JP2002078650A - Self-travelling cleaner - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve a conventional self-traveling cleaner in which leaving cleaning unfinished sometimes occurs due to shift from a previously determined movement course by accumulation of position measurement errors. SOLUTION: A self-traveling cleaner having a traveling means for moving a main body 1 and a steering means, an obstacle detecting means 10 and 11 for detecting an obstacle, a cleaning means for cleaning dust in the floor, a dust detecting means 17 for detecting the amount of dust cleaned by the cleaning means and a movement controlling means 9 for controlling movement by controlling the traveling means and steering means, wherein the movement controlling means 9 has an obstacle avoiding control mode which changes a movement direction by a predetermined angle when the obstacle detecting means 10 and 11 detect an obstacle during movement and a pattern movement control mode which moves the cleaner in a previously set movement pattern when the dust detecting means 17 detects more than a predetermined amount of dust during movement and a cleaning region is efficiently cleared with simple construction by switching the two control modes.

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 traveling function and performing automatic cleaning.

[0002]

2. Description of the Related Art Conventionally, a so-called self-guided self-propelled cleaner has been developed in which a moving means, sensors and movement control means are added to a cleaner to automatically move and clean a cleaning area. I have. For example, a suction tool and a rotary brush for scraping up dust are provided at the bottom of the main body as a cleaning function, and a driving wheel as a traveling function and a steering means for changing a moving direction for free movement, and an obstacle during the movement. An obstacle detecting means for detecting an object and a position recognizing means are provided. The obstacle detecting means recognizes the cleaning area cleaned by the position recognizing means while bypassing the obstacle in the cleaning area, and has not been cleaned yet. The cleaning area is moved to clean the entire cleaning area.

Further, for example, Japanese Patent Application Laid-Open No. 62-236519
JP, JP-A-62-236520, JP-A-63-236520
As described in JP-A-222726, a dust detection unit is provided in an air passage connecting the suction tool and the dust collection chamber, and the traveling speed is switched by this signal, or the normal traveling pattern is switched to another traveling pattern. Some have been developed for more careful cleaning.

[0004]

However, in such a conventional self-propelled cleaner, the position is recognized using a rotation sensor of a driving wheel, a gyro, or the like, but it is determined in advance by accumulating position measurement errors. In some cases, the cleaning route was left behind and the cleaning was left behind. In addition, when there are many obstacles in the cleaning area, it is difficult to determine a moving route in advance so as to fill the entire cleaning area while avoiding the obstacles, and complicated control is required.

Further, even when the running pattern is switched by a signal from the dust detection sensor while moving along a predetermined moving route, it is difficult to significantly change the moving route in order to completely fill the entire cleaning area. They simply added the option of traveling slowly in a garbage-rich area or traveling around the area multiple times.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a self-propelled vacuum cleaner which does not have a position recognizing means for determining a moving route in advance and efficiently cleans a cleaning area without performing complicated control. I have.

[0007]

SUMMARY OF THE INVENTION The present invention provides a traveling means and a steering means for moving a main body, an obstacle detecting means for detecting an obstacle obstructing the movement of the main body, and a cleaning for cleaning dust on a floor surface. Means for detecting the amount of dust to be cleaned by the cleaning means, and movement control means for controlling movement of the body by controlling the traveling means and the steering means. The means includes an obstacle avoidance control mode that changes the moving direction of the main body when the obstacle detecting means detects an obstacle while the main body is moving, and the dust detecting means detects a predetermined amount or more of dust while the main body is moving. And a pattern movement control mode for moving the main body in a predetermined movement pattern, and by switching between the two control modes while the main body is moving, the cleaning area is efficiently cleaned with a simple configuration. Self-propelled vacuum cleaner can be realized to be.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention described in claim 1 is a traveling means and a steering means for moving a main body, an obstacle detecting means for detecting an obstacle which hinders the movement of the main body, and a method for removing dust on the floor. Cleaning means for cleaning, dust detection means for detecting the amount of dust cleaned by the cleaning means, and movement control means for controlling movement of the body by controlling the traveling means and steering means, The movement control means includes: an obstacle avoidance control mode that changes the movement direction of the main body by a predetermined angle when the obstacle detection means detects an obstacle while the main body is moving; A pattern movement control mode in which the main body is moved according to a preset movement pattern when dust is detected, and by switching between the two control modes during movement of the main body, a simple configuration is provided. Rate often can move the cleaning area.

