JP7429873B2 - self-propelled vacuum cleaner - Google Patents

Description

The present invention relates to a self-propelled vacuum cleaner that cleans while autonomously running.

BACKGROUND ART Self-propelled vacuum cleaners that clean floors while autonomously traveling are known (for example, see Patent Document 1).

Patent No. 4277214

A self-propelled vacuum cleaner may clean a rug by climbing onto a rug, such as a carpet, and running over the rug. When the self-propelled vacuum cleaner climbs onto a rug, the main body of the self-propelled vacuum cleaner tilts with respect to the floor surface. In this state, since the distance between the suction port provided in the main body and the floor surface becomes large, normal suction force cannot be exerted, and the ability to clean the floor surface is reduced. This decrease in cleaning performance becomes noticeable at the corner between the step and the floor surface.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a self-propelled vacuum cleaner that can suppress deterioration in cleaning performance for floor surfaces.

In order to achieve the above object, a self-propelled vacuum cleaner that is one aspect of the present invention includes a main body that moves on a floor, a cleaning unit for cleaning the floor, and a self-propelled vacuum cleaner that moves or rotates the main body. a moving section for detecting an obstacle, an obstacle detecting section for detecting an obstacle, and a control section for controlling the main body section and the moving section; After that, the moving section and the cleaning unit are controlled so that the main body section cleans the detected obstacle while moving along a circular path that goes around the entire periphery of the detected obstacle, and the main body section cleans the detected obstacle while moving. The moving unit is controlled so that it climbs over the obstacle after completing one rotation around the entire periphery.

Note that implementing a program for causing a computer to execute each process of the self-propelled vacuum cleaner also corresponds to implementation of the present invention. Of course, implementing the recording medium on which the program is recorded also falls under the implementation of the present invention.

According to the present invention, it is possible to provide a self-propelled vacuum cleaner that can suppress deterioration in cleaning performance for floor surfaces.

FIG. 1 is a plan view showing the external appearance of a self-propelled vacuum cleaner according to an embodiment from above. FIG. 2 is a bottom view showing the external appearance of the self-propelled vacuum cleaner in the embodiment from below. FIG. 3 is a perspective view showing the external appearance of the self-propelled vacuum cleaner according to the embodiment from diagonally above. FIG. 4 is a schematic cross-sectional view showing a schematic configuration of the lifting section according to the embodiment. FIG. 5 is a block diagram showing the control configuration of the self-propelled vacuum 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 step after the direction change according to the embodiment. FIG. 8 is an explanatory diagram showing a step passage path from the end position of the main body according to the embodiment. FIG. 9 is a flowchart showing the flow of operations regarding steps in the self-propelled vacuum cleaner according to the embodiment. FIG. 10 is an explanatory diagram showing the operation of the main body according to Modification 1. FIG. 11 is an explanatory diagram showing the operation of the main body according to Modification 2.

Next, an embodiment of a self-propelled vacuum cleaner according to the present invention will be described with reference to the drawings. In addition, the following embodiment shows only an example of the self-propelled vacuum cleaner in this invention. Therefore, the scope of the present invention is defined by the words 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, constituent elements that are not described in the independent claims representing the top concept of the present invention are not necessarily necessary to achieve the object of the present invention, but are more useful. It is described as constituting a preferred form.

Further, the drawings are schematic diagrams that have been appropriately emphasized, omitted, and proportions adjusted to illustrate the present invention, and may differ from the actual shapes, positional relationships, and proportions.

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

The self-propelled vacuum cleaner 100 is a cleaning robot that can clean the floor F (see FIG. 6) while autonomously moving thereon. Specifically, the self-propelled vacuum cleaner 100 is a robot vacuum cleaner that autonomously travels within a predetermined area based on an environmental map and sucks up dirt existing within the area. The self-propelled vacuum cleaner 100 includes a main body 101 that moves on a floor F to clean the floor F, a drive unit 130 (see FIG. 2), and a suction port 178 that sucks dirt present in the cleaning area. The cleaning unit 140 (see FIG. 2), various sensors, a control section 150 (see FIG. 5), and a lifting section 133 are provided.

