JP2023144414A - autonomous cleaning robot - Google Patents

Abstract

To provide an autonomous cleaning robot capable of performing cleaning with a smaller non-passage area close to a boundary line.SOLUTION: An autonomous cleaning robot 1 includes: a horizontally long suction nozzle 20 arranged in a width direction of a front end; and control means 60 for performing control to enable autonomous traveling in longitudinal and horizontal directions. The control means 60 can perform a boundary edge cleaning operation by allowing the autonomous cleaning robot 1 to horizontally move in a lateral direction so as to be close to a boundary line SB at a predetermined distance, and then, allowing the autonomous cleaning robot 1 to move along the boundary line SB.SELECTED DRAWING: Figure 10

Description

There is an application for exception to loss of novelty.

The present invention relates to an autonomous cleaning robot that can run autonomously.

2. Description of the Related Art In offices, commercial facilities, accommodation facilities, etc., vacuum cleaners are used to collect dust that has fallen on the floor as part of hygiene management. In recent years, due to factors such as rising labor costs and a shortage of human resources, there has been an increasing demand for autonomous cleaning robots that can autonomously move across floors while sucking up dust in order to reduce the burden on workers. .

Such cleaning robots are equipped with driving wheels, and a built-in control unit such as an MPU uses non-contact sensors such as ultrasonic sensors and laser sensors to measure the distance to obstacles such as walls, pillars, and people. However, there is a known vehicle that enables autonomous travel by changing the traveling route and avoiding obstacles (for example, see Patent Document 1).

The autonomous cleaning robot of Patent Document 1 is equipped with a wide suction nozzle in the front, drive wheels on the left and right sides, and has a control means, a distance sensor, and the like. The drive of these left and right drive wheels is controlled by separate driving motors, and by adjusting the rotation speed and direction of these left and right drive wheels, it is possible to move forward and backward and turn left and right. It becomes.

Japanese Patent Application Publication No. 2004-49592 (Page 4, Figure 1)

Most cleaning robots prevent unfinished cleaning by performing a combination of normal cleaning operation, which cleans the center of the room other than the walls, and wall cleaning operation, which cleans only along the walls. There is. In the autonomous cleaning robot of Patent Document 1, when starting the wall cleaning operation, the vehicle body gradually approaches the wall while turning left and right, but in this case, the running trolley due to the turning movement There has been a problem in that an area where the suction nozzle has not passed, in other words, an area where cleaning has not been completed in the cleaning section is formed on the outer diameter side of the orbit.

The present invention has been made with attention to such problems, and an object of the present invention is to provide an autonomous cleaning robot that can perform cleaning with a small number of unpassed areas near the boundary line.

In order to solve the above problems, the autonomous cleaning robot of the present invention has the following features:
An autonomous cleaning robot having a horizontally elongated suction nozzle provided in the width direction at the front end, and a control means for controlling the robot so that it can autonomously travel forward, backward, left and right,
The control means may perform a boundary cleaning operation in which the autonomous cleaning robot is moved horizontally from side to side until it approaches the boundary line by a predetermined distance, and then moves the autonomous cleaning robot along the boundary line. It is characterized by the ability to
According to this feature, by moving the autonomous cleaning robot left and right in a direction just lateral to the boundary line of the cleaning section, the cleaning operation can be performed with less untraversed area near the boundary line that occurs on the outer diameter side as the autonomous cleaning robot rotates. It becomes possible.

The suction nozzle is characterized in that its width is shorter than the width of the front surface of the traveling vehicle, and is unevenly distributed and fixed on either side of the front surface of the traveling vehicle in the left-right direction.
According to this feature, the suction nozzle can be brought close to the boundary line for cleaning without increasing the size of the suction nozzle.

The autonomous cleaning robot is characterized by having a plurality of mecanum wheels each of which can be driven in all directions by a driving motor.
According to this feature, since the mecanum wheel is driven and controlled by the travel motor, when the autonomous cleaning robot changes direction from forward movement to horizontal movement, the suction nozzle does not pass through the area. This allows for continuous cleaning in a short period of time.