According to the second aspect of the present invention, when the obstacle detecting means detects an obstacle in the pattern movement control mode, the mode is switched from the pattern movement control mode to the obstacle avoidance control mode. Since the main body is moved so as to avoid it when an obstacle is detected, even if the body moves while performing the cutting by means, it is possible to avoid the wall when the wall or the like exists in the moving direction.

According to the third aspect of the present invention, when the dust detection means detects dust in the obstacle avoidance control mode, the mode is switched from the obstacle avoidance control mode to the pattern movement control mode. When it is detected, it is possible to proceed to a cleaning operation, so that dust can be efficiently removed.

According to the fourth aspect of the present invention, in the pattern movement control mode, the main body is moved within a range in which no dust is left by the cleaning means, and in the obstacle avoidance mode, the main body is moved in a direction away from the obstacle. In the pattern movement control mode for performing cleaning, dust can be moved without leaving any residue, and in the obstacle avoidance control mode, the dust moves in a direction away from obstacles, so that it is easy to move to a new cleaning area.

According to the fifth aspect of the present invention, the obstacle avoidance control mode is such that when the obstacle is detected, the main body is turned and then goes straight on.

According to a sixth aspect of the present invention, the obstacle detection means distinguishes whether the detected obstacle is on the left or right side of the main body, and the obstacle avoidance control mode of the movement control means detects the obstacle. In this case, the main body is turned in a direction away from the obstacle and then goes straight, so that the obstacle can be efficiently avoided according to the positional relationship between the main body and the obstacle.

According to the invention described in claim 7, the turn angle at which the main body is turned when an obstacle is detected is constant at 90 degrees or more, and the probability of encountering the obstacle again after avoiding the obstacle can be reduced. .

According to the invention described in claim 8, the turn angle at which the main body is turned when an obstacle is detected is randomly determined each time, and the probability that the main body can move evenly over the entire cleaning area can be increased. .

According to a ninth aspect of the present invention, in the pattern movement control mode, when the dust detecting means detects dust of a predetermined amount or more while moving the main body, the main body is zigzag-moved while repeating forward or backward movement of a predetermined distance. Therefore, the area with dust can be efficiently cleaned.

According to a tenth aspect of the present invention, in the pattern movement control mode, the main body is moved from the inner side to the outer side in a spiral trajectory when the dust detecting means detects a predetermined amount or more of dust while the main body is moving. Thus, since the movement stop time of the main body is short, the area with dust can be most efficiently cleaned.

According to the eleventh aspect of the present invention, the moving speed of the main body is switched between the obstacle avoidance control mode and the pattern moving control mode, and the moving speed in the pattern moving control mode is reduced. Cleaning can be performed, and the driving state can be notified to the user.

According to a twelfth aspect of the present invention, there is provided a display means for displaying an operation state on a main body, and the display means displays the display means in the case of the obstacle avoidance control mode of the movement control means and in the case of the pattern movement control mode. The user can be notified of the driving state.

[0020]

(Embodiment 1) An embodiment of a self-propelled cleaner according to the present invention will be described below with reference to FIGS.