One drive unit 130 is disposed on the left side and the right side of the center of the self-propelled cleaner 100 in the width direction when viewed from above. Note that the number of drive units 130 is not limited to two, and may be one or three or more.

In the case of the present embodiment, the drive unit 130 includes wheels 131 that run on the floor 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 is rotatably attached to the main body 101. In addition, the self-propelled vacuum cleaner 100 is a two-wheeled type equipped with casters 179 as auxiliary wheels, and independently controls the rotation of each wheel 131 of the pair of drive units 130 to move forward, backward, left, and so on. The self-propelled vacuum cleaner 100 can freely run by rotating, clockwise, etc. If the self-propelled vacuum cleaner 100 rotates left or right while moving forward or backward, it will turn 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, the self-propelled cleaner 100 turns at the current point. In this way, the drive unit 130 is a moving section for moving or rotating the main body section 101. The drive unit 130 causes the self-propelled cleaner 100 to travel based on instructions from the control unit 150.

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

The following sensors can be exemplified as various sensors included in the self-propelled vacuum cleaner 100.

The obstacle sensor 173 is a sensor that detects an obstacle that exists 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 includes a transmitting section 171 disposed at the front center of the main body section 101 and a receiving section 172 disposed on both sides of the transmitting section 171. The receiving unit 172 receives each of the ultrasonic waves that have returned to the vehicle, thereby making it possible to detect the distance and position of the obstacle.

The distance sensor 174 is a sensor that detects the distance between the self-propelled vacuum cleaner 100 and objects such as obstacles that exist around the self-propelled vacuum cleaner 100. In the case of this embodiment, the distance measurement sensor 174 is a so-called laser range scanner that scans laser light and measures distance based on the light reflected from obstacles.

The collision sensor 119 is a switch contact displacement sensor that is turned on when a bumper attached around the self-propelled vacuum cleaner 100 contacts an obstacle and is pushed into the self-propelled vacuum cleaner 100. .

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

In this way, 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 multiple locations on the bottom surface of the self-propelled vacuum cleaner 100, and detect whether or not a floor surface F as a cleaning area exists. In the case of this embodiment, the floor sensor 176 is an infrared sensor having a light emitting part and a light receiving part, and if the infrared light emitted from the light emitting part returns, there is a floor F, and only light below a threshold value is returned. If it does not come, it is detected that there is no floor surface F.

The encoder 137 is included in the drive unit 130 and detects the rotation angle of each of the pair of wheels 131 rotated by the travel motor 136. Based on the information from the encoder 137, the travel distance, turning angle, speed, acceleration, angular velocity, etc. of the self-propelled cleaner 100 can be calculated.

The acceleration sensor 138 is included in the drive unit 130 and detects acceleration when the self-propelled cleaner 100 runs. The angular velocity sensor 135 is included in the drive unit 130 and detects the angular velocity when the self-propelled cleaner 100 turns. The information detected by the acceleration sensor 138 and the angular velocity sensor 135 is used as information for correcting errors caused by the wheels 131 idling.

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

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

As shown in FIG. 4, the lifting part 133 is incorporated into the drive unit 130. Specifically, the lifting section 133 includes an arm 132 that rotatably holds the wheel 131 at its distal end, and a proximal end of the arm 132 that rotates to cause the distal end of the arm 132 to protrude and retract from the main body section 101. A drive motor 134 (see FIG. 5) is provided. As shown in FIG. 4A, when the tip of the arm 132 is accommodated within the main body 101, the main body 101 is in a normal state. In a normal state, various sensors do not point 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 in a lifted state. In the lifted state, the front part of the main body part 101 is raised higher than the rear part, and the main part 101 as a whole is tilted so that the front part is higher than the rear part.

