JP3314469B2 - Self-propelled vacuum cleaner - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled vacuum cleaner having a cleaning function and a moving function and performing automatic cleaning.

[0002]

2. Description of the Related Art In recent years, vacuum cleaners have been developed in which a moving function is added to the vacuum cleaner to improve operability during cleaning. Particularly recently, a so-called self-guided self-propelled cleaner having a microcomputer and various sensors mounted thereon has been developed.

This type of self-propelled cleaner has a suction nozzle, a brush, and the like at the bottom of the main body as a cleaning function, has traveling wheels and steering wheels driven by a motor as a movement function, and has optical guiding means, Usually, guidance control of the main body is performed using inertial navigation means or the like using a gyro, and a power source such as a storage battery is usually provided inside.

In this type of self-propelled cleaner, as shown in FIG. 1, the vehicle travels straight inside the cleaning area until an obstacle is detected, and makes a 180-degree turn based on the output of a gyro or the like at the point where the obstacle is detected. Go straight. Thereafter, such reciprocating operation is repeated to perform cleaning.

[0005]

As described above, in the conventional self-propelled cleaner, the main body operating in an unmanned environment is designated with a cleaning area and the movement area is limited, so that the body is surrounded by walls. This is a prerequisite, and is not suitable for partial cleaning.In addition, the wheels of the main body are washed away by carpets, and the movement distance of the main body is longer in the first place due to the sliding of the wheels, and reverse. The eyes become shorter, which makes it difficult to clean the intended area because the distances between the outward and return paths are different.

SUMMARY OF THE INVENTION The present invention has been made to solve the problems of the conventional structure, and can easily specify a cleaning area without being affected by carpet eyes even if it is not surrounded by walls on all sides, and The primary purpose is to make

It is a second object of the present invention to carry out cleaning of an uneven wall area without being affected by carpet eyes.

[0008]

Means for Solving the Problems A first means of the present invention for achieving the first object, a travel steering means for moving the main body, and presence or absence of the forward and lateral direction of obstacle the
Obstacle detecting means for detecting the distance to an obstacle, cleaning means for performing cleaning, an azimuth sensor for detecting the traveling direction of the main body, and a cleaning area for inputting the vertical and horizontal distances of the area to be cleaned by the main body. The input means and the input vertical distance,
After retreating immediately , straight-moving control direction calculating means for determining the straight-moving direction of the main body from the vertical distance of the area input to the cleaning area input means so as to be shifted by the cleaning width, and the main body starts going straight on the outward path of the cleaning area. Thereafter, a straight traveling distance measuring means for measuring a distance actually traveled until an obstacle is detected, a straight traveling distance storing means for storing the straight traveling distance, a power supply unit for supplying power to the entire main body, and the straight traveling distance measuring means Processing the signals from the obstacle detecting means, the cleaning area input means, the straight-moving control direction calculating means, and the straight-moving distance storing means, and sending an output signal to the traveling steering means to advance, retreat, stop, and change the direction of the main body. The self-propelled cleaner is further provided with a judgment processing unit for controlling the cleaning means.

[0009] second means of the present invention for achieving the second object, who determined in the straight control direction calculation hand stage
On the outward path of the cleaning area of the main body
Detect obstacles from the starting point measured by the steps
And the distance actually traveled until the
Is determined by the first straight running control direction calculating means
Calculating a difference between the straight distance in the forward path of the cleaning region of the body in the direction, and the self-propelled cleaner of claim 1, further comprising <br/> a rectilinear distance difference calculation means to output to the decision unit Things.

