JPH08275913A - Self-traveling type cleaner - Google Patents

Abstract

PURPOSE: To completely stop a main body by judging a detecting situation of obstacle detecting means by a detecting condition judging means, and judging whether it is a suddenly appearing obstacle or a stationary obstacle from signals from the detecting condition judging means and the obstacle detecting means by a judgment processing means. CONSTITUTION: A main body 1 has plural obstacle detecting means 10 to detect an obstacle and a detecting condition judging means 11 to judge its detecting situation, and a judgment processing means 13 receives signals from the obstacle detecting means 10 and a signal from the detecting condition judging means 11 as a movement restricting signal when an obstacle is detected, and controls a steering and driving means 4 and a cleaning means 9 while moving forward and backward in a space up to a designated distance from the obstacle. That is, the detecting condition judging means 11 monitors a distance up to the obstacle detected by the obstacle detecting means 10, and outputs its effect to the judgment processing means 13 when it largely changes. The judgment processing means 13 judges that a moving obstacle such as a person is detected from these detecting signals, and stops the main body by changing a speed reduction operation finishing point.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention uses a battery as a power source, an obstacle detecting means detects an obstacle, a gyro sensor controls the moving direction, and a self-propelled cleaning operation is performed while moving with a wall as a reference. The present invention relates to a self-propelled vacuum cleaner that stops a main body safely against an obstacle, and provides a floor nozzle with a rotating brush for automatic cleaning.

[0002]

2. Description of the Related Art A conventional self-propelled vacuum cleaner has a suction tool having a rotating brush at the bottom of the main body as a cleaning function and a drive wheel driven by a motor as a moving function, and has an optical guiding means and a gyro. Accurate guidance control of the main body is performed using the inertial navigation used, and the moving speed is adjusted based on the front wall by the obstacle detection means, and cleaning work is performed by repeating the reciprocating motion. is there.

When the self-propelled cleaner is stopped, the distance to the obstacle is measured by using the obstacle detecting means, and the moving speed is changed according to the distance (the speed is reduced as the distance approaches), thereby Stop Stops the main unit when the distance reaches the set stop distance.

That is, the speed is uniquely determined according to the distance to the obstacle, and the vehicle always stops at a position separated from the obstacle by a predetermined distance.

[0005]

However, when a person suddenly crosses the path of the main body moving at full speed, a case may occur in which the main body cannot secure a safe distance from an obstacle and stop.

[0006] This is because if it is a wall or the like, it will gradually decelerate according to the distance to the obstacle, so when it reaches the set stop distance, it can be safely decelerated because it is sufficiently decelerated, but suddenly. Even if the set distance for stopping the obstacle that has appeared is reached, the vehicle is not decelerated, so even if the stopping operation is performed, the vehicle cannot stop at that point, and the vehicle stops only after a certain distance is exceeded. Therefore, there is a problem that there is a risk of collision with an obstacle and it cannot be stopped safely.

Further, in the conventional self-propelled cleaner, in reciprocal cleaning, it is controlled so as to always slow down and turn at the same position with respect to the reference wall. Therefore, the operation of the rotating brush attached to the main body as the cleaning means is always repeated at the same position on the carpet. For this reason, repeating reciprocal cleaning in a self-propelled vacuum cleaner equipped with a rotating brush that rotates at a constant speed at a high speed promotes abrasion of the carpet near the wall where the moving speed of the main body slows down, thus extending the life of the carpet. It was a cause of contraction.

In order to solve the above-mentioned problems, the present invention determines whether a person suddenly crosses the front of the main body or a stopped obstacle such as a wall according to the detection state of the obstacle detection means. Accordingly, the first purpose is to stop the main body safely by stopping the main body accordingly.

Further, by controlling the number of revolutions of the rotary brush near the wall to suppress the abrasion of the carpet as much as possible and controlling the input to the rotary brush, the continuous use time of the rechargeable self-propelled cleaner can be reduced. The second purpose is to improve the cleaning area and increase the cleaning area with a single full charge.