The control means moves the autonomous cleaning robot forward toward the boundary line, and when it approaches the boundary line by a predetermined distance, rotates the autonomous cleaning robot so that the longitudinal direction of the suction nozzle and the boundary line are perpendicular to each other; Next, the boundary cleaning operation is started.
According to this feature, the Mecanum wheels have a larger thrust for forward movement than for horizontal movement, so by moving forward until you get close to the boundary line by a predetermined distance, you can autonomously reach the boundary line quickly. Cleaning robots can be brought close together.

The autonomous cleaning robot is equipped with a distance sensor that measures the distance to an object,
The control means performs a cleaning operation that is a combination of the boundary cleaning operation and a normal cleaning operation that cleans the center of the cleaning section,
The control means is characterized in that when moving along the boundary line during the boundary cleaning operation, the operation is controlled at an approachable distance closer to the boundary line than during the normal cleaning operation.
According to this feature, during normal cleaning driving, the vehicle is driven at the approachable distance necessary to avoid the risk of collision, and during border cleaning driving, it is driven as close to the boundary line as possible to cover untraversed areas. It becomes possible to perform a cleaning operation without the need for cleaning.

The control means is characterized in that, during the border cleaning operation, the autonomous cleaning robot is moved to the approachable distance by moving the autonomous cleaning robot right and left in the lateral direction toward the border line.
According to this feature, the autonomous cleaning robot can be quickly brought into a state parallel to and close to the boundary line.

FIG. 1 is a perspective view showing an autonomous cleaning robot according to an embodiment of the present invention. It is a left side view showing an autonomous cleaning robot. It is a right side view showing an autonomous cleaning robot. It is a top view showing an autonomous cleaning robot. It is a schematic diagram showing an electrical system of an autonomous cleaning robot. It is a perspective view showing the structure of the wheel of an autonomous cleaning robot. It is a bottom view showing the structure of the suction nozzle of the autonomous cleaning robot. FIG. 3 is a diagram showing forward movement of the autonomous cleaning robot. It is a figure which shows the rotational movement in the boundary cleaning operation of an autonomous cleaning robot. FIG. 3 is a diagram showing left and right movement in the lateral direction during boundary cleaning operation of the autonomous cleaning robot. FIG. 3 is a diagram showing forward movement of the autonomous cleaning robot in boundary cleaning operation. It is a figure which shows the forward movement toward the corner part in the boundary cleaning operation of an autonomous cleaning robot. FIG. 6 is a diagram showing left and right movement of the autonomous cleaning robot in the lateral direction during border cleaning operation at a corner. It is a figure which shows the backward movement of an autonomous cleaning robot in border cleaning operation at a corner.

EMBODIMENT OF THE INVENTION The form for implementing the autonomous cleaning robot based on this invention is demonstrated below based on an Example.

An autonomous cleaning robot according to an embodiment will be described with reference to FIGS. 1 to 14. Hereinafter, the lower left side of the paper in FIG. 1 will be described as the front side (front side) of the autonomous cleaning robot.

Autonomous cleaning robots clean offices, commercial facilities, accommodation facilities, etc. by autonomously moving on the floor without human assistance and sucking up and collecting dust on the floor. .

As shown in FIGS. 1 to 4, an autonomous cleaning robot (hereinafter referred to as a "cleaning robot") 1 has a running cart 10 with a suction nozzle 20 attached to the front lower part, and a running cart 10 mounted on the rear upper part of the moving cart 10. It mainly consists of a vacuum cleaner 100 placed therein. In this embodiment, the vacuum cleaner 100 is a commercial vacuum cleaner that has rotating casters (not shown) at the bottom and operates on commercial power, and a suction nozzle is connected to the vacuum cleaner by a nozzle hose 120 disposed inside the cleaning robot 1. 20 is connected. In addition, in this embodiment, the suction nozzle 20 has a smaller width in the left-right direction (hereinafter simply referred to as "width") than the traveling carriage 10, and is disposed biased toward the right side. The width and horizontal position of the image can be freely configured.