By lifting the front part of the main body 101, the lifting part 133 can support the main body 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, if the main body portion 101 is not in a lifted state, there is a risk that it will come into contact with the rug and roll up the rug. If the rug is rolled up, the main body portion 101 will become stranded on that part and further travel will be obstructed. Alternatively, the main body portion 101 may be inserted into the rolled-up rug, making it impossible to clean the rug. In either case, the cleaning performance of the rug will be reduced. In this embodiment, the main body section 101 is lifted up by the lifting section 133 and then climbs onto the rug, making it difficult to interfere with the rug. This makes it possible to achieve stable cleaning performance for the rug.

FIG. 5 is a block diagram showing a control configuration of the 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 distance measurement sensor 174, a camera 175, a floor sensor 176, a collision sensor 119, and a cleaning unit 140. The lifting portion 133 is electrically connected. Although only one drive unit 130 is shown in FIG. 5, in reality, drive units 130 are provided corresponding to each of the left and right wheels 131. That is, in this embodiment, two drive units 130 are provided.

The control unit 150 includes, for example, a CPU, a RAM, a ROM, and the like, and the CPU controls each unit by loading a program stored in the ROM into the RAM and executing it.

Here, the control unit 150 creates an environmental map by integrating accumulated data detected by various sensors. The environmental map is a map of an area within a predetermined area where the self-propelled cleaner 100 moves and cleans. The method of generating the environmental map is not particularly limited, but for example, SLAM (Simultaneous Localization and Mapping)
etc. can be exemplified. The control unit 150 generates, as an environmental map, information indicating the outer shape of the area where the self-propelled cleaner 100 has actually traveled, obstacles that obstruct the travel, etc., based on the travel history of the self-propelled vacuum cleaner 100. The environmental map is realized, for example, as two-dimensional array data. The control unit 150 may divide the driving record into rectangles of a predetermined size, such as 10 cm in length and width, treat each rectangle as an element area of an array constituting an environmental map, and process it as array data. Note that the environmental map may be acquired from outside the self-propelled vacuum cleaner 100.

Furthermore, during cleaning, the control unit 150 records each coordinate in the environmental map at the time of travel as a travel 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 electric fan of the cleaning unit 140 to suck dirt on the floor F while rotating the main brush. At this time, the control unit 150 controls the sub-motor of the cleaning unit 140 to also rotate the side brush 141. Therefore, the dust swept by the side brush 141 is also sucked.

Furthermore, the control unit 150 controls the drive motor 134 of the lifting unit 133 based on the presence or absence of a faulty part to switch between the normal state and the lifting state. Specifically, when at least one of the obstacle sensor 173, distance measurement sensor 174, and camera 175, which are obstacle detection units, detects an obstacle, the control unit 150 performs the following based on the detection result of the obstacle detection unit: Decide your future course. Here, the obstacles are classified into obstacles that the self-propelled vacuum cleaner 100 can overcome (step B: see FIG. 6, etc.) and obstacles that cannot be overcome. Examples of the step B that can be climbed over include a carpet such as a carpet, or a step between a hallway and a room. Further, examples of obstacles that cannot be overcome include walls and furniture. The control unit 150 determines whether the obstacle is surmountable or impossible based on the detection result of the collision sensor 119. Hereinafter, the obstacle that can be climbed over will be referred to as step B. Specifically, for example, the collision sensor 119 is disposed at a position slightly above the height at which the main body 101 in the normal state can be transferred to the main body 101 in the lifted state. If 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 is impossible to overcome, and activates the collision sensor 119. If the detection result remains off, it is determined that there is a step B.

