increased. Garbage on flooring and tatami can be sucked in with good power.

Embodiments of the present invention will be specifically described below with reference to the drawings.
FIG. 1 is a plan view of a self-propelled cleaner 1 according to an embodiment of the present invention. FIG. 2 is a front view of the self-propelled cleaner 1. FIG. 3 is a view of a cross section of the self-propelled cleaner 1 as viewed from the left side when cut along a vertical plane along the front-rear direction. FIG. 4 is a bottom view of the self-propelled cleaner 1. The lower side of the self-propelled cleaner 1 in FIG. 1 will be described as the front, the upper side as the rear, the right side as the left side, and the left side as the right side.

  1 to 4, the self-propelled cleaner 1 includes a substantially circular main body 2 having a diameter of about 33 cm, and a plurality of wheels (1 that are rotatably attached to the bottom surface of the main body 2). Two main wheels 3, a pair of left and right rear wheels 4L and 4R, and one auxiliary wheel 5) roll along the floor surface to cause the main body 2 to run along the floor surface while being provided in the main body 2. By sucking in the dust on the floor surface from the suction port 6, cleaning can be performed automatically.

  At the center in the left-right direction on the front side of the bottom surface of the main body 2, the other end portion of the front wheel holding member 7 that rotatably holds the front wheel 3 is attached to one end portion of the main wheel 2 so as to be swingable. 2 can move up and down with respect to the bottom surface. The pair of rear wheels 4L and 4R are arranged symmetrically at the center in the front-rear direction of the bottom surface of the main body 2 with a predetermined interval (for example, about 258 mm) from each other. The diameter of each rear wheel 4L, 4R is, for example, about 80 mm. Separate driving motors 8L and 8R are connected to the pair of rear wheels 4L and 4R, respectively, and the main body 2 can be driven by driving these driving motors 8L and 8R. It has become. The auxiliary wheel 5 is rotatably attached to the central portion in the left-right direction on the rear side of the bottom surface of the main body 2.

  When the front wheel 3 falls to a step on the floor surface while the self-propelled cleaner 1 is traveling forward, the front wheel holding member 7 is released from the weight of the main body 2 and is directed downward. It will swing. The main body 2 is provided with a front wheel switch (not shown) for detecting that the front wheel holding member 7 swings downward and the front wheel 3 is lowered, and based on an input signal from the front wheel switch. It is possible to detect whether or not the front wheel 3 has fallen to the level difference on the floor surface.

  The pair of rear wheels 4L and 4R are rotatably held by separate rear wheel holding members 9L and 9R, respectively, and these rear wheel holding members 9L and 9R extend in the vertical direction in the main body 2. It is attached to the arranged shafts 10L and 10R so as to be displaceable in the vertical direction. Each rear wheel holding member 9L, 9R is biased downward by a biasing means such as a spring, for example. Therefore, when the main body 2 is placed on the floor surface, the rear wheel holding members 9L and 9R are displaced upward against the urging force of the urging means due to the weight of the main body 2. Potentiometers (not shown) are interposed between the left and right rear wheel holding members 9L and 9R and the corresponding shafts 10L and 10R, respectively.

  In the main body 2, there are provided a suction motor 11 that is driven to suck dust from the suction port 6, and a dust collector 12 for capturing the dust sucked from the suction port 6. The dust collector 12 is disposed in a dust collection chamber 14 that communicates with the suction port 6 through an air passage 13 extending in the vertical direction on the rear side in the main body 2 (see FIG. 3). The dust collector 12 is, for example, a disposable paper pack, and includes a mount 15 and a paper filter 16 attached to the front surface of the mount 15 so as to cover an inlet 15 </ b> A formed in the mount 15.

  In the dust collector 12, the mount 15 is pressed against the packing 18 attached to the communication hole 17 that allows the air passage 13 and the dust collection chamber 14 to communicate with each other, so that the mount 15 A faces the communication hole 17. 15 is fixed by a fixing portion 19. The upper surface of the dust collection chamber 14 is opened, and the opening can be opened and closed by the upper surface cover 20. When a certain amount or more of dust is accumulated in the dust collector 12, the dust collector 12 is removed from the dust chamber 14 by opening the top cover 20 and opening the dust chamber 14, and a new dust collector. 12 can be mounted in the dust collection chamber 14.

However, the dust collector 12 is not limited to a disposable one, and may be one that can be used repeatedly. In this case, when a certain amount or more of dust is accumulated in the dust collector 12, the dust collector 12 is detached from the dust chamber 14 by opening the top cover 20 and opening the dust chamber 14, thereby collecting the dust. The dust accumulated in the dust device 12 can be discarded and mounted in the dust collection chamber 14 again.
The suction port 6 is formed on the rear side of the bottom surface of the main body 2 so as to extend in the left-right direction. In the main body 2, a power brush 22 that is rotatable about a rotation shaft 21 that extends in the left-right direction is disposed so as to face the suction port 6. On the outer peripheral surface of the rotating shaft 21 of the power brush 22, spiral blades are formed so as to protrude. A power brush motor 23 for rotationally driving the power brush 22 is disposed on the front side of one end (right end) of the rotating shaft 21, and the drive shaft 24 and the power brush 22 of the power brush motor 23 are arranged. A belt 25 is wound around the rotary shaft 21.