The traveling bogie 10 includes a pair of left and right wheels 30R, 30L provided on the front side of the bogie body 11, a pair of left and right wheels 40R, 40L provided on the rear side of the bogie body 11, and these wheels 30R, 30L, 40R. , 40L, three running batteries 70 (see FIG. 3) capable of supplying power to the running motors 50, etc. It mainly consists of a control means (see FIG. 5). The traveling cart 10 also carries four suction batteries 71 (see FIG. 3) that can supply electric power to the vacuum cleaner 100 via an inverter 72 (see FIG. 5), independently of the traveling battery 70. are doing. Note that the three driving batteries 70 and the four suction batteries 71 are all of the same standard, so they can be used interchangeably.

Further, the traveling truck 10 includes an upper exterior 80 that covers the vacuum cleaner 100, the suction battery 71, etc. mounted on the traveling truck 10, and a lower exterior 90 that covers the truck body 11, the traveling battery 70, etc. Incidentally, sensors 61, 61 (see FIGS. 2 and 3) provided at the front and rear of the truck main body 11 can sense from the gap formed between the upper exterior 80 and the lower exterior 90. In this embodiment, the sensors 61, 61 are comprised of non-contact sensors such as laser sensors and ultrasonic sensors.

The upper exterior 80 is mainly divided into four parts: a front exterior 80F, a rear exterior 80B, and left and right side exteriors 80R and 80L. The upper exterior 80 has an opening 81 shaped along the outer edge of the main body of the cleaner 100 and a hose opening 82 into which the nozzle hose 120 can be inserted.

As shown in FIG. 5, the control device 60 receives distance information and position information from sensors 61, 61 (see also FIG. 2), and rotation speeds from rotary encoders (not shown) connected to the four traveling motors 50. Based on the information etc., traveling control of the traveling trolley 10 can be performed. Specifically, the control device 60 individually controls the rotational speed and rotational direction of the wheels 30R, 30L, 40R, and 40L by individually switching the magnitude and input direction of the voltage applied to the four driving motors 50. can do. In addition, in FIG. 5, the thick solid line is shown as a power supply line, and the dotted line is shown as a signal supply line.

Further, as shown in FIG. 6, the wheels 30L and 40L are so-called mecanum wheels that are provided with a plurality of rollers 31L and 41L that are inclined at 45 degrees in different directions on the outer periphery of the wheels, and can rotate, turn, and go straight forward and backward. , you can go straight left or right. Although detailed illustrations are omitted for convenience of explanation, the wheel 30R is a mecanum wheel provided with a plurality of rollers 31R inclined at 45 degrees in the same direction as the wheel 40L, and the wheel 40R is the same as the wheel 30L. This is a mecanum wheel provided with a plurality of rollers 41R that are inclined at 45 degrees in the direction. In other words, the wheels 30L, 30R are arranged so that the rollers 31L, 31R form a V-shape when the traveling vehicle 10 is viewed from the front side, and the wheels 40L, 40R are arranged so that the traveling vehicle 10 is viewed from the rear side. The rollers 41L and 41R are arranged in a V-shape.

According to this, the cleaning robot 1 drives the wheels 30R, 30L, 40R, 40L by the traveling motor 50 that is individually controlled by the control device 60, and the rollers 31L, 31R, 41L that are in contact with the floor surface. Combined with the rolling motion of 41R, it is possible to move smoothly in all directions, front, back, left and right.