In this way, the collision sensor 119, the obstacle sensor 173, the ranging sensor 174, and the camera 175 are step detection units that detect the step B that the main body 101 can overcome. Note that 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. You can. Further, the step detection section may be composed of at least one of the collision sensor 119, the obstacle sensor 173, the ranging sensor 174, and the camera 175, as long as the step B existing around the main body section 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 a step B exists in front of the main body portion 101 according to the embodiment. Here, in FIG. 6, an arrow Y1 indicates the current direction of movement of the main body portion 101. Further, in this embodiment, the step B is a step between a room and a hallway. For this reason, walls W are arranged on both sides of the step B.

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 based on the recognition result, determines whether the step B exists in front of the main body 101. Decide whether or not. Note that the control section 150 may determine whether or not the step B exists in front of the main body section 101 based on the detection result of an obstacle detection section other than the camera 175.

The control unit 150 detects the edge b1 of the step B based on the image obtained from the camera 175. Although there are a plurality of edges on the step B, the control unit 150 determines the edge b1 that faces the main body 101 in the traveling direction Y1.

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, based on the image obtained from the camera 175. In this embodiment, the angle α is approximately 90 degrees.

The control unit 150 controls the travel motor 136 of the drive unit 130 so that the main body 101 stops just before the measured distance. As a result, the main body portion 101 comes to a temporary stop immediately before contacting the step B.

The control section 150 controls the traveling motor 136 of the drive unit 130 so that the main body section 101 turns and changes direction at the temporary stop point (see arrow Y2 in FIG. 6). In this direction change, the control unit 150 determines a turning angle at which the traveling direction Y2 of the main body 101 after the direction change is along the edge b1 based on the angle α, and rotates the main body 101 at the determined turning angle. (See the two-dot chain line L2 in FIG. 6). The control unit 150 records the position information of this turning point P (temporary stopping 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 diagram of a part of the main body 101 viewed from the traveling direction Y2. As shown in FIG. 7, after the direction change, the main body 101 is placed in a position where the side brush 141 can be cleaned, although the main body 101 does not come into contact with the wall b11 of the edge b1 of the step B. There is. If the main body part 101 is arranged in a position where cleaning is possible, the side brush 141 can scrape up the dirt in the corner E between the wall surface b11 of the step B and the floor surface F, and the corner E can be cleaned. can. The main body portion 101 may be placed in the cleaning possible position at the time of the direction change, or may be placed after the direction change. In the former case, the turning point P is set in advance at a point corresponding to a cleaning possible position. In the latter case, after the direction change, the control unit 150 controls the travel motor 136 to finely adjust the position of the main body 101 and arrange the main body 101 at a position where cleaning is possible. It is also possible to use these together.

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

During this movement and also when changing direction at the turning point P, the control unit 150 controls the main motor, electric fan, and sub motor of the cleaning unit 140 to scrape the dust from the corner E with the side brush 141 and suction it. are doing. In this way, the control section 150 controls the cleaning unit 140 and the drive unit 130 so that the main body section 101 cleans the corner E.

FIG. 8 is an explanatory diagram showing a step passage path C1 from the end point position of the main body portion 101 according to the embodiment. As shown in FIG. 8, the control unit 150 causes the drive unit 130 to travel so that after the main body 101 has been moved to the end position, the main body 101 moves on a step passage path C1 for overcoming the step B. control motor 136. Specifically, the control unit 150 controls the travel 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 main body section 101 passes over the step B through the step passage path C1. As described above, since the position 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 position information. A step-passing course C1 is created. Since the step C1 is like this, the corner E of the portion where the main body portion 101 rides on the step B has already been cleaned. Note that the step passage path C1 may be any route as long as it passes through the corner E that has already been cleaned and climbs onto the step B. However, if the step passage path C1 includes a path that enters the step B so as to be perpendicular to the edge b1 of the step B, the pair of wheels 131 of the main body 101 will slip against the edge b1 of the step B. Therefore, the main body portion 101 can be reliably climbed onto the step B.

