JP7129659B2 - self-propelled vacuum cleaner - Google Patents

Description

TECHNICAL FIELD The present invention relates to a self-propelled cleaner that cleans while autonomously traveling.

Conventionally, a self-propelled cleaner that cleans a floor surface while autonomously traveling is known (see Patent Document 1, for example).

Japanese Patent No. 4277214

A self-propelled vacuum cleaner sometimes climbs on a rug such as a carpet and cleans the rug by running on the rug. When the self-propelled cleaner rides on the carpet, the main body of the self-propelled cleaner inclines with respect to the floor surface. In this state, the space between the suction port provided on the main body and the floor surface becomes large, so that the normal suction force cannot be exerted and the floor surface can be cleaned less easily. This decrease in cleanability becomes noticeable at the corner formed by the step and the floor surface.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a self-propelled cleaner capable of suppressing deterioration in cleaning ability for a floor surface.

To achieve the above object, one aspect of the present invention is a self-propelled cleaner comprising: a main body that moves on a floor to clean the floor; Alternatively, a moving part for turning, a step detection part provided in the main body for detecting a step that the main body can climb over, and a control part for controlling the main body and the moving part, the control part The main unit and the moving unit are controlled so that the main unit cleans the corner formed by the step detected by the step detection unit and the floor surface.

It should be noted that executing a program for causing a computer to execute each process of the self-propelled cleaner also corresponds to implementation of the present invention. Of course, carrying out the recording medium on which the program is recorded also corresponds to carrying out the present invention.

ADVANTAGE OF THE INVENTION According to this invention, the self-propelled cleaner which can suppress the fall of the cleanability with respect to a floor surface can be provided.

FIG. 1 is a plan view showing the appearance of the self-propelled cleaner according to the embodiment from above. FIG. 2 is a bottom view showing the appearance of the self-propelled cleaner according to the embodiment from below. FIG. 3 is a perspective view showing the appearance of the self-propelled cleaner according to the embodiment from diagonally above. FIG. 4 is a schematic cross-sectional view showing a schematic configuration of a lifting section according to the embodiment. FIG. 5 is a block diagram showing the control configuration of the self-propelled cleaner according to the embodiment. FIG. 6 is an explanatory diagram showing a case where a step B exists in front of the main body according to the embodiment. FIG. 7 is an explanatory diagram showing the positional relationship between the main body and the steps after the direction is changed according to the embodiment. FIG. 8 is an explanatory diagram showing a step passing course from the terminal position of the main body according to the embodiment. FIG. 9 is a flow chart showing the flow of operations for steps in the self-propelled cleaner according to the embodiment. 10A and 10B are explanatory diagrams showing the operation of the main body according to Modification 1. FIG. 11A and 11B are explanatory diagrams showing the operation of the main body according to Modification 2. FIG.

Next, an embodiment of a self-propelled cleaner according to the present invention will be described with reference to the drawings. It should be noted that the following embodiment merely shows an example of the self-propelled cleaner according to the present invention. Accordingly, the scope of the present invention is defined by the language of the claims with reference to the following embodiments, and is not limited only to the following embodiments. Therefore, among the constituent elements in the following embodiments, the constituent elements not described in the independent claims representing the top concept of the present invention are not necessarily required to achieve the object of the present invention, but are more It is described as constituting a preferred form.

In addition, the drawings are schematic diagrams in which emphasis, omissions, and ratios are appropriately adjusted in order to illustrate the present invention, and may differ from actual shapes, positional relationships, and ratios.

FIG. 1 is a plan view showing the appearance of the self-propelled cleaner according to the embodiment from above. FIG. 2 is a bottom view showing the appearance of the self-propelled cleaner according to the embodiment from below. FIG. 3 is a perspective view showing the appearance of the self-propelled cleaner according to the embodiment from diagonally above.