[0010]

In order to achieve the first object, the first technical means according to the present invention is a battery serving as a power source, and steering and driving means having left and right independent drive wheels provided at the bottom of the main body. A caster, a cleaning means composed of a floor nozzle and a fan motor provided in the lower front part of the main body, a gyro sensor for detecting the main body direction, and a plurality of obstacles provided around the main body for detecting obstacles such as walls. A detection means and a detection state determination means for determining the detection status of the obstacle detection means,
The detection state judgment means and the signal from the obstacle detection means are received as a movement restriction signal when an obstacle is detected, and a judgment is made to move laterally while moving back and forth up to a designated distance from the obstacle. And processing means A.

In order to achieve the same object, the second technical means is, in addition to the first technical means, a speed setting means for setting / storing the moving speed of the main body, an obstacle detecting means and a detection state judging means. The determination processing means B is provided for receiving signals from the speed setting means and the speed setting means as instruction signals for main body operation.

Further, in order to achieve the second object,
The third technical means is a steering and driving means having left and right independent drive wheels provided at the bottom of the main body, a plurality of obstacle detecting means provided around the main body for detecting the presence or absence of an obstacle and the distance to the obstacle, and traveling. A rotary brush for cleaning inside, an on / off control means for performing on / off control of the rotary brush based on an instruction from the determination processing means, the steering / driving means by a signal from the obstacle detection means, It is composed of a judgment processing means C for controlling the on / off control means.

In order to achieve the same object, a fourth technical means is a steering and driving means having left and right independent drive wheels provided at the lower portion of the main body, and presence or absence of an obstacle provided around the main body and a distance between the obstacle and the obstacle. A plurality of obstacle detection means for detecting, a rotating brush for cleaning work while traveling, a rotating brush control means for controlling the rotation speed of the rotating brush, and a distance between the obstacle detected by the obstacle detecting means. According to the determination processing means D, the number of rotations of the rotating brush is determined and the rotating brush control means is controlled.

In order to achieve the same object, the fifth technical means detects the moving speed of the main body by a signal from the steering and driving means, and from the moving speed of the main body and the signal from the obstacle detecting means. The situation determining means for determining the situation of the main body operation, and the determination processing means E for determining the control of the rotary brush based on the signal from the situation determining means and the moving speed signal from the steering / driving means and controlling the rotary brush control means. It is composed.

In order to achieve the same object, a sixth technical means is a nozzle movement detecting means provided in the floor nozzle for detecting the movement state of the floor nozzle, and a nozzle movement state signal from the nozzle movement detecting means. And a determination processing unit F that determines the control of the rotating brush and controls the rotating brush control unit.

In order to achieve the same object, the seventh technical means is a magnetic switch provided at the lower part of the main body for detecting the magnetic tapes of the N pole and the S pole, the signal from the obstacle detecting means and the magnetic switch from this magnetic switch. The signal is received as a movement restriction signal when an obstacle is detected, and the rotation speed of the rotating brush is changed according to the distance to the obstacle detected by the obstacle detection means or the movement distance after the magnetic tape is detected by the magnetic switch. Judgment processing means for determining and controlling the rotating brush control means
It is composed of G and.

[0017]

According to the first technical means of the present invention, the detection state determining means determines the detection state of the obstacle detecting means, and the determination processing means suddenly detects the signals from the detection state determining means and the obstacle detecting means. Judging whether it is an obstruction that appears or a stationary obstacle, stop the main unit safely.

According to the second technical means, the judgment processing means B can be stopped more safely in accordance with the moving speed stored by the speed setting means.

According to the third means of the present invention, in the self-propelled cleaner which is automatically cleaned by the rotating brush as the cleaning means and the steering / driving means, the obstacle is detected by the obstacle detecting means during traveling. The presence / absence and position of the object is detected, and when the judgment processing means C judges that there is an obstacle based on this information, the ON / OFF control means stops the rotation of the rotary brush, while the judgment processing means When it is determined that there is no obstacle, the on / off control means performs automatic cleaning while rotating the rotary brush.

According to the fourth means of the present invention, in a self-propelled cleaner which is automatically cleaned by a rotating brush as a cleaning means and a steering / driving means, an obstacle is detected by an obstacle detecting means while traveling. When the presence and position of an object is detected,
In the determination processing means D, the rotational speed of the rotating brush controlled by the rotating brush control means is determined according to the distance to the obstacle (the rotational speed of the rotating brush becomes slower as the distance to the obstacle becomes shorter). Output to the rotating brush control means. On the other hand, when the determination processing means D determines that there is no obstacle, the rotary brush is returned to a predetermined rotation speed and automatic cleaning is performed.