  When cleaning is performed by the self-propelled cleaner 1, the suction motor 11 and the power brush motor 23 are rotationally driven, and the suction force of the suction motor 11 and the action of the power brush 22 rotating at high speed cause the suction motor 6 to The air on the floor surface is sucked in vigorously, and the air is guided to the dust collecting device 12 in the dust collecting chamber 14 through the air passage 13. In the process in which the air guided to the dust collector 12 passes through the paper filter 16, dust (dust etc.) contained in the air is captured. The air after the dust is captured is sucked into the suction motor 11 from the dust collection chamber 14, then leaks to the outside of the suction motor 11, and is discharged out of the machine from the gap of the main body 2.

  Below the dust collection chamber 14 in the main body 2 are a main board 26 and a sub board 27 on which various electric parts necessary for control of the self-propelled cleaner 1 are mounted on the mounting surface. It is arranged horizontally so that it faces. An opening 28 is formed on the bottom surface of the main body 2 at a position facing the front end portions of the main board 26 and the sub-board 27, and the opening 28 can be opened and closed by an opening / closing lid 29 (see FIG. 3).

  According to such a configuration, since the mounting surface of the main board 26 and the sub board 27 faces the opening 28, the connection work of the connector included in the electrical component can be easily performed through the opening 28. Further, by covering the opening 28 with the opening / closing lid 29, it is possible to prevent dust from entering the main body 2 through the opening 28, so that the self-propelled cleaner 1 can be prevented from being broken. Furthermore, since the connector can be connected through the opening 28 after the main board 26 and the sub board 27 are assembled in the main body 2, the workability is further improved.

  A portion of the outer peripheral surface (side surface) of the main body 2 from the center in the front-rear direction to the front side is covered with a bumper 30 having a substantially semicircular arc shape in plan view. On the left and right sides of the rear surface of the bumper 30, shafts 31 </ b> L and 31 </ b> R protrude rearward, and these shafts 31 </ b> L and 31 </ b> R are held by the main body 2 so as to be displaceable in the front-rear direction. Springs 32L and 32R as urging means are attached to the shafts 31L and 31R, and are urged forward by the springs 32L and 32R, respectively.

  When the self-propelled cleaner 1 is traveling forward and the main body 2 collides with an obstacle in front, the bumper 30 is displaced rearward against the urging force of the springs 32L and 32R. To do. Bumper switches 33L and 33R for detecting that the shafts 31L and 31R are displaced rearward are disposed at the rear end portions of the shafts 31L and 31R. It is possible to detect whether 2 collides with an obstacle ahead.

  On the outer peripheral surface of the bumper 30, a plurality of (for example, 16) concave portions 34 each formed in a substantially circular shape are arranged at regular intervals in the horizontal direction. Each concave portion 34 is formed so as to be recessed in the radial direction of the outer peripheral surface of the bumper 30, for example, approximately every 11.25 ° along the circumferential direction of the outer peripheral surface of the bumper 30. The self-propelled cleaner 1 includes a plurality of pairs (including transmitting units 351A to 358A that transmit ultrasonic waves and receiving units 351B to 358B that receive reflected waves of ultrasonic waves transmitted from the transmitting units 351A to 358A). For example, 8 pairs of ultrasonic sensors (obstacle detection sensors 351 to 358) are provided, and the transmission units 351A to 358A and the reception units 351B to 358B of these 8 pairs of obstacle detection sensors 351 to 358 are One is disposed in each of the 16 recesses 34.

  More specifically, a pair of first obstacle detection sensors 351 are provided in the two concave portions 34 adjacent to each other at the left end, and a pair of second obstacle detection sensors 352 are provided in the two concave portions 34 adjacent to the right side thereof. However, a pair of third obstacle detection sensors 353 is provided in the two recesses 34 adjacent to the right side, and a pair of fourth obstacle detection sensors 354 is provided in the right side of the two recesses 34 adjacent to the right side thereof. A pair of fifth obstacle detection sensors 355 are disposed in the two recesses 34 adjacent to the front end of the bumper 30, and a pair of sixth obstacle detection sensors 356 are disposed in the two recesses 34 adjacent to the right side thereof. However, a pair of seventh obstacle detection sensors 357 is provided in the two concave portions 34 adjacent to the right side, and a pair of eighth obstacle detection sensors 358 is provided in the two concave portions 34 adjacent to the right side (at the right end). Are arranged.

  Thereby, the 1st-8th obstacle detection sensors 351-358 are arrange | positioned along the circumferential direction of the outer peripheral surface of the bumper 30 about every 22.5 degrees. These first to eighth obstacle detection sensors 351 to 358 emit ultrasonic waves in the horizontal direction from the transmitters 351A to 358A, and receive the reflected waves reflected by the obstacles by the receivers 351B to 358B. Therefore, the distance between the main body 2 and the obstacle is detected, thereby detecting whether there is an obstacle, and an obstacle in the direction of about 180 ° on the front side of the main body 2 is detected. can do.

  On the bottom surface of the main body 2, a step detection sensor comprising an optical infrared sensor including a light emitting unit that emits infrared light and a light receiving unit that receives reflected infrared light emitted from the light emitting unit is provided at the front end of the bottom surface. One (front step detection sensor 361), one at the right end of the bottom (right step detection sensor 362), and two arranged side by side at the left end of the bottom (left outer step detection sensor 363 and left inner step detection sensor 364) ), Each is arranged. These level difference detection sensors 361 to 364 irradiate infrared rays downward from the light emitting portion, and receive the reflected light reflected on the floor surface by the light receiving portion, thereby determining the distance between the bottom surface of the main body 2 and the floor surface. This is to detect whether or not there is a step on the floor.