The self-propelled cleaner 100 is a cleaning robot capable of cleaning the floor surface F (see FIG. 6) while autonomously moving on the floor surface F or the like. Specifically, the self-propelled cleaner 100 is a robot cleaner that autonomously travels within a predetermined area based on an environmental map and sucks dust existing within the area. The self-propelled cleaner 100 moves on the floor surface F to clean the floor surface F, the drive unit 130 (see FIG. 2), and the suction port 178 that sucks dust present in the cleaning area. cleaning unit 140 (see FIG. 2), various sensors, a control section 150 (see FIG. 5), and a lifting section 133.

The drive units 130 are arranged one each on the left side and the right side with respect to the center in the width direction of the self-propelled cleaner 100 in plan view. The number of drive units 130 is not limited to two, and may be one or three or more.

In the case of this embodiment, the drive unit 130 has wheels 131 that run on the floor surface F, a running motor 136 (see FIG. 5) that applies torque to the wheels 131, a housing that accommodates the running motor 136, and the like. Each wheel 131 of the pair of drive units 130 is accommodated in a recess formed in the lower surface of the main body 101 and attached to the main body 101 so as to be rotatable. The self-propelled cleaner 100 is of an opposed two-wheel type having casters 179 as auxiliary wheels. The self-propelled cleaner 100 can be freely traveled, such as rotation and right rotation. When the self-propelled cleaner 100 turns left or right while moving forward or backward, it turns right or left when moving forward or backward. On the other hand, when the self-propelled cleaner 100 rotates to the left or right without moving forward or backward, it turns at the current point. Thus, the drive unit 130 is a moving part for moving or rotating the main body part 101 . Drive unit 130 causes self-propelled cleaner 100 to travel based on instructions from control unit 150 .

The cleaning unit 140 is a unit that collects and sucks dust, and includes a main brush arranged in the suction port 178 , a main motor that rotates the main brush, and side brushes attached to the right front end and the left front end of the main body 101 . It includes a brush 141 (see FIG. 3, etc.), a sub-motor for rotating the side brush 141, and the like. A suction device for sucking dust from the suction port 178 is arranged inside the main body 101 and has a fan case and an electric fan arranged inside the fan case. The cleaning unit 140 operates the electric fan, the main motor, the sub-motor, etc. based on instructions from the control unit 150 .

Examples of various sensors included in the self-propelled cleaner 100 include the following sensors.

The obstacle sensor 173 is a sensor that detects obstacles present in front of the main body 101 . In the case of this embodiment, an ultrasonic sensor is used as the obstacle sensor 173 . The obstacle sensor 173 has a transmitting portion 171 arranged in the front center of the main body portion 101 and receiving portions 172 arranged on both sides of the transmitting portion 171. The obstacle sensor 173 is transmitted from the transmitting portion 171 and reflected by an obstacle. The distance and position of the obstacle can be detected by the receiving unit 172 receiving the ultrasonic waves that have returned.

Distance measuring sensor 174 is a sensor that detects the distance between self-propelled cleaner 100 and an object such as an obstacle existing around self-propelled cleaner 100 . In the case of this embodiment, the distance measuring sensor 174 is a so-called laser range scanner that scans laser light and measures the distance based on the light reflected by the obstacle.

The collision sensor 119 is a switch contact displacement sensor that is turned on when a bumper attached to the periphery of the self-propelled cleaner 100 comes into contact with an obstacle and is pushed into the self-propelled cleaner 100. .

The camera 175 is a device that captures an image of the space in front of the main body 101 . The image captured by the camera 175 is image-processed so that the shape of the obstacle in the front space of the main unit 101 can be recognized from the positions of the feature points in the image.

As described above, the obstacle sensor 173 , the ranging sensor 174 and the camera 175 are obstacle detection units that detect obstacles existing around the main body 101 .

The floor surface sensors 176 are arranged at a plurality of locations on the bottom surface of the self-propelled cleaner 100 and detect whether or not there is a floor surface F as a cleaning area. In the case of this embodiment, the floor surface sensor 176 is an infrared sensor having a light-emitting portion and a light-receiving portion. If not, it is detected that there is no floor surface F.