Immediately before the main body section 101 enters the step B, the control section 150 controls the drive motor 134 of the lifting section 133 to bring the lifting section 133 into a lifting state (lifting state). Thereafter, the control section 150 controls the traveling motor 136 of the drive unit 130 so that the main body section 101 climbs onto the step B on the step C1. After the vehicle runs over the vehicle, the control unit 150 controls the drive motor 134 of the lifting unit 133 to release the lifting by the lifting unit 133 (normal state). As a result, the main body portion 101 is in a normal state even on the step B, so that a normal suction force can be exerted on the step B.

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

In step S1, the control unit 150 determines whether the level difference detection unit has detected the level difference B. Note that, at this time, the control section 150 targets the step B within a predetermined range in front of the main body section 101. The predetermined range is a range for determining the step B that is close to the main body 101, and is, for example, a range smaller than the entire length of the main body 101. Then, in step S1, if the control section 150 does not detect the step B, the control section 150 continues cleaning along the same course, and if the step B is detected, the control section 150 moves to step S2.

In step S2, the control section 150 determines whether the main body section 101 has reached a position immediately before contacting the step B based on the detection result of the step detection section. In step S2, if the main body part 101 has not reached the position immediately before contacting the step B, the control unit 150 continues cleaning on the same path, and if it has reached the position, the control unit 150 moves to step S3.

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

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

In step S5, the control section 150 controls the traveling motor 136 to move the main body section 101 to the end position in the traveling direction Y2, and proceeds to step S6. Thereby, in step S5, the main body part 101 cleans the corner E while moving along the edge b1 of the step B.

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

In step S8, the control unit 150 determines whether or not the turning point P has been reached. If the turning point P has not been reached, the control unit 150 continues moving on the step passage path C1, and if the turning point P has been reached, the control unit 150 The process moves to S8.

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

In step S9, the control unit 150 determines whether the main body portion 101 has climbed onto the step B based on the detection results of various sensors, and if it has not climbed on the step B, continues moving on the step passing path C1. However, if the vehicle has climbed up, the process moves to step S10.

In step S10, the control unit 150 controls the drive motor 134 of the lifting unit 133 to release the lifting by the lifting unit 133 (normal state). Thereby, the main body portion 101 can exert a normal suction force even on the step B. After that, the control unit 150 moves to step S1.

As described above, according to the self-propelled vacuum cleaner 100 according to the present embodiment, the main body part 101 moves on the floor surface F to clean the floor surface F, and the main body part 101 is provided with A moving part (drive unit 130) for moving or turning the part 101, and a step detection part (a collision sensor 119, an obstacle sensor) provided in the main body part 101 to detect a step B existing around the main part 101. 173, distance measurement sensor 174 and camera 175), and a control section 150 that controls the main body section 101 and the moving section, and the control section 150 is configured to detect the corner between the step B detected by the step detection section and the floor surface F. The main body section 101 and the moving section are controlled so that the main body section 101 cleans E.

According to this, the main body part 101 reliably cleans the corner E formed between the step B and the floor surface F, so that a decrease in the cleaning performance of the floor surface F can be suppressed.

Further, the control unit 150 controls the main body 101 and the moving unit so that the main body 101 moves along the corner E and cleans the corner E.

According to this, since the main body portion 101 cleans the corner E while moving along the corner E, the corner E can be cleaned over a wide range. Therefore, it is possible to reduce the amount of dust remaining in the corner E, and as a result, it is possible to further suppress the deterioration in the cleaning performance of the floor surface F.

Further, the control unit 150 controls the moving unit so that 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.

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

The self-propelled vacuum cleaner 100 also includes a lifting section 133 that is provided on the main body 101 and lifts the main body 101 relative to the floor F, and the control section 150 controls the main body 101 to be lifted relative to the floor F. The lifting section 133 and the moving section are controlled so that the robot climbs onto the step B in the lifted state.

