JP2005230044A - Autonomous running robot cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an autonomous running robot cleaner capable of running on a floor without mistaking a route even if an obstacle such as a wall of a room, etc. bends on the way, and reducing the area left uncleaned. <P>SOLUTION: The robot cleaner 1 runs along a wall 50a from a point C. When the robot cleaner reaches a wall 50b at a point P1, the robot cleaner turns right through an angle of 90° and moves by the size of a cleaner body 2. After that, the robot cleaner further turns right through an angle of 90° and goes straight. Then, when the robot cleaner reaches a wall 50c, the robot cleaner turns left through an angle of 90° and moves by the size of the cleaner body 2. After that, the robot cleaner further turns left through an angle of 90° and goes straight. Such running is repeated so that the robot cleaner runs along a zigzag route. After that, when the robot cleaner reaches a wall 50d at a point P4, the robot cleaner runs along the wall 50d. When passing a point P5, the robot cleaner stops running along the wall 50d, and goes straight in the same direction as when running along the wall 50d, instead of running along a wall 50e. After that, the robot cleaner runs along a zigzag route via a point P6, and when reaching the wall 50e at a point P7, the robot cleaner stops running. <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 traveling robot cleaner, one that cleans while traveling on a spell-like route that repeats the operation of traveling in the opposite direction to the wall after moving sideways when it reaches the front wall in the traveling direction is known. . Further, in cleaning while traveling along such a folded path, it is known as a method that can be cleaned more cleanly by traveling at a constant distance from the wall in the vicinity of the wall.

There is also known an autonomous traveling robot cleaner that controls the independent traveling by specifying the position and direction using the output of a rotary encoder that detects the rotation of the left and right drive wheels (for example, Patent Document 1 and Patent). Reference 2). Also, an autonomous vehicle that measures the distance to the wall with a contact sensor, detects the inclination and unevenness of the wall based on the measurement result, and controls the position of the working arm based on the detection result is known. (For example, refer to Patent Document 3). In addition, an autonomous vehicle that measures the distance to the right and left walls with a non-contact sensor and stops the following traveling control and executes the straight traveling control when the distance ratio suddenly changes by a predetermined value or more is known ( For example, see Patent Document 4). In addition, if the distance to the wall is longer than the reference distance while traveling along the wall, it is determined that there is a recess in the wall, and based on the direction detected by the direction sensor. There is also known an autonomous traveling robot cleaner that avoids the situation of entering into the inside of a recess and colliding by switching control so that the vehicle travels straight (see, for example, Patent Document 5).
JP 2002-85305 A JP-A-2-241421 JP-A-8-286746 JP-A-8-286747 JP-A-8-84696

  However, in the above-described conventional robot cleaner, when traveling with a constant distance from the wall, if the wall is bent obliquely from the middle, it will travel along the bent wall. Will be left out of the spell-folded route, which is the travel route, and will leave behind cleaning. In addition, even if the contents disclosed in Patent Documents 1 to 5 described above are applied, the above problem cannot be solved.

  The present invention has been made to solve the above-mentioned problems, and is capable of traveling without making a mistake in the route even when an obstacle such as a wall of the room is bent in the middle, and can reduce the remaining amount of cleaning. The purpose is to provide a traveling robot cleaner.

  In order to achieve the above object, the present invention as claimed in claim 1 is an obstacle for detecting the distance from the traveling means having left and right wheels for traveling and turning the apparatus main body to the front and side walls of the apparatus main body. Autonomous traveling provided with detection means, cleaning means for cleaning a region where the device main body travels, and control means for controlling the travel of the device main body by the traveling means and the cleaning operation by the cleaning means based on the output of the obstacle detection means In the robot cleaner, the first traveling direction detection means for detecting the traveling direction of the device main body based on the direction of geomagnetism, and the second for detecting the traveling direction of the device main body based on the rotational speeds of the left wheel and the right wheel. Traveling direction detection means, and travel distance detection means for detecting the travel distance of the device main body based on the number of rotations of each of the left and right wheels, and the control means moves the device main body along the first wall. Let it run, then When the second wall ahead in the traveling direction is reached, the device main body is turned by approximately 90 ° and moved by the size of the device main body, and then the device main body is further turned by approximately 90 ° to move the third wall forward in the traveling direction. The vehicle travels straight until it reaches, and repeats this traveling operation to travel along a spell-like route. After that, when it reaches a fourth wall substantially parallel to the first wall, the device moves along the fourth wall. When the main body travels and travels along a spell-like route, the travel direction is determined based on the output of the first travel direction detection means, and the front wall in the travel direction is determined based on the output of the obstacle detection means. A wall located on the side of the device main body based on the output of the obstacle detection means when traveling along the wall by determining that it has arrived and running the device main body so as to form a spelled path The distance to the wall is detected, and when the distance to the wall exceeds a predetermined value, the wall approaches When the distance to the wall is less than or equal to a predetermined value, the apparatus main body is traveled so that the device main body travels away from the wall, and the output of the second traveling direction detection means and the travel distance detection means Based on the output, a progress vector indicating the traveling direction and travel distance of the device body is calculated, and a cumulative vector obtained by cumulatively adding the previous travel vectors is calculated to obtain a slope of the progress vector with respect to the cumulative vector. If the inclination of the vehicle is below a predetermined value, the vehicle continues to travel along the wall. If the inclination of the progress vector exceeds the predetermined value, the vehicle travels along the wall and stops in the direction of the cumulative vector. The main body is caused to travel straight, and then the device main body is caused to travel along a spell-like path.

