JP2005216022A - Autonomous run robot cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an autonomous run robot cleaner that is capable of detecting an obstacle present in a dead area in front of the cleaner body, thereby preventing it from colliding with and running on to the obstacle. <P>SOLUTION: The robot cleaner 1 comprises front sensors 12a-12c for detecting an obstacle in front, and a left level difference sensor 13, and a right level difference sensor 14 for detecting an obstacle in the left and in the right respectively. The detection regions R4 and R5 of the left level difference sensor 13 and the right level difference sensor 14 respectively are in the position lower than the detection areas R1-R3 of the front sensors 12a-12c. Prior to starting the cleaning action, the robot cleaner is made to make a 360-degree turn at its original position, and it is checked whether there is an obstacle in the dead area of the front sensors 12a-12c by the left level difference sensor 13 and the right level difference sensor 14. If there is an obstacle such as a book 51 in the dead area of the front sensors 12a-12c, it is detected by the left level difference sensor 13 and the right level difference sensor 14, and the robot cleaner starts a cleaning action, avoiding the obstacle such as a book 51. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an autonomous traveling robot cleaner that cleans a room while traveling autonomously.

  Conventionally, in an autonomous mobile robot cleaner, when a wall is detected in the vicinity of the main body by an obstacle sensor, the floor near the wall is cleaned by moving the main body and bringing the dust suction port closer to the wall. Is known (for example, see Patent Document 1).

  When the distance measuring sensor detects an obstacle ahead, it turns around by a predetermined angle and then moves backward. Then, it changes direction by a predetermined angle in the opposite direction and moves forward again until the distance measuring sensor detects an obstacle ahead. An autonomous traveling robot cleaner that repeats the operation is also known (for example, see Patent Document 2).

In addition, when the ultrasonic distance sensor is arranged so as to be movable in the vertical direction with respect to the floor surface, when the reflected wave from the ultrasonic wall surface and the reflected wave from the floor surface interfere, An autonomous traveling robot cleaner that moves the height position up and down so that reflected waves do not interfere is also known (see, for example, Patent Document 3).
JP 2003-79550 A JP 2002-321179 A JP-A-5-143155

  By the way, in general, an optical sensor cannot receive light from all directions, can only receive light from a limited light receiving area (viewing angle), and exists in the light receiving area. Only can be detected. In other words, the optical sensor cannot detect an object existing outside the light receiving area, and a blind spot is formed outside the light receiving area. This also applies to ultrasonic sensors.

  That is, when an obstacle detection sensor is attached to the autonomous mobile robot cleaner, the vicinity of the sensor attachment location immediately adjacent to the device main body becomes a blind spot. Since the robot cleaner gradually approaches the obstacle from a distance while traveling, the obstacle should be detected and detected in the detectable area (light receiving area for the optical sensor) when approaching the obstacle. Can do. On the other hand, at the start of traveling, if an obstacle already exists in the blind spot of the sensor, the obstacle is not detected. Therefore, if an obstacle such as a book is placed in the blind spot of the sensor at the start of traveling, the vehicle may collide with or climb on the obstacle after the start of traveling, and the vehicle may become unable to travel.

  However, none of the robot cleaners disclosed in Patent Document 1 to Patent Document 3 take measures against the blind spot of the obstacle sensor, and cannot solve the above-described problems.

  The present invention has been made to solve the above-described problems, and enables autonomous traveling that can detect an obstacle existing in a blind area in front of the device main body and prevent a collision and a ride on the obstacle in advance. The aim is to provide a robot cleaner.

  In order to achieve the object, the invention of claim 1 includes obstacle detecting means for detecting obstacles around the apparatus main body, direction detecting means for detecting the direction in which the front of the apparatus main body is facing, running through the apparatus main body, A traveling means for turning, a cleaning means for cleaning a traveling region of the apparatus main body, and the traveling means and the cleaning means are controlled based on outputs of the obstacle detecting means and the direction detecting means to travel the apparatus main body. In the autonomous traveling robot cleaner, the obstacle detecting means includes a front sensor for detecting an obstacle in front of the device main body, and a control device for performing a cleaning operation for cleaning a region where the device main body travels. A left side sensor that detects an obstacle on the left side of the main body, and a right side sensor that detects an obstacle on the right side of the device main body, the front sensor, the left side sensor, and the right side sensor are: An optical line sensor that measures the distance to an obstacle based on outputs from a large number of light receiving elements arranged in a row, and the front sensor monitors the front of the device body obliquely downward, The obstacle detection area of the sensor is set so as to reach the floor surface in front of the device body with a thin and horizontal spread in the vertical direction, and each of the left side sensor and the right side sensor is a little of the device body. The left side and the right side of the front are monitored obliquely downward, and the obstacle detection areas of the left side sensor and the right side sensor are respectively lower than the detection area of the front sensor, and are thin and vertically in the horizontal direction. It is set so as to reach the floor on the left side of the device body and the right side of the device body with a spread in the direction, and the control means rotates the device body once at that position before starting the cleaning operation. To the above Based on the output obtained from the direction detection means and the left side sensor and the right side sensor, it is determined whether there is an obstacle in the area serving as the blind spot of the front sensor, and the obstacle is present in the area serving as the blind spot. If it exists, the device main body travels so as to avoid the obstacle and starts the cleaning operation.