In FIG. 1, reference numeral 1 denotes a main body of a self-propelled vacuum cleaner that performs cleaning while moving, and moves forward on the floor in the direction of arrow 2. Reference numerals 3 and 4 denote left and right drive motors, and their output shafts drive left and right traveling wheels 7 and 8 via left and right reduction gears 5 and 6, respectively. The main body 1 is moved by independently controlling the rotation of the left drive motor 3 and the right drive motor 4, and also serves as a traveling unit and a steering unit. 9 controls the left and right drive motors 3 and 4 in accordance with various inputs and
This is a movement control means for performing a movement control of the microcomputer, and comprises a microcomputer and other control circuits. Obstacle detecting means 10 and 11 are constituted by optical sensors or the like for measuring distances to obstacles in front of and on the side of the main body 1. 12
Reference numeral denotes a cleaning nozzle for cleaning the floor, which constitutes a suction tool. The suction port is provided with an agitator 13 composed of a rotating brush or the like, and sucks dust by vacuum pressure generated by a fan motor 14 composed of an electric blower. The agitator 13
Is rotationally driven by a nozzle motor 15 via a transmission belt 16. Reference numeral 17 denotes dust detecting means, such as a photo sensor, provided in an air passage 18 through which dust sucked from the cleaning nozzle 12 passes, and detects the amount of dust cleaned by the cleaning nozzle 12. 19 is an LE provided on the upper part of the main body 1
The operating state of the main body 1 is notified to the user by a display means such as D. Reference numeral 20 denotes a power supply composed of a battery or the like, and supplies power to the main body 1.

FIG. 2 shows a control block configuration of the present embodiment. The movement control means 9 controls the output to the left drive motor 3 and the right drive motor 4 in accordance with the inputs from the obstacle detection means 10 and 11 and the dust detection means 17, and displays the display means 19 in accordance with the operation state. Control output to

FIG. 3 shows the overall flow of the movement control by the movement control means 9, which will be described step by step. First, when the main body 1 is placed on the floor to be cleaned and starts operation, in step S1, the left and right drive motors 3 and 4 are driven to move the main body 1 forward. In step S2, it is determined whether there is an obstacle by looking at the inputs of the obstacle detection means 10 and 11, and if there is no obstacle, the process proceeds to step S3. Step S
In 3, it is determined whether the amount of dust sucked from the cleaning nozzle 12 is equal to or more than a predetermined amount by looking at the input of the dust detection means 17. If not, the process returns to step S1. In step S4, a predetermined pattern movement operation is started, and the process proceeds to step S5. In step S5, it is determined whether there is an obstacle, and if there is no obstacle, the process returns to step S4 to continue the pattern movement.

As shown in FIG. 4, the pattern movement in this embodiment advances from the start point A by a predetermined distance L in the direction of the arrow a and temporarily stops at the stop point B. Next, the vehicle turns left and changes direction, moves forward by a predetermined distance L in the direction of arrow b (direction of angle θ), and stops at the stop point C. Then turn right and change direction to the direction of arrow c (direction of angle θ)
To move forward. Thus, the zigzag movement is repeated while repeating the advance and the turn. The angle θ at which the direction is changed is set to an angle at which the lateral displacement (for example, the distance between the points A and C) when the main body 1 reciprocates the distance L is equal to or smaller than the width of the cleaning nozzle 12. The cleaning nozzle 12 passes through the moved floor to clean the floor. The control mode for performing the pattern movement consisting of the above steps S4 and S5 is called a pattern movement control mode CM1.

If it is determined in step S2 or S5 that there is an obstacle, the process proceeds to step S6. In step S6, an obstacle avoiding operation is performed. In this embodiment, the operation shown in FIGS. 5 and 6 is performed. That is, while moving in the direction of arrow d1, as shown in FIG.
If the obstacle W1 is detected, the obstacle W1 is stopped immediately.
Which side is left or right. In this case,
Since the obstacle W1 is detected closer to the obstacle detection means 11, it is determined that the obstacle W1 is present on the right side of the main body 1, and the main body 1 is turned leftward by the predetermined angle θ1 in the direction of arrow e1. Go straight. On the other hand, in the case as shown in FIG. 6, when the obstacle W2 is detected and stopped at the point P2 while moving in the direction of the arrow d2, the obstacle W2 is detected near the obstacle detection means 10, so that the main body It is determined that there is an obstacle W2 to the left of 1 and the main body 1 is turned rightward by a predetermined angle θ2 and goes straight in the direction of arrow e2. At this time, the above turn angle θ
The values of 1, θ2 are randomly determined within a range of 0 to 180 ° from a random number generated inside the movement control means 9 when an obstacle is detected. The control mode for performing the obstacle avoidance operation including the step S6 is called an obstacle avoidance control mode CM2.