  On the front side of the upper surface of the main body 2 (in front of the upper surface cover 20), an LED display unit 37 including a plurality of (for example, three) LED elements, power on / off of the self-propelled cleaner 1, and mode selection A key operation unit 38 for performing operations such as the above, and an upper surface sensor 39 for detecting a distance from an object above the self-propelled cleaner 1 are disposed. The upper surface sensor 39 is composed of an optical infrared sensor including a light emitting unit 39A that emits infrared light and a light receiving unit 39B that receives reflected light of infrared light emitted from the light emitting unit 39A, and is directed upward from the light emitting unit 39A. In this case, the infrared light is irradiated and the reflected light reflected by the object is received by the light receiving unit 39B, thereby detecting whether or not the object is above.

  In this self-propelled cleaner 1, in addition to the normal operation mode, an economy operation mode in which the drive voltage of the suction motor 11 is controlled to be half that of the normal operation mode, and the surroundings of the main body 2 placed on the floor surface Can be operated in a spot operation mode in which the main body 2 travels within a predetermined range (for example, 1 m square). In the spot operation mode, the drive voltage of the suction motor 11 is controlled to be twice that in the normal operation mode.

  A rotating brush 40 for scraping dust on the floor surface toward the main body 2 is disposed below the left front of the main body 2 so as to be rotatable about a rotation axis extending in the vertical direction. The rotating brush 40 includes a disk-shaped brush holding member 41 and a plurality of brushes 42 that are held so as to extend downward from the peripheral edge of the lower surface of the brush holding member 41. One end of a substantially rectangular arm 43 is fixed to the center of the upper surface of the brush holding member 41, and the other end of the arm 43 is arranged so as to extend in the vertical direction in the main body 2. The moving shaft 44 is held so as to be swingable.

  A rotating brush motor 45 is provided at the bent portion of the arm 43, and a transmission mechanism (not shown) for transmitting the driving force of the rotating brush motor 45 to the brush holding member 41 in the arm 43. Is provided. When the rotary brush motor 45 is rotated, the driving force is transmitted to the brush holding member 41 via the transmission mechanism, and the rotary brush 40 is rotated clockwise in FIG. 1 (counterclockwise in FIG. 4). It is like that.

  An arc-shaped opening 46 is formed on the bottom surface of the main body 2 around the swing shaft 44 of the arm 43 (see FIG. 4). The other end of the arm 43 enters the main body 2 through the opening 46 and is attached to the swing shaft 44. The arm 43 is between a first posture where the bent portion is located at one end (left end) of the opening 46 and a second posture where the bent portion is located at the other end (right end) of the opening 46. It can swing. When the arm 43 is in the first posture, as shown in FIG. 4, the brush holding member 41 projects leftward from the left end of the main body 2 and projects forward from the front end of the main body 2. On the other hand, when the arm 43 is in the second posture, as shown in FIG. 5, the brush holding member 41 is positioned below the main body 2 and does not protrude from the main body 2 in plan view.

  A spring 47 as an urging means is attached to the swing shaft 44, and the arm 43 is urged toward the first posture side by the urging force of the spring 47. The arm 43 can swing to the second posture side against the urging force of the spring 47 by driving an arm motor (not shown), and the second posture by a latch mechanism (not shown). Can be locked and held.

  The swing shaft 44 has a bolt shape with a threaded outer peripheral surface, and is held by being screwed into a nut (not shown). Therefore, by rotating the swing shaft 44, the swing shaft 44 can be moved up and down with respect to the nut. A brush up / down motor (not shown) is connected to the swing shaft 44, and the swing shaft 44 rotates and is attached to the arm 43 and the arm 43 by driving the brush up / down motor. The rotary brush 40 moves up and down.

FIG. 6 is an enlarged plan view showing a configuration around the rotating brush 40.
In the main body 2, a force was applied to the arm 43 on the side opposite to the second posture side (clockwise in FIG. 6) with the arm 43 in the first posture as shown by the solid line in FIG. 6. In this case, there are a reverse switch 48 that is turned on in contact with the arm 43, and a limit switch 49 that is turned on in contact with the arm 43 when the arm 43 is in the second posture as shown by a broken line in FIG. Has been placed. Obstacles that are elongated vertically may not be detected by the obstacle detection sensors 351 to 358. When such an obstacle collides with the rotating brush 40, the arm 43 swings, and the reverse switch 48 or limit switch. 49 may be turned on. Therefore, it is possible to detect whether the main body 2 has collided with an obstacle using the reverse switch 48 or the limit switch 49.

  When it is detected that the main body 2 has collided with the obstacle by the reverse switch 48 or the limit switch 49 while the main body 2 is traveling, it is detected that the main body 2 has collided with the obstacle by the bumper switches 33L and 33R as will be described later. Similarly to the case, the traveling direction is changed by rotating the main body 2 or the like. At this time, the advancing direction of the main body 2 is changed clockwise in a plan view (from the side (left side) where the rotating brush 40 is disposed to the advancing direction of the main body 2 to the opposite side (right side)). If so, it is possible to satisfactorily scrape the dust around the obstacle toward the main body 2 side.

FIG. 7 is a block diagram showing an electrical configuration of the self-propelled cleaner 1.
Referring to FIG. 7, self-propelled cleaner 1 includes a main board 26, a sub board 27, and a display board 50. The main board 26 includes a CPU 51, a suction motor drive unit 52, a power brush motor drive unit 53, an arm motor drive unit 54A, a brush up / down motor drive unit 54B, and a rotary brush motor drive unit 55. A current detection unit 56, a traveling motor driver 57, a battery capacity voltage conversion unit 58, a power supply circuit unit 59, a light emission control / light reception amplification unit 60, and a speaker 61 are provided. Suction motor drive unit 52, power brush motor drive unit 53, arm motor drive unit 54A, brush up / down motor drive unit 54B, rotary brush motor drive unit 55, travel motor driver 57, battery capacity voltage conversion unit 58, The light emission control / light reception amplification unit 60 and the speaker 61 are each directly connected to the CPU 51.