In order to further achieve the first object, a third means of the present invention comprises a traveling steering means for moving the main body, an obstacle for detecting the presence or absence of an obstacle in the front and left and right directions, and a distance between the obstacle and the obstacle. Object detection means, cleaning means for performing cleaning,
A direction sensor for detecting the traveling direction of the main body, a straight-travel distance measuring means for measuring a distance actually traveled until the main body is started, and an obstacle is detected on an outward path of the first cleaning area, and There is no retreat on the outward path of the cleaning area.
A straight distance storage means for storing a return distance of the cleaning area that, distance stored as return path distance of the cleaning area
Minutes, straight back, then before shifting by the cleaning width
A straight control direction calculating means for determining a straight direction of the body than the distance stored in the serial rectilinear distance storage unit, than the backward distance of the cleaning area to be stored in the rectilinear distance storage means, before
The cleaning area of the main body determined by the straight ahead control direction calculating means
A forward path distance calculating means for determining the distance of the forward path, a power supply unit for supplying power to the whole body, and signals from the straight distance measuring means, the obstacle detecting means, the straight movement control direction calculating means, and the straight distance storing means. A self-propelled cleaner comprising: a processing unit that sends an output signal to the traveling steering unit, controls forward, backward, stop, and change directions of the main body, and further includes a determination processing unit that controls the cleaning unit. It is.

[0011]

The first means of the present invention operates as follows.

The judgment processing section stores the return distance of the area on the basis of the vertical distance value of the area inputted from the cleaning area input means and the straight travel distance of the main body calculated by the straight travel distance calculation means in the straight travel distance storage section. The stored distance is used as the forward distance of the area, the traveling steering means and the cleaning means are controlled, and the straight traveling control is performed in the direction calculated by the straight traveling control direction calculating means to perform cleaning. Each unit is controlled by the determination processing unit until the movement is completed by the lateral distance input by the cleaning area input unit.

Further, according to the second means of the present invention, the forward straight distance of the cleaning area stored by the straight distance storage means by the straight distance difference calculating means and the forward straight distance measured by the straight distance measuring means. Is calculated and output to the judgment processing unit. The determination processing unit determines the straight traveling distance on the return path of the cleaning area, controls the traveling steering unit and the cleaning unit, and executes cleaning.

Further, according to the third means of the present invention, after the main body is started by the straight-ahead distance storing means, the distance actually traveled until an obstacle is detected in the first outward path measured by the straight-ahead distance measuring means. It is stored as the distance of the cleaning return path, the straight traveling direction of the main body is calculated by the straight traveling control direction calculating means in accordance with the stored distance, and the cleaning is performed by the forward traveling distance calculating means based on the distance of the returning path stored in the straight traveling distance storage means. The forward distance is calculated, and cleaning is executed based on the forward and backward distances.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the first means of the present invention will be described below with reference to FIGS. Figures 2 and 3
Shows the overall configuration of the present embodiment. FIG. 4 is a block diagram of the present embodiment.

The following components are housed inside the main body 1 of the self-propelled cleaner. Reference numerals 2a, 2b, and 2c denote an electric blower, a dust collection chamber, and a filter provided inside the dust collection chamber 2b, respectively, which constitute cleaning means. Reference numeral 2d denotes a floor nozzle similarly constituting a cleaning means, which is provided at the center of the bottom of the main body 1. At the lower rear of the main body 1, a left drive wheel 3
a, a left driving motor 3b and an encoder 3d (not shown) for detecting a traveling distance attached to the left driving wheel 3a;
A right drive wheel and a right drive motor (not shown) are provided. A driven wheel 3c that is rotatable for movement is provided in the lower front part of the main body 1. The driving wheel 3a, the driving motor 3b, and the encoder 3d constitute the traveling steering means 3.

A plurality of obstacle detection sensors 4a1-8 using ultrasonic waves for detecting obstacles are provided in front of and on the left and right of the main body 1. Is provided with a contact sensor 4b for detecting that the contact has been made.

The obstacle detecting sensors 4a1 to 4a and the contact sensor 4b constitute an obstacle detecting means 4.

Reference numeral 5 denotes a direction sensor such as a gyro for detecting the moving direction of the main body. 7 processes signals from the obstacle detecting means 4, the direction sensor 5, and the cleaning area input means 8 and sends an output signal to the traveling steering means 3 to control forward / backward / stopping / turning of the main body 1. And a judgment processing unit for controlling the cleaning means 2. Reference numeral 6 denotes a power supply unit for supplying power to the entire main body. Reference numeral 8 denotes a cleaning area input unit for inputting the vertical and horizontal distances of the area where the main body 1 performs cleaning.
Reference numeral 9 denotes a straight traveling distance measuring means for measuring a distance actually traveled after the main body 1 starts traveling straight until an obstacle is detected. 10
Is a straight travel distance storage means for storing the distance measured by the straight travel distance measuring means 9.