With the above configuration, the overall operation of this embodiment will be described.

As shown in FIG. 7, a case where an area surrounded by walls on all sides and dust is distributed on the floor as G1 to G5 will be described as an example. When the main body 1 is placed at the start point and the operation is started as shown in the figure, the nozzle motor 15 and the fan motor 14 of the cleaning nozzle 12 operate to perform the cleaning operation, and at the same time, the left and right drive motors 3 and 4 rotate. The main body 1 starts moving forward. At this time, the display means 19 is lit in green. When the main body 1 comes to the dust distribution area G1, the dust detecting means 17 detects a dust amount equal to or more than a predetermined amount,
The control mode changes to the pattern movement control mode CM1.
At this time, the display means 19 also changes from green to red,
The main body 1 performs a zigzag movement while the dust distribution area G
1. Clean G2 trash. Then, since the obstacle detection means 10 detects a wall serving as an obstacle at the point Q1, the control mode is changed to the obstacle avoidance control mode CM2, and the main body 1 stops temporarily, turns rightward by a predetermined angle, and then goes straight. .
At this time, the display means 19 changes from red to green.
When the main body 1 goes straight to the dust distribution area G3, the control mode is changed to the pattern movement control mode CM1 and the display means 19 is turned on in red at the same time as above, and the dust distribution area G3 is moved while performing zigzag movement. Clean trash. Since a wall serving as an obstacle is detected at the point Q2, the control mode changes to the obstacle avoidance control mode CM2, and at the same time, the display means 19 changes from red to green, and the main body 1 stops once and turns a predetermined angle. Start going straight again. Similarly, when a dust amount equal to or more than a predetermined amount is detected in the dust distribution regions G4 and G5, the control mode is changed to the pattern movement control mode C.
Instead of M1, the display means 19 lights green, and Q3 and Q
When an obstacle is detected at points 4, Q5, and Q6, the control mode is changed to the obstacle avoidance control mode CM2, and the display unit 19 performs cleaning while repeating the operation of lighting red. If the control mode continues in the obstacle avoidance control mode CM2 for a certain period of time or longer, it is determined that there is no dust in the cleaning area, the cleaning is terminated, and the operation of the main body 1 is stopped. The moving speed of the main body 1 during the operation will be described. The cleaning time for cleaning a certain cleaning area becomes shorter as the moving speed of the main body 1 is increased, but conversely, when the moving speed is increased, dust remains more even when the cleaning nozzle 12 passes. Therefore, the moving speed is increased in the obstacle avoidance control mode CM2 when moving in a place where the amount of dust is small. Therefore, the moving speed is switched so that the moving speed is reduced. Thus, cleaning can be performed in a short time without leaving any trash.

As described above, the main body 1 moves to the obstacle avoidance control mode CM2 when the obstacle detection means 10 and 11 detect an obstacle while moving, and when the dust detection means 17 detects a predetermined amount or more of dust. This is a simple algorithm that switches the control mode to the pattern movement control mode CM1 based on inputs from two types of sensors, and enables the user to focus on the place with dust while avoiding obstacles. Moreover, there is no need for expensive position recognition means such as a gyro for recognizing the position of the main body 1 in the cleaning area. Further, since the display of the display means 19 is switched according to the control mode, the user can know the driving state at that time.

Further, the obstacle avoidance control mode CM2 can be realized by a very simple algorithm of turning the main body 1 by a predetermined angle and then going straight ahead when an obstacle is detected. Obstacle detection means 1
By using 0 and 11 to determine whether the obstacle is on the left or right side of the main body 1, by turning in the direction away from the obstacle, the probability that the main body 1 detects the obstacle is reduced, and the obstacle is efficiently detected. Can be avoided.