The encoder 137 is provided in the drive unit 130 and detects the rotation angle of each of the pair of wheels 131 rotated by the driving motor 136 . Information from the encoder 137 can be used to calculate the travel distance, turning angle, speed, acceleration, angular velocity, and the like of the self-propelled cleaner 100 .

Acceleration sensor 138 is provided in drive unit 130 and detects acceleration when self-propelled cleaner 100 travels. Angular velocity sensor 135 is provided in drive unit 130 and detects an angular velocity when self-propelled cleaner 100 turns. Information detected by the acceleration sensor 138 and the angular velocity sensor 135 is used as information for correcting an error caused by idling of the wheels 131, or the like.

The above obstacle sensor 173, distance measuring sensor 174, collision sensor, camera 175, floor sensor 176, and encoder are examples, and self-propelled cleaner 100 may include other types of sensors.

The lifting section 133 is a device that lifts at least part of the body section 101 . FIG. 4 is a schematic cross-sectional view showing a schematic configuration of the lifting portion 133 according to the embodiment. (a) of FIG. 4 shows a state (normal state) in which lifting of the body portion 101 by the lifting portion 133 is released. (b) of FIG. 4 shows a state in which the body portion 101 is lifted by the lifting portion 133 (lifted state).

As shown in FIG. 4, the lifter 133 is incorporated into the drive unit 130 . Specifically, the lifting unit 133 rotates an arm 132 that rotatably holds the wheel 131 at the tip and the base end of the arm 132, thereby causing the tip of the arm 132 to appear and disappear from the main body 101. and a drive motor 134 (see FIG. 5). As shown in FIG. 4A, when the distal end of the arm 132 is housed within the main body 101, the main body 101 is in a normal state. In the normal state, various sensors do not face upward, and various detections can be performed accurately.

On the other hand, as shown in FIG. 4B, when the tip of the arm 132 protrudes from the main body 101, the main body 101 is lifted. In the lifted state, the front part of the main body part 101 is raised higher than the rear part, and the main body part 101 as a whole is inclined so that the front part is higher than the rear part.

The lifting part 133 lifts the front part of the body part 101 so that the body part 101 can assist the body part 101 to climb onto an obstacle without colliding with it when moving forward. For example, if the obstacle is a rug such as a carpet, there is a risk that the main body 101 will come into contact with the rug if it is not in a lifted state, causing the rug to be rolled up. If the carpet is rolled up, the main body part 101 will run aground on the part concerned and further travel will be hindered. Alternatively, the body portion 101 is inserted into the rolled-up carpet, making it impossible to clean the carpet. In any case, the cleanability of the carpet is lowered. In the present embodiment, since the body portion 101 is lifted by the lifting portion 133 and then climbs onto the carpet, it is less likely to interfere with the carpet. As a result, it is possible to achieve stable cleanability for the carpet.

FIG. 5 is a block diagram showing the control configuration of self-propelled cleaner 100 according to the embodiment. As shown in FIG. 5, the control unit 150 includes a drive unit 130, an obstacle sensor 173, a ranging sensor 174, a camera 175, a floor sensor 176, a collision sensor 119, a cleaning unit 140, It is electrically connected to the lifting portion 133 . Although only one drive unit 130 is shown in FIG. 5, drive units 130 are actually provided for the left and right wheels 131, respectively. That is, two drive units 130 are provided in this embodiment.

The control unit 150 includes, for example, a CPU, a RAM, and a ROM.

Here, the control unit 150 creates an environmental map by integrating accumulated data detected by various sensors. The environment map is a map of an area within a predetermined area where self-propelled cleaner 100 moves and cleans. A method for generating an environment map is not particularly limited, but SLAM (Simultaneous Localization and Mapping) can be exemplified. The control unit 150 generates, as an environment map, information indicating the outline of the area in which the self-propelled cleaner 100 has actually traveled, obstacles obstructing the travel, and the like based on the travel record of the self-propelled cleaner 100 . The environment map is implemented as two-dimensional array data, for example. The control unit 150 may divide the driving record into squares of a predetermined size, for example, 10 cm in length and width, consider each square to be an element area of an array constituting an environment map, and process it as array data. Note that the environment map may be acquired from outside the self-propelled cleaner 100 .

