JP7280712B2 - Autonomous vacuum cleaner - Google Patents

Description

Embodiments of the present invention relate to autonomous vacuum cleaners.

2. Description of the Related Art Autonomous vacuum cleaners that autonomously move on a surface to be cleaned to collect dust are known.

Conventional autonomous vacuum cleaners are of the reflex type that cleans while changing the traveling direction when they come in contact with or approach the wall or obstacles of the cleaning place, and the traveling direction is parallel when they come into contact with or approach the wall or obstacles of the cleaning place. It has a parallel running type that cleans while moving. Conventional autonomous vacuum cleaners clean in one of these two travel typologies.

JP 2014-188001 A

Furniture is placed in the cleaning place, and toys are scattered without being arranged. It is rare for these obstacles such as furniture and toys to be evenly distributed throughout the cleaning area (that is, the entire area of the surface to be cleaned). It is mixed with places where things exist sparsely.

By the way, when cleaning in the reflex-running mode, the autonomous vacuum cleaner has an increased tendency to repeatedly pass through the same place, thus increasing power consumption.

On the other hand, when cleaning in parallel mode, the autonomous vacuum cleaner may miss dust around obstacles, which may lead to poor cleaning.

Accordingly, the present invention proposes an autonomous vacuum cleaner that efficiently consumes electric power and reliably cleans without missing dust.

In order to solve the above-mentioned problems, an autonomous electric cleaning device according to an embodiment of the present invention includes a cleaner body having a suction port, an obstacle detection unit that detects obstacles around the cleaner body, and a cleaning location. It is divided into a plurality of areas, and the plurality of areas are cleaned from one area to the adjacent area in order. It has a plurality of driving patterns, including a reflective driving type that cleans while changing the traveling direction when an obstacle is detected, and a parallel driving type that cleans while moving the traveling direction in parallel when the boundary of the area or the obstacle is detected. , in the area where the vehicle is scheduled to travel, the area in which the number of obstacles detected by the obstacle detection unit is greater than or equal to a predetermined threshold value and where the obstacles are densely present is defined as a dense obstacle area, and the obstacle detection is performed. The number of obstacles detected by the unit is less than the threshold value, and the area in which the obstacles are sparsely present is discriminated as a sparsely disturbed area. a control unit that travels in the traveling pattern and travels in the parallel traveling pattern in the sparsely disturbed area, wherein the control unit determines the zone characteristics of the zone adjacent to the zone currently being cleaned according to the cleaning After starting to clean a place, it is determined until reaching the adjacent area, and if the adjacent area has the same area characteristics as the area currently being cleaned, the area currently being cleaned and the adjacent area are determined. are collectively cleaned according to the same running pattern .

BRIEF DESCRIPTION OF THE DRAWINGS The perspective view which shows the external appearance of the autonomous electric cleaning apparatus which concerns on embodiment of this invention. The perspective view which shows the bottom face of the autonomous electric cleaning apparatus which concerns on embodiment of this invention. 1 is a block diagram of an autonomous vacuum cleaner according to an embodiment of the present invention; FIG. The perspective view which shows the station unit which concerns on embodiment of this invention. The flowchart which shows the autonomous driving control of the autonomous electric cleaning apparatus which concerns on embodiment of this invention. Schematic which shows an example of the travel locus by autonomous travel control of the autonomous electric cleaning apparatus which concerns on embodiment of this invention.

An embodiment of an autonomous electric cleaning device according to the present invention will be described with reference to FIGS. 1 to 6. FIG.

FIG. 1 is a perspective view showing the appearance of an autonomous electric cleaning device according to an embodiment of the present invention.

As shown in FIG. 1, an autonomous electric cleaning device 1 according to the present embodiment autonomously moves a surface to be cleaned and collects dust on the surface to be cleaned. The autonomous vacuum cleaner 1 is used in pairs with the station unit 3 that functions as a charging stand. The surface to be cleaned is the floor surface of a cleaning place such as a living room. If no furniture or unorganized toys are left in the cleaning area and there are no obstacles, the surface to be cleaned corresponds to the entire interior of the living room.

The autonomous electric cleaning device 1 autonomously moves on the surface to be cleaned, collects dust, and then returns to the station unit 3. - 特許庁The station unit 3 charges the homing autonomous vacuum cleaner 1 . Also, the station unit 3 collects dust from the autonomous electric cleaning device 1 that has returned to empty the first dust container 11 of the autonomous electric cleaning device 1 . In other words, the dust collected by the autonomous electric cleaning device 1 is transferred from the autonomous electric cleaning device 1 to the station unit 3 when the autonomous electric cleaning device 1 returns to the station unit 3 .

In addition, the station unit 3 can be installed at an arbitrary location on the surface to be cleaned. The autonomous electric cleaning device 1 autonomously returns to the station unit 3 when charging is required or when the cleaning of the cleaning place is finished. That is, the homing position of the autonomous vacuum cleaner 1 differs depending on the installation location of the station unit 3, and is determined by the relative positional relationship with the station unit 3 which can be installed arbitrarily.

Arrow A in FIG. 1 indicates the forward direction of the autonomous electric cleaning device 1 , and arrow B indicates the backward direction of the autonomous electric cleaning device 1 . The width direction of the autonomous electric cleaning device 1 is a direction perpendicular to the arrows A and B. As shown in FIG. The left and right sides of the autonomous electric cleaning device 1 follow the forward direction. The autonomous electric cleaning device 1 advances to leave the station unit 3, travels autonomously in a cleaning place, and retreats to return to the station unit 3. - 特許庁

On the other hand, the station unit 3 has a front surface facing the autonomous vacuum cleaner 1 that has returned to the home, and a rear surface opposite thereto. The left and right of the station unit 3 follow the left and right when the station unit 3 is viewed from the front.