In this embodiment, since the turn angle of the main body 1 in the obstacle avoidance control mode CM2 is determined randomly each time, the probability that the main body 1 can move evenly over the entire swept area is large. It has been found that if there is no means for determining the angle, an angle of 90 degrees or more can move the entire cleaning area quite efficiently.

In the pattern movement control mode CM1, the zigzag movement is performed by repeating the operation in which the main body 1 is advanced by a predetermined distance L, then turned and then advanced again by a predetermined distance L. After that, change the direction a little and retreat a certain distance, then change the direction a little again and advance
May be moved zigzag. In this case, a means for detecting an obstacle at the time of retreat is required, but since the turn time is short, the cleaning time can be shortened.

In this embodiment, the display means 19 is an LED.
Although the light emitting means is used, for example, it may be displayed by characters on an LCD or the like, or may be displayed by voice.

(Embodiment 2) In Embodiment 1, the pattern movement control mode CM1 has been described in which the main body is zigzag-moved while repeating forward and backward movements. That moves the main body from the outside to the outside will be described.

The basic configuration is exactly the same as that of the first embodiment, but differs from the first embodiment only in the contents of the program for pattern movement in step S4 in the pattern movement control mode CM1 of FIG.

As shown in FIG. 8, a case will be described as an example in which an area surrounded by walls on all sides and dust is distributed on the floor like G11 and G12 is cleaned. When the main body 1 is placed at the start point and the operation is started as shown in FIG.
The nozzle motor 15 and the fan motor 14 operate to perform the cleaning operation, and at the same time, the left and right drive motors 3 and 4 rotate, and the main body 1 starts to move forward. At this time, the display means 19
Is lit green. When the main body 1 comes to the dust distribution area G11, the dust detection means 17 detects a dust amount equal to or more than a predetermined amount, and the control mode is changed to the pattern movement control mode CM1. At this time, the display means 19 also changes from green to red, and the main body 1 starts turning right as shown by the arrow f, and moves while increasing the turning radius gradually to the dust distribution area G1.
Clean 1 garbage. Then, since the obstacle detection means 10 detects a wall serving as an obstacle at the point Q11, the control mode is changed to the obstacle avoidance control mode CM2, and the main body 1 stops temporarily, turns rightward by a predetermined angle, and then goes straight ahead. Further, since a wall serving as an obstacle is also detected at the point Q12, the vehicle temporarily stops, turns rightward at a predetermined angle, and then goes straight on. Body 1
Goes straight to the dust distribution area G12, similarly to the above, the control mode changes to the pattern movement control mode CM1, and at the same time, the display means 19 changes to lighting red and starts turning right as shown by the arrow g, gradually. The dust in the dust distribution area G12 is cleaned while moving so as to increase the rotation radius. Q
Since a wall serving as an obstacle is detected at 13 points, the control mode changes to the obstacle avoidance control mode CM2, and at the same time, the display means 19 changes from red to green, and the main body 1 stops once and turns at a predetermined angle. Start going straight again. Hereinafter, cleaning is performed while repeating the same operation.

As described above, by moving the pattern along a spiral trajectory, time-consuming operations such as a temporary stop or a turn operation such as a zigzag movement are eliminated, so that the area with dust can be efficiently moved in a short time. Can be cleaned.

[0037]

According to the first aspect of the present invention, the traveling means and the steering means for moving the main body, the obstacle detecting means for detecting an obstacle obstructing the movement of the main body, and the cleaning of dust on the floor surface. A cleaning unit; a dust detection unit configured to detect an amount of dust cleaned by the cleaning unit; and a movement control unit configured to control movement of the body by controlling the traveling unit and the steering unit. The control means is an obstacle avoidance control mode that changes the movement direction of the main body by a predetermined angle when the obstacle detection means detects an obstacle while the main body is moving,
A pattern movement control mode in which the main body is moved in a predetermined movement pattern when the dust detection means detects dust of a predetermined amount or more while the main body is moving, and the two control modes are set while the main body is moving. By switching, a self-propelled cleaner capable of efficiently moving and cleaning the cleaning area with a simple configuration can be realized.