As shown in FIG. 7, the suction nozzle 20 includes a suction port 21 and a pair of left and right wheels 22, 22. The wheels 22, 22 are so-called omni wheels in which a plurality of rollers 23 are provided along the outer periphery of the wheels, and can be driven in the front and rear directions by a drive motor (not shown) built in the suction nozzle 20. Note that the suction nozzle 20 may be provided with a rotating brush that can be driven by a drive motor (not shown) or the like at the suction port 21 .

According to this, the suction nozzle 20 moves the cleaning robot 1 in all directions by combining the drive of the wheels 22, 22 by a drive motor (not shown) and the rolling of the roller 23 in contact with the floor surface. In particular, it is possible to reduce the resistance between the suction nozzle 20 and the floor surface due to the later-described movement of the cleaning robot 1 from side to side, rotation, and rotation.

In addition, in the forward movement and backward movement of the cleaning robot 1, which will be described later, the traveling speed of the traveling cart 10 due to the driving of the wheels 30R, 30L, 40R, and 40L and the advancing speed of the suction nozzle 20 due to the driving of the wheels 22, 22 are approximately It is preferable that the speed is controlled to be the same so as not to interfere with the traveling of the traveling trolley 10. Further, the control device 60 may cooperatively control the driving of the wheels 22, 22 in accordance with the driving of the wheels 30R, 30L, 40R, and 40L.

Next, the cleaning operation by the cleaning robot 1 of this embodiment will be explained. The control device 60 of the cleaning robot 1 has map data of a cleaning section S, which is an indoor space, for example, and cleans the inner side of the boundary line SB, which is a wall, for example, in the cleaning section S, that is, the center of the cleaning section S (indoor). A combination of a normal cleaning operation in which cleaning is performed, and a boundary cleaning operation in which cleaning is performed only along the boundary line SB (along the wall) is performed.

Here, the boundary cleaning operation will be particularly explained. In addition, in FIGS. 11 to 14, the passage area of the suction port 21 of the cleaning robot 1 in the cleaning section S is indicated by dots.

First, the control device 60 compares the map data of the cleaning section S with the area that has been cleaned by the normal cleaning operation, and if it is determined that the cleaning of the area to be cleaned by the normal cleaning operation has been completed, the control device 60 starts from that point onwards. Start transition to boundary cleaning operation. To start the boundary cleaning operation, the control device 60 moves the cleaning robot 1 from the current position of the cleaning robot 1 to the point where the boundary cleaning operation is to be started.

As shown in FIG. 8, first, the control device 60 moves the cleaning robot 1 forward toward the boundary line SB that is closest in a straight line distance from the current position of the cleaning robot 1. Specifically, the control device 60 moves the cleaning robot 1 forward from the position P0 to a position P1 adjacent to the boundary line SB at a predetermined distance by driving all the wheels 30R, 30L, 40R, and 40L forward. In this forward movement, the control device 60 moves the front end of the truck body 11 to a position where the boundary line SB is separated by a predetermined distance so that the boundary line SB does not overlap the locus of the front end of the truck body 11 in rotational movement to be described later. .

When the movement from the position P0 to the position P1, which is close to the boundary line SB at a predetermined distance, is completed, the control device 60 starts the boundary cleaning operation. As shown in FIG. 9, in the boundary cleaning operation, the control device 60 drives the wheels 30R, 40R forward, and drives the wheels 30L, 40L backward, thereby moving the cleaning robot 1 toward the trolley body 11. The wheels 30R, 30L and the wheels 40R, 40L are rotated counterclockwise from position P1 to position P2 with the center of rotation in the longitudinal and lateral directions as the center of rotation. Based on the distance information from the sensors 61, 61, the control device 60 moves the trolley body 11 parallel to the boundary line SB, in other words, until the longitudinal direction of the suction nozzle 20 and the boundary line SB are perpendicular to each other (in this embodiment, 90 degrees) Rotate the cleaning robot 1.