The autonomous electric cleaning device 1 includes a hollow first body case 12 as a vacuum cleaner body, a first dust container 11 provided at the rear of the first body case 12, and a first dust container 11 housed in the first body case 12. 1. A first electric blower 13 connected to the dust container 11, a moving part 15 grounded on the surface to be cleaned, a driving part 16 driving the moving part 15, and an obstacle for detecting obstacles around the first main body case 12. It includes an object detection unit 17, a robot control unit 18 that controls the driving unit 16 to autonomously move the first main body case 12 of the surface to be cleaned, and a secondary battery 19 as a power supply.

The first dust container 11 may be detachable from the first main body case 12 or may be provided integrally with the first main body case 12 .

The obstacle detection unit 17 is, for example, a stereo camera that acquires a distance image (parallax image) based on parallax, or a laser scanner that measures the distance from the reciprocating time of the laser pulse and measures the direction from the direction in which the laser pulse is emitted. . The obstacle detection unit 17 inputs the distance image (parallax image) and the distance and direction of the reciprocating laser pulse to the robot control unit 18 as detection results.

The robot control unit 18 analyzes and grasps the surrounding state of the autonomous vacuum cleaner 1 from the detection result of the obstacle detection unit 17 . The robot control unit 18 grasps the presence or absence of obstacles such as walls of a living room, furniture, and toys from the distance image (parallax image) and the distance and direction in which the laser pulse travels back and forth.

The station unit 3 includes a pedestal 21 on which the autonomous electric cleaning device 1 rides, a dust collection unit 22 integrated with the pedestal 21, and a charging electrode 23 electrically connected to the homing autonomous electric cleaning device 1. , a dust transfer pipe 25 fluidly connected to the first dust container 11 of the autonomous electric cleaning device 1 that has returned to the home, a lever 26 protruding from the dust transfer pipe 25, and a power cord 27 for conducting power from a commercial AC power supply. and have.

The station unit 3 also functions as a beacon that notifies the autonomous vacuum cleaner 1 of the home position. The station unit 3 includes a beacon device (not shown) that notifies the autonomous vacuum cleaner 1 of the installation location of the station unit 3 using ultrasonic waves or infrared rays.

The station unit 3 may be a mere charging stand without the function of transferring dust from the autonomous vacuum cleaner 1 to the station unit 3 .

Next, the autonomous electric cleaning device 1 according to the embodiment of the present invention will be described in detail.

FIG. 2 is a perspective view showing the bottom surface of the autonomous electric cleaning device according to the embodiment of the present invention.

FIG. 3 is a block diagram of an autonomous vacuum cleaner according to an embodiment of the invention.

As shown in FIGS. 2 and 3, the autonomous vacuum cleaner 1 according to the embodiment of the present invention includes a center brush 31 provided on the bottom surface 12a of the first main body case 12 and a center brush for driving the center brush 31. A driving portion 32, a pair of left and right side brushes 33 provided on the bottom surface 12a of the first main body case 12, and a pair of left and right side brush driving portions 35 for driving the side brushes 33, respectively.

The first main body case 12 is made of synthetic resin, for example, and can easily turn around the surface to be cleaned. A laterally long suction port 36 is provided in the widthwise central portion of the rear half of the bottom surface 12a.

The suction port 36 has a width dimension that is about two thirds of the width dimension of the first main body case 12 . The suction port 36 is fluidly connected to the first electric blower 13 through the first dust container 11 .

The first main body case 12 also has a dust container port 37 on the bottom surface 12a. The dust container port 37 is arranged behind the suction port 36 and in a portion covering the lower portion of the first dust container 11 . The dust container port 37 is opened in a rectangular shape with rounded corners to partially expose the first dust container 11 attached to the first main body case 12 .

A bumper 38 is provided around the first main body case 12 . The bumper 38 is movably supported so that it will be pushed in if it hits a wall or an obstacle in the living room. A bumper sensor 39 for detecting movement of the bumper 38 is provided inside the bumper 38 . Bumper sensor 39 is, for example, a microswitch. A bumper 38 and a bumper sensor 39 are appropriately provided on the left and right sides of the first main body case 12 . The robot control unit 18 determines from which direction the autonomous vacuum cleaner 1 is hit by the walls of the living room or obstacles from the detection results of the plurality of bumper sensors 39 .

A plurality of distance measuring sensors 41 are provided around the first main body case 12 . For example, one distance measuring sensor 41 is provided on the front surface of the first main body case 12 and two on each of the left and right side surfaces. A plurality of distance measuring sensors 41 measure the distances to the walls of the living room and objects in different directions. The distance measuring sensor 41 uses infrared rays, for example. The distance measuring sensor 41 includes a light-emitting portion (not shown) that emits infrared rays and a light-receiving portion (not shown) that receives reflected light that is reflected back from walls and obstacles in the living room. The distance measuring sensor 41 detects the intensity of the reflected light received by the light receiving unit and measures the distance to the walls of the living room and obstacles.

The plurality of distance measuring sensors 41 measure obstacles not only in the horizontal direction of the first main body case 12 but also in the height direction of the first main body case 12, such as the height of a sofa and the depth of steps. May contain. Further, the plurality of distance measuring sensors 41 may use ultrasonic waves in addition to infrared rays, or may include both sensors that use infrared rays and sensors that use ultrasonic waves.

The first dust container 11 accumulates dust sucked from the suction port 36 by suction negative pressure generated by the first electric blower 13 . A filter that filters and collects dust from air, a separation device that separates and accumulates dust from air by inertial separation such as centrifugal separation (cyclone separation) or linear separation, or the like is applied to the first dust container 11 . The first dust container 11 is arranged behind the suction port 36 and in the rear part of the first main body case 12 . The first dust container 11 includes a container body 42 which is detachably provided in the first main body case 12 and accumulates dust collected by the autonomous electric cleaning device 1 , and a dust container body 42 which is attached to the first main body case 12 . A connecting portion 43 exposed from the container mouth 37 , a disposal port 45 provided in the connecting portion 43 for discarding dust in the container body 42 , and a disposal lid 46 opening and closing the disposal port 45 are provided.

The moving part 15 includes a pair of left and right driving wheels 47 arranged on the bottom surface 12 a of the first main body case 12 and a turning wheel 48 arranged on the bottom surface 12 a of the first main body case 12 .

