JPH07322977A - Self-propelled vacuum cleaner - Google Patents

Abstract

PURPOSE:To provide a self-propelled vacuum cleaner not damaging a wall or a carpet and not lowering the dust collection property. CONSTITUTION:This self-propelled vacuum cleaner is provided with an obstacle detecting means 6, a side brush 12, a side brush driving means 18, and a judgment process section 19 receiving the signal from the obstacle detecting means 6 and controlling the revolving speed of the side brush 12. The revolving speed of the side brush 12 is decreased only when the self-propelled vacuum cleaner avoids a wall or an obstacle or the proceeding direction is reversed. Otherwise, the side brush 12 is revolved at a high speed, and the effect on a carpet or the wall can be eliminated.

Description

Detailed Description of the Invention

[0001]

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

[0002]

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

This type of self-propelled cleaner has a suction nozzle, a brush and the like at the bottom of the main body as a cleaning function, and has traveling wheels and steered wheels which are driven by a motor as a moving function. It is usual that the main body is guided and controlled by using inertial navigation means using a gyro, and a power source such as a storage battery is provided inside.

A conventional self-propelled cleaner will be described below. 8 and 9, 2 is a self-propelled vacuum cleaner main body (hereinafter referred to as main body), 1 is a side brush that scrapes dust on the floor surface, and 3 is a rotary brush that scrapes up and sucks dust on the floor surface. Yes, 4 is a fan motor that generates a vacuum pressure for sucking dust, and these constitute the cleaning means 10. Reference numeral 5 is a traveling steering means for traveling and steering the main body 2, 6 is an obstacle detecting means for detecting an obstacle, 7 is a direction sensor, 8 is a position recognizing means for recognizing a traveling position, and 9 Controls the traveling steering means 5 according to signals from the position recognition means 8 and the obstacle detection means 6,
Further, it is a judgment processing section for controlling the cleaning means 10.

In this type of self-propelled cleaner, the traveling steering means 5 goes straight inside the cleaning area until the obstacle detection means 6 detects an obstacle, and the output of the direction sensor 7 such as a gyroscope at the detected point. Turn 180 degrees and go straight again. After that, such a reciprocating operation is repeated, and the position recognition means 8
While recognizing the current position in the cleaning area, the cleaning means 10 for the fan motor 4, the rotating brush 3, and the side brush 1
It is configured to be cleaned at. In addition, after moving forward until it detects a set distance or an obstacle, it moves backward by swinging a predetermined angle based on the output of the azimuth sensor 7 such as a gyro for each reciprocation, and thereafter such a forward and backward movement is performed. The structure that repeats cleaning is also devised.

[0006]

However, in the above-mentioned conventional configuration, the side brush 1 and the rotating brush 3 are constantly operated at a high output during the cleaning operation of the main body 2 in order to improve the dust collecting property. The side brush 1 scratches the wall surface during cleaning near the wall, or the specific portion of the carpet is damaged by the length of contact time of the rotating brush 3 per unit area of the carpet due to a reduction in traveling speed when the cleaning direction is reversed. There was a problem that sticking occurred.

The present invention solves the above-mentioned conventional problems. The side brush is operated at a high output except on the wall to reduce the rotation speed on the wall and when the cleaning direction is reversed on the rotary brush. By lowering the rotation speed,
An object of the present invention is to provide a self-propelled vacuum cleaner that can be cleaned without damaging a wall or a carpet without damaging the dust collection property.

[0008]

To achieve this object, a self-propelled cleaner of the present invention comprises, as a first means, a traveling steering means for moving a main body, a cleaning means for performing cleaning,
A pair of side brushes provided on the cleaning means, which have vertical rotation axes and rotate inwardly toward each other to collect dust on the floor surface, and side brush drive means for driving the side brushes,
From obstacle detection means for detecting the presence or absence of an obstacle in the traveling direction and the left-right direction and the distance to the obstacle, an orientation sensor for detecting the traveling direction of the main body, and a traveling distance and an orientation sensor of the main body obtained from the traveling steering means. Position recognition means for recognizing the position of the main body from the obtained traveling direction of the main body, and a judgment processing section for processing signals from the obstacle detection means and the position recognition means to control the traveling steering means, the cleaning means and the side brush drive means. It has a configuration with.