  The invention according to claim 2 is a traveling means for traveling and turning the apparatus main body, an obstacle detecting means for detecting a distance to an obstacle on the side of the apparatus main body, and a cleaning means for cleaning a traveling region of the apparatus main body. A traveling direction detecting means for detecting the traveling direction of the equipment body in an autonomous traveling robot cleaner comprising: a control means for controlling the running of the equipment body by the running means and the cleaning operation by the cleaning means based on the output of the obstacle detecting means; And a travel distance detecting means for detecting the travel distance of the device main body, and the control means is configured so that the distance to the obstacle located on the side of the device main body is substantially constant based on the output of the obstacle detection means. The travel direction of the device body is based on the output of the travel direction detection means and the output of the travel distance detection means at predetermined timings while traveling along the obstacle. And traveling A progress vector indicating separation, and a cumulative vector obtained by cumulatively adding the previous progress vectors to obtain a slope of the progress vector with respect to the cumulative vector. The traveling along the obstacle is stopped, and the device main body travels in the direction of the accumulated vector.

  According to a third aspect of the present invention, in the autonomous traveling robot cleaner according to the second aspect, the traveling means has a left wheel and a right wheel for traveling and turning the device body, and the traveling direction detecting means is the left wheel and the right wheel. The travel distance detection means detects the travel distance of the device main body based on the rotation speed of each of the left wheel and the right wheel. .

  According to the first aspect of the present invention, when the wall of the room is obliquely bent in the middle, the inclination of the traveling vector with respect to the accumulated vector becomes a predetermined value when passing through the bent portion of the wall while traveling along the wall. It will exceed. As a result, the autonomous mobile robot cleaner stops traveling along the wall when it passes through the bent portion of the wall, and in the direction of the cumulative vector (that is, the same direction as when traveling along the wall until then). Run. Therefore, even when the wall is bent at an angle, it is possible to travel straight without departing from the original travel route and to clean it with a spell-like travel route to the end, leaving uncleaned. It can be reduced and the room can be cleaned neatly.

  Further, the traveling vector and the cumulative vector are calculated based on the traveling direction detected from the rotational speeds of the left wheel and the right wheel. For example, when detecting the traveling direction based on the direction of geomagnetism and calculating the traveling vector and cumulative vector based on the traveling direction, the influence of magnetism due to the reinforcing bars used for the pillars of the room in a place close to the wall. In response, the progress vector and the accumulated vector cannot be calculated accurately, and there is a risk of traveling on the wrong route. On the other hand, as in the first aspect of the invention, the traveling direction is detected on the basis of the rotational speeds of the left wheel and the right wheel, and the traveling vector and the cumulative vector are calculated based on the traveling direction. It is possible to accurately calculate the traveling vector and the accumulated vector without being affected by the magnetic field, and to travel along the wall without making a mistake in the traveling route, and to clean the room cleanly.

  According to the second aspect of the present invention, when an obstacle such as a wall of a room is bent obliquely in the middle, and passes through the bent portion of the obstacle while traveling along the obstacle, the accumulated vector of the progress vectors The inclination with respect to exceeds a predetermined value. As a result, the autonomous traveling robot cleaner stops traveling along the obstacle when it passes through the bent part of the obstacle, and the direction of the cumulative vector (that is, the same as when traveling along the obstacle until then) Travel in the direction). Therefore, even when an obstacle is bent in the middle, it is possible to run straight and clean without deviating from the original travel route, reduce the amount of uncleaning, and clean the room cleanly. be able to.

