JP2002204768A - Self-propelled cleaner - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem of difficulty in previously determining a movement route as if to cover an entire cleaning area. SOLUTION: When moving a body 1 all over a square cleaning area surrounded by vertical lines and horizontal lines, the body 1 is made to wind its way between opposing vertical lines. For this winding, a clearance between a forward winding route and a backward winding route is set so as to leave some parts uncleaned and the cleaner may move all over a wide area in a short time. The body 1 changes the course and travels windingly on opposing horizontal lines, moves from the left to the right in a cleaning area. With the progress of winding travel, finally the body 1 hits against the right vertical line and hindered from progressing. In this case, the direction of departing from the right vertical line, namely, it makes a turnabout leftwards. The body windingly travels between the opposing right and left vertical lines and moves horizontally in the cleaning area. Thus, the body is moved in the cleaning area as if to cover the entire area.

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 and performing automatic cleaning.

[0002]

2. Description of the Related Art A so-called self-guided self-propelled vacuum cleaner has been developed which automatically moves a cleaning area to perform cleaning by adding a moving means, sensors and a movement control means to the vacuum cleaner. I have. For example, a suction tool and a rotating 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 movement. An obstacle detecting means for detecting an object and a position confirming 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 Japanese Unexamined Patent Publication No. -2272626, 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 elaborate cleaning.

[0004]

However, in the conventional self-propelled cleaner described above, it is shifted from a predetermined moving path due to a cumulative error of position recognition performed by using a rotation sensor of a driving wheel or a gyro. Cleaning was performed, and as a result, there was a case where 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 traveling pattern is switched by the signal of the dust amount sensor while traveling on a predetermined moving route, the vehicle travels slowly in a place with a large amount of dust or travels a plurality of times around the place. It just added an action like.

An object of the present invention is to provide a self-propelled cleaner that efficiently cleans a cleaning area without performing complicated control.

[0007]

In order to solve the above-mentioned conventional problems, a self-propelled cleaner according to the present invention comprises a traveling means for moving a main body, a moving direction changing means for changing a moving direction of the main body, Movement control means for controlling the movement of the main body by controlling the traveling means and the movement direction changing means, wherein the movement control means controls the main body to meander between the opposing area lines of the cleaning area. In addition, when the traveling by the meandering traveling is hindered, a wide-range movement control for changing the traveling direction of the main body to a direction away from the area line that obstructs the traveling of the meandering traveling is performed.

According to this configuration, first, the main body is meanderingly moved between the area lines such as the walls partitioning the cleaning area and the opposing area lines. In this meandering traveling, the interval between the forward and backward paths meandering is set so that the uncleaned state is left, so that a wide range can be moved in a short time. For example, assuming that the cleaning area is a rectangle surrounded by the upper and lower lines and the left and right lines, first, the main body changes its direction by the opposing upper and lower lines to perform meandering travel, and moves from the left to the right in the cleaning area. Then, as the meandering traveling progresses, the main body finally hits the right line and is stopped. In this case, the vehicle turns in the direction away from the right line, that is, in the left direction. Then, this time, the main body meanders between the opposing left and right lines, and moves up and down in the cleaning area. In this manner, by moving the main body so as to fill the inside of the cleaning area, a self-propelled cleaner that efficiently cleans the cleaning area with a simple configuration can be realized.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention according to claim 1 is a cleaning means provided on a main body for cleaning dust on the floor, a traveling means for moving the main body, and a moving direction changing means for changing the moving direction of the main body. Means, and movement control means for controlling the movement of the main body by controlling the traveling means and the movement direction changing means, wherein the movement control means makes the main body meanderingly travel between opposing area lines of the cleaning area. In addition to the above-described control, when the traveling by the meandering traveling is hindered, a wide-range movement control is performed in which the traveling direction of the main body is changed to a direction away from a region line that obstructs the traveling of the meandering traveling.