  The invention of claim 2 is an obstacle detection means for detecting obstacles around the equipment body, a direction detection means for detecting the direction in which the front of the equipment body is facing, a traveling means for running and turning the equipment body, Cleaning means for cleaning a region where the apparatus main body travels, and traveling of the apparatus main body while the apparatus main body is traveling by controlling the traveling means and the cleaning means based on outputs of the obstacle detecting means and the direction detecting means. In the autonomous traveling robot cleaner comprising a control means for performing a cleaning operation for cleaning a region to be cleaned, the obstacle detection means includes a front sensor for detecting an obstacle in front of the device main body, and an obstacle on the side of the device main body. A side sensor for detecting an object, wherein at least a part of the detection area of the side sensor is at a position lower than the detection area of the front sensor, and the control means Swirled, based on the output obtained from said direction detecting means and the lateral sensor at that time, in which an obstacle in a region to be a blind spot of the front sensor determines whether there.

  According to a third aspect of the present invention, in the autonomous traveling robot cleaner according to the second aspect, the control means causes the device body to rotate once at the position before the cleaning operation is started, thereby obstructing a region that becomes a blind spot of the front sensor. It is determined whether or not an object is present, and when an obstacle is present in the blind spot area, the device body is moved so as to avoid the obstacle and a cleaning operation is started.

  According to the first aspect of the present invention, the device body is rotated once at the position before the cleaning operation is started, thereby scanning the region where the detection region of the side sensor becomes the blind spot of the front sensor. Thus, it is determined whether or not there is an obstacle in the area that becomes the blind spot of the front sensor before the cleaning operation starts. And when an obstruction exists in the area | region used as a blind spot of a front sensor, the cleaning operation | movement is started avoiding the obstruction. Therefore, when a short obstacle such as a book exists in the area that becomes the blind spot of the front sensor at the start of the cleaning operation, it is possible to prevent the obstacle from colliding with and getting on the obstacle, When there are obstacles such as stairs, accidents that fall from the stairs can be prevented. Furthermore, since the device main body is rotated once at that position, obstacles around the device main body can be detected, and when the front obstacle is avoided at the start of the cleaning operation, it collides with the obstacle on the side of the device main body or on the rear. It doesn't fall or get on, and it doesn't fall down from the side of the equipment body or from the back stairs. Moreover, since the obstacle in the area that becomes the blind spot of the front sensor is detected by using the side sensor for detecting the obstacle on the side of the device body, it is not necessary to separately provide a sensor for detecting the blind spot area, and the cost is low. It is.

  According to the invention of claim 2, by turning the device main body at that position, the region where the detection area of the side sensor becomes the blind spot of the front sensor is scanned, and the front side is based on the output of the side sensor. It can be determined whether or not there is an obstacle in the sensor blind area. Therefore, when a short obstacle such as a book exists in the area that becomes the blind spot of the front sensor, it is possible to prevent the obstacle from colliding with or climbing on the obstacle, and for example, there is an obstacle such as a staircase. If it exists, accidents that fall from the stairs can be prevented. Moreover, since the obstacle in the area that becomes the blind spot of the front sensor is detected by using the side sensor for detecting the obstacle on the side of the device body, it is not necessary to separately provide a sensor for detecting the blind spot area, and the cost is low. It is.

  According to the invention of claim 3, when a short obstacle such as a book is present in the area that becomes the blind spot of the front sensor at the start of the cleaning operation, it is possible to prevent the obstacle from colliding with and getting on the obstacle. For example, when there is an obstacle such as a descending staircase, an accident that falls from the staircase can be prevented. Furthermore, since the device main body is rotated once at that position, obstacles around the device main body can be detected, and when the front obstacle is avoided at the start of the cleaning operation, it collides with the obstacle on the side of the device main body or on the rear. It doesn't fall or get on, and it doesn't fall down from the side of the equipment body or from the back stairs.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, embodiments of the invention will be described with reference to the drawings. First, the schematic structure of the autonomous mobile robot cleaner according to the present embodiment is shown in FIGS. The autonomous traveling robot cleaner 1 is a device that autonomously travels on the floor surface of a room to clean the floor surface, and falls on the floor surface with the left wheel 3, the right wheel 4, and the front wheel 5 that cause the device body 2 to travel. A sub brush 6 for collecting dust, a main brush 7, a roller 8, a suction nozzle 9, a dust box 10, and a suction fan 11 are provided. The autonomous mobile robot cleaner 1 includes front sensors 12a, 12b, and 12c that detect obstacles around the device body 2, a left step sensor (left side sensor) 13, a right step sensor (right side sensor) 14, and a ceiling sensor. 15 and a sensor illumination lamp 16. The front sensors 12a, 12b, 12c, the left step sensor 13, the right step sensor 14, and the ceiling sensor 15 constitute an obstacle detection means.