Numeral 11 denotes a straight-moving direction calculating means for calculating the straight-moving direction of the main body 1 according to the vertical distance of the cleaning area inputted by the cleaning area input means 8.

FIG. 5 shows the cleaning area input means 8.

Reference numeral 8a denotes a distance input switch used for switching the cleaning area input mode and distance input. Reference numeral 8c denotes a changeover switch used for switching between inputting a vertical distance and a horizontal distance in the cleaning area. 8b is a start switch for instructing the start of operation. 8e is an operation reset switch. Reference numeral 8d denotes a display unit for displaying the distance input by the distance input switch.

The operation of the present embodiment will be described below with reference to FIG.

In this embodiment, when performing a limited partial cleaning, the main body 1 is placed facing the wall as shown in FIG. 6, and when the distance input switch is pressed in this state, the judgment processing section 7 is executed.
Recognizes that the mode has been switched to the cleaning area input mode, and causes the display section 8d to blink at "00". When the distance input switch 8a is further pressed in this state, the display of the display section 8d is increased by one each time the display is pressed once.

In this manner, the vertical distance of the cleaning area is input, and when the desired distance is reached, the changeover switch 8
Press c. When the changeover switch 8c is pressed, the determination processing unit 7 determines the distance displayed on the display unit 8d as the vertical distance of the cleaning area and inputs the distance (for example, the display unit 8).
If the display of d is "08", 8m).

Further, the display on the display section 8d is cleared to "00" and the input is switched to the input of the distance beside the cleaning area. When the distance input switch 8a is pressed in this state, the display unit 8d is incremented by one each time the distance input switch 8a is pressed as described above. When the start switch 8b is pressed at the time when the desired distance has been reached, the judgment processing unit 7 inputs the distance displayed on the display unit 8d as the horizontal distance of the cleaning area at that time, and the vertical distance which has already been input. (See FIG. 6) is started.

First, as described above, the main body 1 moves straight toward the directly facing wall existing in front, stops when approaching a predetermined distance (point A in the figure), and then inputs a cleaning area. It retreats straight by the vertical distance input by the means 8.

After the retreat is completed (point B in the figure), the vehicle starts to go straight toward the wall again and approaches the predetermined distance (point C in the figure) and stops at the same place as the previous time (see FIG. (In the middle, point A), the straight traveling direction θ (θ = Tan-1 (0.4 m / input) calculated by the straight traveling control direction calculating means 11 so as to be shifted in the cleaning progress direction by the cleaning width (for example, 0.4 m). The cleaning forward path (second cleaning forward path, from point B to point C in FIG. 6) is performed straight ahead based on the cleaning area vertical distance). During the straight traveling of the second cleaning outbound path, the straight traveling distance measuring means 9 measures the straight traveling distance of the main body 1, and the straight traveling distance storage means 1
Stored as 0.

After reaching the point C, the rectilinear direction at the time of retreat is returned by θ so as to be parallel to the first cleaning return path (from the point A to the point B in the figure), and is input by the cleaning area input means 8. When the main body 1 recedes straight by the vertical distance and reaches the point D in the drawing, the main body 1 moves in the rectilinear direction θ calculated by the rectilinear control direction calculating means 11 and the second cleaning outward path stored in the rectilinear distance storage means 10. The vehicle starts receding at point E in the same manner as point C in the figure, and goes straight toward point F by the vertical distance input by the cleaning area input means 8.

Thereafter, these operations are repeated. As described above, the self-propelled cleaner according to the present embodiment moves in the cleaning progress direction by the cleaning width (for example, 40 cm) by one reciprocating operation.

Therefore, the designated area is repeatedly cleaned by repeating the reciprocating operation by the number of times obtained by dividing the horizontal distance input from the cleaning area input means 8 by the cleaning width + 1 (decimal part rounding up).

Here, the operation at point G in the figure will be described in more detail.