  According to the invention of claim 3, the progress vector and the cumulative vector are calculated based on the rotation speeds of the left wheel and the right wheel. For example, when the traveling direction of an autonomous traveling robot cleaner is detected based on geomagnetism using a geomagnetic sensor and the traveling vector and cumulative vector are calculated based on the traveling direction, in a place near a wall or obstacle, Under the influence of magnetism due to the reinforcing bars used in the pillars, speakers of audio equipment, etc., the traveling vector and the accumulated vector cannot be calculated accurately, and there is a risk of traveling on the wrong route. On the other hand, as in the invention of claim 3, the progress vector and the cumulative vector are calculated based on the rotational speeds of the left wheel and the right wheel, so that the progress is not affected by magnetism due to a reinforcing bar, a speaker or the like. Vectors and cumulative vectors can be calculated accurately, and it is possible to travel along the wall without making a mistake in the travel route, and to clean the room cleanly.

  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 13, a right step sensor 14, a ceiling sensor 15, and a sensor illumination lamp 16. I have. 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, and 12c, the left step sensor 13, the right step sensor 14, and the ceiling sensor 15 are optical distance measuring sensors. 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, a geomagnetic sensor 36, a left wheel encoder 37, and a right wheel. An encoder 38, traveling direction determination units 39 and 40, a travel distance calculation unit 41, a contamination degree determination unit 42, a map information memory 43, a battery 44, and a control unit 45 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 36 and the traveling direction determination unit 39 constitute first traveling direction detection means, and the left wheel encoder 37, the right wheel encoder 38, and the traveling direction determination unit 40 constitute second traveling direction detection means. The left wheel encoder 37, the right wheel encoder 38, and the travel distance calculation unit 41 constitute travel distance detecting means.

  The front sensors 12a, 12b, 12c, the left step sensor 13, the right step sensor 14, and the ceiling sensor 15 detect the obstacle as described above, measure the distance to the obstacle, and the measured values are the control unit 45. Is input. The sensor illumination lamp 16 emits illumination light under the control of the control unit 45. The dust sensor 17 detects dust as described above, and the detection signal is input to the dirt level determination unit 42. The carpet sensor 18 detects that the floor surface is a carpet as described above, and the detection signal is input to the control unit 45. The operation unit 19 outputs an operation signal corresponding to the operation, and the operation signal is input to the control unit 45. 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 45.

  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 45. The camera 24 performs a photographing operation under the control of the control unit 45, and the camera illumination lamp 25 emits illumination light under the control of the control unit 45. The wireless communication module 26 wirelessly transmits an image captured by the camera 24 under the control of the control unit 45.

  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. These 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 45.

  The geomagnetic sensor 36 detects geomagnetism and outputs an output value corresponding to the direction of geomagnetism. The left wheel encoder 37 detects the rotation of the left wheel 3 and outputs a pulse signal every time the left wheel 3 rotates by a predetermined angle. The right wheel encoder 38 detects the rotation of the right wheel 4 and outputs a pulse signal every time the right wheel 4 rotates by a predetermined angle.

  The traveling direction determination unit 39 is based on the output value from the geomagnetic sensor 36 and the traveling direction of the device main body 2 with respect to the direction of geomagnetism (that is, in which direction the front of the device main body 2 is directed with respect to the direction of geomagnetism). And output the value. The traveling direction determination unit 40 measures the rotational speed of each of the left wheel 3 and the right wheel 4 based on the pulse signals output from the left wheel encoder 37 and the right wheel encoder 38, and each of the left wheel 3 and the right wheel 4. The traveling direction of the device body 2 is determined based on the number of rotations. The travel distance calculation unit 41 measures the rotational speed of each of the left wheel 3 and the right wheel 4 based on the pulse signals output from the left wheel encoder 37 and the right wheel encoder 38, and each of the left wheel 3 and the right wheel 4. The travel distance of the device body 2 is calculated based on the number of rotations.

  The contamination level determination unit 42 determines the contamination level of the region in which 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 43 controls the travel of the device main body 2 such as the current position of the device main 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 44 supplies power to each part.

  The control unit 45 drives and controls the left wheel motor 31 and the right wheel motor 32 so as to rotate the left wheel 3 and the right wheel to control the traveling operation of the device body 2, and the sub brush motor 33 and the main wheel By driving the brush 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 the dust collecting operation. Then, the control unit 45 performs the traveling operation and the dust collecting operation of the device main body 2 with respect to the front sensors 12a, 12b, 12c, the left step sensor 13, the right step sensor 14, the output from the ceiling sensor 15, and the map information memory 43. Control based on the map information stored in Further, the control unit 45 adjusts the traveling speed of the device main body 2 based on the outputs from the carpet sensor 18 and the contamination degree determination unit 42, and adjusts the dust collecting force.