  The suction motor 11 is connected to the suction motor drive unit 52. The power brush motor 23 is connected to a power brush motor drive unit 53. The arm motor 62A is connected to the arm motor drive unit 54A. The brush up / down motor 62B is connected to the brush up / down motor driving unit 54B. The rotary brush motor 45 is connected to the rotary brush motor drive unit 55. The current detection unit 56 detects a drive current flowing from the rotary brush motor drive unit 55 to the rotary brush motor 45 and supplies it to the CPU 51. The CPU 51 detects the current value detected by the current detection unit 56. Based on the above, it is possible to detect whether or not the rotating brush 40 is locked by being caught by an obstacle.

The limit switch 49 and the reverse switch 48 are each connected to the CPU 51. The left and right potentiometers 63L and 63R are connected to the CPU 51, respectively. The left and right traveling motors 8L and 8R are connected to the traveling motor driver 57, respectively.
The left and right traveling motors 8L and 8R are respectively provided with magnetic type (for example, 8-pole 2-phase) encoder units 64L and 64R for detecting a traveling distance, and these encoder units 64L and 64R are associated with each other. The travel motor driver 57 is connected. The traveling motor driver 57 is provided with an encoder waveform shaping unit 65 for shaping the waveform input from the encoder units 64L and 64R.

  A battery 67 (for example, 24V) is connected to the power supply circuit unit 59 through a power switch 66, and the power supply circuit unit 59 is connected to the CPU 51 through a battery capacity voltage conversion unit 58. The power supply circuit unit 59 is for converting the voltage of the battery 67 into a voltage suitable for supplying to the CPU 51. The battery capacity voltage converter 58 is for preventing overdischarge of the battery 67.

  The LED display unit 37 and the key operation unit 38 are connected to the CPU 51 via the display substrate 50. The left and right bumper switches 33L and 33R are connected to the CPU 51, respectively. The front wheel switch 68 is connected to the CPU 51. The obstacle detection sensors 351 to 358 are connected to the CPU 51 through the sub board 27. The level difference detection sensors 361 to 364 and the upper surface sensor 39 are connected to the light emission control / light reception amplification unit 60, respectively.

FIG. 8 is a diagram illustrating an example of reception waveforms in the reception units 351B to 358B of the obstacle detection sensors 351 to 358. FIG. 9 is a flowchart showing the flow of control by the CPU 51 when the obstacle detection sensors 351 to 358 detect obstacles.
As shown in FIG. 8, the reception waveforms in the reception units 351B to 358B of the obstacle detection sensors 351 to 358 include the transmission unit in addition to the reflected waves from the ultrasonic obstacles transmitted from the transmission units 351A to 358A. Direct waves or noises of ultrasonic waves transmitted from 351A to 358A appear. Therefore, when obstacles are detected by the obstacle detection sensors 351 to 358, the output voltage V at the receiving units 351B to 358B is compared with two threshold values V1 and V2 (V1 <V2), thereby generating a direct wave or noise. Due to this, it is possible to prevent false detection of an obstacle.

The CPU 51 compares the output voltage V at the receiving units 351B to 358B of the obstacle detection sensors 351 to 358 with the threshold value V1 while running the self-propelled cleaner 1, and determines whether or not V> V1. Monitoring is performed (step SA1 in FIG. 9).
The main board 26 is provided with a time measuring means for measuring the time from the start of operation of the self-propelled cleaner 1 and a time storage unit for storing the time (not shown). When V> V1 is satisfied (YES in step SA1), the CPU 51 holds (stores) the time t1 from the start of operation to that time in the time storage unit (step SA2). Thereafter, the CPU 51 monitors whether or not V ≦ V1 (step SA3) and whether or not V> V2 (step SA4). If V ≦ V1 is satisfied without V> V2 (YES in step SA3), the CPU 51 determines that the change in the output voltage V is due to the influence of a direct wave or noise, and again V It is monitored whether or not> V1 is satisfied (step SA1).

  On the other hand, when V> V2 is satisfied without satisfying V ≦ V1 (YES in step SA4), the CPU 51 holds (stores) the time t2 from the start of operation to that time in the time storage unit (step SA5). ), Δt is calculated by the calculation formula of Δt = t2−t3 (step SA6). If Δt <350 msec (YES in step SA7), the CPU 51 detects an obstacle by approximation calculation (see FIG. 8) using a straight line having a slope of (V2−V1) / Δt (see FIG. 8). A time t at the time when the change of the output voltage V starts is calculated (step SA8), and the distance from the obstacle is detected based on the time t (step SA10).

  In the case of Δt ≧ 350 msec (NO in step SA7), the error generated by the approximate calculation as in step SA8 is large. Therefore, the CPU 51 detects the obstacle by the calculation formula of t = t2−Δt / 3 ( A time t at which the change of the output voltage V starts) is calculated (step SA9), and the distance from the obstacle is detected based on the time t (step SA10). If the obstacle is a soft object, Δt ≧ 350 msec is likely to occur.