According to the above description, in the second and subsequent cleaning outgoing routes (between DE and FG in the figure), the distance of the second cleaning outgoing route (between B and C in the drawing) is straightforward. However, when running on a carpet, the strength of the eyes and the degree of sliding of the wheels differ depending on the location, and in fact, the distance to the wall set before going straight on the second cleaning outbound path may be reached Conversely, there is a case where the distance to the set wall is not reached even if the vehicle goes straight on the distance of the second cleaning outward path, or the wall is not detected at all. In other words, when traveling straight against the carpet (a reverse), the actual movement distance is short, and when traveling straight along the carpet (the first), the actual travel distance is long. In the figure,
No wall is detected at an open door portion such as point G. As described above, in the self-propelled cleaner according to the present invention, the difference in the straight travel distance due to the effect of different eye strengths at different places on the carpet is within a certain range (for example, 90% to 110%) with respect to the distance of the second cleaning outward path. %)
By approaching the wall detected between the distances at a predetermined distance, and retreating from that point by the vertical distance input from the cleaning area input means 8, cleaning is performed for a substantially constant distance from the wall. It can be done reliably.

Further, even when a wall cannot be detected even when the vehicle travels straight on the distance of the second cleaning outward path as at point G, the vehicle moves backward from that point by the vertical distance input from the cleaning area input means 8. Thus, the cleaning can be performed for a certain distance even in the door part which is opened.

FIG. 7 is a block diagram showing an embodiment of a self-propelled cleaner according to the second means.

Reference numeral 12 denotes the distance traveled by the main body measured by the rectilinear distance measuring means 9 after the start of the rectilinear traveling on the outward path until the obstacle is detected, and the second cleaning outward path linearly stored in the rectilinear distance storing means 10. Straight-travel distance difference calculating means for calculating a difference from the distance and outputting the calculated difference to the judgment processing unit 7, and the other components are the same as those of the first embodiment.

In the above configuration, the operation is similar to that of the first means, except that the main body 1 is placed directly on the wall and the cleaning area input means 8 is provided.
After inputting the cleaning area with the start switch 8
b, the main body 1 goes straight toward the wall, stops at a point approaching the wall at a predetermined distance, and retreats from that point by the vertical distance input by the cleaning area input means 8. The vehicle advances forward in the direction calculated by the straight-movement control direction calculating means 11 until it approaches the wall again at a predetermined distance. The straight travel distance during the forward period of the second cleaning forward trip is measured by the straight travel distance measuring means 9 and stored in the straight travel distance storage means 10.

As described above, in the cleaning return path, the vehicle moves backward by the vertical distance input by the cleaning area input means 8, and in the cleaning outward path, the direction calculated by the linear control direction calculating means is stored in the linear distance storing means 10. It moves forward by the distance of the second cleaning outbound path and repeats these operations. Then, the straight-travel distance difference calculating means 12 calculates the difference between the distance of the second cleaning forward trip stored in the straight-travel distance storing means 10 and the distance of each of the third and subsequent cleaning forward trips and outputs the difference to the determination processing section 7. .

Here, as shown in FIG. 8, when a wall having irregularities is cleaned, when the wall is detected at a point A in the figure and stopped,
Since the vehicle should normally advance to the point B, the advance distance is reduced by the distance L. Straight running distance difference calculation means 1
In 2, CA measured by the straight traveling distance measuring means 9 is used.
Calculating a straight distance between the straight distance distance or et distance difference L of the second cleaning forward stored in the storage unit 10 between, and outputs it to the determination unit 7. Based on the distance difference L and the direction θ calculated by the straight-moving control direction calculating means 11, the judgment processing unit 7 determines that the straight-moving distance L1 (L1 = vertical input from the cleaning input terminal 8) of the next cleaning return path (between AD) The distance L3−L2 (distance difference L * Cosθ) is calculated, and the main body 1 is moved backward by that distance.

As described above, it is possible to obtain a self-propelled cleaner capable of cleaning a substantially constant area on the basis of the wall even in the area of an uneven wall such as a pillar.

Further, as shown in FIG. 8, before the reciprocating operation for the horizontal distance input by the cleaning area input means 8 is completed, the obstacle detecting means 4 continues the obstacle such as a wall while retreating on the cleaning return path. When cleaning is detected, cleaning is terminated at that point.

FIG. 9 is a block diagram showing an embodiment of a self-propelled cleaner according to the third means.