According to this configuration, first, the main body is meanderingly moved between the area lines such as the walls partitioning the cleaning area and the opposing area lines. In this meandering traveling, the interval between the forward and backward paths meandering is set so that the uncleaned state is left, so that a wide range can be moved in a short time. For example, assuming that the cleaning area is a rectangle surrounded by the upper and lower lines and the left and right lines, first, the main body changes its direction by the opposing upper and lower lines to perform meandering travel, and moves from the left to the right in the cleaning area. Then, as the meandering traveling progresses, the main body finally hits the right line and is stopped. In this case, the right line corresponds to a region line that hinders the progress of meandering traveling, and the body turns in the direction away from the right line, that is, in the left direction. Then, this time, the main body meanders between the opposing left and right lines,
It moves up and down in the cleaning area. In this way, by moving the main body so as to fill the inside of the cleaning area,
A self-propelled cleaner that efficiently cleans a cleaning area with a simple configuration can be realized. When the meandering traveling of the main body is obstructed, the traveling direction of the main body may be changed in a direction substantially perpendicular to the right line (the area line that obstructs the meandering traveling). Although it moves in the direction away from the right line, if the cleaning area is a quadrangle or the like, it will meander in the left and right direction next to the vertical direction, and can move efficiently in the cleaning area.

According to a second aspect of the present invention, in the first aspect of the present invention, there is provided an obstacle detecting means for detecting an obstacle located in the traveling direction of the main body, and the movement control means performs the wide-range movement control. When the obstacle detection unit detects an obstacle, the obstacle detection unit has an obstacle detection movement control that changes a traveling direction of the main body in a direction to avoid the obstacle.

According to this configuration, even if there is an obstacle in the cleaning area, the obstacle can be avoided, and the area around the obstacle can be cleaned.

According to a third aspect of the present invention, in the second aspect of the present invention, there is provided dust detecting means for detecting an amount of dust to be cleaned by the cleaning means. When the dust detecting means detects dust of a predetermined amount or more, the dust detecting means has a pattern movement control for moving the main body in a preset movement pattern.

According to this configuration, when the dust detecting means detects dust of a predetermined amount or more, the main body is moved according to a preset movement pattern, that is, dust can be collected with emphasis on the place where there is dust. By performing such a movement pattern, dust in the cleaning area can be efficiently cleaned.

According to a fourth aspect of the present invention, in the invention according to any one of the first to third aspects, the wide-range movement control of the movement control means is such that the angle between the forward path and the backward path of the meandering travel is a predetermined angle. It is what it was.

According to a fifth aspect of the present invention, in the invention according to any one of the first to third aspects, the wide-range movement control by the movement control means is such that the interval between the forward path and the return path by meandering traveling is a predetermined width. Things.

According to a sixth aspect of the present invention, in the invention according to any one of the third to fifth aspects, the pattern movement control of the movement control means moves the main body in a zigzag manner while repeating forward or backward movement. Therefore, it is necessary to set the interval between the forward path and the return path so that the cleaning of the main body does not cause the cleaning residue. More specifically, it is necessary to suppress the interval between the outward and return trips within the area (width) that can be cleaned by the cleaning means provided on the main body, and to make a part of the cleaning area of the cleaning means overlap between the outward and return trips. May be.

According to a seventh aspect of the present invention, in the invention according to any one of the third to fifth aspects, the pattern movement control of the movement control means is performed by moving the main body from inside to outside in a spiral shape. In addition, dust can be efficiently collected without performing complicated control. In the moving pattern in this case as well, the interval between the adjacent inner and outer spirals must be kept within an area (width) that can be cleaned by the cleaning means provided on the main body, and a part of the cleaning area by the cleaning means overlaps. You may do it.

According to an eighth aspect of the present invention, in the invention according to any one of the second to seventh aspects, since the obstacle detection movement control of the movement control means has a plurality of movement patterns, a simple configuration is provided. Thus, the cleaning area can be moved efficiently.

According to a ninth aspect of the present invention, in the invention according to any one of the second to eighth aspects, the moving speed of the main body is switched between wide-range movement control of the movement control means and obstacle detection movement control. Accordingly, dust can be efficiently collected with a simple configuration without performing complicated control.

The invention according to claim 10 is the invention according to claims 3 to 8
In the invention described in any one of (1) to (10), by performing a wide-range movement control, an obstacle detection movement control, and a pattern movement control of the movement control means, switching the movement speed of the main body to perform complicated control with a simple configuration. Waste can be collected efficiently.

[0022] The invention according to claim 11 is the invention according to claims 2-8.
In the invention according to any one of the above, the cleaning means collects dust by sucking in the wide-range movement control and the obstacle detection movement control of the movement control means, and switches the suction force of the cleaning means. Accordingly, dust can be efficiently collected with a simple configuration without performing complicated control.