As a second means, a traveling steering means for moving the main body, a cleaning means for performing the cleaning, and a vertical rotation shaft provided in the cleaning means are provided and rotate inwardly to collect dust on the floor surface. A pair of side brushes, side brush drive means for individually driving each side brush, obstacle detection means for detecting the presence or absence of an obstacle in the traveling direction and the left-right direction, and a traveling direction of the main body. Direction sensor for detecting, position recognition means for recognizing the position of the main body from the traveling distance of the main body obtained from the traveling steering means and the traveling direction of the main body obtained from the direction sensor, and signals from the obstacle detection means and the position recognition means Is provided to control the traveling steering means, the cleaning means, and the side brush driving means.

As a third means, a traveling steering means for moving the main body, a cleaning means for performing cleaning, and a rotary brush having a horizontal rotary shaft provided in the cleaning means for lifting dust on the floor surface by a rotary operation. A rotary brush drive means for driving the rotary brush, an obstacle detection means for detecting the presence or absence of an obstacle in the traveling direction and the left-right direction, and a distance to the obstacle, and a direction sensor for detecting the traveling direction of the main body, Position recognition means for recognizing the position of the main body from the traveling distance of the main body obtained from the steering means and the traveling direction of the main body obtained from the direction sensor,
It is configured to include a determination processing unit that processes signals from the obstacle detection unit and the position recognition unit to control the traveling steering unit, the cleaning unit, and the rotary brush drive unit.

As a fourth means, a traveling steering means for moving the main body, a cleaning means for performing cleaning, and a rotary brush having a horizontal rotary shaft provided in the cleaning means for lifting dust on the floor surface by a rotary operation. And a rotary brush drive means for driving the rotary brush, a cleaning area input means for inputting vertical and horizontal distances of a cleaning area of the main body, and a travel distance and direction sensor of the main body obtained from the travel steering means. Position recognition means for recognizing the position of the main body from the traveling direction of the main body, a travel distance counting part for counting the travel distance, a traveling steering means for processing signals from the obstacle detection means, the position recognition means and the travel distance counting part. Also, the configuration includes a determination processing unit that controls the cleaning unit and the rotating brush driving unit.

[0012]

According to the first means, the judgment processing section controls the traveling steering means and the cleaning means on the basis of the position information of the main body calculated by the position recognition means and the obstacle detection means to carry out the cleaning by going straight. If the determination processing unit determines from the signal from the obstacle detection means that there is no obstacle near the front and sides of the main body, the side brush drive means operates the paired side brushes at high speed. If it is judged that there is an obstacle, the rotation speed of the pair of side brushes is operated at a low speed, and even when cleaning the wall or the vicinity of the obstacle, it does not damage the wall etc. and cleans without lowering the dust collection property. I can do things.

According to the second means, the judgment processing section controls the traveling steering means and the cleaning means on the basis of the position information of the main body calculated by the position recognition means and the obstacle detection means to carry out the cleaning by going straight. If the determination processing unit determines from the signal from the obstacle detection means that there is no obstacle near the front side of the main body, the side brush drive means operates the side brushes on both sides at high speed. If it is judged that there is an obstacle near the left front, the rotation speed of only the side brush located on the left side of the main body is operated at low speed, and if it is judged that there is an obstacle near the front right, it is positioned on the right of the main body. If only the side brush is operated at low speed, and if it is determined that there is an obstacle in the vicinity of the front, the side brushes on both sides are operated at low speed, and when cleaning near the wall or near the obstacle. It can be cleaned while maintaining a higher dust collecting property without scratching.

According to the third means, the judgment processing section controls the traveling steering means and the cleaning means based on the position information of the main body calculated by the position recognizing means and the obstacle detecting means, and goes straight to perform cleaning. If the determination processing unit determines that there is no obstacle near the front of the main body based on the signal from the obstacle detection unit, the rotary brush driving unit operates the rotary brush at high speed. If it is determined that there is an obstacle, the rotation speed of the rotating brush is operated at a low speed, the carpet or the like is not damaged, and cleaning can be performed without lowering the dust collecting property.