FIG. 10 is a flowchart showing a flow of control by the CPU 51 when driving in the normal operation mode or the economy operation mode.
Referring to FIG. 10, when the operation is started in the normal operation mode or the economy operation mode, CPU 51 first drives left and right traveling motors 8L, 8R to rotate at the same speed, and a pair of rear wheels 4L, By rotating 4R at the same speed, the main body 2 moves straight forward (step SB1). While the main body 2 is moving straight forward, the CPU 51 determines whether or not the bumper switches 33L and 33R are turned on (step SB2), and the second to eighth obstacle detection sensors 352 to 358 cause an obstacle in front of the main body 2. Is detected (step SB4) and whether the main body 2 has traveled straight ahead for a predetermined maximum travel distance (for example, 10 m) (step SB6). The determination as to whether or not the main body 2 has traveled straight beyond the maximum travel distance is made based on input signals from the encoder units 64L and 64R of the left and right travel motors 8L and 8R.

  When the main body 2 goes straight beyond the maximum travel distance (YES in step SB6), the CPU 51 forcibly ends the operation of the self-propelled cleaner 1. When the bumper switches 33L and 33R are turned on (YES in step SB2), that is, when the bumper 30 collides with a wall, the CPU 51 performs control (wall avoidance) for avoiding the main body 2 from the wall (step). SB3). If an obstacle is detected by the second to eighth obstacle detection sensors 352 to 358 (YES in step SB4), that is, if there is an obstacle within a predetermined distance (for example, within 50 mm) in front of the main body 2, the CPU 51 Performs control (collision avoidance) for avoiding the main body 2 from colliding with an obstacle (step SB5).

FIG. 11 is a flowchart showing the flow of control by the CPU 51 when avoiding a wall.
Referring to FIG. 11, when avoiding a wall, CPU 51 first issues a stop command to stop traveling motors 8L, 8R (step SC1). Then, the CPU 51 confirms whether or not the rotation of the rear wheels 4L and 4R has stopped based on the input signals from the encoder units 64L and 64R (step SC2), and confirms the stop (YES in step SC2). The main body 2 is moved backward by issuing a backward command and rotating the traveling motors 8L and 8R (step SC3). The backward command is a command for moving the main body 2 backward at a predetermined speed (for example, 150 mm / s) by a predetermined distance (for example, 50 mm).

  Thereafter, the CPU 51 determines whether or not the backward movement of the main body 2 is completed based on the input signals from the encoder units 64L and 64R (step SC4), and issues a rotation command when the backward movement is completed (YES in step SC4). Then, the main body 2 is rotated by rotating the traveling motors 8L and 8R (step SC5). The rotation command is a predetermined rotation speed (for example, 50 ° / s) and a predetermined angle (for example, 45 ° when the left bumper switch 33L is turned on and 90 ° when the right bumper switch 33R is turned on). This is a command for rotating the main body 2. Then, the CPU 51 determines whether or not the rotation of the main body 2 is completed based on the input signals from the encoder units 64L and 64R (step SC6), and when the rotation is completed (YES in step SC6), the wall avoidance is performed. Exit.

FIG. 12 is a flowchart showing the flow of control by the CPU 51 when avoiding a collision.
Referring to FIG. 12, when avoiding a collision, CPU 51 first issues a stop command to stop travel motors 8L, 8R (step SD1). Then, the CPU 51 confirms whether or not the rotation of the rear wheels 4L and 4R has stopped based on the input signals from the encoder units 64L and 64R (step SD2), and confirms the stop (YES in step SD2). The main body 2 is rotated by issuing a rotation command and rotating the traveling motors 8L and 8R (step SD3). The rotation command is a command for rotating the main body 2 by a predetermined angle (for example, an angle randomly determined between 0 to 180 °) at a predetermined rotation speed (for example, 50 ° / s).

Thereafter, the CPU 51 determines whether or not the rotation of the main body 2 has been completed based on the input signals from the encoder units 64L and 64R (step SD4). When the rotation is completed (YES in step SD4), collision avoidance is performed. Exit.
When the wall avoidance or the collision avoidance is performed, the main body 2 that has traveled straight forward is stopped by a stop command. At this time, the main body 2 is suddenly braked, so that the inside of the main body 2 (the dust collecting chamber 14) is stopped. The dust collector 12 arranged in the inside will vibrate. Thereby, since the dust collected near the entrance of the dust collector 12 can be shaken off to the front side, it is possible to prevent the suction force from being reduced due to the accumulation of dust near the entrance of the dust collector 12.

  Referring to FIG. 10 again, after performing the wall avoidance (step SB3) or the collision avoidance (step SB5), the CPU 51 cancels the latch mechanism to release the second in a state where the rotation is stopped. The rotary brush 40 accommodated in the main body 2 in the posture is caused to protrude to the first posture by the biasing force of the spring 47, and the rotary brush 40 is rotated by driving the rotary brush motor 45 (step SB7). Control (wall wobbling) for causing the main body 2 to travel along the wall is performed (step SB8).

  In the case of running on the wall, the CPU 51 detects the distance between the main body 2 and the wall by the first and second obstacle detection sensors 351, 352, and the running motors 8L, 8R so that the detected distance falls within a predetermined range. By driving the main body 2 along the wall without colliding with the wall. At this time, the main body 2 travels clockwise in the room, so that the main body 2 travels so that the rotating brush 40 disposed on the left front side of the main body 2 follows the wall. Therefore, the dust on the wall surface of the wall can be scraped well toward the main body 2 by the rotating brush 40.