  The left wheel 3 and the right wheel 4 are drive wheels that are independently driven to rotate forward and reversely, and the front wheel 5 is a driven wheel. The autonomous traveling robot cleaner 1 travels straight in the front (forward) direction (the direction of arrow A in the figure) when the left wheel 3 and the right wheel 4 are driven forward at the same rotational speed, and the left wheel 3 and the right wheel 4. When one of the two is driven in the forward direction and the other is driven in the reverse direction, it turns in the clockwise direction (arrow B direction in the figure) or counterclockwise direction (arrow C direction in the figure) at that position. Yes. Further, the left wheel 3 and the right wheel 4 are reversely driven to drive backward, and the left wheel 3 and the right wheel 4 are driven at different rotational speeds so that the vehicle travels to the right or left. Yes.

  The sub-brush 6 scrapes dust that has fallen on the floor surface. Two sub brushes 6 are arranged at the front part of the apparatus main body 2, and are rotated in the directions of arrows D1 and D2 in the drawing, respectively. It has become. The main brush 7 scrapes dust that has fallen on the floor surface, and is disposed behind the sub brush 6 and is driven to rotate in the direction of arrow E in the figure. The roller 8 conveys the dust scraped up by the main brush 7 to the vicinity of the suction port 9a of the suction nozzle 9, and rotates in the direction of arrow F in the figure following the rotation of the main brush 7. Yes.

  The suction nozzle 9 sucks dust scraped up by the main brush 7 and dust transported by the roller 8 from the suction port 9a and discharges it to the dust box 10. The suction port 9a of the suction nozzle 9 is elongated in a direction perpendicular to the traveling direction of the device main body 2 (the direction of arrow A in the figure). The dust box 10 collects dust discharged from the suction nozzle 9.

  The suction fan 11 discharges the air in the dust box 10 to the outside of the device main body 2 through a filter. When the air in the dust box is discharged by the suction fan 11, the dust is sucked together with the air from the suction port 9 a of the suction nozzle 9 and discharged into the dust box 10. The autonomous traveling robot cleaner 1 cleans a traveling region by scraping and collecting dust with the sub brush 6 while traveling and sucking the dust with the suction nozzle 9.

  The front sensors 12a, 12b, 12c detect obstacles such as steps, grooves, descending stairs, walls, pillars, books placed on the floor, tables, chairs, electric fans, etc. The front of the device body 2 is monitored obliquely downward (directions of arrows G1, G2, G3 in the figure).

  The left step sensor 13 detects a similar obstacle on the left side of the device body 2 and measures the distance to the obstacle. The left side sensor 13 is slightly downward on the left side (in the drawing). Monitoring in the direction of arrow H). The right step sensor 14 detects a similar obstacle on the right side of the device main body 2 and measures the distance to the obstacle, and the right side of the device main body 2 is slightly tilted downward (in the drawing). Monitoring in the direction of arrow I).

  The ceiling sensor 15 detects an obstacle (whether it can pass under the table or bed) in front of the device body 2 and measures the height of the obstacle and the distance to the obstacle. The front of the device body 2 is monitored obliquely upward (in the direction of arrow J in the figure). The sensor illumination lamp 16 illuminates the periphery of the device body 2 so that obstacles can be reliably detected by the front sensors 12a, 12b, 12c, the left step sensor 13, the right step sensor 14, and the ceiling sensor 15. .

  The autonomous mobile robot cleaner 1 includes a dust sensor 17 that detects dust sucked by the suction nozzle 9, a carpet sensor 18 that detects whether the floor surface is a carpet, an operation unit 19, and an LCD 20. The LED 21 and the speaker 22 are provided.

  The dust sensor 17 is a transmissive optical sensor, and includes a light emitting unit 17a that emits light and a light receiving unit 17b that receives light from the light emitting unit 17a. The light emitting unit 17a and the light receiving unit 17b are arranged on both sides of the suction nozzle 9 near the suction port 9a. When the suction nozzle 9 sucks dust, the dust passes between the light emitting unit 17a and the light receiving unit 17b. It is like that. The dust sensor 17 detects dust sucked by the suction nozzle 9 by blocking light emitted from the light emitting portion 17a and received by the light receiving portion 17b.

  The carpet sensor 18 is a transmissive optical sensor, and includes a light emitting unit 18a that emits light and a light receiving unit 18b that receives light from the light emitting unit 18a. The light emitting unit 18a and the light receiving unit 18b are arranged so as to have a slight gap between the light emitting unit 18a and the light receiving unit 18b with respect to the floor surface with a space in the direction perpendicular to the traveling direction of the device main body 2. When the vehicle travels, the carpet hair blocks the light emitting portion 18a and the light receiving portion 18b. The carpet sensor 18 detects that the floor surface is a carpet by blocking light emitted from the light emitting unit 18a and received by the light receiving unit 18b.

  The operation unit 19 is operated to start and stop the cleaning operation by the autonomous mobile robot cleaner 1 and is operated to perform other various settings. The LCD 20 notifies the operation status and various messages of the autonomous mobile robot cleaner 1 by displaying characters. The LED 21 notifies the operation status of the autonomous mobile robot cleaner 1 by turning on, blinking, and turning off. The speaker 22 notifies the operation status and various messages of the autonomous mobile robot cleaner 1 by voice output. The operation unit 19, LCD 20, LED 21, and speaker 22 are arranged on the upper part of the device body 2.