According to the fifth means of the present invention, in the self-propelled cleaner which is automatically cleaned by the rotating brush as the cleaning means and the steering / driving means, the situation judging means steers / drives while traveling. The movement speed is detected by the signal from the driving means, and the presence or absence and the position of the obstacle are detected by the signal from the obstacle detection means to determine the operation state of the main body (whether the obstacle is detected and slowing down, It is determined whether or not the vehicle is in the slow-up state immediately after the start of straight traveling.

In the judgment processing means E, the rotational speed of the rotary brush controlled by the rotary brush control means is determined from the above information (when an obstacle exists and is slowing down, the shorter the distance to the obstacle is, the more The rotation speed is set to be slower, and if the rotation speed is being increased immediately after the start of straight traveling, the rotation brush is returned to a predetermined rotation speed.) And output to the rotation brush control means.

According to the sixth means of the present invention, the nozzle movement detecting means detects the movement state (speed) of the nozzle and outputs it to the judgment processing means F. The rotation speed of the rotary brush controlled by the rotary brush control means is determined from the information of the nozzle moving speed in the judgment processing means (the slower the moving speed of the nozzle, the slower the rotating speed of the rotary brush becomes, and the moving speed is sufficient). For example, the rotating brush is returned to a predetermined number of rotations) and output to the rotating brush control means.

According to the seventh means of the present invention, in a self-propelled cleaner which is automatically cleaned by a rotating brush as a cleaning means and a steering / driving means, the obstacle detecting means detects a moving object while the vehicle is running. The presence / absence of the obstacle and the position information, and the distance to the obstacle in the judgment processing means based on the detection information of the magnetic tape constructed on the floor by the magnetic switch,
Alternatively, the rotational speed of the rotary brush controlled by the rotary brush control means is determined according to the moving distance after the magnetic tape is detected (the shorter the distance from the obstacle, or the closer the magnetic tape is detected to a predetermined stop position, The rotation speed of the rotary brush is slowed down) and output to the rotary brush control means. On the other hand, when the judgment processing means G judges that there are no obstacles and no magnetic tape, the rotary brush is returned to a predetermined rotation speed and automatic cleaning is performed.

[0025]

【Example】

(Embodiment 1) Hereinafter, a self-propelled cleaner which is a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a vertical sectional view of a self-propelled vacuum cleaner of the present embodiment, FIG. 2 is a horizontal sectional view of the same, and FIG. 3 is a control block diagram thereof. Reference numeral 1 denotes a main body of the self-propelled cleaner (hereinafter simply referred to as a main body), and 4a and 4c are drive wheels provided on the left and right sides of the main body 1, respectively, and a drive motor 4b.
4d drives left and right independently via speed reducers 4e and 4f (not shown). The drive wheels 4a and 4c have wheel encoders 4g and 4h (not shown), such as rotary encoders, which are connected to the drive motors 4b and 4d, respectively, and detect the rotational speeds of the drive motors 4b and 4d.
Further, 3 is a subordinate wheel rotatably attached to the main body 1.
As described above, the drive wheels 4a and 4c, the drive motors 4b and 4d, the speed reducers 4e and 4f, and the wheel encoders 4g and 4h constitute steering and driving means for moving the main body 1. A battery 14 supplies electric power to the entire main body 1.

Reference numeral 10 is a plurality of obstacle detecting means for detecting obstacles around the wall or door or for detecting the distance thereof, and 12 is a gyro sensor for measuring the direction of the main body 1. Reference numeral 9 is a cleaning means including a floor nozzle 9d, a dust box 9b provided on the upper part of the main body 1, a filter 9c, and a fan motor 9a, and 11 is a detection state determination means for determining the detection status of the obstacle detection means 10. Yes, 13 receives the signal from the obstacle detection means 10 and the signal from the detection state determination means 11 as a movement restriction signal when the obstacle is detected, and moves forward and backward within a designated distance from the obstacle. The determination processing unit A controls the steering / driving unit 4 and the cleaning unit 9 so as to move laterally while moving.