The twelfth aspect of the present invention is the third aspect of the present invention.
In the invention according to any one of the above, the cleaning means collects dust by sucking in the wide-range movement control, the obstacle detection movement control, and the pattern movement control of the movement control means. By switching the suction force, dust can be efficiently collected with a simple configuration without performing complicated control.

[0024]

Embodiments of the present invention will be described below with reference to the drawings.

(Embodiment 1) FIG. 1 is an overall view of a self-propelled cleaner according to a first embodiment of the present invention. In the figure, reference numeral 1 denotes a main body of a self-propelled cleaner that performs cleaning while moving, and moves in a cleaning area. Reference numerals 2 and 3 denote left and right drive motors disposed on the left and right sides of the main body 1, and their output shafts drive left and right traveling wheels 6 and 7 disposed on both side surfaces of the main body 1 via left and right reduction gears 4 and 5. I do. By independently controlling the rotation of the left drive motor 2 and the right drive motor 3, the main body 1 can be moved and the movement direction can be changed, and it also serves as a traveling means and a movement direction changing means.

Reference numeral 8 denotes a movement control means which is arranged in the main body 1 and controls the left and right drive motors 2 and 3 in accordance with various inputs to control the movement of the main body 1. The movement control means 8 comprises a microcomputer and other control circuits. Reference numeral 13 denotes a cleaning nozzle provided at a front portion of the main body 1 for cleaning a floor surface. A suction port is opened on a lower surface of the cleaning nozzle 13, and a rotating brush facing the suction port in the cleaning nozzle 13. The agitator 14 is rotatably provided. Further, a fan motor 15 constituting an electric blower is disposed in the main body 1, and the cleaning nozzle 1 is driven by a vacuum pressure generated by the fan motor 15.
The dust on the floor is sucked through the suction port 3. The agitator 14 is rotationally driven via a transmission belt 17 by a nozzle motor 16 disposed in the main body 1. Reference numeral 20 denotes a power supply composed of a battery or the like, and supplies power to the main body 1.

The running operation of the main body 1 having the above configuration will be described. First, drive the left and right drive motors 2 and 3,
The main body 1 is advanced so as to perform predetermined wide-range movement control. As shown in FIG. 2, the wide-range movement control according to the present embodiment exemplifies a case in which the user moves within a cleaning area surrounded by a rectangular up-down line and a left-right line. Shall start. The main body 1 turns left at a point B (underline which is an area line) where it cannot move forward, and moves forward again in the direction of arrow b which is the direction of the angle θ. If the vehicle cannot move forward, the vehicle turns right at the point C (the upper line, which is an area line), and the direction of the angle θ, that is, the arrow c
Go in the direction of. Repeating zigzag movement while repeating forward and turn between the opposing area lines in this way,
That is, meandering travel is performed.

At this time, when the vehicle arrives at a point where the vehicle cannot move forward even if the direction of movement is changed, such as point D, that is, when it reaches the right line which is an area line that impedes meandering traveling, After changing the moving direction in the direction substantially perpendicular to the right line or the direction substantially perpendicular to the right line, that is, in the direction of the arrow d (direction of the angle θa) away from the right line,
Repeat zigzag movement while repeating forward and turn. If it is determined that the vehicle cannot move forward even if the moving direction is changed again, the cleaning is terminated and the running operation of the main body 1 is stopped. Note that the direction change angles θ and θa are experimentally determined to be optimum values in advance.

Further, another wide-range movement control in this embodiment will be described with reference to FIG. Starting from the start point A1, the vehicle changes its 90 ° moving direction to the left at a point B1 where it cannot move forward, moves forward by a predetermined distance w, and then changes its moving direction to the left again and moves forward. Point C where you cannot move forward
In step 1, the direction of movement is changed to the right by 90 ° and the vehicle moves forward by a predetermined distance w, and then the direction of movement is changed to the right by 90 ° and advances again. In this manner, a meandering travel is performed in which the main body 1 is moved such that the forward and return turns are repeated so that the interval between the forward path and the return path becomes a predetermined width. At this time, when the vehicle cannot move forward even if the direction of movement is changed as in the case of the point D1, that is, when the vehicle reaches the right line, which is an area line that blocks meandering traveling, a direction substantially perpendicular to the current traveling direction or the right line is used. An arrow d that is substantially orthogonal, that is, a direction away from the right line
After changing the moving direction to the direction 1, the same reciprocating motion is repeated. If it is determined that the vehicle cannot move forward even if the moving direction is changed again, the cleaning is terminated and the running operation of the main body 1 is stopped. The predetermined distance w is obtained by experimentally determining an optimum value in advance.