  Further, the autonomous mobile robot cleaner 1 has a security function for monitoring illegal intruders, a human body sensor 23 for detecting illegal intruders, a camera 24 for photographing illegal intruders, and the like. An illumination lamp 25 and a wireless communication module 26 are provided.

  The human body sensor 23 detects the presence or absence of a human body around the device body 2 by receiving infrared rays emitted from the human body. The camera 24 is arranged in a diagonally upward direction in front of the device main body 2 so that a face of a standing person can be photographed. The camera illumination lamp 25 illuminates a diagonally upward direction in front of the device main body 2 (that is, the shooting direction of the camera 24) so that the camera 24 can reliably perform shooting. The wireless communication module 26 wirelessly transmits an image captured by the camera 24 to the monitoring center or the like via the antenna 27. When the autonomous mobile robot cleaner 1 does not perform the cleaning operation, the human body sensor 23, the camera 24, the camera illumination lamp 25, and the wireless communication module 26 are operated to monitor illegal intruders and the like. Yes.

  Next, an electrical block configuration of the autonomous mobile robot cleaner 1 is shown in FIG. The autonomous mobile robot cleaner 1 includes the front sensors 12a, 12b and 12c, the left step sensor 13, the right step sensor 14, the ceiling sensor 15, the sensor illumination lamp 16, the dust sensor 17, the carpet sensor 18, the operation unit 19, the LCD 20, An LED 21, a speaker 22, a human body sensor 23, a camera 24, a camera illumination lamp 25, and a wireless communication module 26 are provided. In addition to these, the autonomous mobile robot cleaner 1 includes a left wheel motor 31, a right wheel motor 32, a sub brush motor 33, a main brush motor 34, a dust suction motor 35, an acceleration sensor 36, a travel distance calculation unit 37, a geomagnetism. A sensor 38, a traveling direction determination unit 39, a contamination degree determination unit 40, a map information memory 41, a battery 42, and a control unit 43 that controls each unit are provided.

  The left wheel motor 31, the right wheel motor 32, and the left wheel 3 and the right wheel 4 described above constitute traveling means. The sub brush motor 33, the main brush motor 34, the dust suction motor 35, and the sub brush 6 described above. The main brush 7, the roller 8, the suction nozzle 9, the dust box 10 and the suction fan 11 constitute a cleaning means. The geomagnetic sensor 38 and the traveling direction determination unit 39 constitute a traveling direction detection unit.

  The front sensors 12a, 12b, 12c, the left step sensor 13, the right step sensor 14, and the ceiling sensor 15 detect an obstacle as described above, measure the distance to the obstacle, and the measured values are the control unit 43. Is input. The sensor illumination lamp 16 emits illumination light under the control of the control unit 43. The dust sensor 17 detects dust as described above, and the detection signal is input to the contamination degree determination unit 40. The carpet sensor 18 detects that the floor is a carpet as described above, and the detection signal is input to the control unit 43. The operation unit 19 outputs an operation signal corresponding to the operation, and the operation signal is input to the control unit 43. The LCD 20, the LED 21, and the speaker 22 notify the operation status and various messages of the autonomous mobile robot cleaner 1 under the control of the control unit 43.

  The human body sensor 23 detects the presence or absence of a human body as described above, and the detection signal is input to the control unit 43. The camera 24 performs a photographing operation under the control of the control unit 43, and the camera illumination lamp 25 emits illumination light under the control of the control unit 43. The wireless communication module 26 wirelessly transmits an image captured by the camera 24 under the control of the control unit 43.

  The left wheel motor 31 rotates the above-mentioned left wheel 3 forward and reverse, and the right wheel motor 32 rotates the above-mentioned right wheel 4 forward and reverse. The sub brush motor 33 rotates the sub brush 6 described above, and the main brush motor 34 rotates the main brush 7 described above. The dust suction motor 35 rotates the suction fan 11 described above. The left wheel motor 31, right wheel motor 32, sub brush motor 33, main brush motor 34, and dust suction motor 35 are each driven under the control of the control unit 43.

  The acceleration sensor 36 detects acceleration acting on the device body 2 and outputs an output value corresponding to the acceleration. The acceleration sensor 36 independently detects acceleration acting on the device body 2 in the front-rear direction, the left-right direction, and the up-down direction of the device body 2, and determines the acceleration in each of the front-rear direction, the left-right direction, and the up-down direction. Outputs the corresponding output value. The travel distance calculation unit 37 calculates the travel speed of the device body 2 based on the output value of the longitudinal acceleration from the acceleration sensor 36, calculates the travel distance based on the travel speed, and calculates the value. Is output.

  The geomagnetic sensor 38 detects geomagnetism and outputs an output value corresponding to the direction of geomagnetism. Based on the output value from the geomagnetic sensor 38, the traveling direction determination unit 38 indicates which direction the front direction of the device main body 2 is oriented with respect to the direction of geomagnetism (that is, the traveling direction of the device main body 2 with respect to the direction of geomagnetism). And output the value.