Also, during cleaning, the control unit 150 records each coordinate in the environment map during the running as the running route. Specifically, the control unit 150 detects each coordinate in the environmental map of the self-propelled cleaner 100 based on data detected by various sensors during cleaning, and records it as a travel route.

During cleaning, the control unit 150 controls the main motor and the electric fan of the cleaning unit 140 to rotate the main brush and suck dust on the floor surface F. As shown in FIG. At this time, the control section 150 controls the sub-motor of the cleaning unit 140 to rotate the side brush 141 as well. Therefore, the dust swept up by the side brush 141 is also sucked.

Further, the control unit 150 controls the drive motor 134 of the lifting unit 133 based on the presence or absence of the obstruction to switch between the normal state and the lifting state. Specifically, when at least one of the obstacle sensor 173, the ranging sensor 174, and the camera 175 detects an obstacle, the controller 150 detects an obstacle based on the detection result of the obstacle detector. Decide on your next course. Here, the obstacles are classified into obstacles that the self-propelled cleaner 100 can climb over (step B: see FIG. 6, etc.) and obstacles that cannot be climbed over. The level difference B that can be climbed over includes, for example, a carpet such as a carpet, or a level difference between a corridor and a room. In addition, obstacles that cannot be overcome include walls, furniture, and the like. Based on the detection result of the collision sensor 119, the control unit 150 determines whether the obstacle can be climbed over or not. Hereinafter, an obstacle that can be climbed over is referred to as a step B. FIG. Specifically, for example, the collision sensor 119 is arranged at a position slightly above the height at which the main body 101 in the lifted state can be transferred from the main body 101 in the normal state. When the detection result of the collision sensor 119 is turned on while the obstacle detection unit is detecting an obstacle, the control unit 150 determines that the obstacle cannot be overcome, and the collision sensor 119 detects the obstacle. If the detection result of remains off, it is determined that the step B is present.

In this way, the collision sensor 119, the obstacle sensor 173, the distance measuring sensor 174, and the camera 175 are step detection units that detect the step B that the main unit 101 can climb over. If the thickness (height) of the obstacle can be detected from the image of the obstacle acquired by the camera 175, the control unit 150 determines whether the obstacle is the step B based on the thickness. may Further, the step detection unit may be composed of at least one of the collision sensor 119, the obstacle sensor 173, the distance measurement sensor 174, and the camera 175 as long as the step B existing around the main body 101 can be detected. good.

In the following description, the step B will be exemplified as an obstacle. FIG. 6 is an explanatory diagram showing a case where there is a step B in front of the body portion 101 according to the embodiment. Here, in FIG. 6, arrow Y1 indicates the current traveling direction of main body 101 . Further, in this embodiment, the step B is assumed to be a step between the room and the corridor. For this reason, walls W are arranged on both sides of the step B. As shown in FIG.

The control unit 150 recognizes the shape, size, position, etc. of the step B based on the image of the step B detected by the camera 175, and determines whether the step B exists in front of the main unit 101 based on the recognition result. determine whether or not Note that the control unit 150 may determine whether or not the step B exists in front of the main unit 101 based on the detection result of an obstacle detection unit other than the camera 175 .

The control unit 150 detects the edge b1 of the step B based on the image acquired from the camera 175 . A plurality of edge sides exist in the step B, and the control unit 150 determines the edge b1 facing the main body 101 in the traveling direction Y1.

Based on the image acquired from the camera 175, the control unit 150 measures the distance from the current position to the edge b1 and the angle α of the edge b1 with respect to the traveling direction Y1. In this embodiment, the angle α is approximately 90 degrees.

The controller 150 controls the traveling motor 136 of the drive unit 130 so that the main body 101 stops just before the measured distance. As a result, the body portion 101 temporarily stops just before contacting the step B. As shown in FIG.