A pair of driving wheels 47 protrude from the bottom surface 12a of the first main body case 12 and are grounded on the surface to be cleaned while the autonomous electric cleaning device 1 is placed on the surface to be cleaned. The pair of drive wheels 47 are arranged substantially in the center of the first main body case 12 in the front-rear direction, and are arranged near the left and right sides of the first main body case 12, avoiding the front of the suction port 36. ing. The rotation shafts of the pair of drive wheels 47 are arranged on a straight line extending along the width direction of the first main body case 12 . The autonomous vacuum cleaner 1 moves forward or backward by rotating the left and right driving wheels 47 in the same direction, and turns clockwise or counterclockwise by rotating the left and right driving wheels 47 in opposite directions. do. The autonomous electric cleaning device 1 can also turn right or left by rotating the left and right driving wheels 47 at different angular velocities.

The slewing wheel 48 is a slewing driven wheel. It is arranged in the front portion and substantially central portion in the width direction of the first main body case 12 .

The drive unit 16 is a pair of electric motors connected to the pair of drive wheels 47 respectively. The drive unit 16 drives the left and right drive wheels 47 independently.

The robot control unit 18 includes a microprocessor (not shown) and a storage device (not shown) that stores various calculation programs executed by the microprocessor, parameters, and the like. The robot control unit 18 is electrically connected to the first electric blower 13 , the center brush drive unit 32 , the drive unit 16 , the side brush drive unit 35 , the obstacle detection unit 17 , the bumper sensor 39 , and the range sensor 41 . It is

The secondary battery 19 is connected to the first electric blower 13, the center brush drive unit 32, the drive unit 16, the side brush drive unit 35, the obstacle detection unit 17, the bumper sensor 39, the range sensor 41, and the robot control unit 18. is the power supply that supplies power to the 3, the secondary battery 19, the first electric blower 13, the center brush drive unit 32, the drive unit 16, the side brush drive unit 35, the obstacle detection unit 17, the bumper sensor 39, and the range sensor 41 The wires that supply power to the are omitted.

The secondary battery 19 is arranged, for example, between the slewing ring 48 and the suction port 36 . The secondary battery 19 is electrically connected to a pair of charging terminals 49 arranged on the bottom surface 12 a of the first main body case 12 . The secondary battery 19 is charged by connecting the charging terminal 49 to the charging electrode 23 of the station unit 3 .

The center brush 31 is provided at the suction port 36 . The center brush 31 is a shaft-shaped brush that extends in the width direction of the first main body case 12 and is rotatable around a rotation center line. The center brush 31 includes, for example, a long shaft (not shown) and a plurality of brushes (not shown) extending in the radial direction of the shaft and spirally arranged in the longitudinal direction of the shaft. . The center brush 31 protrudes downward from the bottom surface 12a of the first main body case 12 from the suction port 36, and is brought into contact with the surface to be cleaned while the autonomous electric cleaning device 1 is placed on the surface to be cleaned.

The center brush driving portion 32 is housed inside the first main body case 12 .

A pair of side brushes 33 are auxiliary cleaning bodies. A pair of side brushes 33 are arranged on the right and left sides of the front portion of the bottom surface 12 a of the first main body case 12 , avoiding the front of the center brush 31 . The pair of side brushes 33 collects dust on the surface to be cleaned near the wall that the center brush 31 cannot reach and guides it to the suction port 36. - 特許庁Each of the side brushes 33 has a brush base 51 having a center of rotation which is inclined slightly forward with respect to the normal to the surface to be cleaned, and three linear cleaning bodies 52 radially protruding in the radial direction of the brush base 51. , is equipped with

The left and right brush bases 51 are arranged forward of the suction port 36 and the left and right drive wheels 47 , rearward of the revolving wheel 48 , and to the left and right sides of the suction port 36 . Further, the rotation center line of each brush base 51 is slightly forward with respect to the perpendicular to the surface to be cleaned. Therefore, the linear cleaning body 52 turns along the surface inclined forward with respect to the surface to be cleaned. The linear cleaning body 52 rotating forward of the brush base 51 is pressed against the surface to be cleaned toward the tip side, and the linear cleaning body 52 rotating behind the brush base 51 is pushed toward the surface to be cleaned toward the tip side. is weakened or separated from the surface to be cleaned.

A plurality of linear cleaning bodies 52 are arranged radially from the brush base 51, for example, in three directions at regular intervals. The side brush 33 may have four or more linear cleaning bodies 52 for each brush base 51 . Each linear cleaning body 52 has a plurality of brush bristles as a cleaning member on the tip side. Furthermore, the brush bristles turn while drawing a trajectory extending outward from the outer peripheral edge of the first main body case 12 .

Each side brush driving portion 35 has a rotating shaft (not shown) protruding downward and connected to the brush base portion 51 of the side brush 33 . Each side brush drive unit 35 rotates the side brush 33 so as to collect dust on the surface to be cleaned to the suction port 36 .

Next, the station unit 3 according to the embodiment of the invention will be described in detail.

FIG. 4 is a perspective view showing the station unit according to the embodiment of the invention.

As shown in FIG. 4, the pedestal 21 of the station unit 3 according to the present embodiment protrudes toward the front side of the station unit 3 and spreads in a rectangular shape. The pedestal 21 includes a high floor portion 61 connected to the bottom portion of the dust collecting portion 22 and a low floor portion 62 projecting from the high floor portion 61 .

The low floor portion 52 and the high floor portion 51 extend in a belt shape in the width direction of the station unit 3 . An inlet of the dust transfer pipe 25 is arranged on the low floor portion 62 . A charging electrode 23 is arranged on the raised floor portion 61 .

The autonomous electric cleaning device 1 rides the pair of drive wheels 47 on the low floor portion 62 and returns home with the first dust container 11 arranged above the high floor portion 61 .