  The contamination level determination unit 40 determines the contamination level of the region where the device main body 2 travels by detecting the amount of dust collected per predetermined time based on the output from the dust sensor 17, and the contamination level exceeds the reference value. If so, a signal indicating that is output. The map information memory 41 is used to control the travel of the device body 2 such as the current position of the device body 2, the position where the obstacle exists, the cleaned area, and the area where the dirt level of the floor surface exceeds the reference value. Necessary map information is stored. The battery 42 supplies power to each part.

  The control unit 43 controls the driving of the device main body 2 by rotating the left wheel 3 and the right wheel by driving and controlling the left wheel motor 31 and the right wheel motor 32, and the sub brush motor 33 and the main brush. By driving the motor 34 and the dust suction motor 35, the sub brush 6, the main brush 7, and the suction fan 11 are operated to control dust collecting operation. And the control part 43 is based on the output from front sensor 12a, 12b, 12c, the left level | step difference sensor 13, the right level | step difference sensor 14, the ceiling sensor 15, and the map information memorize | stored in the map information memory 41, and the apparatus main body 2 The cleaning operation for cleaning the region where the device main body 2 travels is executed while the device main body 2 is traveling by controlling the travel of the vehicle and the dust collecting operation.

  In the cleaning operation, the control unit 43 (1) so-called zigzag traveling that repeats the operation of moving in the opposite direction to the obstacle after moving laterally by the size of the device body 2 when reaching the obstacle, (2) around the obstacle (3) A cleaning operation in a traveling manner such as a spiral traveling in an area where a large amount of dust is densely dropped is performed. Further, the control unit 43 adjusts the traveling speed of the device main body 2 based on the outputs from the carpet sensor 18 and the dirt determination unit 40, and adjusts the dust collecting force.

  Further, during the cleaning operation, the control unit 43 calculates the position and the traveling direction of the device body 2 based on the outputs from the traveling distance calculation unit 37 and the traveling direction determination unit 39, and the calculated position, the traveling direction, and the front Based on the outputs from the sensors 12a, 12b, 12c, the left step sensor 13, the right step sensor 14, and the ceiling sensor 15, the map showing the current position of the device body 2, the position where the obstacle exists, the cleaned area, etc. Create information. The map information created by the control unit 43 is stored in the map information memory 41. That is, the control unit 43 creates map information during the cleaning operation, and further proceeds with the cleaning operation based on the map information to be created.

  Next, detection of an obstacle by the autonomous mobile robot cleaner 1 having the above configuration will be described with reference to FIG. As described above, the autonomous mobile robot cleaner 1 includes the front sensors 12a, 12b, and 12c, the left step sensor 13, the right step sensor 14, and the ceiling sensor 15. Each of these sensors 12a, 12b, 12c, 13, 14, and 15 is a passive optical distance sensor called a CMOS sensor, and has two PSDs in which a large number of light receiving elements are arranged in a line. The distance to the detection target is measured by the principle of triangulation by comparing the phase difference between the images (light receiving intensity) formed on the two PSDs via the lens. .

  In addition, the autonomous mobile robot cleaner 1 sets the center (the midpoint between the left wheel 3 and the right wheel 4) position O of the device main body 2 as the position where the device is located, and the direction in which the front of the device main body 2 faces is the Y-axis direction. (Corresponding to the direction of arrow A shown in FIG. 1), facing the front direction of the device body 2, the right direction is recognized as the X-axis direction, and the upward direction is recognized as the Z-axis direction. Which direction the Y-axis direction is oriented with respect to the background coordinates is recognized based on the direction of geomagnetism based on the output obtained from the traveling direction determination unit 39.

  The autonomous mobile robot cleaner 1 includes the front sensors 12a, 12b, and 12c, the left step sensor 13, the right step sensor 14, and the ceiling sensor 15 as described above. Each of these sensors 12a, 12b, 12c, 13, 14, and 15 is a passive optical distance sensor called a CMOS sensor, and has two PSDs in which a large number of light receiving elements are arranged in a line. The distance to the detection target is measured by the principle of triangulation by comparing the phase difference between the images (light receiving intensity) formed on the two PSDs via the lens. .

  The front sensors 12a, 12b, and 12c correspond to the fact that the light receiving elements are arranged in a line, and the obstacle detection areas (light receiving areas) R1, R2, and R3 are thin in the vertical direction (Z-axis direction) and in the horizontal direction. Have a spread. The detection areas R1, R2, and R3 of the front sensors 12a, 12b, and 12c are set to reach the floor 60 in front of the device main body 2 so that obstacles in front of the device main body 2 can be detected. The front sensors 12a, 12b, and 12c measure the distances to the intersections S1, S2, and S3 of the detection regions R1, R2, and R3 and the floor 60 when no obstacle exists in the detection regions R1, R2, and R3. ing.