The controller 150 controls the traveling motor 136 of the drive unit 130 so that the main body 101 turns and changes direction (see arrow Y2 in FIG. 6) at the temporary stop point. In this direction change, the control unit 150 determines, based on the angle ? Rotate (see chain double-dashed line L2 in FIG. 6). The control unit 150 records the positional information of this turning point P (pause point) in the environmental map.

FIG. 7 is an explanatory diagram showing the positional relationship between the main body portion 101 and the step B after the direction change according to the embodiment. FIG. 7 is a view of part of the main body 101 as seen from the traveling direction Y2. As shown in FIG. 7, after the direction change, the body portion 101 is arranged at a cleaning-enabled position where the side brush 141 contacts the wall surface b11 of the edge b1 of the step B, although the body portion 101 does not contact the wall surface b11. there is If the main body 101 is placed at the cleanable position, the corner E formed by the wall surface b11 of the step B and the floor surface F can be scraped up by the side brush 141 to clean the corner E. can. The body portion 101 may be arranged at the cleaning-enabled position at the time of direction change, or may be arranged after direction change. In the former case, the turning point P is set in advance at a point corresponding to the cleaning possible position. In the latter case, the controller 150 controls the traveling motor 136 after the direction is changed to finely adjust the position of the main body 101 and place the main body 101 at the cleanable position. It is also possible to use these together.

After the direction change, the controller 150 controls the traveling motor 136 to move the main body 101 along the traveling direction Y2. At this time, the controller 150 moves the main body 101 to the end point position corresponding to the end point of the edge b1.

During this movement and also during the direction change at the turning point P, the control unit 150 controls the main motor, the electric fan and the sub motor of the cleaning unit 140 to rake up the dust in the corner E with the side brush 141 and suck it. is doing. Thus, the controller 150 controls the cleaning unit 140 and the drive unit 130 so that the main body 101 cleans the corner E. FIG.

FIG. 8 is an explanatory diagram showing step C1 from the terminal position of main body 101 according to the embodiment. As shown in FIG. 8 , after moving the main body 101 to the end position, the control unit 150 causes the main body 101 to move along the step C<b>1 for overcoming the step B. control motor 136 for Specifically, the controller 150 controls the traveling motor 136 of the drive unit 130 so that the main body 101 turns and changes direction (see arrow Y3 in FIG. 8) at the end position. After this direction change, the control section 150 controls the traveling motor 136 of the drive unit 130 so that the body section 101 goes over the step B through the step passage C1. As described above, since the positional information of the turning point P is recorded in the environmental map, the control unit 150 passes the turning point P in the traveling direction Y1 and enters the step B based on the positional information. A bump passing course C1 is created. Because of the step C1, the corner E of the portion where the body portion 101 runs over the step B has already been cleaned. The step C1 may be any route as long as it passes through the already cleaned corner E and climbs onto the step B. FIG. However, if the step passage path C1 includes a path that enters the step B so as to be orthogonal to the edge b1 of the step B, the pair of wheels 131 of the main body 101 slides on the edge b1 of the step B. The main body part 101 can surely run over the step B.

The control unit 150 controls the drive motor 134 of the lifting portion 133 to bring the lifting portion 133 into a state of lifting (lifting state) immediately before the body portion 101 enters the step B. FIG. After that, the control section 150 controls the traveling motor 136 of the drive unit 130 so that the body section 101 climbs onto the step B on the step passage C1. After riding on the vehicle, the control unit 150 controls the drive motor 134 of the lifting unit 133 so that the lifting unit 133 stops lifting (normal state). As a result, since the body portion 101 is in a normal state even on the step B, a normal suction force can be exerted on the step B.

Next, among the operations of the self-propelled cleaner 100, one aspect of the operation with respect to the step B will be described. FIG. 9 is a flow chart showing the flow of operations for step B in self-propelled cleaner 100 according to the embodiment. It is assumed that this flowchart is executed during cleaning.