According to the fourth means, the judgment processing section controls the traveling steering means and the cleaning means based on the information input from the cleaning area input means and the position information of the main body calculated by the position recognizing means, and goes straight ahead. Cleaning is performed, and the rotating brush is operated at high speed during the cleaning operation. If you go straight in the forward direction by the vertical straight distance entered by the cleaning area input means, the operation of reversing the direction of travel and going straight back in the return path is repeated for the horizontal distance entered by the cleaning area input means. In the running distance counting section, the running distance from the start of straight running to the present is integrated, and when the integrated value is smaller than the set value, the difference between the vertical straight distance and the integrated value input from the cleaning area input means is set. By operating the rotating brush at a low speed only when the value is smaller than the value, it is possible to clean the carpet without damaging the dust, etc.

[0016]

【Example】

(Embodiment 1) Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. It should be noted that the same parts as those of the related art are designated by the same reference numerals and the description thereof will be omitted.

As shown in FIG. 1, the side brushes 12 arranged in pairs on the front side of the main body 2 are cleaning means 2
0, which constitutes a part of the steering wheel steering means 5, the side brush 12
The side brush drive means 18 simultaneously drives the side brushes 12 in response to a signal from the determination processing section 19 that controls the operation of the cleaning means 20 including the above.

The operation of the self-propelled vacuum cleaner configured as above will be described below. When the main body 2 is traveling on the cleaning path A as shown in FIG. 2, that is, the traveling steering means 5
When the obstacle detecting means 6 moves forward until the obstacle is detected by the inside of the cleaning area, and the operation is repeated by making a 180 degree turn based on the output of the direction sensor 7 at the detected point and moving forward again, The position recognizing unit 8 outputs information on the current traveling position to the determination processing unit 19 based on the angle information of the sensor 7 and the traveling distance information from the traveling steering unit 5. The determination processing unit 19 controls the traveling steering unit 5 and the cleaning unit 20 based on the input signal from the position recognition unit 8 and the signal from the obstacle detection unit 6 indicating the distance to the obstacle. Further, in the judgment processing unit 19, the distance signal from the obstacle detecting means 6 to the front and side walls 22 and the main body 2 and the wall 2 which are set in advance.
When the distance signal is larger than the distance D, it is determined that the distance from the main body 2 to the wall 22 is the distance at which the side brush 12 does not contact, and the side brush 12 is moved at high speed. A signal is output to the side brush drive means 18 to operate the side brush 12 at high speed. Conversely,
When the distance signal is smaller than the distance D, the main body 2 moves to the wall 2
It is determined that the distance up to 2 is a distance with which the side brush 12 may come into contact, and a signal is output to the side brush drive means 18 to operate the side brush 12 at a low speed. 12 is operated at a low speed.

In the cleaning path B, the operation is along the wall 22, and since the distance signal is smaller than the distance D as shown in FIG. 2, the side brush 12 is operated at a low speed as described above.

As described above, according to the present embodiment, the side brushes 12 arranged as a pair in the left and right in front of the main body 2 as one component of the cleaning means 20 and the side brushes that drive the side brushes 12 at the same time. The brush driving means 18, the traveling steering means 5 for traveling and steering the main body 2, the azimuth sensor 7, the current traveling position is recognized from the angle information of the azimuth sensor 7 and the traveling distance information from the traveling steering means 5. The position recognition means 8 and the threshold value of the distance D are set, the rotation speed of the side brush 12 is controlled by the signal from the obstacle detection means 6, and the traveling steering means 5, by the signal from the position recognition means 8. By providing the judgment processing unit 19 for controlling the operation of the cleaning means 20, the rotation speed of the side brush 12 is set to be low only near the wall 22 to clean the wall of the side brush 12 even near the wall 22. The impact on the 2 in the minimum, can be cleaned without lowering the dust collecting property.

(Second Embodiment) A second embodiment of the present invention will be described below with reference to the drawings.

As shown in FIG. 3, the feature of this embodiment is that the first side on the left side, which is arranged in pairs in the left and right in front of the main body 2 in the structure of the above-described first embodiment. Brush 3
1 and the second side brush 32 on the right side, the cleaning means 40.
The first side brush 31 is controlled by a signal of the determination processing unit 39 that controls the operation of the cleaning unit 40 that constitutes a part of the driving steering unit 5, the first side brush 31, and the second side brush 32. First side brush driving means 3 for driving
7 and second side brush driving means 38 for driving the second side brush 32.