  The left step sensor 13 and the right step sensor 14 correspond to the fact that the light receiving elements are arranged in a line, and the obstacle detection regions (light receiving regions) R4 and R5 are thin in the horizontal direction and in the vertical direction (Z-axis direction). Have a spread. The detection regions R4 and R5 of the left step sensor 13 and the right step sensor 14 detect the obstacle even when a short obstacle such as the book 51 is present in the immediate vicinity of the left side or the right side of the device body 2. It is set to reach the nearest floor 60 on the left side and the right side of the device main body 2 so as to be able to. When there is no obstacle in the detection region R4, the left step sensor 13 measures the distance to the intersection S4 between the detection region R4 and the floor 60, and the right step sensor 14 has an obstacle in the detection region R5. When it does not exist, the distance to the intersection S5 between the detection region R5 and the floor 60 is measured.

  Further, the left step sensor 13 and the right step sensor 14 are mounted at positions lower than the front sensors 12a, 12b, and 12c, and the detection regions R4 and R5 of the left step sensor 13 and the right step sensor 14 are the front sensor 12a. , 12b, 12c are lower than the detection regions R1, R2, R3. The obstacle detection area (not shown) of the ceiling sensor 15 is thin in the vertical direction (Z-axis direction) and wide in the horizontal direction.

  With such a configuration, when the autonomous mobile robot cleaner 1 approaches an obstacle such as the wall 50 or the book 51 while moving forward (traveling in the Y-axis direction), the obstacles are detected by the front sensors 12a and 12b. , 12c in the detection areas R1, R2, and R3, and the distance in the Y-axis direction to these obstacles is calculated. Further, if an obstacle such as the wall 50 or the book 51 exists in the immediate vicinity of the left side or the right side of the device main body 2 during traveling, the obstacle is detected in the detection region R4 of the left step sensor 13 or the right step sensor. 14 in the detection area R5, and the distance in the X-axis direction to these obstacles is calculated. Further, even if there are obstacles such as grooves and down stairs on the floor 60, the obstacles such as the grooves and stairs are similarly detected and the distances to the grooves and steps are calculated. The ceiling sensor 15 calculates the distance (height) in the Z-axis direction to the obstacle.

  The autonomous mobile robot cleaner 1 calculates the above-mentioned travel distance based on the distance information to the obstacles obtained by the front sensors 12a, 12b, 12c, the left step sensor 13, the right step sensor 14, and the ceiling sensor 15. Based on the output obtained from the part 37 and the traveling direction determination part 39, the floor 60 is cleaned while traveling while avoiding an obstacle or traveling along the periphery of the obstacle.

  When the autonomous mobile robot cleaner 1 avoids an obstacle, the autonomous mobile robot cleaner 1 uses the outputs from the front sensors 12a, 12b, and 12c, such as the wall 50 and the book 51 in front of the device main body 2 (in the Y-axis direction), the down staircase, etc. When it is detected that the obstacle has been approached within a predetermined distance (for example, 5 cm), it turns 90 ° rightward (X-axis direction) or leftward (−X-axis direction) to avoid the obstacle. Further, when traveling along the periphery of the obstacle, based on the output from the left step sensor 13 or the right step sensor 14, the right direction (X axis direction) or the left direction (-X axis direction) of the device main body 2 is used. Traveling while maintaining a constant distance (for example, 3 cm) to obstacles such as the wall 50, the book 51, and the descending stairs.

  By the way, as shown in FIG. 5, the autonomous mobile robot cleaner 1 having the above-described configuration has a short book 51 and the like below the detection areas R1, R2, and R3 of the front sensors 12a, 12b, and 12c before starting to travel. If there is an obstacle, it cannot be detected. That is, areas below the detection areas R1, R2, and R3 are blind spots of the front sensors 12a, 12b, and 12c.

  While traveling, the book 51 can be detected and detected in the detection areas R1, R2, and R3 of the front sensors 12a, 12b, and 12c in the process of approaching the book 51, and then the book 51 is detected in the detection areas R1, R2 , R3, the distance to the book 51 is obtained based on the output from the travel distance calculation unit 37, and the book 51 can be avoided.

  However, if the book 51 is already present below the detection areas R1, R2, and R3 before the start of traveling, the device main body 2 collides with or rides on the book 51 after the start of traveling. This can lead to inability to run. Even if the detection region R4 of the left step sensor 13 or the detection region R5 of the right step sensor 14 detects and detects the book 51 after the start of traveling, obstacle detection at a short distance is difficult due to the sensing principle. The braking and stopping of the device body 2 is not in time. This is the same when obstacles such as grooves and descending stairs are already present below the detection areas R1, R2, and R3 before the start of traveling.

  Therefore, the autonomous mobile robot cleaner 1 rotates the device body 2 once at that position (360 ° rotation about the Z axis in the B direction or the C direction) before the start of traveling. By rotating the device main body 2 at that position, the detection region R4 of the left step sensor 13 and the detection region R5 of the right step sensor 14 become the blind spots of the front sensors 12a, 12b, 12c (detection regions R1, R2, R3 If there is an obstacle in the area that becomes the blind spot of the front sensors 12a, 12b, and 12c, the obstacle (the book 51 in the example shown in FIG. 5) is detected by the left step sensor 13. And detected by the right step sensor 14. In addition, when the autonomous mobile robot cleaner 1 detects an obstacle in a blind area of the front sensors 12a, 12b, and 12c, the autonomous mobile robot cleaner 1 starts traveling while avoiding the obstacle.