In step S1, the control unit 150 determines whether or not the step detection unit has detected the step B. FIG. At this time, the controller 150 targets the step B within a predetermined range in front of the main body 101 . The predetermined range is a range for judging the level difference B approaching the main body 101 , and is a range smaller than the entire length of the main body 101 , for example. Then, in step S1, if the step B is not detected, the control unit 150 continues cleaning along the course, and if the step B is detected, the process proceeds to step S2.

In step S2, the control unit 150 determines whether or not the main body 101 has reached the position immediately before contacting the step B based on the detection result of the step detection unit. In step S2, if the body portion 101 has not reached the position just before it contacts the step B, the control portion 150 continues cleaning along the course, and if it has reached the position, the process proceeds to step S3.

In step S3, the control section 150 controls the running motor 136 to temporarily stop the main body section 101, and proceeds to step S4.

In step S4, the control unit 150 controls the traveling motor 136 so that the traveling direction Y2 of the main body 101 after turning is along the edge b1 at the temporary stop point (turning point P). The main body 101 is rotated to change direction, and the process proceeds to step S5.

In step S5, the control section 150 controls the traveling motor 136 to move the main body section 101 to the terminal position in the traveling direction Y2, and the process proceeds to step S6. Accordingly, in step S5, the main body 101 cleans the corner E while moving along the edge b1 of the step B. As shown in FIG.

In step S6, the control unit 150 controls the traveling motor 136 to move the main body 101 along the step passage C1, and the process proceeds to step S7.

In step S8, the control unit 150 determines whether or not the turning point P has been reached. Move to S8.

In step S8, the control section 150 controls the drive motor 134 of the lifting section 133 so that the lifting section 133 lifts (lifting state). It should be noted that the main body 101 may be temporarily stopped or may be moving on the step passage C1 at the timing of the lifted state. The control unit 150 controls the traveling motor 136 of the drive unit 130 so that the main body 101 in the lifted state climbs onto the step B, and the process proceeds to step S9.

In step S9, the control unit 150 determines whether or not the main unit 101 has run over the step B based on the detection results of various sensors. However, if the vehicle is on the top, the process proceeds to step S10.

In step S10, the control section 150 controls the drive motor 134 of the lifting section 133 to bring the lifting section 133 into a state (normal state) in which lifting by the lifting section 133 is cancelled. As a result, the body portion 101 can exert a normal suction force even on the step B. As shown in FIG. After that, the control unit 150 proceeds to step S1.

As described above, according to the self-propelled cleaner 100 according to the present embodiment, the main unit 101 moves on the floor surface F to clean the floor surface F, and the main unit 101 provided in the main unit 101 A moving portion (driving unit 130) for moving or turning the portion 101, and a level difference detection portion (collision sensor 119, obstacle sensor 173, distance measuring sensor 174 and camera 175), and a control unit 150 for controlling the main unit 101 and the moving unit. The main unit 101 and the moving unit are controlled so that the main unit 101 cleans E.

According to this, since the main body part 101 reliably cleans the corner E formed by the step B and the floor surface F, it is possible to suppress deterioration of the cleanability of the floor surface F.

In addition, the control unit 150 controls the main unit 101 and the moving unit such that the main unit 101 moves along the corner E to clean the corner E. FIG.

According to this, since the main body part 101 cleans the corner E while moving along the corner E, the corner E can be cleaned over a wide range. Therefore, dust remaining on the corner E can be reduced, and as a result, deterioration of the cleanability of the floor surface F can be further suppressed.

Further, the control unit 150 controls the moving unit so that the main unit 101 passes through the corner E already cleaned by the main unit 101 and climbs over the step B. FIG.

According to this, since the main body 101 passes through the corner E that has already been cleaned by the main body 101 and climbs over the step B, it is possible to previously clean the place where the suction force may decrease when changing the step B. can. Therefore, it is possible to reliably suppress deterioration in cleaning performance due to climbing over the step B.