The pedestal 21 has an uneven running surface 63 that reduces the contact area of each of the pair of driving wheels 47 when the autonomous electric cleaning device 1 returns. The running surface 63 has a plurality of linear unevennesses, lattice-shaped unevennesses, or a plurality of hemispherical unevennesses provided on a portion of the base 21 .

The inlet of the dust transfer pipe 25 is arranged substantially in the center of the low floor section 62 .

The dust collection unit 22 is housed in the second body case 65, the second dust collection container 66 that accumulates the dust discarded from the first dust container 11 through the dust transfer pipe 25, and the second body case 65. A second electric blower 67 connected to the second dust collection container 66, a station control unit 68 that controls the operation of the second electric blower 67, and a power supply that guides power from the commercial AC power supply to the second electric blower 67 and the charging electrode 23. code 27;

The second main body case 65 is a suitably shaped box disposed at the rear of the station unit 3 and extending upward from the pedestal 21 . The second main body case 65 has an appropriate shape that does not interfere with the homing autonomous vacuum cleaner 1 .

The second main body case 65 is short in the depth direction (the direction in which the autonomous electric cleaning device 1 advances when homing) and long in the width direction. A second dust collection container 66 is arranged in one half of the second main body case 65 in the width direction, specifically in the right half. A second electric blower 67 is accommodated in the other half of the second body case 65 in the width direction, specifically the left half.

A front wall of the second main body case 65 is provided with a recessed portion 69 having a shape corresponding to the rear end portion of the autonomous electric cleaning device 1 . The inlet of the dust transfer pipe 25 extends from the raised floor portion 51 of the base 21 to the recessed portion 69 . The recessed portion 69 is provided with a homing confirmation detection portion 71 that detects whether or not the autonomous electric cleaning device 1 has reached the homing position.

The homing confirmation detection unit 71 is a so-called objective sensor that detects the relative distance to the autonomous vacuum cleaner 1 using visible light or infrared rays. The homing confirmation detection unit 71 includes a first sensor unit 72 that detects the relative distance to the autonomous electric cleaning device 1 in the front direction of the dust collection unit 22, and a first sensor unit 72 that detects the relative distance to the autonomous electric cleaning device 1 in the height direction of the dust collection unit 22. and a second sensor unit 73 that detects a relative distance from the

A pair of charging electrodes 23 are provided on the left and right sides of the raised floor portion 61 across the entrance of the dust transfer pipe 25 . In addition, each of the charging electrodes 23 is arranged in front of the left and right edges of the concave portion 69 .

The dust transfer pipe 25 is connected to the autonomous electric cleaning device 1 after the autonomous electric cleaning device 1 has returned to the station unit 3 . The dust transfer pipe 25 is in contact with the connecting portion 43 of the first dust container 11 of the autonomous electric cleaning device 1 and connected to the disposal port 45 when the autonomous electric cleaning device 1 has returned to the station unit 3 .

The dust transfer pipe 25 is connected to the suction side (upstream side of the air flow) of the second dust collection container 66 . The negative pressure generated by the second electric blower 67 acts on the dust transfer pipe 25 via the second dust container 66 .

The lever 26 arranged at the inlet of the dust transfer pipe 25 has a hook 75 extending upward in the front direction of the dust collection section 22 . The lever 26 hooks the hook 75 to the disposal lid 46 closing the disposal port 45 of the first dust container 11 in the process of the autonomous electric cleaning device 1 returning to the station unit 3 , and opens the disposal lid 46 to remove the first dust container 11 . and the dust transfer pipe 25 are established.

The second dust collection container 66 is detachably attached to the right side of the dust collecting portion 22 and is exposed. The second dust collection container 66 is fluidly connected to the dust transfer pipe 25 to separate and accumulate dust flowing from the dust transfer pipe 25 .

The second dust collection container 66 has a centrifugal separation section 81 for centrifugally separating the dust flowing from the dust transfer pipe 25 from the air. The centrifugal separation section 81 is of a multistage type, and includes a first centrifugal separation section 81a for centrifuging the dust flowing from the dust transfer pipe 25 from the air, and a second centrifugal separation section 81a for centrifuging the dust passing through the first centrifugal separation section 81a from the air. and a separating portion 81b.

The first centrifugal separator 81 a centrifuges coarse dust from the air led to the second dust container 66 . The second centrifugal separation section 81b centrifuges fine dust from the air passing through the first centrifugal separation section 81a. Coarse dust is mainly fibrous dust such as lint and cotton dust and dust with a large mass such as sand grains, and fine dust is particulate or powdery dust with a small mass.

The second electric blower 67 draws in the dust transfer pipe 25 via the downstream air pipe 82 and the second dust collection container 66 to apply negative pressure.

The station control unit 68 includes a microprocessor (not shown) and a storage device (not shown) that stores various calculation programs executed by the microprocessor, parameters, and the like. The station control unit 68 is electrically connected to the second electric blower 67 and the homing confirmation detection unit 71 .

The station control unit 68 operates the second electric blower 67 to transfer dust from the autonomous electric cleaning device 1 to the station unit 3 when the autonomous electric cleaning device 1 is homed to the station unit 3 . The station control unit 68 operates the autonomous electric cleaning device based on the output of the homing confirmation detection unit 71, the contact state between the charging electrode 23 and the charging terminal 49 of the autonomous electric cleaning device 1, the load state of the charging electrode 23, and the like. 1 is homing to the station unit 3 or not. When the autonomous electric cleaning device 1 is homed to the station unit 3, the station control unit 68 operates the second electric blower 67 as appropriate to blow dust from the autonomous electric cleaning device 1 to the station unit 3. transfer.

Next, autonomous travel control of the autonomous electric cleaning device 1 will be described.

FIG. 5 is a flowchart showing autonomous travel control of the autonomous electric cleaning device according to the embodiment of the present invention.

FIG. 6 is a schematic diagram showing an example of a travel locus by autonomous travel control of the autonomous electric cleaning device according to the embodiment of the present invention.

FIG. 6 is a plan view of a living room R, which is an example of a cleaning place. For convenience of explanation, it is assumed that living room R is closed by being surrounded by walls W including doors.