  Next, the cleaning operation of the autonomous mobile robot cleaner 1 configured as described above will be described with reference to the flowchart of FIG. First, the control unit 43 determines whether or not a cleaning start operation has been performed (# 1). The cleaning start operation is performed by placing the autonomous mobile robot cleaner 1 at an arbitrary position in the room and operating the operation unit 19.

  Then, when the cleaning start operation is performed (YES in # 1), the control unit 43 determines the direction of the device main body at that time (the direction of the Y-axis direction with respect to the direction of geomagnetism) from the traveling direction determination unit 39. And then the left wheel motor 31 and the right wheel motor 32 are driven to turn the device body 2 360 degrees (one rotation) at the current position (position placed at the start of cleaning) ( # 2) Based on the outputs obtained from the left step sensor 13, the right step sensor 14, and the traveling direction determination unit 39 at that time, it is confirmed whether there is an obstacle in the blind spot area of the front sensors 12a to 12c. (# 3).

  At this time, if there is an obstacle in the blind spot area of the front sensors 12 a to 12 c as described above, the obstacle is detected by the left step sensor 13 or the right step sensor 14. That is, if an obstacle is detected by the left step sensor 13 or the right step sensor 14, it is determined that there is an obstacle in the blind spot area of the front sensors 12a to 12c, and the obstacle is detected by the left step sensor 13 or the right step sensor 14. If is not detected, it is determined that there is no obstacle in the blind spot area of the front sensors 12a to 12c. When it is determined that there is an obstacle in the blind spot area of the front sensors 12a to 12c, the position of the obstacle is the distance to the obstacle obtained from the left step sensor 13 or the right step sensor 14, and the traveling direction determination unit. The output indicating the direction of the device main body 2 with respect to the direction of geomagnetism obtained from 39 is recognized on the background coordinates based on the direction of geomagnetism.

  When the device main body 2 is turned 360 ° in # 2, the front sensors 12a to 12c also attempt to detect obstacles around the device main body 2. Thereby, the position of the obstacle around the device main body 2 can be recognized to some extent before the cleaning operation is started, and the obstacle avoidance operation after the cleaning operation is started can be smoothly performed.

  Subsequently, if there is no obstacle in the blind spot area of the front sensors 12a to 12c (NO in # 3), the control unit 43 determines the position of the device main body 2 at that time (that is, when placed at the time of the cleaning start operation). (Position) is set as the cleaning start position, and the direction in which the front surface of the device main body 2 is facing at that time (that is, the direction when it is placed during the cleaning start operation) is set as the cleaning start direction (# 4). On the other hand, if there is an obstacle in the blind spot area of the front sensors 12a to 12c (YES in # 3), the device main body 2 travels so as to avoid the obstacle (# 5), and the device after the obstacle avoidance The position of the main body 2 is set as the cleaning start position, and the direction in which the front of the device main body 2 after the obstacle avoidance is facing is set as the cleaning start direction (# 6).

  Thereafter, the control unit 43 drives the sub brush motor 33, the main brush motor 34, and the dust suction motor 35 to start the dust collecting operation (# 7), and the left wheel motor 31 and the right wheel motor. 32 is driven to move the device main body 2 straight from the cleaning start position in the cleaning start direction (# 8), and the cleaning operation is executed (# 9). In the cleaning operation, as described above, the floor 60 is cleaned while performing so-called zigzag traveling, traveling along the periphery of an obstacle, spiral traveling in a region where a lot of dust is densely dropped, and the like.

  Thus, according to the autonomous mobile robot cleaner 1, the front sensor 12a before the cleaning operation is started by the left step sensor 13 and the right step sensor 14 by rotating the device body 2 once at the position before the cleaning operation is started. It is confirmed whether or not there is an obstacle in the area that becomes a blind spot of ˜12c. And when an obstruction exists in the area | region used as the blind spot of the front sensors 12a-12c, the obstruction is avoided and cleaning operation | movement is started.

  Therefore, even if a short obstacle such as a book is present in the area that becomes the blind spot of the front sensors 12a to 12c at the start of the cleaning operation, it is possible to prevent the obstacle from colliding with and getting on the obstacle. Further, even if there is an obstacle such as a down staircase in the area that becomes the blind spot of the front sensors 12a to 12c at the start of the cleaning operation, an accident that falls from the staircase or the like can be prevented. As a result, the cleaning operation can be smoothly performed without falling into the inability to travel. Further, since the device main body 2 is rotated once at that position, obstacles around the device main body 2 can be detected. When avoiding front obstacles at the start of the cleaning operation, It does not collide with or climb over obstacles, and does not fall from the side of the device body 2 or from the back stairs.

  In addition, since the left step sensor 13 and the right step sensor 14 for detecting an obstacle on the side of the device body 2 are used to detect an obstacle in a region that becomes a blind spot of the front sensors 12a to 12c, There is no need to separately provide a blind spot area detection sensor, the number of sensors necessary for autonomous traveling can be reduced to a small number, and the cost is low.