The operation of the self-propelled cleaner constructed as above will be described below. When the main body 2 is traveling on the cleaning path A as shown in FIG. 2, that is, when the traveling steering means 5 moves forward inside the cleaning area until the obstacle detecting means 6 detects an obstacle, at the detected point. When the operation of turning 180 degrees based on the output of the azimuth sensor 7 and moving forward again is repeated, the position recognizing means 8 uses the angle information of the azimuth sensor 7 and the traveling distance information from the traveling steering means 5 to determine the current traveling position. Is output to the determination processing unit 39. The determination processing unit 39 controls the traveling steering unit 5 and the cleaning unit 40 based on the input signal from the position recognition unit 8 and the signal from the obstacle detection unit 6 to the obstacle. Further, the determination processing unit 39 sets in advance the distance signal from the obstacle detection means 6 to the front and the wall 22, the preset distance D between the main body 2 and the front wall 22, and the side distance signal. The size of the distance D ′ between the main body 2 and the side wall 22 is always compared. When the front distance signal is larger than the distance D and the side distance signal is larger than the distance D ′, The distance to the wall 22 is the first side brush 3
The first side brush driving means 37 and the second side so that the first side brush 31 and the second side brush 32 are both operated at high speed when it is determined that the first and second side brushes 32 are not in contact with each other. A signal is output to the brush driving means 38, and the first side brush driving means 37 and the second side brush driving means 38 operate the first side brush 31 and the second side brush 32 at high speed. Obstacle detecting means 6
When the front distance signal input from the main body 2 is smaller than the distance D, the distance from the main body 2 to the front wall 22 is the first regardless of the distance signal to the side wall 22 and the distance D ′.
Drive the first side brush 31 and the second side brush 32 so that the first side brush 31 and the second side brush 32 are operated at a low speed by determining that the distance between the side brush 31 and the second side brush 32 may come into contact with each other. A signal is output to the means 37 and the second side brush drive means 38, and the first side brush drive means 37 and the second side brush drive means 38 respectively output the first side brush 31 and the second side brush 32. Operate at low speed.

In addition, the first round trip of the cleaning path B and FIG.
Even when the front distance signal input from the obstacle detecting means 6 such as the Z point inside is larger than the distance D, the side (left)
When the distance signal to the wall 22 of the first side brush 31 is smaller than the distance D ′, the determination processing unit 39 determines that the left first side brush 31 may come into contact with the wall 22 and only the first side brush 31 is detected. A signal is output to the first side brush drive means 37 so that the first side brush 31 operates at a low speed so that the first side brush 31 operates at a low speed.

As described above, according to this embodiment, the first side brush 31 and the second side brush 32, which are arranged in a pair on the left and right in front of the main body 2 as one component of the cleaning means 40, are provided. , A first side brush drive means 3 for driving the first side brush 31 and the second side brush 32, respectively.
7. Second side brush drive means 38, traveling steering means 5 for traveling and steering the main body 2, azimuth sensor 7, angle information of the azimuth sensor 7, and traveling distance information from the traveling steering means 5 at present. The position recognition means 8 for recognizing the traveling position of the first side brush 31, the thresholds of the distances D and D ′ are set, and the first side brush 31, based on a signal from the obstacle detection means 6,
The rotation number of the second side brush 32 is controlled, and the traveling steering unit 5 and the cleaning unit 40 are controlled by a signal from the position recognition unit 8.
By providing the determination processing unit 39 for controlling the operation of the above, the rotational speeds of the first and second side brushes 31 and 32 are reduced only when the wall 22 is present, and the wall is present when the side wall is present. Even when the vicinity of the wall 22 is cleaned by reducing the rotation speed of only the one side brush 3,
The influence of the first and second side brushes 32 on the wall 22 can be minimized, and the cleaning can be performed without lowering the dust collection property.

(Embodiment 3) A third embodiment of the present invention will be described below with reference to FIGS.