A closet cd is placed at the upper right portion of FIG. A plurality of toys t are scattered in the upper left and lower right parts of FIG. These wardrobe cd and toy t become obstacles O for the autonomous vacuum cleaner 1 .

A solid line P in FIG. 6 is the running locus of the autonomous electric cleaning device 1 . A dashed arrow P in FIG. 6 is a homing route of the autonomous electric cleaning device 1 .

As shown in FIGS. 5 and 6, the robot control unit 18 of the autonomous electric cleaning device 1 according to this embodiment represents the cleaning place as a single zone A or divides it into a plurality of zones A, Reflexive traveling type TP1 that cleans while changing the traveling direction when detecting the boundary B (including the wall W of the cleaning place) or the obstacle O, and moving the traveling direction in parallel when the boundary B of the area A or the obstacle O is detected It has a plurality of traveling patterns TP including a parallel traveling pattern TP2 that cleans while moving, and an area A where the obstacle O detected by the obstacle detection unit 17 is equal to or greater than a predetermined threshold is defined as a dense obstacle area HDA, and the obstacle detection unit 17 The area characteristic AP is defined as a sparsely-disturbed area LDA in which the number of detected obstacles O is less than the threshold value. run with

When the robot control unit 18 starts autonomous travel control to clean the living room R, the robot control unit 18 virtually divides the living room R into a plurality of zones A in advance based on the current position. The area A is rectangular, and one side is set to be larger than twice the size of the first main body case 12 and smaller than five times.

For convenience of explanation, it is assumed that the robot control unit 18 divides the living room R in FIG. The eight zones A are named from sub-area A1 to sub-area A8 in the order in which the autonomous vacuum cleaner 1 advances. Subareas A1, A2, A5, A6, and A7 are loosely-damaged areas LDA, and subareas A3, A4, and A8 are densely-damaged areas HDA.

Moreover, the wall W of the cleaning place is a type of the boundary B of the area A, and is included in the boundary B of the area A. In other words, the boundary B of zone A may coincide with the wall W of living room R, and the wall W of living room R may lie inside zone A. For convenience of explanation, it is assumed that the walls W of the living room R according to the present embodiment all coincide with the boundary B of the area A. As shown in FIG.

Based on the detection result of the obstacle detection unit 17, the robot control unit 18 classifies the area A as a dense obstacle area HDA if there are three or more obstacles O in the area A. FIG. Also, based on the detection result of the obstacle detection unit 17, the robot control unit 18 classifies the area A as a sparsely disturbed area LDA if there are no multiple obstacles O in the area A or if there is a single obstacle O in the area A. . Furthermore, from the detection result of the obstacle detection unit 17, the robot control unit 18 determines that even if there are two obstacles O in the area A, the two obstacles O are 2 times the width of the autonomous electric cleaning device 1. If it is more than double the distance, it is classified as a loosely-damaged area LDA, and if it is not, it is classified as a densely-damaged area HDA. In other words, the predetermined threshold value for identifying the area characteristic AP is different when two obstacles O are detected and when other obstacles are detected.

In addition, "the area where the autonomous vacuum cleaner 1 is located" is hereinafter referred to as the "current sub-area", and the "area adjacent to the current sub-area" is hereinafter referred to as the "adjacent sub-area".

The robot control unit 18 stores the area characteristics AP for each area A in the storage device, and it is preferable that the storage area for the area characteristics AP is reserved in advance on the storage device.

In addition, when the adjacent areas A have the same area characteristics AP, the robot control unit 18 collectively cleans them with the same traveling pattern TP.

Further, the robot controller 18 identifies the area characteristics AP of the adjacent area A when it approaches the adjacent area A for the first time. Further, the robot control unit 18 may identify the area characteristics AP of the adjacent area A when the adjacent area A falls within the detectable range of the obstacle detection unit 17 for the first time.

Specifically, when starting autonomous running control, the robot control unit 18 examines the area characteristics AP of the current sub-area based on the detection result of the obstacle detection unit 17, classifies the area into a densely-disturbed area HDA or a sparsely-disturbed area LDA, The classification result is stored (step S1, balloon b1 in FIG. 6). Since the current sub-area, that is, the sub-area A1 is the sparsely-disabled area LDA, the robot control unit 18 classifies the sub-area A1 into the sparsely-disabled area LDA and stores the classification result.

The robot control unit 18 also identifies the presence or absence of the boundary of the cleaning location, that is, the wall W of the living room R when examining or analyzing the area characteristics AP of the current sub-area.

Next, the robot control unit 18 causes the autonomous vacuum cleaner 1 to leave the station unit 3 (step S2).

The robot control unit 18 may process either step S1 or step S2 first, or may process step S1 and step S2 in parallel. In the case of parallel processing, the robot control unit 18 classifies and stores the area characteristics AP of the sub-area A1 while detaching the autonomous vacuum cleaner 1 from the station unit 3 .

Next, the robot control unit 18 starts cleaning with the traveling pattern TP that matches the area characteristics AP of the current sub-area (step S3, balloon b3 in FIG. 6). Since the current sub-area, that is, the sub-area A1 is the sparsely disturbed area LDA, the robot control unit 18 travels and cleans in the parallel travel mode TP2. At this time, it is assumed that the autonomous electric cleaning device 1 is running along the wall W toward the sub-area A2.

While cleaning or running in the current sub-area, the robot control unit 18 will eventually reach the boundary B of the current sub-area and approach an adjacent sub-area, or reach the wall W of the living room R. Therefore, the robot control unit 18 determines whether or not the autonomous vacuum cleaner 1 has reached the boundary of the current sub-area (step S4). If the autonomous vacuum cleaner 1 has reached the boundary of the current sub-area (step S4 Yes), the robot control unit 18 checks whether or not the area characteristics AP related to the adjacent sub-area in the traveling direction are stored ( step S5). For example, when the autonomous vacuum cleaner 1 reaches the boundary of the sub-area A1, the robot control unit 18 checks whether or not the area characteristic AP related to the adjacent sub-area in the traveling direction, that is, the sub-area A2 is stored (see FIG. 6 inner balloon b4).