Next, as shown in FIG. 10, the control device 60 drives the wheels 30L, 40R forward, and drives the wheels 30R, 40L backward to move the cleaning robot 1 so that the suction nozzle 20 is at the boundary line. It is moved directly horizontally toward SB from position P2 to position P3. Note that the control device 60 performs the horizontal movement until the distance between the suction nozzle 20 and the boundary line SB becomes 10 mm.

Next, as shown in FIG. 11, the control device 60 advances the cleaning robot 1 from the position P3 to the position P4 along the boundary line SB by driving all the wheels 30R, 30L, 40R, and 40L forward. move it.

Next, the cleaning robot 1 moves further to the left in FIG. 11 from the position P4, and the suction nozzle 20 faces another boundary line SB of the cleaning section S, and moves to the next boundary line SB2 that forms a corner together with the boundary line SB. We will explain how to reach this point.

As shown in FIG. 12, when the cleaning robot 1 approaches the boundary line SB2, the control device 60 first moves it forward to a position P5 where the distance from the boundary line SB2 is 10 mm. Next, as shown in FIG. 13, the control device 60 moves the cleaning robot 1 along the next boundary line SB2 by driving the wheels 30L and 40R backward and driving the wheels 30R and 40L forward. The suction nozzle 20 is moved directly horizontally to the left by a distance within the width of the suction nozzle 20. During this lateral movement, the distance from the boundary line SB2 is maintained at 10 mm.

Next, the control device 60 moves the wheels 30R, 30L, 40R, and 40L backward to a position P7 that is a distance greater than the width of the suction nozzle 20 from the boundary line SB2. The control device 60 repeats this small lateral movement to the left and small backward movement to perform a boundary corner cleaning operation of cleaning an area of the front-rear direction dimension L1 from the rear end of the cleaning robot 1 to the suction nozzle 20. Then, clean the corners so that there are no uncleaned areas.

After this backward cleaning operation is completed, the control device 60 drives the wheels 30L and 40R backward and the wheels 30R and 40L forward, thereby moving the trolley body 11 of the cleaning robot 1 to the next boundary. The cleaning robot 1 is rotated and moved until it becomes parallel to the line SB2, moves right sideways to the boundary line SB2, moves forward along the boundary line, and cleans the area near the boundary line SB2. In this way, the control device 60 repeats the horizontal movement, forward movement along the boundary line, and backward cleaning operation, and completes the boundary cleaning operation targeting the boundary line SB1 edge, boundary corner, and boundary line SB2 edge. let

In addition, when the cleaning robot 1 is run, the control device 60 detects a state in which an object is within a predetermined linear distance from the outer edge of the cleaning robot 1 based on the distance information from the sensors 61, 61, that is, a predetermined distance. It is designed to stop traveling and detour around objects so as to maintain a relative distance above the distance.

Specifically, in a normal cleaning operation for cleaning the center of the cleaning section S (indoor), the approachable distance is 50 mm, and the operation is such that there are no objects within 50 mm. In addition, in the boundary cleaning operation in which cleaning is performed only along the boundary line SB (along the wall), the approachable distance is 10 mm, and the operation is such that there are no objects within 10 mm. The control device 60 is configured to check the cleaned area using the map data of the cleaning section S and determine whether the normal cleaning operation has been completed.

In other words, since the normal cleaning operation is completed and then the boundary cleaning operation is started, the approach distance is 10 mm from the start of the boundary cleaning operation. In other words, the control device 60 determines the boundary line SB on which the boundary cleaning operation should be performed, and performs a process of switching the approachable distance. Therefore, during normal cleaning operation, the vehicle is driven at a sufficient approach distance to avoid the risk of collision, and during border cleaning operation, it is driven as close as possible to the boundary line SB, thereby eliminating untraversed areas. becomes possible.

In addition, when moving left and right in the horizontal direction toward the boundary line SB during boundary cleaning operation, the cleaning robot 1 must temporarily stop at a position away from the boundary line SB in order to set the approachable distance to 10 mm. Therefore, the cleaning robot 1 can be quickly brought into a state parallel to and close to the boundary line SB.