As shown in FIG. 4, the present embodiment is characterized in that the cleaning means 50 is partly constituted by a rotary brush 42 for scooping up and sucking dust on the floor surface in the structure of the first embodiment. Cleaning means 5 including traveling steering means 5 and rotating brush 42
The point is that the rotary brush drive means 48 for driving the rotary brush 42 is provided by the signal of the determination processing section 49 for controlling the operation of 0.

The operation of the self-propelled vacuum cleaner configured as above will be described below. As shown in FIG. 5, the main body 2 swings the angle θ with respect to the wall 51 with the direction of arrow a as the reference direction of the azimuth sensor 7, and repeats forward and backward movements to clean the cleaning area from the wall 51 to the distance L. Suppose you are running. At this time, the position recognizing means 8 outputs information on the current traveling position to the judgment processing section 49 based on the angle information of the azimuth sensor 7 and the traveling distance information from the traveling steering means 5. The determination processing unit 49 switches the traveling direction to backward when the wall 51 is detected by the signal from the obstacle detecting means 6 during forward movement,
During the backward movement, a signal from the position recognizing means 8 outputs a signal to the traveling steering means 5 so as to switch to the forward movement when the vehicle moves backward by a distance L from the wall 51, and the forward / backward movement is performed. C in the figure indicates the cleaning width. When the wall 51 is detected and the traveling direction is switched, the absolute value of the traveling speed of the main body 2 converges to zero, and when the traveling direction is reversed, it increases again. When this traveling direction is reversed, the contact time of the rotating brush 42 per unit area of the floor surface becomes long, that is, only the floor surface near the wall 51 is rotated by the rotating brush 4.
2, the contact time becomes longer.

The determination processing section 49 also always compares the distance signal between the front and the wall 51 input from the obstacle detection means 6 with the preset distance D between the main body 2 and the wall 51. When the distance signal is larger than the distance D, the main body 2 determines that the traveling direction is not reversed and outputs a signal to the rotary brush driving means 48 to operate the rotary brush 42 at a high speed. 48
Causes the rotating brush 42 to operate at high speed. On the other hand, when the distance signal is smaller than the distance D, it is determined that the main body 2 has not yet started the reversing operation in the traveling direction, and a signal is output to the rotary brush driving means 48 to operate the rotary brush 42 at a low speed.
The rotary brush drive means 48 operates the rotary brush 42 at a low speed.

As described above, according to this embodiment, the rotating brush 42 that rotates as one component of the cleaning means 50 and scoops up the dust on the floor surface, and the rotating brush drive means 48 that drives the rotating brush 42. A traveling steering means 5 for traveling and steering the main body 2, an azimuth sensor 7, and a position recognizing means 8 for recognizing a current traveling position based on angle information of the azimuth sensor 7 and traveling distance information from the traveling steering means 5. , The threshold value of the distance D is set, the rotation speed of the rotary brush 42 is controlled by the signal from the obstacle detection means 6, and the operation of the traveling steering means 5 and the cleaning means 50 is performed by the signal from the position recognition means 8. By providing the judgment processing unit 49 for controlling the rotation speed of the rotating brush 42 only at the wall 51, the rotation speed of the rotating brush 42 is reduced to minimize the influence on the floor surface of the rotating brush 42 when cleaning the vicinity of the wall 51. Collection It can be without cleaning that impair the sex.

In this embodiment, the front wall 51 has been described, but it goes without saying that the same applies to the rear wall.

(Embodiment 4) A fourth embodiment of the present invention will be described below with reference to the drawings.

As shown in FIG. 6, the feature of the present embodiment is that the traveling distance counting unit for counting the straight traveling distance by the traveling distance signal output from the position recognizing means 8 in the configuration of the above-mentioned third embodiment. The cleaning means 5 including the traveling steering means 5 and the rotating brush 42 is generated by the signals from 66 and the traveling steering means 8.
The point is that the rotary brush driving means 68 for driving the rotary brush 42 is provided with a signal from the determination processing section 69 for controlling the operation of 0.