The self-propelled cleaner 100 also includes a lifting section 133 provided in the body section 101 for lifting the body section 101 relative to the floor surface F. The lifting part 133 and the moving part are controlled so as to climb on the step B while being lifted by the

According to this, the body portion 101 can be brought into a lifted state by the lifting portion 133 . Therefore, since the main body part 101 can be lifted onto the step B, the main body part 101 is less likely to interfere with the step B. As a result, stable cleanability can be achieved for the step B. FIG.

By the way, when the body part 101 is lifted and climbs on the step B, the distance from the floor surface F forming the corner E to the suction port 178 becomes larger than in the normal state, so the suction force is reduced. However, since the cleaning of the corner E is performed at a timing different from the timing of climbing onto the step B, it is possible to reliably suppress deterioration in cleaning performance due to the lifted state.

Modifications will be described below. In the following description, the same reference numerals may be assigned to the same parts as in the above-described embodiment, and the description thereof may be omitted.

[Modification 1]
In the above embodiment, the step B between the room and the corridor was exemplified, but the step B1 made of a rug may be used. 10A and 10B are explanatory diagrams showing the operation of the main body 101 according to Modification 1. FIG.

If the step B1 is a carpet, the main body part 101 of the self-propelled cleaner 100 may be able to move along the entire peripheral edge b12. In this case, the control section 150 controls the traveling motor 136 of the drive unit 130 so that the main body section 101 moves along the circular course C2 that revolves along the entire circumference b12 of the step B1. For example, the starting point of the circuit route C2 is the turn point P, and the end point is also the turn point P. Further, it is assumed that the body portion 101 is arranged in a cleaning-enabled position at any point on the circular path C2. Therefore, the main body 101 can reliably clean the entire circumference of the corner E1 formed by the step B1 and the floor surface F (the hatched portion in FIG. 10) by moving along the circuit path C2.

Further, when the body portion 101 reaches the end point of the circular course C2, the control portion 150 turns the body portion 101 to turn and then climbs onto the step B1 (see arrow Y4). Control. In this case as well, before the body portion 101 rides on the step B1, the control portion 150 controls the drive motor 134 of the lifting portion 133 to cause the lifting portion 133 to lift (lifting state). . Further, after the body portion 101 has climbed onto the step B1, the control portion 150 controls the drive motor 134 of the lifting portion 133 to release the lifting by the lifting portion 133 (normal state).

[Modification 2]
Further, in the above-described embodiment, the case where the main body 101 moves along the corner E to clean the corner E has been exemplified. In Modified Example 2, a case where the body portion 101 moves around the corner E while turning around the corner E will be described. 11A and 11B are explanatory diagrams showing the operation of the main body 101 according to Modification 2. FIG. As shown in FIG. 11, when the body portion 101 is temporarily stopped at the turning point P, the control portion 150 causes the body portion 101 to make a reciprocating turn at least once at the turning point P (see arrow Y5 in FIG. 11). It controls the travel motor 136 of the drive unit 130 . At the time of this reciprocating turn, since the main body 101 is arranged in advance at the cleaning possible position, the side brushes 141 rake up dust in the corner E formed by the wall surface b11 of the step B and the floor surface F, and the corner is cleaned. E can be cleaned. In FIG. 11, in the corner E, the cleaned area D that has been cleaned by the reciprocating turning is indicated by dot hatching. After that, the control unit 150 controls the driving motor 136 of the driving unit 130 and the driving motor 134 of the lifting unit 133 so that the main body 101 passes through the cleaned area D and the step B in the traveling direction Y1 from the turning point P. do. Note that the control unit 150 may cause the body unit 101 to pass through the cleaned region D and the step B after detouring once. Further, the cleaning operation for the corner E may be a turn in which the body portion 101 rotates at least once instead of the reciprocating turn.

In this way, the control unit 150 controls the main unit 101 and the moving unit (driving unit 130) such that the main unit 101 cleans the corner E while rotating with respect to the corner E. FIG.