The operation of the first technical means of the present invention configured as above will be described. The self-propelled cleaner of the present invention adjusts the moving speed according to the distance to the obstacle detected by the obstacle detecting means 10. FIG. 4 shows this deceleration operation. The horizontal axis of the graph in the figure indicates the distance to the obstacle, and the vertical axis indicates the moving speed of the main body. As shown in the figure, the moving speed is divided into several stages from the start point of the deceleration operation (the point 50 cm from the obstacle in this example) to the end point of the deceleration operation (10 cm in this example), depending on the distance to the obstacle. Determine the speed of the deceleration operation (shown by the solid line in the figure). Considering the case where a moving person or the like is suddenly detected, for example, when an obstacle is detected at point A in the figure (the obstacle is suddenly detected at a point of 38 cm and is detected as 50 cm or more until then), The moving speed should be 30 cm / s, but 50 cm / s
Therefore, it is necessary to drastically reduce the speed. Also, at the point B, the distance is 50 cm / s although it is a distance that should be stopped originally. Even if the stopping operation is executed at the point B, it cannot be stopped at the point B, and a braking distance (distance until stopping) is required from the point B. Therefore, the vehicle collides with an obstacle while moving for the braking distance. I have something to do.

FIG. 5 shows the detection state of the obstacle detecting means 10 when a stationary obstacle such as a wall is detected and when an obstacle such as a person is suddenly detected.

The vertical axis of the figure is the distance to the obstacle, and the horizontal axis is time. When detecting a stationary obstacle such as a wall, the distance to the obstacle changes as shown by the solid line in the figure.
In the case of an abruptly detected obstacle such as a person, the distance to the obstacle changes greatly as indicated by the dotted line (A, 3 in the figure).
Time point T) exists. The detection state determination means 11 monitors the distance to the obstacle detected by the obstacle detection means 10, and when the distance to the obstacle changes significantly at the time of 3T, the determination processing means A13 will be notified accordingly. Output.

The determination processing means A13 determines from the detection signals of the detection state determination means 11 and the obstacle detection means 10 that a moving obstacle such as a person is detected, and a deceleration operation end point (usually 10 cm from the obstacle). ) Is changed (for example, 3
Change to 0 cm. ) Stop the machine safely.

(Embodiment 2) FIG. 6 shows a control block diagram of a self-propelled cleaner according to a second technical means. In the figure, 15 is a speed setting means for setting and storing the moving speed of the main body. FIG. 7 shows an external view of the speed setting means.

The speed setting means 15 comprises a cleaning speed switch 15b for selecting a speed, 15a for displaying the cleaning speed, and a storage section 15c (not shown) for storing the set speed.

Judgment processing means B13 is a deceleration operation end point (normally, a deceleration operation end point to be changed when a moving obstacle such as a person is detected from the speed of main body 1 stored in speed setting means 15).
Determine a distance of 10 cm) from the obstacle.

That is, if the speed of the main body 1 is high (for example, changed from 10 cm to 30 cm), the change distance is increased, and if the speed is low, it is decreased (for example, changed from 10 cm to 20 cm).

By thus determining the distance of the deceleration operation end point according to the speed of the main body, the main body is stopped optimally and safely.

(Embodiment 3) The overall construction of an embodiment of the third means of the present invention will be described below with reference to FIGS. The following elements are housed inside the main body 1 of the self-propelled cleaner. Reference numerals 9a and 9b are a fan motor and a dust box, which constitute cleaning means.
Further, 9 is a floor nozzle 9d which also constitutes cleaning means.
Therefore, a rotary brush 9e for scraping up dust is provided inside. Drive wheels 4a and 4c driven by a drive motor are provided in the lower rear part of the main body 1, and a driven wheel 3 which is rotatable for movement is provided in the rear part.

Further, an obstacle detection sensor 1 for detecting an obstacle and measuring the distance to the front and rear and right and left of the main body 1
0a, and a contact sensor 10b for detecting that the main body 1 contacts an obstacle or the like is provided around the entire lower portion of the main body 1. The obstacle detection sensor 10a and the contact sensor 1 are provided.
The obstacle detection means 10 is constituted by 0b.