  Further, the control unit 45 creates map information indicating the current position of the device main body 2, the position where the obstacle exists, the cleaned area, and the like while the device main body 2 is traveling. The control unit 45 calculates the position and traveling direction of the device body 2 based on the outputs from the traveling direction determination units 39 and 40 and the travel distance calculation unit 41, and calculates the position and traveling direction of the device body 2 and the front sensor. Based on outputs from 12a, 12b, 12c, left step sensor 13, right step sensor 14, and ceiling sensor 15, map information is created. The map information created by the control unit 45 is stored in the map information memory 43. That is, the control unit 45 creates map information when the device body 2 is running and cleaning, and further controls the running and dust collection operation of the device body 2 based on the created map information. Control and proceed with cleaning.

  Here, the traveling operation of the autonomous traveling robot cleaner 1 will be described with reference to the traveling examples shown in FIGS. FIG. 4 shows an example of traveling on the floor 60 surrounded by the first wall 50a, the second wall 50b, the third wall 50c, and the fourth wall 50d which are obstacles. And the wall 50d are substantially parallel to each other, and both are parallel to the direction of geomagnetism. FIG. 5 shows an example of traveling on the floor 60 surrounded by the first wall 50a, the second wall 50b, the third wall 50c, the fourth wall 50d, and the fifth wall 50e which are obstacles. In the example shown in FIG. 5, as in the example shown in FIG. 4, the wall 50 a and the wall 50 d are substantially parallel, and both are parallel to the direction of geomagnetism. However, in the example shown in FIG. 5, the wall 50d is not connected to the wall 50b, and a wall 50e that is inclined with respect to the wall 50d exists between the wall 50d and the wall 50b.

  In the example shown in FIG. 4, the autonomous mobile robot cleaner 1 sets a point C adjacent to the wall 50a as a cleaning start position, and follows the route Z1 from the point C along the wall 50a (in the illustrated example, toward the north). ) Drive.

  Subsequently, when reaching the wall 50b at the point P1, it turns 90 ° to the right and moves by the size of the device body 2 (moves toward the east in the example shown), and then turns 90 ° to the right and goes straight. (In the example shown, go straight to the south), and when it reaches the wall 50c, it turns 90 ° to the left and moves by the size of the device body 2 (in the example shown, moves east), and then further left The vehicle travels 90 degrees and then goes straight (in the example shown, going north). That is, the vehicle travels along a spell-folded route following the route Z2 from the point P1.

  Thereafter, when reaching the wall 50d at the point P2, the vehicle turns 90 ° to the right, travels along the wall 50d (to the south in the illustrated example) along the route Z3 from the point P2. Then, when the wall 50b is reached at the point P3, the traveling is stopped.

  Further, in the example shown in FIG. 5, the autonomous mobile robot cleaner 1 follows the route Z1 from the point C, travels along the wall 50a, and follows the route Z2 through the point P1, as in the example shown in FIG. Travel along a folded path.

  Thereafter, when reaching the wall 50d at the point P4, the vehicle follows the route Z4 from the point P4 and travels along the wall 50d (toward the north in the illustrated example). When the autonomous traveling robot cleaner 1 reaches the point P5, the autonomous traveling robot cleaner 1 stops traveling along the wall 50d and follows the route Z5 from the point P5 in the same direction as when traveling along the wall 50d ( Go straight (to the north in the example shown).

  Thereafter, when reaching the wall 50b at point P6, it turns 90 ° to the right and moves by the size of the device body 2 (moves toward the east in the example shown), and then turns 90 ° to the right and goes straight ( In the example shown, go straight to the south), and when it reaches the wall 50e, it turns 90 ° to the left and moves by the size of the device body 2 (moves toward the east in the example shown), then further left The vehicle travels by turning 90 ° and going straight (in the example shown, going straight south). That is, the vehicle travels along a spell-like route following the route Z6 from the point P6. Then, when reaching the wall 50e at the point P7, the traveling is stopped.

  In the example shown in FIG. 5, there is a wall 50e that is inclined with respect to the wall 50d between the wall 50d and the wall 50b. However, after traveling along the wall 50d, the wall 50e travels along the wall 50e. Without traveling, the vehicle travels straight in the same direction as when traveling along the wall 50d, so that it travels in a spell-like travel route to the end and does not leave behind cleaning.