Reference numeral 13 denotes a distance actually traveled from the start of the main body 1 measured by the straight traveling distance measuring means 9 stored in the straight traveling distance storing means 10 to the start of straight traveling on the first outward route until an obstacle is detected, and It is a forward path distance calculating unit that calculates the distance of the cleaning forward path of the main body from the straight traveling direction of the main body calculated by the straight traveling control direction calculating unit 11 based on the distance.

In the above configuration, the operation is the same as in the first means. When the main body 1 is directly opposed to the wall and the main body is started, the main body 1 goes straight toward the wall and approaches the wall at a predetermined distance. The vehicle stops at a point, and during this time, the distance traveled straight is measured by the straight-travel distance measuring means 9, and the distance is stored in the straight-travel distance storage means 10 as the distance of the cleaning return path, and the distance from the point is reduced by that distance. After the retreat is completed, from that point onward, based on the distance stored in the straight-travel distance storage means 10 by the straight-movement control direction calculating means 11, the cleaning width (for example, 0.4 m) from the previously stopped location as in the first embodiment. ) In the straight traveling direction θ (θ
= Tan-1 (0.4 m / distance stored in the straight-ahead distance storage means)), and the distance ((straight-travel distance storage means / COSθ) + α) of the cleaning forward path calculated by the forward distance calculation means as the straight travel distance. The vehicle advances again until it approaches the wall a predetermined distance again (α is, for example, 1 m).

Thereafter, the vehicle retreats again by the distance stored in the straight-ahead distance storage means 10, and this operation is repeated thereafter.

In other words, after approaching the wall in the cleaning outward path, by retreating a predetermined distance with respect to this wall, cleaning can be performed without being affected by the carpet eyes. Here, a case of a discontinuous wall having an opened door or the like will be described with reference to FIG.

In the case where there is no wall in the direction of advance of the main body as at point E in the figure, even if the main body is moved forward by the same length as the previous time,
The vehicle reaches the distance F point calculated by the forward distance calculation unit 13 without detecting the wall.

In this embodiment, when a wall cannot be detected in this way, the vehicle stops at that location, and a distance (distance 1 m) which is too far from such a wall is set by the forward distance calculating means 13. By setting it to about 1 m as in the present embodiment, it is possible to prevent the user from getting out of the room when the door or the like is opened. Further, when the set distance is reached without detecting the wall, the user is informed of the abnormality by a buzzer or a notification means such as a lamp or an LED.

[0049]

As described above, according to the first means of the present invention, the user can clean the area at a fixed distance from the wall by turning the main body toward the wall to perform the cleaning. A self-propelled vacuum cleaner that can clean the intended area without being affected by carpet eyes by simply entering the vertical and horizontal distances of the area to be cleaned and even if there is an opening such as an open door it can.

Cleaning direction (lateral direction to main body)
If there is a wall in the wall, enter the distance to the side of the cleaning area where cleaning can be completed on that wall.If you enter a distance larger than the distance to the wall, perform cleaning to the wall in the horizontal direction. Therefore, it is not necessary to input an accurate lateral distance, which is convenient.

Further, according to the second means of the present invention, in addition to the effect of the first means, even in the area of a wall having irregularities such as a pillar, a self-propelled vehicle capable of cleaning a substantially constant area based on the wall can be performed. You can get a vacuum cleaner.

Further, according to the third means of the present invention, the user simply turns the main body and starts the operation without specifying the area in which the cleaning is to be performed. This enables cleaning without being affected by carpet eyes.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating the operation of a conventional self-propelled vacuum cleaner.

FIG. 2 is a longitudinal sectional view of a self-propelled cleaner showing one embodiment of the first means of the present invention.

FIG. 3 is a cross-sectional view of the self-propelled vacuum cleaner.

FIG. 4 is a block diagram of the self-propelled vacuum cleaner.

FIG. 5 is an explanatory diagram of a cleaning area input unit according to an embodiment of the first unit of the present invention;

FIG. 6 is an explanatory diagram of the operation.

FIG. 7 is a block diagram of a self-propelled cleaner showing an embodiment of the second means of the present invention.

FIG. 8 is an explanatory diagram of the operation.