Numeral 13 processes the signal of the obstacle detecting means 10 and the like and sends an output signal to the steering and driving means 4 to control forward / backward movement / stopping / direction change of the main body 1 and further the cleaning means. The determination processing means C controls the number of rotations of the rotating brush 9e. Further, 14 is a battery for supplying electric power to the entire main body. Reference numeral 16 denotes operation switches of the main body, which are a start switch for instructing the start of operation and a reset switch for operation.

The operation of this embodiment will be sequentially described below with reference to the block diagram of FIG.

In the figure, numeral 17 indicates that the rotary brush 9e is on /
It is an on / off control means for performing off control. The presence / absence and position of an obstacle (wall) during traveling is detected by the obstacle detection means 10, and the on / off control means 17 is used when the determination processing means C13 determines that there is an obstacle based on this information. The rotation of the rotating brush 9e is stopped by the on / off control means 17 when the rotation of the rotating brush 9e is stopped by the determination processing means 13.
The automatic cleaning is performed while rotating the.

The operation of the above structure will be described. When the main body 1 is placed directly facing a wall and the main body 1 is started, the main body 1 goes straight toward the wall, and when the wall is detected, the moving speed is gradually increased. While slowing down, the rotation of the rotary brush 9e is stopped, the main body 1 is stopped at a point approaching the wall by a predetermined distance, and the backward movement is started. At this time, if no obstacle is detected in the traveling direction (backward), the rotation of the rotating brush 9e is restarted. In the present invention, when the main body 1 slows down as described above, the cleaning work is performed while the rotation of the rotating brush 9e is stopped, so that the local abrasion promotion of the carpet is prevented.

(Embodiment 4) Next, an embodiment of the self-propelled cleaner by the fourth means will be described with reference to the block diagram of FIG.

The obstacle detecting means 10 detects the presence and the position of the obstacle, and the judgment processing means D13 determines the rotational speed of the rotating brush 9e controlled by the rotating brush control means 18 according to the distance to the obstacle (obstacle). The rotational speed of the rotary brush is made slower as the distance to the object becomes shorter), and the result is output to the rotary brush control means 18. On the other hand, when the determination processing means D13 determines that there is no obstacle, the rotary brush 9e is returned to a predetermined rotation speed and automatic cleaning is performed.

The operation of the above structure will be described. When the main body 1 is placed facing the wall and the main body 1 is started, the main body 1 goes straight toward the wall, and when the wall is detected, the distance to the wall is reached. Accordingly, the moving speed is gradually decreased, and the rotating brush 9e is also controlled so that the rotating speed is gradually decreased as the distance to the wall becomes shorter. After that, the main body and the rotating brush 9e are stopped at a point approaching the wall to a predetermined distance, and the retreating operation is started. At this time, if no obstacle is detected in the traveling direction, the rotation of the rotating brush 9e is restarted. In the present invention, as described above, when the main body 1 approaches the wall (obstacle), the cleaning operation is performed while saving the rotation speed of the rotating brush 9e, so that the local abrasion promotion of the carpet can be prevented. By performing the input control to the rotary brush 9e while performing the cleaning, the continuous use time of the rechargeable self-propelled cleaner can be improved.

(Embodiment 5) Next, an embodiment of the self-propelled cleaner by the fifth means will be described with reference to the block diagram of FIG.

Numeral 19 detects the moving speed during traveling by the outputs from the wheel encoders 4g and 4h of the steering and driving means 4, and based on the presence or absence of the obstacle and the position information from the obstacle detecting means 10, the operation of the main body is detected. It is a situation determination means for determining the situation (determining whether the vehicle is slowing down by detecting an obstacle or is slowing up immediately after the start of straight ahead) and outputs it to the determination processing means E13. The determination processing unit 13 determines the number of rotations of the rotating brush 9e controlled by the rotating brush control unit 18 based on these pieces of information (when an obstacle exists and is slowing down, the rotation of the rotating brush decreases as the distance to the obstacle decreases). Make the number slower and return the rotating brush to the specified number of rotations during slow-up immediately after the start of straight running.)
Output to the rotating brush control means.