According to this, since the body part 101 cleans the corner E while turning with respect to the corner E, the corner E can be cleaned without changing the course for overcoming the step B. - 特許庁Further, in the case of cleaning by turning, cleaning can be performed repeatedly without moving the main body 101, so the corner E can be cleaned efficiently and carefully.

The cleaning operation for the corner E may be performed by combining both movement along the corner E and turning.

[others]
It should be noted that the present invention is not limited to the above-described embodiment and modifications. For example, another embodiment realized by arbitrarily combining the constituent elements described in this specification or omitting some of the constituent elements may be an embodiment of the present invention. The present invention also includes modifications obtained by making various modifications to the above-described embodiment within the scope of the gist of the present invention, that is, the meaning of the words described in the claims, which a person skilled in the art can think of. be

For example, in the above-described embodiment, the self-propelled cleaner 1 in which the main body 101 is provided with the lifting portion 133 has been described as an example, but the lifting portion 133 may be omitted. In this case, the collision sensor 119 is arranged at a position slightly above the height at which the main body 101 in the non-lifted state can be transferred to another vehicle.

Moreover, in the above-described embodiment, the case where the control unit 150 detects the step B based on the image captured by the camera 175 has been exemplified. In addition to this, machine learning may be used to detect the step B. Specifically, for example, an external computer captures a large number of images of various types of steps, extracts feature points, and creates a learning model. An object recognition algorithm including this learning model is installed in the control unit 150 . By analyzing the image captured by the camera 175 using an object recognition algorithm, the control unit 150 can detect steps included in the image in more detail.

Moreover, in the above-described embodiment, the case where the side brush 141 collects the dust in the corner E and the main body 101 sucks the dust is exemplified. However, the corner E may be cleaned by a method other than the side brush 141 . For example, a cleaning unit that can be retracted into and out of the main body may be provided so that the cleaning unit protrudes from the main body toward the corner when cleaning the corner E. FIG. Also, instead of the side brush 141, a suction nozzle may be provided on the main body 101. FIG.

INDUSTRIAL APPLICABILITY The present invention is applicable to self-propelled cleaners capable of autonomous travel.

100 self-propelled vacuum cleaner 101 main body 119 collision sensor (step detector)
130 drive unit (moving part)
131 wheel 132 arm 133 lifter 134 drive motor 135 angular velocity sensor 136 traveling motor 137 encoder 138 acceleration sensor 140 cleaning unit 141 side brush 150 controller 171 transmitter 172 receiver 173 obstacle sensor (step detector)
174 ranging sensor (step detector)
175 camera (step detector)
176 Floor surface sensor 178 Suction port 179 Casters B, B1 Step b1 Edge b11 Wall surface b12 Entire periphery C1 Step passing track C2 Circular track D Cleaned area E, E1 Corner F Floor surface L2 Double-dot chain line P Turning point W Wall Y1, Y2 Direction of travel Y3, Y4, Y5 Arrow α Angle

Claims (5)

a body that moves on the floor to clean the floor;
a moving part provided in the main body for moving or rotating the main body;
a step detection unit that is provided in the main body and detects a step that the main body can climb over;
A control unit that controls the main body and the moving unit,
The control unit
Immediately after the main body turns and cleans the corner formed by the step detected by the step detection unit and the floor surface, the main body and A self-propelled vacuum cleaner that controls the moving part. The self-propelled cleaner according to claim 1, wherein the controller controls the main body and the moving part such that the main body cleans the corner while moving along the corner. The self-propelled cleaner according to claim 1, wherein the control section controls the body section and the moving section such that the body section cleans the corner while rotating with respect to the corner. 4. The controller according to any one of claims 1 to 3, wherein the controller controls the moving part so that the main body passes through the corner already cleaned by the main body and climbs over the step. self-propelled vacuum cleaner. A lifting portion provided in the main body for lifting the main body with respect to the floor surface,
5. The control unit controls the lifting unit and the moving unit so that the main unit climbs on the step while the main unit is lifted from the floor surface. self-propelled vacuum cleaner.

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