  The CPU 51 determines whether or not the main body 2 has made a round of the room along the wall during the wall run (step SB9) and whether the main body 2 has traveled for a predetermined maximum travel time (for example, 10 minutes) or more. No (step SB11) is monitored. The determination as to whether or not the main body 2 has made a round of the room along the wall is made, for example, by dividing the floor surface into a plurality of squares (for example, 25 cm squares) along the walls, and the encoders of the left and right traveling motors 8L and 8R. Based on the input signals from the parts 64L and 64R, from the mass on the rear side (for example, the second mass on the rear side) of the mass (starting mass) including the position of the main body 2 at the time of starting the wall running, the direction from the front. The main body 2 detects whether or not the main body 2 has returned to the starting mass, and the difference between the angle of the main body 2 at the start of wall-fitting travel and the angle when the main body 2 returns to the starting mass is a predetermined angle (for example, 60 °). ) By detecting whether it is less than. That is, the main body 2 returns to the start mass toward the front from the mass behind the start mass (for example, the second mass on the rear side), and the angle of the main body 2 at the start of the wall run and the main body 2 When the difference from the angle when the return to the starting mass is less than the predetermined angle, the CPU 51 detects that the main body 2 has made a round around the room along the wall.

  When it is detected that the main body 2 has made a round of the room along the wall (YES in step SB9), the CPU 51 predicts the size of the room from the time required for the main body 2 to make a round, and calculates the travel time. It determines (step SB10), and makes the main body 2 run at random for the travel time (step SB13). On the other hand, when it is detected that the main body 2 has traveled more than the maximum travel time (YES in step SB11), the CPU 51 forcibly determines a predetermined travel time (step SB12), and the main body 2 is randomly selected for the travel time. (Step SB13).

  After the main body 2 travels at random for the determined travel time, the CPU 51 determines whether there is an object within a predetermined distance (for example, within 20 cm) above the main body 2 based on an input signal from the upper surface sensor 39. If there is no object (NO in step SB14), the operation is terminated as it is. On the other hand, when there is an object within the predetermined distance above the main body 2 (YES in step SB14), the CPU 51 rotates the left and right traveling motors 8L and 8R at the same speed to make a pair of rear wheels. By rotating 4L and 4R at the same speed, the main body 2 moves straight forward or backward (step SB15). At this time, the CPU 51 monitors whether or not the distance to the object above the main body 2 is within the predetermined distance (step SB16), and until the distance to the object becomes larger than the predetermined distance. When the main body 2 is moved straight and the distance from the object becomes larger than the predetermined distance (NO in step SB16), the operation is terminated.

According to such a configuration, since it is possible to prevent the operation from being terminated while the main body 2 enters under the bed or the desk, it is difficult to know where the main body 2 has gone or to remove the main body 2. It is convenient without becoming.
However, when there is an object within a predetermined distance above the main body 2 (YES in step SB14), the configuration is not limited to the configuration in which the main body 2 is moved straight, for example, the main body 2 is rotated in a predetermined direction (for example, clockwise in plan view). ) May be rotated.

FIG. 13 is a flowchart showing the flow of control by the CPU 51 during random travel.
Referring to FIG. 13, when random running is started, CPU 51 first drives left and right running motors 8L, 8R to rotate at different speeds for a certain period of time, thereby causing a pair of rear wheels 4L, 4R to move at different speeds. The main body 2 is randomly rotated in a predetermined direction (for example, clockwise in plan view) (step SE1). At this time, the rotating brush 40 rotates in a state of protruding to the first posture.

  When the random rotation is finished, the CPU 51 stops the rotation of the rotary brush 40 by stopping the rotary brush motor 45 and drives the arm motor 62A to bring the rotary brush 40 into the main body 2 in the second posture. Accommodates (step SE2). Thereafter, the CPU 51 drives the left and right traveling motors 8L, 8R to rotate at the same speed and rotates the pair of rear wheels 4L, 4R at the same speed, thereby causing the main body 2 to move straight forward (step SE3). While the main body 2 is moving straight ahead, the CPU 51 determines whether or not the bumper switches 33L and 33R are turned on (step SE4) and the front of the main body 2 by the second to eighth obstacle detection sensors 352 to 358. It is monitored whether or not an obstacle is detected (step SE5).

  When the bumper switches 33L and 33R are turned on (YES in step SE4), or when obstacles are detected by the second to eighth obstacle detection sensors 352 to 358 (YES in step SE5), the CPU 51 latches By releasing the locking by the mechanism, the rotating brush 40 accommodated in the main body 2 in the second posture with the rotation stopped is caused to protrude to the first posture by the biasing force of the spring 47, and the rotating brush The rotary brush 40 is rotated by driving the motor 45 (step SE6). If the travel time set in step SB10 or SB12 in FIG. 10 has not yet elapsed (NO in step SE7), the CPU 51 again sets the left and right travel motors 8L and 8R at different speeds for a predetermined time. And the pair of rear wheels 4L and 4R are rotated at different speeds to rotate the main body 2 randomly (step SE1). At this time, the rotating brush 40 rotates in a state of protruding to the first posture.

  In this way, the CPU 51 repeats the control in steps SE1 to SE7, and when the set travel time has elapsed (YES in step SE7), the rotation of the rotary brush 40 is stopped by stopping the rotary brush motor 45. Is stopped and the arm motor 62A is driven to accommodate the rotary brush 40 in the main body 2 in the second posture (step SE8), and the random running is finished.

In this embodiment, during random running, the CPU 51 performs control (step avoidance) for preventing the main body 2 from falling on a step on the floor surface, and the amount of protrusion of the pair of rear wheels 4L, 4R from the main body 2 In response to this, control (rear wheel protrusion amount response control) for changing the operation content is performed.
In addition, when the front wheel 3 falls to a step on the floor surface during random traveling, the CPU 51 detects that fact based on an input signal from the front wheel switch 68 and operates the self-propelled cleaner 1. An emergency stop is intended. Thereby, it is possible to prevent the operation of the self-propelled cleaner 1 from being unnecessarily continued in a state where the front wheel 3 has fallen to the level difference on the floor surface and the main body 2 cannot travel.