  As described above, the autonomous mobile robot cleaner 1 (1) travels along the first wall 50a, and (2) turns about 90 ° when reaching the second wall 50b forward in the traveling direction. After moving by the size, the vehicle travels along a spell-like route that repeats straight traveling until it reaches the third wall 50c ahead of the traveling direction by turning about 90 °, and (3) substantially the same as the first wall 50a. When the parallel fourth wall 50d is reached, the vehicle travels along the fourth wall 50d. In addition, (4) when the fourth wall 50d does not continue to the second wall 50b (see FIG. 5), the vehicle travels along the wall 50d after passing the side of the fourth wall 50d. Drive straight in the same direction as. When the first wall 50a does not continue to the second wall 50b, the vehicle traveled along the wall 50a after passing by the first wall 50a as in the case of (4). Go straight in the same direction as when.

  Traveling along the walls of (1) and (3) above (in the example shown in FIG. 4, traveling from point C to point P1 and traveling from point P2 to point P3, in the example shown in FIG. 5 from point C to point P1 Travel to the point and travel from point P4 to point P5), the distance to the wall (obstacle) located on the side of the device body 2 is based on the output of the left step sensor 13 or the right step sensor 14. Drive to be almost constant. Travel such that the distance to the wall is constant is to a wall located on the side of the device body 2 based on the output of the left step sensor 13 or the right step sensor 14 every predetermined time (for example, 0.1 second). This is achieved by detecting the distance of the vehicle and driving to approach the wall when the distance to the wall exceeds a predetermined value (for example, 5 cm), and to move away from the wall when the distance to the wall becomes less than the predetermined value. Is done.

  (2) Traveling along the folded path (in the example shown in FIG. 4, from P1 to P2, in the example shown in FIG. 5, from P1 to P4 and from P5 to P7) Travel direction), the travel direction is determined based on the output of the travel direction determination unit 39 (that is, based on geomagnetism), and the front wall (obstacle) in the travel direction is determined based on the outputs of the front sensors 12a, 12b, 12c. ) And travel so as to form a spell-like route. The determination of reaching the front wall in the traveling direction is made by detecting the distance to the front wall of the device body 2 based on the outputs of the front sensors 12a, 12b, and 12c, and the distance to the wall is a predetermined value (for example, 5 cm). ) It is done when:

  In addition, it is determined whether or not the traveling (4) (traveling from the point P5 to the point P6 in the example shown in FIG. 5) is traveling along a substantially straight route while traveling along the wall. When the vehicle deviates from a substantially straight route, it is realized by stopping traveling along the wall and traveling straight in the same direction as when traveling along the wall.

  Specifically, for each predetermined time (for example, 0.1 second), a progress vector Uo indicating the travel direction and travel distance of the device body 2 during that time is calculated, and the cumulative value obtained by cumulatively adding the previous travel vectors Uo is accumulated. The vector Us is calculated. At this time, the travel vector Uo is calculated based on the outputs of the travel direction determination unit 40 and the travel distance calculation unit 41 (that is, the travel direction and travel distance detected based on the rotation speeds of the left wheel 3 and the right wheel 4). To do. When the inclination of the traveling vector Uo with respect to the accumulated vector Us exceeds a predetermined value, it is determined that the traveling vector Uo has deviated from a substantially straight path, and traveling along the wall is stopped and the vehicle travels straight in the direction of the accumulated vector Us.

  Note that the output of the traveling direction determination unit 40 (that is, the traveling direction detected based on the rotation speed of each of the left wheel 3 and the right wheel 4) is used to calculate the traveling vector Uo accurately near the wall. This is for calculating Uo. That is, in a place close to the wall, there is a risk of being affected by magnetism due to the reinforcing bars used for the columns of the room, and using the output of the traveling direction determination unit 39 (that is, the traveling direction detected based on geomagnetism) The progress vector Uo may not be calculated correctly. Therefore, in this embodiment, the output of the traveling direction determination unit 40 is used to calculate the traveling vector Uo.

  The travel operation (4) will be described with reference to the travel example shown in FIG. When traveling along the wall 50d, the autonomous mobile robot cleaner 1 keeps the distance to the wall 50d substantially constant, for example, the distance to the wall 50d at a point Q1 exceeds a predetermined value (for example, 5 cm). If it is, it will run so that it may approach the wall 50d, and after that, if the distance to the wall 50d at the Q2 point becomes a predetermined value or less, it will run away from the wall 50d. Drive through Q5 point. When traveling so as to approach the wall 50d, the device main body 2 is turned by turning a small angle (for example, about 5 °) in the direction of the wall 50d, and when traveling away from the wall 50d, the device main body 2 is moved. The vehicle travels by turning a small angle (for example, about 5 °) in the direction of the wall 50d.