As described above, the control device 60 of the cleaning robot 1 of this embodiment moves the cleaning robot 1 left and right in the horizontal direction until it approaches the boundary line SB at a predetermined distance, and then moves the cleaning robot 1 to the boundary line SB. A boundary cleaning operation is performed in which the robot is moved along the SB. According to this, by moving the cleaning robot 1 right and left in the horizontal direction to the boundary line SB of the cleaning section S, cleaning eliminates an unpassed area near the boundary line SB that occurs on the outer diameter side as the cleaning robot 1 rotates. Driving becomes possible.

In addition, the suction nozzle 20 has a width shorter than the width of the front surface of the traveling vehicle 10, and is unevenly distributed and fixed on either side of the front surface of the traveling vehicle 10 in the left and right direction. According to this, the suction nozzle 20 can be brought close to the wall for cleaning while ensuring sufficient suction power without increasing the size of the suction nozzle 20.

In addition, since the wheels 30L, 30R, 40L, and 40R, which are mecanum wheels, are driven and controlled by the traveling motor 50, when the cleaning robot 1 changes direction from forward movement to right-left movement in the lateral direction, There is no area where the suction nozzle 20 has not passed, allowing continuous cleaning in a short period of time.

Further, the control device 60 moves the cleaning robot 1 forward until it approaches the boundary line SB by a predetermined distance, then rotates the cleaning robot 1 so as to be parallel to the boundary line SB, and starts the boundary cleaning operation. The wheels 30L, 30R, 40L, and 40R, which are mecanum wheels, have a larger thrust when moving forward than when moving left and right in the lateral direction. Therefore, by moving forward until they approach the boundary line SB by a predetermined distance, it is possible to move quickly and save energy. The cleaning robot 1 can be brought close to the boundary line SB.

In addition, since the sensors 61, 61 are configured with laser sensors that are non-contact sensors, if the boundary line SB is a wall, for example, the sensor 61, 61 can prevent damage to the wall or the cleaning robot 1 and prevent dirt from coming into contact with the wall. It is possible to clean the area near the boundary line while maintaining a very close distance.

Although the embodiments of the present invention have been described above based on the drawings, the specific configuration is not limited to these embodiments, and even if additions or changes are made within the scope of the gist of the present invention, Included in the present invention.

For example, the cleaning robot in the above embodiment has been described with a configuration in which a separate vacuum cleaner is placed on the rear upper part of a traveling cart having a suction nozzle. may be formed integrally with the traveling truck.

In addition, although the cleaning robot in the above embodiment has been described in a manner in which suction is always performed during autonomous running, the invention is not limited to this; for example, while the cleaning robot is rotating or rotating, suction is performed continuously. The operation of the vacuum cleaner may be controlled by the control means to stop the vacuum cleaner or to weaken the suction force. According to this, when the cleaning robot turns and rotates, it is possible to eliminate or reduce the resistance caused by the suction nozzle sticking to the floor surface, so the cleaning robot can turn and rotate more smoothly. I can do it.

Furthermore, in the above embodiment, the suction nozzle is configured to have a width smaller in the left-right direction than the traveling cart, but the present invention is not limited to this. It may be large, or it may be large. Note that the width of the suction nozzle in the left-right direction may be within a range that allows formation of a suction port large enough to maintain the cleaning ability of the vacuum cleaner placed on the traveling truck.

Furthermore, in the embodiment described above, when starting the boundary cleaning operation, the control device moves the cleaning robot forward toward the boundary line SB that is closest in a straight line distance from the current position of the cleaning robot. However, the cleaning robot may be configured to start the boundary cleaning operation from preset coordinates, and move the cleaning robot to the coordinates using map data.

In addition, in the embodiment described above, the rotational movement of the cleaning robot in the boundary cleaning operation was explained in such a manner that the rotational center is the center of the wheels 30R, 30L of the trolley body and the wheels 40R, 40L in the longitudinal and lateral directions. However, the present invention is not limited to this, and for example, rotational movement may be performed around the horizontal center of the width of the suction port in the suction nozzle.