FIG. 14 is a flowchart showing the contents of control performed by the CPU 51 to avoid a step.
Referring to FIG. 14, during random traveling, CPU 51 determines the bottom surface and floor surface of main body 2 detected by any one of level difference detection sensors 361 to 364 based on input signals from level difference detection sensors 361 to 363. It is detected whether or not the distance is equal to or greater than a certain value, that is, whether or not there is a step (step SF1).

  When a step is detected based on an input signal from any of the step detection sensors 361 to 363 (YES in step SF1), the CPU 51 issues a stop command to stop the traveling motors 8L and 8R (step). SF2). Then, the CPU 51 confirms whether the rotation of the rear wheels 4L, 4R has stopped based on the input signals from the encoder units 64L, 64R (step SF3), and confirms the stop (YES in step SF3). The main body 2 is moved backward by issuing a backward command and rotating the traveling motors 8L and 8R (step SF4). The backward command is a command for moving the main body 2 backward at a predetermined speed (for example, 150 mm / s) by a predetermined distance (for example, 50 mm).

  Thereafter, the CPU 51 determines whether or not the backward movement of the main body 2 is completed based on input signals from the encoder units 64L and 64R (step SF5), and issues a rotation command when the backward movement is completed (YES in step SF5). Then, the main body 2 is rotated by rotating the traveling motors 8L and 8R (step SF6). The rotation command is a predetermined rotation speed (for example, 50 ° / s) and a predetermined angle (for example, 135 ° when a step is detected by the right step detection sensor 362, and a step is detected by the front step detection sensor 361). This is a command for rotating the main body 2 by 90 ° and 45 ° when a step is detected by the left outside step detection sensor 363). By this rotation, the left inner level difference detection sensor 364 is positioned above the floor surface, and the left outer level difference detection sensor 363 is positioned above the level difference.

  The CPU 51 determines whether or not the rotation of the main body 2 has been completed based on the input signals from the encoder units 64L and 64R (step SF7). When the rotation is completed (YES in step SF7), the CPU 51 detects the floor surface with the left inner level difference detection sensor 364 and causes the main body 2 to travel while detecting the level difference with the left outer level difference detection sensor 363. The main body 2 is caused to travel along the floor surface on the near side of the step so that the main body 2 does not fall on the step (step SF8).

  More specifically, when no step is detected by both the left outer step detection sensor 363 and the left inner step detection sensor 364, that is, both the left outer step detection sensor 363 and the left inner step detection sensor 364 are floor surfaces. Is detected, the rotational speed of the right rear wheel 4R is made faster than the rotational speed of the left rear wheel 4L, the main body 2 is moved toward the step side, and conversely, the left outer step detection sensor 363. When the step is detected by both the left inner step detecting sensor 364, that is, when the floor surface is not detected by both the left outer step detecting sensor 363 and the left inner step detecting sensor 364, the left rear wheel By making the rotation speed of 4L faster than the rotation speed of the right rear wheel 4R and moving the main body 2 to the opposite side of the step, the left inner step detection sensor 364 detects the floor, While maintaining the state where the detecting step on the side step detection sensor 363 moving the main body 2.

According to such a configuration, the main body 2 can be run along the floor surface on the near side of the step, so that the main body 2 is retracted each time a step is detected, compared with a configuration in which the main body 2 is moved backward. Garbage on the side floor can be sucked in in a short time.
FIG. 15 is a flowchart showing the contents of control performed by the CPU 51 for rear wheel protrusion amount response control.

  Referring to FIG. 15, during random running, CPU 51 monitors the amount of protrusion of left and right rear wheels 4L, 4R with respect to main body 2 based on input signals from left and right potentiometers 63L, 63R (step SG1). . If the amount of protrusion of the left or right rear wheel 4L, 4R relative to the main body 2 is greater than or equal to a predetermined value (YES in step SG1), the CPU 51 increases the suction force by increasing the drive voltage of the suction motor 11. (Step SG2) The rotary brush 40 is displaced upward by driving the brush up / down motor 62B (Step SG3), and the driving voltage of the rotary brush motor 45 is increased to increase the scraping force by the rotary brush 40. Then (step SG4), the driving speed is decreased (for example, 30 cm / s) by reducing the drive voltage of the pair of driving motors 8L and 8R (step SG5).

  On the other hand, if the amount of protrusion of the left and right rear wheels 4L, 4R relative to the main body 2 is less than a predetermined value (NO in step SG1), the CPU 51 weakens the suction force by reducing the drive voltage of the suction motor 11 (step S1). SG6), by driving the brush up / down motor 62B, the rotary brush 40 is displaced downward (step SG7), and by reducing the drive voltage of the rotary brush motor 45, the scraping force by the rotary brush 40 is weakened. (Step SG8) The driving speed is increased (for example, 40 cm / s) by increasing the drive voltage of the pair of driving motors 8L and 8R (step SG9).