The operation of the self-propelled vacuum cleaner configured as above will be described below. As shown in FIG. 7, the main body 2 uses the direction of arrow a as the reference direction of the azimuth sensor 7 to form an angle θ.
Swing to repeat the forward and backward movements, and start running point Y
Is running while cleaning the cleaning area up to the distance L set to operate. At this time, the position recognizing means 8 outputs information on the current traveling position to the judgment processing section 69 based on the angle information of the azimuth sensor 7 and the traveling distance information from the traveling steering means 5, and the judgment processing section 69 advances the distance L forward. Then, a signal is output to the traveling steering means 5 so that the traveling direction is switched to the backward direction and the distance L is switched to the forward direction to perform the forward / backward movement. When the traveling direction is switched, the absolute value of the traveling speed of the main body 2 converges to zero, and when the traveling direction is reversed, it increases again. When this traveling direction is reversed, the contact time of the rotary brush 42 per unit area of the floor surface becomes long, that is, the contact time of the rotary brush 62 only at the floor surface near the wall becomes long.

The traveling distance counting section 66 is the position recognizing means 8
The traveling distance signal from is input, and the traveling distance from the start of straight traveling to the present is counted for each straight traveling, and the integrated value is output to the judgment processing unit 69. The determination processing unit 69 also determines the distance D when a straight-traveling travel distance integrated value signal input from the travel distance counting unit 66 and a preset constant distance from the stop position of the main body 2 are set. Distance (L-
D) is always compared, and when the traveling distance integrated value signal is smaller than the distance (L-D), it is determined that the main body 2 does not reverse the traveling direction and the rotary brush 42 is operated at high speed. A signal is output to the rotary brush drive means 68 so that the rotary brush drive means 68 operates the rotary brush 42 at high speed. On the other hand, the running integrated value signal indicates the distance (L-
When it is larger than D), it is determined that the main body 2 has not yet entered the reversing operation in the traveling direction, and a signal is output to the rotary brush drive means 68 to operate the rotary brush 42 at a low speed. 42 is operated at a low speed.

As described above, according to the present embodiment, the rotating brush 42 that rotates as one component of the cleaning means 50 and scoops up dust on the floor surface, and the rotating brush drive means 68 that drives the rotating brush 42. A traveling steering means 5 for traveling and steering the main body 2, an azimuth sensor 7, and a position recognizing means 8 for recognizing a current traveling position based on angle information of the azimuth sensor 7 and traveling distance information from the traveling steering means 5. A traveling distance counting unit 66 that counts the traveling distance in one straight line in response to a signal from the position recognizing unit 8 and a threshold value of the distance D are set, and a signal from the traveling distance counting unit 66 is used to detect the rotary brush 42. By providing the judgment processing unit 69 that controls the number of revolutions and controls the operations of the traveling steering unit 5 and the cleaning unit 50 in response to the signal from the position recognizing unit 8, when the traveling speed of the traveling direction reversal decreases. The rotational speed of the rotary brush 42 in the low speed, the impact on a particular portion of the floor surface of the rotary brush 42 with a minimum, and can be no cleaning impairing the dust collection properties.

In the first to fourth embodiments, the object detected by the obstacle detecting means 6 is a wall, but it goes without saying that all obstacles may be objects. Further, although the expression of operating at a low speed is used, the low speed includes a stopped state.

[0038]