  Then, during this travel, a progress vector Uo (arrow Uo1 in the figure) indicating the travel direction and travel distance of the device main body 2 during travel during that travel (for example, 0.1 second) (accordingly, for 0.1 second). , Uo2, Uo3, Uo4, Uo5) and a cumulative vector Us (indicated by Us2, Us3, Us4, Us5 in the figure) obtained by accumulating the previous progress vectors Uo.

  The progress vector Uo1 is the progress vector Uo from the point Q1 to the point Q2. The progress vector Uo2 is the progress vector Uo from the point Q2 to the point Q3, and the cumulative vector Us2 is the cumulative vector Us when the point Q3 is reached. Similarly, the progression vectors Uo3, Uo4, Uo5 are the progression vectors Uo from the Q3 point to the Q4 point, the Q4 point to the Q5 point, and the Q5 point to the Q6 point, respectively. The accumulated vectors Us3, Us4, Us5 are , Respectively, are the accumulated vectors Us when the points Q4, Q5, and Q6 are reached.

  The travel vectors Uo1, Uo2, Uo3, Uo4, Uo5 are vector quantities indicating the travel direction and travel distance of the device main body 2 at predetermined time intervals, and the device main body 2 moves toward and away from the wall 50 at predetermined time intervals. Since it repeats (assuming that it travels at a constant speed), the sizes are substantially equal and the direction is inclined about 5 ° to the left and right with respect to the wall 50 in order. On the other hand, the accumulated vectors Us2, Us3, Us4, Us5 are vector amounts obtained by accumulatively adding the progress vectors Uo so far, so that the size gradually increases and the direction is substantially parallel to the wall 50d.

  Therefore, while traveling along the wall 50d, the inclination of the progress vector Uo with respect to the cumulative vector Us (the inclination of Uo2 with respect to Us2, the inclination of Uo3 with respect to Us3, the inclination of Uo4 with respect to Us4, and the inclination of Uo5 with respect to Us5) is: Each has a value in the range of about 5 ° to the left and right.

  Thereafter, when the autonomous mobile robot cleaner 1 passes the side of the wall 50d, the autonomous mobile robot cleaner 1 tries to keep the distance from the wall 50e constant, so that the device body 2 is moved in the direction of the wall 50e so as to approach the wall 50e from the point Q6. Turn and travel a small angle (for example, about 5 °). As a result, the progress vector Uo6 after passing by the side of the wall 50d has a value of 5 ° or more with respect to the cumulative vector Us6 according to the inclination of the wall 50e with respect to the wall 50d.

  As described above, while traveling along the wall 50d, the inclination of the traveling vector Uo with respect to the accumulated vector Us is within a range of about 5 °, while the side of the wall 50d is being traveled along the wall 50d. After passing, the inclination of the progress vector Uo with respect to the cumulative vector Us becomes 5 ° or more. Therefore, it can be determined whether or not the device main body 2 is traveling along a straight route based on the inclination of the progress vector Uo with respect to the accumulated vector Us.

  In the present embodiment, when the inclination of the progress vector Uo with respect to the accumulated vector Us is a predetermined value (for example, 7 °) or less, it is determined that the vehicle travels on a straight path, and when the inclination exceeds a predetermined value, the straight path The vehicle travels along the wall 50d and stops traveling straight and travels straight in the direction of the accumulated vector Us. Since the direction of the cumulative vector Us is substantially parallel to the wall 50d, the straight line travels in the direction of the cumulative vector Us after passing the side of the wall 50d. Travel in the same direction as when traveling along.

  As a result, even when there is an obliquely inclined wall 50e between the wall 50d and the wall 50b as in the example shown in FIG. 5, the vehicle travels along the wall 50d and then moves along the wall 50e. Without traveling, the vehicle travels straight in the same direction as when traveling along the wall 50d, and travels along a spell-like travel route to the end. If the vehicle travels along the wall 50e after passing by the side of the wall 50d, it will leave behind cleaning, but the same direction as when traveling along the wall 50d after traveling along the wall 50d. By traveling straight ahead, it is possible to travel on a spell-like travel route to the end without deviating from the original travel route, and no cleaning is left behind.