(Embodiment 2) Next, a second embodiment of the present invention will be described. Configuration similar to that of the first embodiment except that obstacle detection means 9, 10, 11, and 12 configured by an optical sensor or the like for measuring the distance to the front and side obstacles of the main body 1 are added to the main body 1. It is.

When a cleaning area having an obstacle in the center as shown in FIG. 4 is to be cleaned using the wide-range movement control such as the zigzag movement described in the first embodiment, the obstacle W is moved in the direction of arrow a2. When the contact is made while moving, the direction of movement is changed in the direction change angle θ, that is, the direction of the arrow b2, and the cleaning area may not be completely cleaned depending on the place where the obstacle W is contacted.

This embodiment solves this problem. When an obstacle W is detected while traveling in the direction of arrow a3 as shown in FIG.
Change the direction of movement. Obstacle movement detection control is performed, such as moving in the direction of arrow b3 while an obstacle is being detected. If no obstacle is detected, the direction of movement is changed to the direction of arrow c3, and wide-area movement control is used again. Perform cleaning.

Next, an example of a travel control algorithm in the movement control means 8 will be described with reference to FIG.

In step 1, the left and right drive motors 2 and 3 are driven to move the main body 1 forward to execute wide-range movement control. In step 2, the obstacle detecting means 9, 1
It is determined whether there is an obstacle by looking at inputs of 0, 11, and 12. If there is no obstacle, the process returns to step 1; if there is an obstacle, the process proceeds to step 3 to execute the obstacle detection movement control.

In this embodiment, the obstacle detection movement control is as follows.
The operation shown in FIGS. 7 to 10 is performed. That is, FIG.
When the obstacle W1 is detected at the point P1 while moving in the direction of the arrow e1, as shown in FIG. 7, the obstacle W is stopped immediately by comparing the distance measurement data of the obstacle detection means 9, 10, 11, and 12.
It is determined which side of the main body 1 is located on the left or right. In this case, since the obstacle W1 is detected near the obstacle detecting means 10, it is determined that the obstacle W1 is on the right side of the main body 1, and the main body 1 is turned leftward by a predetermined angle θ1, and an arrow is shown. Go straight in the direction of f1.

On the other hand, in the case shown in FIG. 8, when the obstacle W2 is detected and stopped at the point P2 while moving in the direction of the arrow e2, the obstacle W2 is detected near the obstacle detecting means 9. Therefore, it is determined that there is an obstacle W2 on the left side of the main body 1, and the main body 1 is turned rightward by a predetermined angle θ2, and an arrow f
Go straight in direction 2. Further, in the case shown in FIG. 9, when the obstacle W3 is detected and stopped at the point P3 while moving in the direction of the arrow e3, the obstacle W3 is detected near the obstacle detection means 10 and 12, and It is determined that there is an obstacle W3 diagonally to the left of the main body 1, and the main body 1 is turned leftward by a predetermined angle θ3, and the direction of arrow f3, that is, the obstacle W
Go straight in the direction along 3. In the case shown in FIG. 10, when the obstacle W4 is detected and stopped at the point P4 while moving in the direction of the arrow e4, the obstacle W4 is detected near the obstacle detection means 9 and 11, and When it is determined that the obstacle W4 is present on the oblique right side of the main body 1, the main body 1 is turned rightward by the predetermined angle θ4, and the vehicle 1 goes straight in the direction of arrow f4, that is, the direction along the obstacle W4.

Here, an example of operation switching when the main body 1 is moving straight in a direction along an obstacle will be described with reference to FIGS. 11 and 12. FIG. As shown in FIG. 11, when the distance measurement data cannot be obtained from any of the obstacle detecting means 9, 10, 11, and 12 at the point P5 'when the main body 1 is traveling straight along the obstacle, 1 determines that the obstacle is a central obstacle and switches to wide-range movement control.
In this case, the body 1 turns to the left by the angle θ5 when turning around along the obstacle at the point P5, and then advances toward the arrow f5 to execute wide-range movement control.