As is apparent from the above description, according to the present invention, as the first means, the traveling steering means for moving the main body, the cleaning means for performing the cleaning, and the rotary shaft perpendicular to the cleaning means. A pair of side brushes that rotate inwardly to collect dust on the floor and have a pair of side brushes, and a side brush drive unit that drives the side brushes, the presence or absence of obstacles in the traveling direction and the left-right direction, and the distance between the obstacles. Obstacle detecting means for detecting the direction, a direction sensor for detecting the traveling direction of the body, and a position recognizing means for recognizing the position of the body from the traveling distance of the body obtained from the traveling steering means and the traveling direction of the body obtained from the direction sensor. And processing the signals from the obstacle detection means and the position recognition means to control the traveling steering means, and further the control of the cleaning means and the side signals by the signals from the obstacle detection means. By providing a judgment processing unit that controls the rotation speed of the brush, if it is judged that an obstacle exists in the vicinity, the rotation speed of the paired side brushes is operated at a low speed, and even when cleaning the wall or the vicinity of the obstacle. It can be cleaned without damaging the wall or the like without lowering the dust collecting property. As a second means, a traveling steering means for moving the main body, a cleaning means for performing the cleaning, and a vertical means for the cleaning means. Side brushes that have a pair of side brushes that have rotating shafts and rotate inwardly to collect dust on the floor surface, and side brush drive means that individually drive each of the side brushes, and obstacles in the advancing direction and the lateral direction. Obstacle detecting means for detecting the presence or absence and the distance between the obstacle, a direction sensor for detecting the traveling direction of the main body, the traveling distance of the main body obtained from the traveling steering means, and the main body traveling direction obtained from the orientation sensor The position recognition means for recognizing the position, the obstacle detection means, the signals from the position recognition means are processed to control the traveling steering means, and further the control of the cleaning means and the signal from the obstacle detection means. By providing a judgment processing unit that controls the number of rotations of each side brush, the dust collection performance is higher than that of the first means without damaging the wall or the like even when cleaning the wall or the vicinity of an obstacle. It can be held and cleaned. As a third means, a traveling steering means for moving the main body, a cleaning means for performing the cleaning, and a cleaning operation means having a horizontal rotation axis and dust on the floor surface due to the rotation operation. A rotating brush driving means for driving the rotating brush, an obstacle detecting means for detecting the presence or absence of an obstacle in the traveling direction and the left-right direction, and a traveling direction of the main body. Those who detect A position sensor, position recognition means for recognizing the position of the main body from the traveling distance of the main body obtained from the traveling steering means and the traveling direction of the main body obtained from the azimuth sensor, and the obstacle detection means,
A judgment processing unit is provided for processing the signal from the position recognition means to control the traveling steering means, and further to control the cleaning means and the rotation speed of the rotary brush based on the signal from the obstacle detection means. As a result, it is possible to perform cleaning without impairing the dust collection property without damaging the carpet or the like due to the concentration of the operation at a specific portion of the rotating brush during the obstacle avoidance operation and the reversal of the traveling direction.

As a fourth means, a traveling steering means for moving the main body, a cleaning means for performing cleaning, and a rotary brush for horizontally lifting the cleaning means to scoop up dust on the floor surface by a rotating operation. A rotary brush drive means for driving the rotary brush, a cleaning area input means for inputting vertical and horizontal distances of a cleaning area of the main body, and a travel distance and orientation sensor of the main body obtained from the travel steering means. A position recognition means for recognizing the position of the main body from the obtained traveling direction of the main body, a travel distance counting section for counting the travel distance, a signal from the obstacle detection means, the position recognition means to process the travel steering means. By providing a control processing unit and a judgment processing unit for controlling the cleaning unit and controlling the rotation speed of the rotary brush according to a signal from the traveling distance counting unit, it is possible to detect the presence of a wall or an obstacle. To the inverting during the traveling direction regardless, without damaging the carpet or the like by the operation concentration at a particular portion of the rotary brush, it can be cleaned without reducing the dust collecting properties.

[Brief description of drawings]

FIG. 1 is a block diagram of a first embodiment of the present invention.

FIG. 2 is a cleaning route diagram in the first and second embodiments of the present invention.

FIG. 3 is a block diagram of a second embodiment of the present invention.

FIG. 4 is a block diagram of a third embodiment of the present invention.

FIG. 5 is a cleaning route diagram in the third embodiment of the present invention.

FIG. 6 is a block diagram of a fourth embodiment of the present invention.

FIG. 7 is a cleaning route diagram in the fourth embodiment of the present invention.

FIG. 8 is a schematic configuration diagram of a conventional electric vacuum cleaner.

FIG. 9 is a block diagram of a conventional vacuum cleaner.