  Next, a cleaning operation control process by the controller 45 of the autonomous mobile robot cleaner 1 will be described with reference to the flowcharts of FIGS. 7, 8, 9, and 10. First, the control unit 45 determines whether or not a cleaning start operation has been performed (# 1). The cleaning start operation is performed by placing the device main body 2 at a position adjacent to an obstacle such as a wall and operating the operation unit 19 after the traveling direction of the device main body 2 is parallel to the obstacle.

  When the cleaning start operation is performed (YES in # 1), the control unit 45 reads the output value of the left step sensor 13 (# 2), and on the left side of the device main body 2 based on the output value of the left step sensor 13 It is determined whether or not there is an obstacle (for example, within 5 cm) (# 3), and if there is no obstacle on the left side (NO in # 3), the output value of the right step sensor 14 is read (# 4 ) Based on the output value of the right step sensor 14, it is determined whether there is an obstacle on the right side (for example, within 5 cm) of the device body 2 (# 5).

  Subsequently, if there is an obstacle on the left side of the device main body 2 (YES in # 3), the control unit 45 sets the value of the parameter V to “0” and sets the value of the parameter W to “0”. If set (# 6) and there is an obstacle on the right side of the device body 2 (YES in # 5), the value of the parameter V is set to "1" and the value of the parameter W is set to "1" (# 7). The parameter V is for determining the avoidance direction when the device main body 2 encounters an obstacle ahead. The parameter W is an obstacle when the device main body 2 travels along a side obstacle. Is in the left or right direction of the device body 2.

  Then, the control unit 45 drives the sub brush motor 33, the main brush motor 34, and the dust suction motor 35 to start the dust collecting operation (# 8), and the left wheel motor 31 and the right wheel motor. 32 is driven to cause the device main body 2 to travel straight (# 9). In the case of NO in # 5 (that is, if there is no obstacle on the left or right side of the device main body 2), an error message indicating that the device main body 2 is correctly placed by the LCD 20, LED 21, and speaker 22 is notified. (# 10), and the processes after # 1 are repeated.

  By the processes of # 1 to # 10, cleaning is started after traveling in a direction substantially parallel to the obstacle from a position adjacent to the obstacle.

  Thereafter, the control unit 45 continues the straight traveling of the device main body 2 (# 11), and does not detect an obstacle within a predetermined distance in front of the device main body 2 (NO in # 12), for a predetermined time (for example, 0). .1 second) (YES in # 13), a travel vector Uo indicating the travel direction and travel distance during travel for the predetermined time (0.1 second) is calculated (# 14). The travel vector Uo is based on the outputs of the travel direction determination unit 40 and the travel distance calculation unit 41 (that is, based on the rotation speeds of the left wheel 3 and the right wheel 4 obtained from the left wheel encoder 37 and the right wheel encoder 38). ) Calculated. Following this, the progress vector Uo is added to the accumulated vector Us (# 15). Note that the initial value of the cumulative vector Us is “0”.

  Then, the control unit 45 obtains the inclination of the progress vector Uo with respect to the accumulated vector Us, determines whether the inclination exceeds a predetermined value (for example, 7 °) (# 16), and the inclination of the progress vector Uo is predetermined. If it is less than the value (NO in # 16), it is first determined whether or not the value of the parameter V is 0 (# 17).

  If the value of W is “0” (YES in # 17), the output from the left step sensor 13 is read (# 18), and the distance to the left obstacle of the device body 2 is a predetermined distance ( For example, it is determined whether it is within 5 cm (# 19). At this time, if the distance to the obstacle is within the predetermined distance (YES in # 19), the device body 2 is turned rightward by turning a small angle (for example, about 5 °) (# 20), and the obstacle is traveled. If the distance to the distance exceeds the predetermined distance (NO in # 19), the device main body 2 is turned to the left by a minute angle (for example, about 5 °) and travels straight (# 21).

  If the value of W is not “0” (NO in # 17), the output from the right step sensor 14 is read (# 22), and the distance to the obstacle on the right side of the device body 2 is the predetermined distance ( For example, it is determined whether it is within 5 cm (# 23). At this time, if the distance to the obstacle is within the predetermined distance (YES in # 23), the device body 2 is turned rightward by turning a small angle (for example, about 5 °) (# 24), and the obstacle is traveled. If the distance up to exceeds the predetermined distance (NO in # 23), the device main body 2 is turned to the left by a minute angle (for example, about 5 °) and travels straight (# 25).