According to this, the main body part 101 can be raised by the lifting part 133. Therefore, since the main body part 101 can be lifted up and ride on the step B, the main body part 101 is less likely to interfere with the step B. Thereby, stable cleaning performance for the step B can be achieved.

By the way, when the main body part 101 climbs onto the step B in a lifted state, the distance from the floor surface F forming the corner E to the suction port 178 becomes larger than in the normal state, so that the suction force decreases. However, since the corner E is cleaned at a different timing from when the corner E is climbed onto the step B, it is possible to reliably suppress a decrease in cleaning performance due to the lifted state.

Modifications will be explained below. In the following description, the same parts as those in the above embodiment may be given the same reference numerals and the description thereof may be omitted.

[Modification 1]
In the above embodiment, the step B between the room and the hallway is illustrated, but the step B1 may be made of a rug. FIG. 10 is an explanatory diagram showing the operation of the main body section 101 according to the first modification.

If the step B1 is a rug, the main body 101 of the self-propelled vacuum cleaner 100 may be able to move along the entire periphery b12. In this case, the control section 150 controls the travel motor 136 of the drive unit 130 so that the main body section 101 moves along the circular route C2 that goes around the entire circumference b12 of the step B1. For example, the starting point of the circular route C2 is the turning point P, and the ending point is also the turning point P. Further, it is assumed that the main body portion 101 is placed at a position where it can be cleaned at any point on the circuit path C2. Therefore, the main body part 101 can reliably clean the corner E1 (the hatched part in FIG. 10) formed by the step B1 and the floor surface F over the entire circumference by moving along the circumferential path C2.

Furthermore, when the main body section 101 reaches the end point of the circuit path C2, the control section 150 activates the traveling motor 136 so that the main body section 101 turns and changes direction and then climbs onto the step B1 (see arrow Y4). Control. In this case as well, before the main body section 101 climbs onto the step B1, the control section 150 controls the drive motor 134 of the lifting section 133 to bring the lifting section 133 into a lifting state (lifting state). . Further, after the main 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 embodiment, the case where the main body portion 101 cleans the corner E while moving along the corner E is illustrated. In modification 2, a case will be described in which the main body portion 101 moves around the corner E while turning with respect to the corner E. FIG. 11 is an explanatory diagram showing the operation of the main body section 101 according to the second modification. As shown in FIG. 11, when the main body section 101 temporarily stops at the turning point P, the control section 150 causes the main body section 101 to make a reciprocating turn at least once at this turning point P (see arrow Y5 in FIG. 11). The driving motor 136 of the drive unit 130 is controlled. During this reciprocating rotation, since the main body 101 is placed in advance at a cleaning possible position, the side brush 141 scrapes up the dirt in the corner E between the wall b11 of the step B and the floor F, and cleans the corner. E can be cleaned. In FIG. 11, a cleaned area D that has been cleaned by reciprocating rotation at a corner E is shown by dot hatching. Thereafter, the control section 150 controls the traveling motor 136 of the drive unit 130 and the drive motor 134 of the lifting section 133 so that the main body section 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 section 150 may cause the main body section 101 to pass through the cleaned area D and the step B after once bypassing the main body section 101. Further, the cleaning operation for the corner E does not have to be a reciprocating rotation, but may be a rotation in which the main body portion 101 makes at least one rotation.

In this way, the control section 150 controls the main body section 101 and the moving section (drive unit 130) so that the main body section 101 cleans the corner E while rotating with respect to the corner E.

According to this, the main body portion 101 cleans the corner E while rotating with respect to the corner E, so the corner E can be cleaned without changing the course of getting over the step B. Moreover, if cleaning is performed by rotating, cleaning can be repeated without moving the main body 101, so it is also possible to efficiently and carefully clean the corner E.

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

[others]
Note that the present invention is not limited to the above embodiment and each modification. For example, the embodiments of the present invention may be realized by arbitrarily combining the components described in this specification or by excluding some of the components. The present invention also includes modifications obtained by making various modifications to the above-described embodiments that a person skilled in the art can conceive without departing from the gist of the present invention, that is, the meaning of the words written in the claims. It will be done.