[Explanation of symbols]

 2 Main Body 5 Travel Steering Means 6 Obstacle Detecting Means 7 Direction Sensor 8 Position Recognition Means 12 Side Brush 18 Side Brush Driving Means 19, 39, 49, 69 Judgment Processing Units 20, 40, 50 Cleaning Means 31 First Side Brush 32 Second side brush 37 First side brush drive means 38 Second side brush drive means 48, 68 Rotating brush drive means 66 Travel distance counting section

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hidetaka Yabuuchi 1006 Kadoma, Kadoma-shi, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Mitsuyasu Ogawa, 1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric Industrial Co., Ltd. (72) Inventor Toshiaki Fujiwara 1006, Kadoma, Kadoma-shi, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Inventor, Osamu Eguchi, 1006, Kadoma, Kadoma-shi, Osaka Matsushita Electric Industrial Co., Ltd. (72) Inventor Hirofumi Inui, Osaka 1006, Kadoma, Kadoma, Fuchu, Matsushita Electric Industrial Co., Ltd. (72) Inventor, Yoshifumi Takagi, Kadoma, 1006 Kadoma, Kadoma, Osaka (72) Inventor, Yoshiki Kuroki 1006, Kadoma, Kadoma, Osaka Matsushita Denki Sangyo Co., Ltd.

Claims (4)

[Claims] 1. A traveling steering means for moving a main body, a cleaning means for performing cleaning, and a pair of side brushes which have a rotation axis perpendicular to the cleaning means and rotate inwardly to collect dust on a floor surface. A side brush drive means for driving the side brush, an obstacle detection means for detecting the presence or absence of an obstacle in the traveling direction and the left-right direction, and a distance to the obstacle, and a direction sensor for detecting the traveling direction of the main body, A position recognition means for recognizing the position of the main body from the traveling distance of the main body obtained from the steering means and the traveling direction of the main body obtained from the azimuth sensor is provided, and the signals from the obstacle detection means and the position recognition means are processed to perform the processing. A self-propelled cleaner provided with a judgment processing section for controlling the traveling steering means, and for controlling the cleaning means and the rotation speed of the side brush based on a signal from the obstacle detecting means. . 2. A traveling steering means for moving the main body, a cleaning means for performing cleaning, and a pair of side brushes having a rotation shaft perpendicular to the cleaning means and rotating inwardly to collect dust on the floor surface. A side brush drive means for individually driving the side brushes, an obstacle detection means for detecting the presence or absence of an obstacle in the traveling direction and the left-right direction, and a distance to the obstacle, and a direction sensor for detecting the traveling direction of the main body. A position recognizing means for recognizing the position of the main body based on the traveling distance of the main body obtained from the traveling steering means and the traveling direction of the main body obtained from the azimuth sensor, and processing signals from the obstacle detecting means and the position recognizing means. Self-propelled type having a judgment processing section for controlling the traveling steering means, and for individually controlling the number of revolutions of the side brush by control of the cleaning means and signals from the obstacle detection means. Vacuum cleaner. 3. A traveling steering means for moving a main body, a cleaning means for performing cleaning, a rotary brush which has a rotary shaft horizontally to the cleaning means, and scoops up dust on a floor surface by a rotary operation, and the rotary brush. Rotating brush drive means for driving
From obstacle detection means for detecting the presence or absence of an obstacle in the traveling direction and the left-right direction and the distance to the obstacle, an orientation sensor for detecting the traveling direction of the main body, and a traveling distance and an orientation sensor of the main body obtained from the traveling steering means. A position recognition means for recognizing the position of the main body from the traveling direction of the main body obtained is provided, the signals from the obstacle detection means and the position recognition means are processed to control the traveling steering means, and the cleaning means A self-propelled cleaner provided with a determination processing unit that controls the number of rotations of the rotating brush based on control and a signal from the obstacle detection unit. 4. A traveling steering means for moving a main body, a cleaning means for performing cleaning, a rotary brush which has a rotary shaft horizontally to the cleaning means, and scoops up dust on a floor surface by a rotary operation, and the rotary brush. Rotating brush drive means for driving
Position recognition for recognizing the position of the main body from the cleaning area input means for inputting the vertical and horizontal distances of the area to be cleaned by the main body, the traveling distance of the main body obtained from the traveling steering means, and the traveling direction of the main body obtained from the direction sensor Means and a traveling distance counting unit for counting the traveling distance, processing signals from the obstacle detecting means and the position recognizing means to control the traveling steering means, and controlling the cleaning means and the traveling. A self-propelled cleaner provided with a determination processing unit for controlling the number of rotations of the rotary brush according to a signal from the distance counting unit.