If the zone characteristics AP related to the adjacent sub-areas in the traveling direction are not yet stored (step S5 Yes), the robot control unit 18 checks the zone characteristics AP of the adjacent sub-areas from the detection result of the obstacle detection unit 17. , dense failure area HDA or sparse failure area LDA, and the result of classification is stored (step S6). For example, since the sub-area A2 is the sparsely-disabled area LDA, the robot control unit 18 classifies the sub-area A2 as the sparsely-disabled area LDA and stores the classification result (balloon b4 in FIG. 6).

On the other hand, the robot control unit 18 bypasses step S6 (for example, balloon b4' in FIG. 6) when the area characteristics AP related to the adjacent sub-area in the traveling direction is stored (step S5 No).

In other words, when the robot controller 18 approaches an adjacent sub-area for the first time, the robot control unit 18 identifies the area characteristics AP of the adjacent sub-area (step S6), while approaching the adjacent sub-area for which the area characteristics AP are already stored. In this case, the zone characteristic AP of the adjacent sub-area is not identified (step S5 No). For example, when the robot control unit 18 approaches the sub-area A2 for the first time, the robot control unit 18 identifies the area characteristics AP of the sub-area A2 (step S6, balloon b4 in FIG. 6). When approaching the sub-area A2, the area characteristic AP of the sub-area A2 is not identified (step S5 No, balloon b4' in FIG. 6).

Although the robot control unit 18 identifies the area characteristics AP of the adjacent sub-area in steps S4 to S6, it may identify the area characteristics AP of the adjacent sub-area before reaching the boundary B of the current sub-area. (step S5, step S6). That is, step S4 is not essential. For example, if the obstacle detection unit 17 can detect a wide range including not only the current sub-area but also the adjacent sub-areas, the robot control unit 18 detects the area characteristics AP of the current sub-area and the adjacent sub-areas in step S1. They may be identified collectively. In addition, the robot control unit 18 may identify the area characteristics AP of adjacent sub-areas sequentially or appropriately (steps S5 and S6) during cleaning of the current sub-area. In other words, the robot control unit 18 identifies the area characteristics AP of the adjacent area A when the adjacent area A falls within the detectable range of the obstacle detection unit 17 for the first time.

The robot control unit 18 also identifies the presence or absence of the boundary of the cleaning location, that is, the wall W of the living room R when examining or analyzing the area characteristics AP of the adjacent sub-areas.

Next, if the robot control unit 18 has not reached the boundary of the cleaning place, that is, the wall W of the living room R (step S7 No), the robot control unit 18 determines whether the area characteristics AP of the current sub-area and the area characteristics AP of the adjacent sub-area are the same. (step S8).

If the area characteristics AP of the current sub-area and the area characteristics AP of the adjacent sub-area are the same (step S8 Yes), the robot control unit 18 synthesizes the current sub-area and the adjacent sub-area, or combines the current sub-area and the adjacent sub-area. is identified (step S9). For example, in balloon b4 in FIG. 6, the current sub-area (sub-area A1) and the adjacent sub-area (sub-area A2) are the same sparsely damaged area LDA, so the robot control unit 18 A synthesized sub-area (A1+A2) obtained by synthesizing or summing the adjacent sub-area (sub-area A2) is identified (step S8 Yes, step S9).

After identifying the composite sub-area, the robot control unit 18 collectively continues cleaning the composite sub-area with the traveling pattern TP that matches the area characteristics AP (step S10). For example, subarea A1 and subarea A2 are sparsely-disabled areas LDA, so the combined sub-area (A1+A2) is identified as sparsely-disabled area LDA. Then, the robot control unit 18 travels in the parallel traveling pattern TP2 that matches the combined sub-area (A1+A2) of the sparsely disturbed area LDA, and cleans the combined sub-area (A1+A2) collectively (balloon b10 in FIG. 6). .

If the adjacent sub-areas A2 and A8 of the sub-area A1 are both area characteristics AP different from the sub-area A1, that is, if they are dense obstacle areas HDA, the robot control unit 18 turns back each time it reaches the boundary B of the sub-area A1, It does not move to the adjacent sub-areas A2 and A8 until the sub-area A1 has been individually cleaned with the parallel traveling type TP2, and after the sub-area A1 has been individually cleaned, cleaning of either the adjacent sub-areas A2 or A8 is started ( step S11 to step S13). It should be noted that which adjacent sub-area A2 or A8 to proceed to is determined by the direction in which the autonomous vacuum cleaner 1 faces when the cleaning of the sub-area A1 is completed.

However, in FIG. 5, the adjacent sub-area A2 of the sub-area A1 is the same sparsely damaged area LDA. (A1+A2) are cleaned together (step S10). Although the sub-area A1 and the sub-area A2 are the same sparsely disturbed area LDA, the sub-area A2 is individually cleaned by the parallel running type TP2 after the sub-area A1 is individually cleaned by the parallel running type TP2. As a result, the number of times of turning back is increased compared to the case of collectively cleaning the combined sub-area (A1+A2), resulting in increased power consumption. The robot control unit 18 collectively cleans the areas A having the same area characteristics AP, thereby suppressing such wasteful consumption of electric power. Similarly, in the reflexive running type TP1, the robot control unit 18 collectively cleans the area A with the same area characteristics AP, thereby reducing the number of times the traveling direction is changed, thereby suppressing wasteful power consumption due to direction changes. can.

On the other hand, if the area characteristics AP of the current sub-area and the area characteristics AP of the adjacent sub-area are different (step S8 No), the robot control unit 18 maintains the currently applied traveling pattern TP and changes the current sub-area. cleaning is continued (step S11, step S12 No). For example, in balloon b8 in FIG. 6, the current sub-area (sub-area A2) and the adjacent sub-area (sub-area A3) have different area characteristics AP, so the robot control unit 18 determines that the current sub-area (sub-area A2) Continue cleaning the current sub-area (sub-area A2) while maintaining the currently applied parallel running type TP2 without synthesizing or summing the sub-area (sub-area A3) (step S11, step S12 No ). Since the current sub-area (sub-area A2) belongs to the composite sub-area (A1+A2), the robot control unit 18 collectively cleans the composite sub-area (A1+A2) while maintaining the currently applied parallel running pattern TP2. (step S11, step S12 No).