FIG. 9 is a block diagram of a self-propelled cleaner showing an embodiment of the third means of the present invention.

FIG. 10 is an explanatory diagram of the operation.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main body 2 Cleaning means 3 Traveling steering means 4 Obstacle detecting means 5 Direction sensor 6 Power supply unit 7 Judgment processing unit 8 Cleaning area input means 9 Straight running distance measuring means 10 Straight running distance storing means 11 Straight running control direction calculating means

──────────────────────────────────────────────────の Continued on the front page (72) Inventor Hidetaka Yabuuchi 1006 Kazuma Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. In-company (72) Inventor Toshiaki Fujiwara 1006 Kadoma Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. Person Yoshifumi Takagi 1006 Kazuma Kadoma, Kadoma City, Osaka Prefecture (72) Inside the Matsushita Electric Industrial Co., Ltd. 1006 Kadoma, Ichidai, Matsushita Electric Industrial Co., Ltd. (56) References JP-A-5-42087 (JP, A) JP-A 5-161577 (J JP-A-4-312104 (JP, A) JP-A-5-184489 (JP, A) JP-A-3-106319 (JP, A) JP-A-2-19126 (JP, A) (58) Field surveyed (Int. Cl. ⁷ , DB name) A47L 9/28 G05D 1/02

Claims (3)

(57) [Claims] 1. A traveling steering unit for moving a main body, an obstacle detecting unit for detecting presence / absence of an obstacle in front and left and right directions and a distance from the obstacle, a cleaning unit for performing cleaning, and running of the main body. A direction sensor for detecting the direction, cleaning area input means for inputting the vertical and horizontal distances of the area to be cleaned by the main body, and the input vertical distance has been receded straight.
Thereafter, the direction of straight movement of the main body is determined from the vertical distance of the area input to the cleaning area input means so as to be shifted by the cleaning width .
Rectilinear control direction calculating means, rectilinear distance measuring means for measuring a distance actually traveled until the main body detects an obstacle after the main body starts moving straight on the outward path, and rectilinear distance storing means for storing the rectilinear distance. A power supply unit for supplying power to the entire main body; and a signal processing unit that processes signals from the straight traveling distance measuring unit, the obstacle detecting unit, the cleaning area input unit, the straight traveling control direction calculating unit, and the straight traveling distance storage unit to process the traveling steering unit. A self-propelled vacuum cleaner comprising: an output signal, a forward / backward / stop / direction change of the main body, and a judgment processing unit for controlling the cleaning means. 2. The one determined by the straight traveling control direction calculating means.
On the outward path of the cleaning area of the main body
Detect obstacles from the starting point measured by the steps
And the distance actually traveled until the
Is determined by the first straight running control direction calculating means
Calculating a difference between the straight distance in the forward path of the cleaning region of the body in the direction, the self-propelled cleaner of claim 1, further comprising <br/> a rectilinear distance difference calculation means to output to decision section. 3. A traveling steering means for moving the main body, an obstacle detecting means for detecting the presence or absence of an obstacle in front and in the left-right direction and a distance between the obstacle, a cleaning means for performing cleaning, and a traveling direction of the main body. Direction sensor that detects
A straight traveling distance measuring means for measuring a distance actually traveled until an obstacle is detected on the outward path of the first cleaning area, and a cleaning means for retreating the measured distance with respect to the outward path of the cleaning area. a straight distance storage means for storing a return path distance scavenging area, distance stored as return path distance of the cleaning area
Minutes, straight back, then before shifting by the cleaning width
A straight control direction calculating means for determining a straight direction of the body than the distance stored in the serial rectilinear distance storage unit, than the backward distance of the cleaning area to be stored in the rectilinear distance storage means, before
The cleaning area of the main body determined by the straight ahead control direction calculating means
A forward path distance calculating means for determining the distance of the forward path, a power supply unit for supplying power to the whole body, and signals from the straight distance measuring means, the obstacle detecting means, the straight movement control direction calculating means, and the straight distance storing means. A self-propelled cleaner comprising: a processing unit that sends an output signal to the traveling steering unit, controls forward, backward, stop, and change directions of the main body, and further includes a determination processing unit that controls the cleaning unit.