  In addition, this invention is not restricted to the structure of the said embodiment, A various deformation | transformation is possible. For example, in the above embodiment, when there is an obstacle in the area that becomes the blind spot of the front sensors 12a to 12c, it is not always necessary to travel so as to avoid the obstacle. "Please change direction" message may be displayed. The rotation of the device main body 2 at the time of detecting the obstacle in the area that becomes the blind spot of the front sensors 12a to 12c is not limited to one rotation (360 ° rotation). It suffices if the detection region R4 of the left step sensor 13 or the detection region R5 of the right step sensor 14 can scan a region where the front sensors 12a to 12c become blind spots, such as rotation. Further, not only before the start of the cleaning operation, but when turning to avoid an obstacle, an obstacle in a region that becomes a blind spot of the front sensors 12a to 12c is detected based on outputs obtained from the left step sensor 13 and the right step sensor 14. You may make it do.

(A) is a top view which shows schematic structure of the autonomous running robot cleaner which concerns on one Embodiment of this invention, (b) is the side view which fractured | ruptured the same part. The front view of the robot cleaner. The electric block block diagram of the robot cleaner. The perspective view explaining the detection area of the obstacle of the robot cleaner. The perspective view explaining the state in which an obstacle exists in the blind spot area of the front sensor of the robot cleaner. The flowchart which shows the cleaning operation control process of the robot cleaner.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Autonomous traveling robot cleaner 2 Equipment body 3 Left wheel 4 Right wheel 5 Front wheel 6 Sub brush 7 Main brush 8 Roller 9 Suction nozzle 10 Dust box 11 Suction fan 12a, 12b, 12c Front sensor 13 Left step sensor 14 Right step sensor 15 Ceiling Sensor 19 Operation part 31 Left wheel motor 32 Right wheel motor 36 Acceleration sensor 37 Travel distance calculation part 38 Geomagnetic sensor 39 Travel direction determination part 41 Map information memory 43 Control part 50 Wall 51 book 60 Floor

Claims (3)

Obstacle detection means for detecting obstacles around the equipment body, direction detection means for detecting the direction in which the front of the equipment body is facing, traveling means for traveling and turning the equipment body, and a region in which the equipment body travels A cleaning means for cleaning, and a cleaning operation for controlling the travel means and the cleaning means based on the outputs of the obstacle detection means and the direction detection means to clean the travel area of the equipment body while running the equipment body. In an autonomous mobile robot cleaner equipped with a control means for executing
The obstacle detection means includes a front sensor that detects an obstacle ahead of the device body, a left side sensor that detects an obstacle on the left side of the device body, and a right side that detects an obstacle on the right side of the device body. The front sensor, the left side sensor, and the right side sensor are optical line sensors that measure the distance to an obstacle based on outputs from a large number of light receiving elements arranged in a row. Yes,
The front sensor monitors the front of the device main body obliquely downward, and the obstacle detection area of the front sensor is set to reach the floor surface in front of the device main body with a thin and horizontal extension in the vertical direction. And
The left side sensor and the right side sensor respectively monitor the left side and right side slightly forward of the device body obliquely downward, and the obstacle detection areas of the left side sensor and right side sensor are respectively the front side It is at a position lower than the detection area of the sensor, and is set to reach the floor surface on the left side of the device body and the right side of the device body with a thin horizontal spread and a vertical spread.
The control means includes
Before starting the cleaning operation, the device main body is rotated once at that position, and at that time, based on the output obtained from the direction detecting means, the left side sensor, and the right side sensor, an obstacle is formed in the blind spot of the front sensor. Determine whether the object exists,
An autonomous mobile robot cleaner characterized in that when an obstacle exists in the blind spot area, the cleaning is started by running the device main body so as to avoid the obstacle. Obstacle detection means for detecting obstacles around the equipment body, direction detection means for detecting the direction in which the front of the equipment body is facing, traveling means for traveling and turning the equipment body, and a region in which the equipment body travels A cleaning operation for cleaning, and a cleaning operation for cleaning the region in which the device main body travels while controlling the travel device and the cleaning device based on the outputs of the obstacle detection device and the direction detection device. In an autonomous mobile robot cleaner equipped with a control means for executing
The obstacle detection means includes a front sensor that detects an obstacle in front of the device body, and a side sensor that detects an obstacle on the side of the device body,
At least a part of the detection area of the side sensor is at a position lower than the detection area of the front sensor,
The control means rotates the device main body at the position, and based on the output obtained from the direction detection means and the side sensor at that time, there is an obstacle in the area that becomes the blind spot of the front sensor. Autonomous traveling robot cleaner characterized by judging whether or not. The control means includes
Before the cleaning operation is started, the device body is rotated once at that position, and it is determined whether there is an obstacle in the area that becomes the blind spot of the front sensor,
3. The autonomous mobile robot cleaner according to claim 2, wherein when an obstacle exists in the blind spot area, the cleaning operation is started by running the device main body so as to avoid the obstacle.

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