After cleaning the current sub-area or current combined sub-area (Yes at step S12), the robot control unit 18 changes to the traveling pattern TP that matches the area characteristics AP of the adjacent sub-area and continues cleaning (step S13). . When advancing to the adjacent sub-area, the adjacent sub-area changes to the current sub-area, and each time the robot control unit 18 reaches the boundary B of the current sub-area, the process returns to step S4 and repeats the process. For example, when the robot control unit 18 finishes cleaning the current combined sub-area (A1+A2) (Yes in step S12, balloon b12 in FIG. 6), the robot control unit 18 performs reflexive running that matches the area characteristics AP of the adjacent sub-area (sub-area A3). Change to type TP1 and continue cleaning (step S13, balloon b13 in FIG. 6). When proceeding to the adjacent sub-area (sub-area A3), the adjacent sub-area (sub-area A3) changes to the current sub-area (sub-area A3), and the robot controller 18 reaches the boundary B of the current sub-area (sub-area A3). Each time, the process returns to step S4 to repeat the process.

Then, since the sub-areas A3 and A4 are the same dense obstacle area HDA, the robot control unit 18 identifies the combined sub-area (A3+A4) (step S9), and cleans the combined sub-area (A3+A4) with the reflexive running pattern TP1. Continue collectively (step S4 to step S12 No).

In addition, when the robot control unit 18 finishes cleaning the current composite sub-area (A3+A4) (step S12 Yes, balloon 12' in FIG. 6), the robot control unit 18 automatically selects a parallel area suitable for the area characteristics AP of the adjacent sub-area (sub-area A5). The cleaning is continued by changing to the traveling type TP2 (step S13, balloon b13' in FIG. 6). When proceeding to the adjacent sub-area (sub-area A5), the adjacent sub-area (sub-area A5) changes to the current sub-area (sub-area A5), and the robot controller 18 reaches the boundary B of the current sub-area (sub-area A5). Each time, the process returns to step S4 to repeat the process.

If the area characteristic AP of the current combined sub-area and the area characteristic AP of the adjacent sub-area are the same even during cleaning of the combined sub-area (step S8 Yes, FIG. 6 (balloon 8" in the middle), identify a new synthesized sub-area obtained by synthesizing or summing the current synthesized sub-area and the adjacent sub-area (step S9). , the robot control unit 18 identifies the composite sub-area (A5+A6+A7) (step S9), and continues cleaning the composite sub-area (A5+A6+A7) collectively with the parallel traveling pattern TP2 (step S4 to step S12 No).

When the robot control unit 18 has finished cleaning the current composite sub-area (A5+A6+A7) (step S12 Yes, balloon 12'' in FIG. 6), the robot control unit 18 performs a reflexive running pattern that matches the area characteristics AP of the adjacent sub-area (sub-area A8). Cleaning is continued after changing to TP1 (step S13, balloon b13'' in FIG. 6). When proceeding to the adjacent sub-area (sub-area A8), the adjacent sub-area (sub-area A8) changes to the current sub-area (sub-area A8), and the robot controller 18 reaches the boundary B of the current sub-area (sub-area A8). Each time, the process returns to step S4 to repeat the process.

Since the area characteristics AP of the current sub-area (sub-area A8) and the area characteristics AP of the adjacent sub-areas (sub-areas A1, A7) are different (step S8 No), the robot control unit 18 determines that the currently applied reflex running The current sub-area (sub-area A8) is individually cleaned while maintaining the type TP1 (steps S11 and S12). In other words, sub-area A8 is cleaned separately because the area characteristics AP of adjacent sub-areas (sub-areas A1, A7) are all different.

In addition, the robot control unit 18 causes the autonomous electric cleaning device 1 to travel along the wall W, the closet cd, etc. based on the detection result of the distance measuring sensor 41 regardless of which travel type TP is being used for cleaning. be able to. In addition, the robot control unit 18 can avoid obstacles O in the direction of travel based on the detection result of the bumper sensor 39 regardless of which type of travel type TP is being used for cleaning. In the reflective traveling type TP1, the autonomous vacuum cleaner 1 changes the traveling direction when it contacts or approaches the boundary B of the area A or the obstacle O based on the detection result of the range sensor 41 and the detection result of the bumper sensor 39. Clean as you change. In addition, in the parallel running type TP2, the autonomous vacuum cleaner 1 advances when contacting or approaching the boundary B of the area A or the obstacle O based on the detection result of the range sensor 41 and the detection result of the bumper sensor 39. Clean while moving in parallel direction

Next, when the robot control unit 18 reaches the boundary of the cleaning place, that is, the wall W of the living room R (step S7 Yes), it identifies that the area A does not exist in the direction of travel, and stores this. (Step S14).

When the robot control unit 18 confirms that there is no zone A in the traveling direction (step S14), it determines whether or not the living room R corresponding to the cleaning place is a closed space (step S15). If the living room R corresponding to the cleaning place is an open space (step S15 No), it is possible to estimate the existence of the area A that has not yet been cleaned, so the robot control unit 18 returns to step S3 to continue cleaning.

On the other hand, if the living room R corresponding to the cleaning place is a closed space (step S15 Yes), it is determined whether or not cleaning of all the areas A (that is, the sub-areas A1 to A8 and the entire living room R) has been completed (step S16). ) Judgment as to whether or not all areas A have been cleaned is estimated from the travel locus in each area A.

If cleaning of all areas A has not been completed (step S16 No), the robot control unit 18 returns to step S3 to continue cleaning. Moreover, if cleaning of all the areas A is finished (step S16 Yes), the robot control part 18 will make the autonomous electric cleaning apparatus 1 return to the station unit 3 (step S17).