Further, as shown in FIG. 12, when an obstacle is detected from the obstacle detecting means 9 and 11 at the point P6 ', the main body 1 determines that it has reached the corner of the cleaning area and performs wide-area movement control. Switch. In this case, the main body 1 moves in the traveling direction d6.
After the direction is changed by an angle θ6 such that and e6 are substantially orthogonal to each other, the wide-range movement control is executed.

Note that the direction change angles θ1, θ2, and θ6 are experimentally determined to be optimal values in advance. Further, in this description, the case where the obstacle is on the left side when viewed from the main body is described. However, the same can be applied to the case where the obstacle is on the right side. In that case, the direction of the direction change may be reversed.

(Embodiment 3) Next, a third embodiment of the present invention will be described. The air passage 1 through which the sucked dust passes so that the amount of dust to be cleaned by the cleaning nozzle 13 can be detected.
The configuration of the second embodiment is the same as that of the second embodiment except that a dust detection unit 18 such as a photo sensor is added to the main body of the apparatus 9.

Hereinafter, an example of a travel control algorithm in the movement control means 8 will be described with reference to FIG. In step 11, the left and right drive motors 2 and 3 are driven to move the main body 1 forward to execute wide-range movement control. In step 12, it is determined whether there is an obstacle by looking at the inputs of the obstacle detection means 9, 10, 11, and 12. If there is no obstacle, the process proceeds to step 13, and if there is an obstacle, the process proceeds to step 17. Execute obstacle detection movement control.

In step 13, the dust detecting means 18
It is determined whether or not the amount of dust sucked from the input is equal to or more than a predetermined amount. If the amount is less than the predetermined amount, the process returns to step 11, and if it is equal to or more than the predetermined amount, the process proceeds to step 14 to execute pattern movement control. In step 15, when it is determined that there is an obstacle from the input of the obstacle detecting means 9, 10, 11, 12 during execution of the pattern movement control, the process proceeds to step 17 to execute the obstacle detection movement control.

In step 16, it is determined whether or not the pattern movement control has been completed. If it has been completed, the flow returns to step 11 to execute the wide-range movement control. If not, the flow returns to step 14 to perform the pattern movement control. Execute.

In this embodiment, as shown in FIG. 14, the pattern movement control is performed by moving forward from the start point AA by a predetermined distance L1 in the direction of the arrow aa and temporarily stopping at the stop point BB. Next, the vehicle turns left and moves forward by a predetermined distance L1 in the direction of the angle θd, that is, in the direction of the arrow bb, and stops at the stop point CC. Then change direction to the right direction, the direction of the angle θd,
That is, the vehicle advances in the direction of arrow cc. As described above, the zigzag movement is performed while repeating the forward movement and the direction change. When it is determined that the moving distance of the main body 1 in the lateral direction is equal to or more than the predetermined distance wd, the pattern movement control is ended and the main body 1 moves to the first stop point BB. .

The turning angle θd and the predetermined distance L
1, wd is to experimentally determine the optimum value in advance. If the rotation angle is set so that the horizontal movement distance when the main body 1 reciprocates is equal to or less than the width of the cleaning nozzle 13, the cleaning nozzle 13 will move over the floor surface moved by the pattern movement control. Since it passes through and is cleaned, it is effective in terms of efficiency.

In the above description, the pattern movement control is a zigzag movement by repeating the operation of advancing the main body 1 by a predetermined distance L1, then changing direction and advancing the main body 1 again by a predetermined distance L1. The zigzag movement may be performed by alternately repeating the operation of changing the direction after moving forward by a predetermined distance and then retreating, and reversing and moving forward after retreating a predetermined distance. In this case, it is necessary to add a means for detecting an obstacle when the vehicle retreats. However, the direction change time is shortened, so that the cleaning time can be shortened.

In the above description, the moving distance at the time of forward movement is constant. However, if the detection of dust by the dust detecting means 18 becomes less than a predetermined amount within a predetermined distance, the direction may be changed and the vehicle may be advanced. . In this case, it is possible to more intensively clean the place where dust is concentrated, which is effective in terms of efficiency.

In the above description, the moving distance in the horizontal direction is constant. However, the pattern movement control may be terminated when the dust detection by the dust detecting means 18 becomes less than a predetermined amount within a predetermined distance. In this case, it is possible to more intensively clean the place where dust is concentrated, which is effective in terms of efficiency.