In the above-mentioned structure, the operation is the same as the second means. When the main body 1 is placed facing the wall and the main body 1 is started, the main body 1 goes straight toward the wall and moves when the wall is detected. The operation is to gradually reduce the speed. After that, the main body and the rotating brush 9e are stopped at a point approaching the wall to a predetermined distance, and the retreating operation is started. At this time, if no obstacle is detected in the traveling direction, the rotation of the rotating brush 9e is restarted.

(Embodiment 6) Next, an embodiment of the self-propelled cleaner by the sixth means will be described with reference to the block diagram of FIG. 13 and the nozzle vertical sectional view of FIG.

In FIG. 14, 20a is a rotatable wheel provided on the nozzle, and 20b is a rotation detector which is composed of a photocoupler or the like and detects the rotation of the wheel 20a.

These wheels 20a and the rotation detector 20b constitute a nozzle movement detecting means for detecting the movement state (speed) of the nozzle and outputting it to the judgment processing means. Judgment processing means
In F13, the rotational speed of the rotary brush controlled by the rotary brush control means is determined from the information on the nozzle moving speed (the slower the moving speed of the nozzle, the slower the rotating speed of the rotary brush becomes. The brush is returned to a predetermined number of rotations) and output to the rotating brush control means. Here, the judgment processing means F13 of the present invention is to always detect and grasp the moving speed of the nozzle by the nozzle movement detecting means 20, and to control the rotational speed of the rotary brush 9e in proportion to this moving speed.

Therefore, since the rotation speed of the rotating brush 9e can be controlled even when the moving speed becomes slower irrespective of the distance to the wall (obstacle) when the floor surface having a slope is automatically cleaned, the floor speed can be controlled. By subtly grasping changes in the surface and minimizing the burden on the carpet, and by controlling the input to the rotating brush 9e, the continuous use time of the rechargeable self-propelled cleaner is improved and one full charge. The cleaning area can be expanded.

(Embodiment 7) Next, an embodiment of the self-propelled cleaner by the seventh means will be described with reference to the block diagram of FIG.

In FIG. 15, reference numeral 21 is a magnetic switch for detecting magnetic poles of N pole and S pole, and 13 is a signal from the obstacle detecting means 10 and a signal from the magnetic switch 21 for detecting an obstacle. The rotation brush of the rotating brush 9e is determined according to the distance to the obstacle detected by the obstacle detecting means 10 or the moving distance after the magnetic tape is detected by the magnetic switch 21. It is a judgment processing means G for controlling the control means.

The operation of the above structure will be described. When the main body 1 is placed facing the wall and the main body 1 is started, the main body 1 goes straight toward the wall and the obstacle detecting means 10 detects the wall. At this time, the moving speed is gradually decreased according to the distance to the wall, and the rotating brush 9e is also controlled so as to gradually decrease the rotational speed as the distance to the wall is reduced. The main body and the rotating brush 9e are stopped at a point approaching the wall up to a certain distance. When the magnetic tape is detected by the magnetic switch 21 during traveling,
The rotational speed of the rotary brush 9e is gradually reduced as the speed is gradually reduced, and control is performed so that the main body 1 and the rotary brush 9e are stopped at a preset distance (for example, 60 cm).

Then, the moving direction of the main body is reversed to continue the cleaning. At this time, if no obstacle is detected in the traveling direction, the rotation of the rotating brush 9e is restarted at a predetermined rotation speed. In the present invention, as described above, when the main body 1 approaches a wall (obstacle) or when the magnetic tape is detected, the cleaning work is performed while saving the number of rotations of the rotating brush 9e. By taking into consideration the prevention of accelerated wear and controlling the input to the rotary brush 9e, it is possible to improve the continuous use time of the rechargeable self-propelled cleaner.

[0056]

According to the first technical means of the present invention, the detected state of the obstacle detected by the obstacle detecting means is judged by the detected state judging means, and the obstacle which suddenly appears or is a stationary obstacle. It is to judge whether it is an object or not and stop the main body safely.

According to the second technical means, the main body is stopped more safely according to the moving speed.