When the cleaning place is represented by a single area A, the robot control unit 18 selects and applies the traveling pattern TP that matches the characteristics of the area A in the manner shown in FIG.

The autonomous electric cleaning device 1 according to the present embodiment configured as described above represents the cleaning place as a single area A or divides it into a plurality of areas A, and in the densely disturbed area HDA, the reflective driving type TP1 is used. In the sparsely disturbed area LDA, the vehicle travels in the parallel traveling pattern TP2, thereby selecting the traveling pattern TP according to the characteristics of the area A, achieving a more accurate traveling route with reduced duplication, and eventually allowing dust to escape. can be prevented, and power saving can be achieved.

In addition, when the adjacent areas A have the same area characteristics AP, the autonomous electric cleaning device 1 according to the present embodiment cleans them collectively with the same traveling pattern TP, so that the autonomous electric cleaning device 1 can travel in any traveling pattern TP. It is possible to suppress the consumption of power for changing the direction, and in turn, to save power.

Furthermore, the autonomous vacuum cleaner 1 according to the present embodiment identifies the area characteristics AP of the adjacent area A when approaching the adjacent area A for the first time, so that the detectable range is relatively narrow. Employing the inexpensive obstacle detection unit 17 can contribute to cost reduction.

Furthermore, the autonomous electric cleaning device 1 according to the present embodiment virtually divides the cleaning place into a rectangular area A whose side length is more than twice and less than five times that of the first main body case 12. , the respective driving pattern TP can be applied more precisely. If the length of the side of the section A is less than twice the length of the first main body case 12, the number of direction changes per unit area increases regardless of whether it is the reflective run type TP1 or the parallel run type TP2. This makes it difficult to obtain the advantage of power saving. In addition, assuming a general dwelling, and if the length of the side of the area A is five times or more that of the first main body case 12, the application scene of the parallel running type TP2 is relatively reduced, and as a result, the reflex running There is a concern that there will be no difference from the case of cleaning only with type TP1.

In addition, the autonomous electric cleaning device 1 according to the present embodiment makes it possible to adopt a lighter secondary battery 19 by achieving power saving, thereby reducing the weight of the device and further power saving. It is also possible to plan In addition, the autonomous electric cleaning device 1 according to the present embodiment can operate for a long time without charging for a long time or can perform a more advanced control when the secondary battery 19 of the same weight is adopted. It becomes possible to divert surplus power to

Therefore, according to the autonomous electric cleaning device 1 according to the present embodiment, power consumption can be made efficient, and cleaning can be performed reliably without missing dust.

While several embodiments of the invention have been described, these embodiments have been presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and equivalents thereof.

DESCRIPTION OF SYMBOLS 1... Autonomous electric cleaning apparatus, 3... Station unit, 11... First dust container, 12... First main body case, 12a... Bottom surface, 13... First electric blower, 15... Moving part, 16... Driving part, 17... Obstacle detection unit 18 Robot control unit 19 Secondary battery 21 Pedestal 22 Dust collection unit 23 Charging electrode 25 Dust transfer pipe 26 Lever 27 Power cord 31 Center Brush 32 Drive unit for center brush 33 Side brush 35 Drive unit for side brush 36 Suction port 37 Dust container port 38 Bumper 39 Bumper sensor 41 Ranging sensor 42 ... container body, 43 ... connection part, 45 ... disposal port, 46 ... disposal lid, 47 ... drive wheel, 48 ... turning wheel, 49 ... charging terminal, 51 ... brush base, 52 ... linear cleaning body, 61 ... raised floor , 62... Low floor portion, 63... Running surface, 65... Second main body case, 66... Second dust collecting container, 67... Second electric blower, 68... Station control part, 69... Recessed part, 71... Returning confirmation Detection unit 72 First sensor unit 73 Second sensor unit 75 Hook 81 Centrifugal separation unit 81a First centrifugal separation unit 81b Second centrifugal separation unit 82 Downstream air pipe.

Claims (4)

a vacuum cleaner body having a suction port;
an obstacle detection unit that detects obstacles around the cleaner body;
A cleaning place is divided into a plurality of zones, and the plurality of zones are cleaned in turn from one zone to an adjacent zone. A plurality of driving patterns including a reflective driving type that cleans while changing the traveling direction when a boundary or the obstacle is detected, and a parallel driving type that cleans while moving the traveling direction in parallel when the boundary of the area or the obstacle is detected. with respect to the area where travel is planned, the obstacle detected by the obstacle detection unit is equal to or greater than a predetermined threshold, and the area where the obstacles are densely present is defined as a dense obstacle area, The number of obstacles detected by the obstacle detection unit is less than the threshold value and the area in which the obstacles are sparsely present is discriminated as a sparsely-disturbed area. a control unit that runs in the reflection running pattern and runs in the parallel running pattern in the sparsely disturbed area ,
The control unit
Determining the zone characteristics of the zone adjacent to the zone currently being cleaned after starting cleaning of the cleaning location and before reaching the adjacent zone;
An autonomous vacuum cleaning device that collectively cleans the area currently being cleaned and the adjacent area by the same traveling pattern when the adjacent area has the same area characteristics as the area currently being cleaned. Based on the number of the obstacles detected by the obstacle detection unit in each area or the distance between the obstacles existing in each area, the control unit determines whether the number is equal to or greater than a predetermined threshold, or 2. The autonomous electric vacuum cleaner according to claim 1 , wherein the area characteristic is determined by regarding the area where the distance is equal to or less than a predetermined threshold as the densely disturbed area, and the area other than the densely disturbed area as the loosely disturbed area. The autonomous electric cleaning device according to claim 1 or 2, wherein the control unit determines the zone characteristics of the adjacent zone when the adjacent zone is approached for the first time . 4. An autonomous vacuum cleaner according to any one of claims 1 to 3 , wherein said area is rectangular and has a side greater than 2 times and less than 5 times the length of said cleaner body.

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