According to the second aspect of the present invention, when the obstacle detecting means detects an obstacle in the pattern movement control mode, the mode is switched from the pattern movement control mode to the obstacle avoidance control mode. Since the main body is moved so as to avoid it when an obstacle is detected, even if the body moves while performing the cutting by means, it is possible to avoid the wall when the wall or the like exists in the moving direction.

According to the third aspect of the present invention, when the dust detection means detects dust in the obstacle avoidance control mode, the mode is switched from the obstacle avoidance control mode to the pattern movement control mode. When it is detected, it is possible to proceed to a cleaning operation, so that dust can be efficiently removed.

According to the fourth aspect of the present invention, in the pattern movement control mode, the main body is moved within a range in which no dust is left by the cleaning means, and in the obstacle avoidance mode, the main body is moved in a direction away from the obstacle. In the pattern movement control mode for performing cleaning, dust can be moved without leaving any residue, and in the obstacle avoidance control mode, the dust moves in a direction away from obstacles, so that it is easy to move to a new cleaning area.

According to a fifth aspect of the present invention, in the obstacle avoidance control mode of the movement control means, when an obstacle is detected, the main body is turned by a predetermined angle and then goes straight.
A self-propelled cleaner that avoids obstacles with the simplest control can be realized.

According to a sixth aspect of the present invention, the obstacle detection means distinguishes whether the detected obstacle is on the left or right side of the main body, and the obstacle avoidance control mode of the movement control means detects the obstacle. After turning the main body by a predetermined angle in the direction away from the obstacle when it is done, go straight ahead, and realize a self-propelled cleaner that avoids obstacles efficiently according to the positional relationship between the main body and the obstacle It is.

According to the invention described in claim 7, the turn angle at which the main body is turned when an obstacle is detected is constant at 90 degrees or more, and the probability of encountering the obstacle again after avoiding the obstacle is reduced. A self-propelled vacuum cleaner can be realized.

According to the eighth aspect of the present invention, the turn angle at which the main body is turned when an obstacle is detected is randomly determined each time, and it is possible to move the main body evenly over the entire cleaning area for cleaning. A traveling vacuum cleaner can be realized.

According to a ninth aspect of the present invention, in the pattern movement control mode of the movement control means, when the dust detection means detects a predetermined amount or more of dust during the movement of the main body, it repeatedly moves forward or backward by a predetermined distance. By moving the main body in a zigzag manner, it is possible to realize a self-propelled cleaner that efficiently cleans an area with dust by simple control.

According to a tenth aspect of the present invention, in the pattern movement control mode of the movement control means, when the dust detection means detects a predetermined amount or more of dust during the movement of the body, the body moves from the inside to the outside in a spiral locus. This makes it possible to realize a self-propelled cleaner that shortens the stop time of the movement of the main body and most efficiently cleans the area with dust.

According to an eleventh aspect of the present invention, the movement speed of the main body is switched between the obstacle avoidance control mode and the pattern movement control mode of the movement control means, and the movement speed in the pattern movement control mode is reduced. Thus, a self-propelled cleaner that can perform more careful cleaning and notify the user of the driving state can be realized. .

According to a twelfth aspect of the present invention, there is provided a display means for displaying an operation state on the main body, and the display means displays the display means when the movement control means is in the obstacle avoidance control mode and when it is in the pattern movement control mode. And a self-propelled cleaner that notifies the user of the driving state can be realized.

[Brief description of the drawings]

FIG. 1 is an internal perspective view of a self-propelled cleaner according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing the same system configuration.

FIG. 3 is a flowchart of the movement control.