Further, according to the third means of the present invention, in the self-propelled cleaner which is automatically cleaned by the rotating brush as the cleaning means and the steering / driving means, the obstacle detecting means is used while the vehicle is running. The presence / absence and position of the obstacle are detected, and when the judgment processing means judges that there is an obstacle based on this information, the ON / OFF control means stops the rotation of the rotary brush, while the judgment processing means When it is judged that there are no obstacles, the on / off control means performs automatic cleaning while rotating the rotating brush, preventing localized promotion of abrasion of the carpet and shortening the life of the carpet extremely. You can do the cleaning work without any worry.

According to the fourth means of the present invention, the presence or absence and the position of the obstacle are detected by the obstacle detection means during traveling, and the judgment processing means determines that there is an obstacle based on this information. When the judgment is made, the rotating brush control means saves the rotating speed of the rotating brush according to the distance to the obstacle (controls so that the rotating speed of the rotating brush becomes slower as the distance to the obstacle becomes shorter). On the other hand, when the determination processing means determines that there is no obstacle, the rotating brush is returned to a predetermined number of rotations and automatic cleaning is performed, so that consideration is given to prevent localized abrasion acceleration of the carpet. At the same time, by controlling the input to the rotary brush, it is possible to improve the continuous use time in the rechargeable self-propelled cleaner.

Further, according to the fifth means of the present invention, the situation determining means determines the moving speed of the main body and the distance of the main body operation from the obstacle detecting means to the obstacle (the obstacle is detected and thrown. Judgment is being made or whether the vehicle is slowing down immediately after starting straight ahead.) And controlling the rotation speed of the rotating brush to decelerate the rotating brush during slowdown due to the presence of obstacles. , The rotating brush returns to the specified number of revolutions if it is slowing up immediately after the start of straight running.
The rotating brush can be controlled according to the movement of the main body, and consideration is given to prevent local promotion of abrasion of the carpet.At the same time, by controlling the input to the rotating brush, a rechargeable self-propelled vacuum cleaner. The continuous use time can be improved.

Further, according to the sixth means of the present invention, the nozzle movement detecting means detects the moving state (speed) of the nozzle, and controls the rotary brush according to the moving speed of the nozzle (the moving speed of the nozzle is slow. The rotation speed of the rotating brush slows down, and if the moving speed is sufficient, the rotating brush is returned to the specified rotating speed.) By subtly grasping the changes in the floor surface, the load on the carpet can be minimized. While you can
By controlling the input to the rotating brush,
The continuous use time of the rechargeable self-propelled cleaner can be improved, the cleaning area can be expanded by one full charge, and the self-propelled cleaner can be easily used.

Further, according to the seventh means of the present invention, even when the main body is stopped by the magnetic switch, the rotating brush is controlled according to the moving distance after detecting the magnetic tape, so that there is no obstacle. Along with being able to grasp the changes in the floor subtly to minimize the burden on the carpet, and by controlling the input to the rotating brush, we aim to improve the continuous use time of the rechargeable self-propelled cleaner,
The cleaning area can be expanded with a single full charge, and a self-propelled cleaner that is easy to use can be obtained.

[Brief description of drawings]

FIG. 1 is a vertical sectional view of a self-propelled vacuum cleaner showing a first embodiment of the present invention.

FIG. 2 is a partially cutaway plan view of the self-propelled vacuum cleaner.

FIG. 3 is a control block diagram of the self-propelled vacuum cleaner.

FIG. 4 is an explanatory diagram of a deceleration operation of the self-propelled vacuum cleaner.

FIG. 5 is an explanatory view of a detection state of obstacle detection means of the self-propelled cleaner.

FIG. 6 is a control block diagram of a self-propelled cleaner according to a second embodiment of the present invention.

FIG. 7 is an external front view of speed setting means of the self-propelled cleaner.

FIG. 8 is a perspective view showing an internal configuration of a self-propelled cleaner showing a third embodiment of the present invention.

FIG. 9 is a vertical sectional view of a floor nozzle of the self-propelled cleaner.

FIG. 10 is a control block diagram of the self-propelled vacuum cleaner.

FIG. 11 is a control block diagram of a self-propelled cleaner according to a fourth embodiment of the present invention.

FIG. 12 is a control block diagram of a self-propelled vacuum cleaner according to a fifth embodiment of the present invention.