When at least one of the left and right rear wheels 4L, 4R is on the carpet, the rear wheels 4L, 4R go into the carpet, and the bottom surface of the main body 2 (especially around the suction port 6) is the carpet. May be received at the hair tip. In this case, the weight of the main body 2 acting on the rear wheels 4L and 4R decreases, and the amount of protrusion of the rear wheels 4L and 4R with respect to the main body 2 increases.
Therefore, when the protruding amount of the left and right rear wheels 4L, 4R with respect to the main body 2 is large as when the main body 2 is on the carpet, the suction force is increased as described above (step SG2), By increasing the scraping force by the rotating brush 40 (step SG4) and slowing the traveling speed (step SG5), it is possible to satisfactorily suck in litter such as lint entangled in the carpet and to rotate the rotating brush 40. Is displaced upward (step SG3), the resistance of the rotating brush 40 to the carpet is increased, and the traveling direction of the main body 2 can be prevented from shifting.

  If the amount of protrusion of the left and right rear wheels 4L, 4R with respect to the main body 2 is small, such as when the main body 2 is on a flooring or a tatami mat, the suction force is weakened as described above (step SG6). By reducing the scraping force by the rotating brush 40 (step SG8) and increasing the traveling speed (step SG9), it is possible to satisfactorily suck in dust on the flooring and tatami with less power, By displacing the rotating brush 40 downward (step SG7), it is possible to satisfactorily scrape the dust on the flooring and tatami to the main body 2 side by the rotating rotating brush 40.

Furthermore, in this embodiment, when the main body 2 is in the vicinity of an obstacle such as a wall, the rotating brush 40 is protruded from the main body 2 and rotated (step SB7 in FIG. 10, step SE6 in FIG. 13). Garbage in a place where it is difficult to suck in the vicinity of the object can be sucked into the main body 2 side by the rotating brush 40 and satisfactorily sucked.
When the main body 2 is not in the vicinity of the obstacle, the rotation of the rotary brush 40 is stopped and accommodated in the main body 2, so that the rotary brush 40 can prevent the floor surface from being damaged, and the rotary brush 40 and the floor surface can be prevented from being damaged. It is possible to prevent the frictional force from becoming a resistance of the traveling main body 2 and to prevent the rotating brush 40 from being caught by an obstacle during traveling. Further, when the main body 2 is not near the obstacle, the rotation of the rotary brush 40 can be stopped to reduce power consumption.

  The present invention is not limited to the contents of the above embodiments, and various modifications can be made within the scope of the claims.

It is a top view of the self-propelled cleaner concerning one embodiment of this invention. It is a front view of this self-propelled cleaner. It is the figure which looked at the cross section when this self-propelled cleaner was cut in the vertical plane along the front-rear direction from the left side. It is a bottom view of this self-propelled cleaner, and shows the state where an arm is in the 1st posture. It is a bottom view of this self-propelled cleaner, and shows the state where an arm is in the 2nd posture. It is a top view which expands and shows the surrounding structure of a rotating brush. It is a block diagram which shows the electric constitution of this self-propelled cleaner. It is a figure which shows an example of the received waveform in the receiving part of an obstruction detection sensor. It is a flowchart which shows the flow of control by CPU at the time of detecting an obstruction by an obstruction detection sensor. It is a flowchart which shows the flow of control by CPU at the time of drive | operating by normal driving mode or economy driving mode. It is a flowchart which shows the flow of control by CPU at the time of wall avoidance. It is a flowchart which shows the flow of control by CPU in the case of collision avoidance. It is a flowchart which shows the flow of control by CPU during random driving | running | working. It is a flowchart which shows the content of the control which CPU performs for a level | step difference avoidance. It is a flowchart which shows the content of the control which CPU performs for rear-wheel protrusion amount response control.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Self-propelled cleaner 2 Main body 3 Front wheel 4L, 4R Rear wheel 8L, 8R Driving motor 6 Suction port 11 Suction motor 40 Rotating brush 51 CPU
63L, 63R Potentiometer 363 Left outer step detection sensor 364 Left inner step detection sensor

Claims (6)

A self-propelled vacuum cleaner that can automatically clean the main body along the floor surface, by sucking in dust on the floor surface from the suction port provided in the main body,
Floor surface detection means for detecting the floor surface on which the main body travels;
A level difference detecting means for detecting a level difference on the floor surface;
The floor surface is detected by the floor surface detecting means, and the main body is moved while detecting the level difference by the level difference detecting means, so that the main body does not fall on the level difference along the floor surface on the near side of the step. A self-propelled vacuum cleaner comprising means for running the main body. Wheels disposed on the lower surface of the main body so as to be movable up and down;
2. The self-propelled laundry according to claim 1, further comprising emergency stop means for stopping the operation of the main body when the wheel falls on a step on the floor and is displaced downward by its own weight. Machine. A self-propelled vacuum cleaner that can automatically clean the main body along the floor surface, by sucking in dust on the floor surface from the suction port provided in the main body,
Wheels disposed on the lower surface of the main body so as to be movable up and down;
Biasing means for biasing the wheel downward;
Wheel position detecting means for detecting the vertical position of the wheel;
A self-propelled cleaner comprising: control means for controlling the operation of the main body in a different manner depending on the vertical position of the wheel detected by the wheel position detecting means. Further comprising a scraping means that is rotatably provided and scrapes dust on the floor surface toward the main body;
4. The self-propelled according to claim 3, wherein the control means increases the rotational speed of the scraping means as the vertical position of the wheel detected by the wheel position detecting means is lower. Type vacuum cleaner. A suction motor that is driven to suck in garbage on the floor from the suction port;
5. The control device according to claim 3, wherein the control means increases the rotational speed of the suction motor as the vertical position of the wheel detected by the wheel position detection means is lower. Traveling vacuum cleaner. It further includes traveling means for traveling the main body,
The said control means reduces the speed of the said main body driven by the said driving means, so that the vertical position of the said wheel detected by the said wheel position detection means is below. The self-propelled cleaner according to any one of?

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