Further, in the above embodiment, the cleaning robot has a configuration having a plurality of mecanum wheels, but the configuration is not limited to this, and the wheels of the cleaning robot can drive the cleaning robot in all directions. If so, it may be constructed of wheels having a configuration other than mecanum wheels. In addition to wheels, the cleaning robot may also have a movement mechanism that allows for left-right movement and turning/rotation movement.

Further, in the above embodiment, the suction nozzle has a plurality of omni wheels driven by a drive motor (not shown), but the present invention is not limited to this. Wheels other than omni-wheels may be used as long as they can be driven. Further, the wheels of the suction nozzle may be driven wheels instead of being driven.

In addition, the approachable distance is different between the normal cleaning operation that cleans the center of the cleaning section S (indoor) and the boundary cleaning operation that cleans only along the boundary line SB (along the wall), and in both cases the approach distance is different. Although it is based on distance information, the sensor 61 may be turned off in the boundary cleaning operation and another sensor may be used to obtain distance information.

In addition, the present invention is not limited to the mode in which a boundary cleaning operation is performed in which cleaning is performed only along the boundary line SB (along the wall) after a normal cleaning operation in which the center of the cleaning section S (indoor) is cleaned; The normal cleaning operation may be performed after the cleaning operation is completed.

1 Autonomous cleaning robot 10 Traveling cart 11 Cart body 20 Suction nozzle 21 Suction port 22 Wheel 23 Roller 30L, 30R Wheel (Mecanum wheel wheel)
31L, 31R Roller 40L, 40R Wheel (Mecanum wheel)
41L, 41R Roller 50 Traveling motor 60 Control device (control means)
61 Sensor 70 Running battery 71 Suction battery 80 Upper exterior 90 Lower exterior 100 Vacuum cleaner 120 Nozzle hose S Cleaning section SB Boundary line SB2 Boundary line

Claims (6)

An autonomous cleaning robot having a horizontally elongated suction nozzle provided in the width direction at the front end, and a control means for controlling the robot so that it can autonomously travel forward, backward, left and right,
The control means may perform a boundary cleaning operation in which the autonomous cleaning robot is moved horizontally from side to side until it approaches the boundary line by a predetermined distance, and then moves the autonomous cleaning robot along the boundary line. An autonomous cleaning robot that is capable of 2. The suction nozzle according to claim 1, wherein the width of the suction nozzle is shorter than the width of the front surface of the traveling vehicle, and the suction nozzle is unevenly distributed and fixed on one side of the front surface of the traveling vehicle in the left and right direction. The autonomous cleaning robot described. 3. The autonomous cleaning robot according to claim 1, wherein the autonomous cleaning robot has a plurality of mecanum wheels each of which can be driven in all directions by a traveling motor. The control means moves the autonomous cleaning robot forward toward the boundary line, and when it approaches the boundary line by a predetermined distance, rotates the autonomous cleaning robot so that the longitudinal direction of the suction nozzle and the boundary line are perpendicular to each other; The autonomous cleaning robot according to any one of claims 1 to 3, wherein the autonomous cleaning robot then starts the boundary cleaning operation. The autonomous cleaning robot is equipped with a distance sensor that measures the distance to an object,
The control means performs a cleaning operation that is a combination of the boundary cleaning operation and a normal cleaning operation that cleans the center of the cleaning section,
2. The control means, when moving along the boundary line during the boundary cleaning operation, controls the operation at an approachable distance closer to the boundary line than during the normal cleaning operation. 4. The autonomous cleaning robot according to any one of 4. The autonomous cleaning according to claim 5, wherein the control means moves the autonomous cleaning robot to the approachable distance by moving the autonomous cleaning robot right and left in the lateral direction toward the boundary line during the boundary cleaning operation. robot.

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