For example, in the above embodiment, the self-propelled cleaner 1 in which the lifting portion 133 is provided on the main body portion 101 has been described as an example, but the lifting portion 133 may not be provided. In this case, the collision sensor 119 is disposed at a position slightly above the height of the main body 101 at which the main body 101 in an unlifted state can be transferred.

Further, in the embodiment described above, the case where the control unit 150 detects the level difference B based on the image taken by the camera 175 is 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. The control unit 150 is equipped with an object recognition algorithm that includes this learning model. The control unit 150 can detect the step included in the image in more detail by analyzing the image captured by the camera 175 using an object recognition algorithm.

Further, in the embodiment described above, the case where the dust in the corner E is scraped up by the side brush 141 and sucked by the main body part 101 is exemplified. However, the corner E may be cleaned using a method other than the side brush 141. For example, a cleaning unit that can move in and out of the main body may be provided, and when cleaning the corner E, the cleaning unit may protrude from the main body toward the corner. Further, a suction nozzle may be provided in the main body portion 101 instead of the side brush 141.

The present invention is applicable to a self-propelled vacuum cleaner that can run autonomously.

100 Self-propelled vacuum cleaner 101 Main body part 119 Collision sensor (step detection part)
130 Drive unit (moving part)
131 Wheel 132 Arm 133 Lifting part 134 Drive motor 135 Angular velocity sensor 136 Traveling motor 137 Encoder 138 Acceleration sensor 140 Cleaning unit 141 Side brush 150 Control part 171 Transmitting part 172 Receiving part 173 Obstacle sensor (step detection part)
174 Distance sensor (step detection section)
175 Camera (step detection section)
176 Floor sensor 178 Suction port 179 Casters B, B1 Step b1 Edge b11 Wall surface b12 Entire periphery C1 Step passage path C2 Circumferential path D Cleaned area E, E1 Corner F Floor surface L2 Two-dot chain line P Turning point W Wall Y1, Y2 Direction of travel Y3, Y4, Y5 Arrow α Angle

Claims (5)

a main body that moves on the floor;
a cleaning unit for cleaning the floor;
a moving part for moving or rotating the main body part;
an obstacle detection unit that detects obstacles;
A control section that controls the main body section and the moving section,
The control unit is configured to connect to the moving unit so that, after the obstacle detection unit detects the obstacle, the main body unit cleans the detected obstacle while moving along a circular path that goes around the entire periphery of the detected obstacle. controlling the cleaning unit and controlling the moving section so that the main body section climbs over the obstacle after making one circuit around the entire periphery of the obstacle;
Self-propelled vacuum cleaner. The starting point and ending point of the circuit path for the obstacle are the same,
The control unit controls the moving unit so that the main body rotates and changes direction at an end point of a circular path around the obstacle and then climbs onto the obstacle.
The self-propelled vacuum cleaner according to claim 1. comprising a step detection section that detects a step that the main body can climb over;
The control section controls the moving section and the cleaning unit so that the main body section cleans while moving along a circular path that goes around the entire circumference of the step detected by the step detection section. controlling the moving part so that the moving part rides up the step after the part has gone around the entire periphery of the step;
A self-propelled vacuum cleaner according to claim 1 or 2 . The starting point and ending point of the circuit route for the step are the same,
The control unit controls the moving unit so that the main body changes the turning direction at the end point of the circuit path with respect to the step and then climbs onto the step.
The self-propelled vacuum cleaner according to claim 3. A lifting part is provided on the main body and lifts at least a part of the main body relative to the floor,
The control unit controls the lifting unit and the moving unit so that at least a portion of the main body unit climbs onto the step with the body unit lifted up relative to the floor surface.
A self-propelled vacuum cleaner according to claim 3 or 4 .

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