As shown in FIG. 15, the start point AA1
Then, a right turn is started as indicated by an arrow aa1, and the rotation is gradually increased so that the radius of rotation is gradually increased. When a predetermined time T has elapsed from the start of the spiral movement operation, the pattern movement control ends.

It should be noted that the predetermined time T is determined by experimentally determining an optimum value in advance. Further, if the moving width of the spiral movement of the main body 1 is set to be equal to or less than the width of the cleaning nozzle 13, the floor surface moved by the pattern moving control is completely cleaned by the cleaning nozzle 13 passing therethrough. Therefore, it is effective in terms of efficiency.

Although the vehicle is turning right in the above description,
It is of course good to turn left. In the above description, the process is terminated after the elapse of the predetermined time. However, the pattern movement control may be ended when the detection of dust by the dust detection unit 18 becomes less than the predetermined amount. In this case, it is possible to more intensively clean the place where dust is concentrated, which is effective in terms of efficiency.

(Embodiment 4) In this embodiment, the outputs of the left and right drive motors 2 and 3 are switched between wide-range movement control and obstacle detection movement control. is there.

The higher the moving speed when the main body 1 is moving under the wide-range movement control, the shorter the cleaning time becomes. However, even if the cleaning nozzle 13 passes, the remaining amount of dust increases. On the other hand, when the main body 1 is moving by the obstacle detection movement control, it is only necessary to perform an operation to avoid the obstacle, and since the main body 1 is moving in a place where the amount of dust is small, the moving speed is low. There is no problem even if it is fast.

Thus, by switching the moving speed of the main body 1 between the wide-range moving control and the obstacle detecting moving control, it is possible to efficiently clean the main body 1 in a short time.

In the above description, it is the moving speed of the main body 1 that is switched between the wide-range movement control and the obstacle detection movement control. However, the dust suction force is switched by switching the outputs of the fan motor 15 and the nozzle motor 16. In this case, the area where dust is concentrated can be more concentratedly cleaned, which is effective in terms of efficiency.

Further, the switching may be performed by combining the moving speed of the main body 1 and the dust suction force. In this case, cleaning can be performed more efficiently.

(Embodiment 5) In this embodiment, the outputs of the left and right drive motors 2 and 3 are switched between wide-range movement control, obstacle detection movement control, and pattern movement control. Can be done.

As in the fourth embodiment, in the wide-range movement control, the faster the moving speed of the main body 1 is, the shorter the cleaning time is, but conversely, even if the cleaning nozzle 13 passes, more dust is left behind. Further, when the main body 1 is moving by the obstacle detection movement control, only the operation of avoiding the obstacle needs to be performed, and the moving speed is low because it is moving in a place where the amount of dust is small. There is no problem even if it is fast. On the other hand, when the main body is moving under the pattern movement control, it is moving in a place where there is a lot of dust, so that if the moving speed is reduced, dust can be collected efficiently.

Thus, by switching the moving speed of the main body 1 between the wide-range movement control, the obstacle detection movement control, and the pattern movement control, cleaning can be efficiently performed in a short time.

In the above description, the switching speed between the wide-range movement control, the obstacle detection movement control, and the pattern movement control is the movement speed of the main body 1. However, by switching the outputs of the fan motor 15 and the nozzle motor 16, dust is generated. May be switched, and in this case, the area where dust is concentrated can be more concentratedly cleaned, which is effective in terms of efficiency.

In addition, the switching may be performed by combining the moving speed of the main body 1 and the suction force of dust. In this case, cleaning can be performed more efficiently.

[0062]

As described above, according to the present invention, it is possible to clean the entire cleaning area with a simple configuration and without performing complicated and precise control.

[Brief description of the drawings]

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

FIG. 2 is an explanatory diagram of an operation of a wide-range movement control according to an embodiment of the present invention.

FIG. 3 is an explanatory diagram of an operation of a wide-range movement control according to an embodiment of the present invention.

FIG. 4 is an explanatory diagram of an operation of wide-range movement control when there is an obstacle according to one embodiment of the present invention;

FIG. 5 is an explanatory diagram of an operation of obstacle detection movement control according to one embodiment of the present invention.