FIG. 13 is a control block diagram of a self-propelled cleaner according to a sixth embodiment of the present invention.

FIG. 14 is a vertical sectional view of a floor nozzle of the self-propelled cleaner.

FIG. 15 is a control block diagram of a self-propelled cleaner according to a seventh embodiment of the present invention.

[Explanation of symbols]

 1 main body 3 driven wheel 4 steering and driving means 9 cleaning means 10 obstacle detection means 11 detection state determination means 12 gyro sensor 13 determination processing means 14 battery

 ─────────────────────────────────────────────────── ─── 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. 1006, Kadoma, Kadoma, Fuchu, Matsushita Electric Industrial Co., Ltd. (72) Inventor, Yoshifumi Takagi, 1006, Kadoma, Kadoma, Osaka, Japan (72) Takafumi Ishibashi, 1006 Kadoma, Kadoma, Osaka Matsushita (72) Inventor Hiroyuki Senoo, 1006, Kadoma, Kadoma-shi, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. The Corporation

Claims (7)

[Claims] 1. A battery as a power source, a steering / driving means having left and right independent drive wheels provided at a lower portion of the main body, a caster, a cleaning means having a floor nozzle and a fan motor provided at a lower front portion of the main body, A gyro sensor for detecting the direction of the main body, a plurality of obstacle detecting means provided around the main body for detecting the presence or absence of an obstacle and the distance to the obstacle, and a detection state determining means for determining the detection status of the obstacle detecting means And moving in the lateral direction while moving forward and backward between the obstacle and a designated distance by receiving as a movement restriction signal when the obstacle is detected from the signals from the detection state judging means and the obstacle detecting means. Self-propelled vacuum cleaner equipped with the judgment processing means A to be. 2. A speed setting means for setting and storing the moving speed of the main body, and a judgment processing means B for receiving signals from the obstacle detecting means, the detection state judging means and the speed setting means as an instruction signal for the main body operation. The self-propelled vacuum cleaner according to claim 1. 3. A steering / driving means having left and right independent drive wheels arranged at the bottom of the main body, a plurality of obstacle detecting means provided around the main body for detecting presence or absence of an obstacle and a distance to the obstacle, while running. Rotating cleaning brush, ON / OFF control means for controlling ON / OFF of the rotating brush based on an instruction from the judgment processing means, and steering / driving means for turning on / off by a signal from the obstacle detecting means. A self-propelled vacuum cleaner including a determination processing unit C that controls the on / off control unit. 4. A steering and driving means having left and right independent drive wheels provided at a lower portion of the main body, a plurality of obstacle detecting means provided around the main body for detecting presence or absence of an obstacle and a distance to the obstacle, while running. Rotating brush for cleaning the rotating brush, rotating brush controlling means for controlling the rotating speed of the rotating brush, and rotating brush controlling means for determining the rotating speed of the rotating brush according to the distance to the obstacle detected by the obstacle detecting means. Judgment processing means D for controlling
Self-propelled vacuum cleaner with and. 5. Situation determining means for detecting the moving speed of the main body by a signal from the steering and driving means, and judging the operating status of the main body based on the moving speed of the main body and the signal from the obstacle detecting means, and this status. 5. The self-propelled cleaner according to claim 4, further comprising a judgment processing means E for deciding control of the rotary brush based on a signal from the judging means and a moving speed signal from the steering and driving means and controlling the rotary brush control means. 6. A nozzle movement detecting means provided in the floor nozzle for detecting a movement state of the floor nozzle, and a rotary brush control means for determining control of the rotary brush based on a nozzle movement state signal from the nozzle movement detecting means. The self-propelled vacuum cleaner according to claim 4 or 5, further comprising a determination processing unit F for controlling. 7. A magnetic switch provided on the lower part of the main body for detecting magnetic poles of N pole and S pole, a signal from an obstacle detecting means and a signal from this magnetic switch as movement limitation signals when an obstacle is detected. Judgment processing means G for controlling the rotating brush control means by determining the number of rotations of the rotating brush according to the distance to the obstacle detected by the obstacle detecting means or the moving distance after the magnetic tape is detected by the magnetic switch. Self-propelled vacuum cleaner equipped with.