FIG. 4 is an explanatory diagram of an operation in the same pattern movement control mode.

FIG. 5 is an explanatory diagram of an operation in the obstacle avoidance control mode.

FIG. 6 is an explanatory diagram of an operation in the obstacle avoidance control mode.

FIG. 7 is an explanatory diagram of the whole operation.

FIG. 8 is a view for explaining the overall operation of a self-propelled cleaner according to a second embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main body 3,4 Drive motor 5,6 Reduction gear 7,8 Driving wheel 9 Movement control means 10,11 Obstacle detection means 12 Cleaning nozzle 14 Fan motor 17 Dust detection means 19 Display means CM1 Pattern movement control mode CM2 Obstacle avoidance Control mode

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Masayo Hoshi 1006 Kadoma Kadoma, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. F term (reference) 3B006 KA01 3B057 DA00

Claims (12)

[Claims] 1. A traveling means and a steering means for moving a main body, an obstacle detecting means for detecting an obstacle which hinders the movement of the main body, a cleaning means for cleaning dust on a floor, and a cleaning by the cleaning means. Dust detection means for detecting the amount of dust to be produced, and movement control means for controlling the movement of the main body by controlling the traveling means and the steering means, wherein the movement control means An obstacle avoidance control mode that changes the moving direction of the main unit when the obstacle detection unit detects an obstacle, and moves the main unit in a preset movement pattern when the dust detection unit detects dust while the main unit is moving A self-propelled cleaner having a pattern movement control mode for causing the cleaning area to move by switching between the two control modes while the main body is moving. 2. The self-propelled cleaner according to claim 1, wherein, when the obstacle detecting means detects an obstacle in the pattern movement control mode, the mode is switched from the pattern movement control mode to the obstacle avoidance control mode. 3. The self-propelled cleaner according to claim 1, wherein when the dust detection means detects dust in the obstacle avoidance control mode, the mode is switched from the obstacle avoidance control mode to the pattern movement control mode. 4. The apparatus according to claim 1, wherein in the pattern movement control mode, the main body is moved in a range in which no dust is left by the cleaning means, and in the obstacle avoidance mode, the main body is moved in a direction away from the obstacle. The self-propelled vacuum cleaner according to claim 1. 5. In the obstacle avoidance control mode, when an obstacle is detected, the main body is turned and then goes straight.
The self-propelled cleaner according to any one of claims 1 to 4. 6. The obstacle detecting means distinguishes whether the detected obstacle is on the left or right side of the main body. The obstacle avoidance control mode of the movement control means sets the main body to an obstacle when the obstacle is detected. The self-propelled vacuum cleaner according to any one of claims 1 to 4, wherein the self-propelled cleaner is made to travel straight after being turned in a direction away from the vehicle. 7. The self-propelled cleaner according to claim 5, wherein a turn angle at which the main body is turned when an obstacle is detected is constant at 90 degrees or more. 8. The self-propelled cleaner according to claim 5, wherein a turn angle at which the main body is turned when an obstacle is detected is randomly determined each time. 9. The pattern movement control mode according to claim 1, wherein when the dust detecting means detects dust of a predetermined amount or more during the movement of the main body, the main body is zigzag-moved while repeatedly moving forward or backward by a predetermined distance. A self-propelled vacuum cleaner according to any one of the preceding claims. 10. The pattern movement control mode according to claim 1, wherein, when the dust detection means detects a predetermined amount or more of dust during the movement of the main body, the main body is moved from inside to outside in a spiral trajectory. The self-propelled vacuum cleaner according to claim 1. 11. The moving speed of the main body is switched between an obstacle avoidance control mode and a pattern movement control mode.
The self-propelled vacuum cleaner according to any one of claims 10 to 10. 12. The apparatus according to claim 1, further comprising a display unit for displaying an operation state on the main body, wherein a display of the display unit is switched between an obstacle avoidance control mode of the movement control unit and a pattern movement control mode. The self-propelled vacuum cleaner according to any one of the above.