FIG. 6 is a flowchart showing processing contents in the movement control means of one embodiment of the present invention.

FIG. 7 is an explanatory diagram of an operation of obstacle detection movement control according to one embodiment of the present invention;

FIG. 8 is an explanatory diagram of an operation of obstacle detection movement control according to one embodiment of the present invention.

FIG. 9 is an explanatory diagram of an operation of obstacle detection movement control according to one embodiment of the present invention.

FIG. 10 is an explanatory diagram of an operation of obstacle detection movement control according to one embodiment of the present invention.

FIG. 11 is an explanatory diagram of an operation of obstacle detection movement control according to one embodiment of the present invention.

FIG. 12 is an explanatory diagram of an operation of obstacle detection movement control according to one embodiment of the present invention.

FIG. 13 is a flowchart showing the processing contents in the movement control means of one embodiment of the present invention.

FIG. 14 is an explanatory diagram of an operation of pattern movement control according to one embodiment of the present invention.

FIG. 15 is an explanatory diagram of an operation of pattern movement control according to one embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main body 2, 3 Drive motor 4, 5 Reduction gear 6, 7 Running wheel 8 Movement control means 13 Cleaning nozzle 15 Fan motor

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Seiji Yamaguchi 1006 Kazuma Kadoma, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. 72) Inventor Yoshifumi Takagi 1006 Kadoma Kadoma, Kadoma-shi, Osaka Matsushita Electric Industrial Co., Ltd.

Claims (12)

[Claims] 1. A cleaning means provided on a main body for cleaning dust on a floor surface, a traveling means for moving the main body, a moving direction changing means for changing a moving direction of the main body, the running means and a moving direction changing means. Movement control means for controlling the movement of the main body by controlling the movement of the main body. The movement control means controls the main body to meander between the opposing area lines of the cleaning area, and moves by the meandering travel. A self-propelled cleaner that performs a wide-range movement control that changes the traveling direction of the main body to a direction away from an area line that obstructs the meandering traveling when the traveling is blocked. 2. An obstacle detecting means for detecting an obstacle located in a traveling direction of the main body, wherein the movement control means, when the obstacle detecting means detects an obstacle during wide-range movement control, The self-propelled cleaner according to claim 1, further comprising an obstacle detection movement control that changes a traveling direction of the main body in a direction to avoid the obstacle. 3. A dust detection means for detecting an amount of dust to be cleaned by the cleaning means, wherein the movement control means is provided when the dust detection means detects dust of a predetermined amount or more during wide-range movement control. 3. The apparatus according to claim 2, further comprising a pattern movement control for moving the main body in a predetermined movement pattern.
Self-propelled vacuum cleaner as described. 4. The self-propelled cleaner according to claim 1, wherein the wide-range movement control by the movement control means sets an angle between a forward path and a return path of meandering travel to a predetermined angle. 5. The wide-range movement control of the movement control means, wherein the interval between the forward and backward paths in meandering traveling is a predetermined width.
3. The self-propelled vacuum cleaner according to any one of 3. 6. The self-propelled cleaner according to claim 3, wherein the pattern movement control of the movement control means moves the main body zigzag while repeating forward and backward movements. 7. The pattern movement control of the movement control means includes moving the main body from the inside to the outside in a spiral shape.
A self-propelled vacuum cleaner according to any one of the preceding claims. 8. The obstacle detection movement control of the movement control means,
8. A method according to claim 2, wherein the moving pattern has a plurality of moving patterns.
Self-propelled vacuum cleaner according to the paragraph. 9. The self-propelled cleaner according to claim 2, wherein the moving speed of the main body is switched between wide-range movement control and obstacle detection movement control of the movement control means. 10. The self-propelled cleaner according to claim 3, wherein the moving speed of the main body is switched by wide-range movement control, obstacle detection movement control, and pattern movement control of the movement control means. 11. The cleaning device according to claim 2, wherein the cleaning device collects dust by suctioning in the wide-range movement control and the obstacle detection movement control of the movement control device, and switches the suction force of the cleaning device. The self-propelled vacuum cleaner according to claim 1. 12. The cleaning means collects dust by sucking in the wide-range movement control, the obstacle detection movement control, and the pattern movement control of the movement control means, and switches the suction force of the cleaning means. The self-propelled vacuum cleaner according to any one of Items 1 to 8.