  Then, the control unit 45 performs any one of the processes # 20, # 21, # 24, and # 25, and then repeats the processes after # 11.

  By repeating the process after # 11 through the process of NO at # 12 and NO at # 16, the distance to the obstacle along the obstacle located on the side of the device body 2 can be determined. Traveling is maintained at a substantially constant level.

  On the other hand, when the inclination of the progress vector Uo exceeds a predetermined value (YES in # 16), the control unit 45 turns the device main body 2 so as to be parallel to the direction of the cumulative vector Us and travels straight (# 26). Then, based on the output of the traveling direction determination unit 39 (that is, based on the direction of geomagnetism detected by the geomagnetic sensor 36), the device body 2 continues to travel straight (# 27). If no obstacle is detected within a predetermined distance in front of the device body 2 (NO in # 28), the device body 2 continues to travel straight ahead.

  After passing through the YES process in # 16, the processes in # 27 and # 28 are repeated, so that the travel is performed while keeping the travel route straight when the obstacle is bent obliquely in the middle. .

  When the controller 45 detects an obstacle within a predetermined distance in front of the device main body 2 at # 12 or # 28 (YES at # 12 or YES at # 28), the value of the parameter V is first set. It is determined whether it is 0 (# 29). If the value of V is “0” (YES in # 29), has an obstacle been detected within a predetermined distance (for example, 5 cm) on the right side of the device body 2 based on the output from the right step sensor 14? If the value of V is not “0” (NO in # 30), a predetermined distance (for example, 5 cm) on the right side of the device main body 2 based on the output from the left step sensor 13 is determined. It is determined whether or not an obstacle has been detected (# 31).

  In the case of NO in # 30 above, the device main body 2 is turned 90 ° to the right at that position and travels straight (# 32). Then, when the vehicle travels a distance corresponding to the size of the device body 2 (YES in # 33), the device body 2 is further turned 90 ° to the right at that position to travel straight (# 34), and the value of V is set to “1”. ”(# 35), the processes after # 27 are repeated. If an obstacle is detected within a predetermined distance in front of the device main body 2 (NO in # 33) before traveling the distance corresponding to the size of the device main body 2 (YES in # 36), the device main body 2 is Further, turn 90 ° to the right at the position and drive straight (# 37). After setting the value of V to “1” and the value of W (“0”) (# 38), the processing after # 11 is performed. repeat.

  In the case of NO in # 31 above, the device main body 2 is turned 90 ° to the left at that position and travels straight (# 39). Then, when the vehicle travels a distance corresponding to the size of the device main body 2 (YES in # 40), the device main body 2 is further rotated 90 ° to the left at that position and travels straight (# 41). ”(# 42), the processes after # 27 are repeated. If an obstacle is detected within a predetermined distance in front of the device main body 2 (NO in # 40) before traveling the distance corresponding to the size of the device main body 2 (YES in # 43), the device main body 2 is Further, turn left 90 ° in the position and drive straight (# 44). After setting the value of V to “0” and the value of W to “1” (# 45), the processing after # 11 is performed. repeat.

  After the process of # 27 is repeated after the process of # 35 or 41 after passing through the process of NO at # 30 or NO at # 31, the main body of the device is reached when the obstacle ahead is reached. Traveling in a spell-like route is performed in which the movement of moving in the direction opposite to the obstacle is repeated after moving to the side by the size of 2. Further, after the process of # 37 or # 43, the process after # 11 is repeated, so that traveling along the wall is performed again.

  Then, if YES at # 30 or YES at # 31, the control unit 45 stops the dust collecting operation and the traveling operation of the device body 2 (# 50), and ends the cleaning operation.

  According to such an autonomous traveling robot cleaner 1, when an obstacle such as a wall of a room is bent obliquely in the middle, the traveling vector passes through the bent portion of the obstacle while traveling along the obstacle. The slope of Uo with respect to the accumulated vector Us exceeds a predetermined value. When the inclination exceeds a predetermined value, it is determined that the vehicle has deviated from the original travel route, the travel along the obstacle is stopped, and the direction of the cumulative vector Us (when traveling along the obstacle until then) In the same direction as In other words, after passing through the bent part of the obstacle, the vehicle does not travel along the obstacle but travels in the same direction as when traveling along the obstacle. As a result, even when an obstacle is bent obliquely in the middle, the vehicle travels straight without departing from the original travel route, and cleaning is performed on the spelled travel route to the end, leaving uncleaned. Alleviate and clean the room cleanly.

  Moreover, since the traveling vector Uo and the cumulative vector Us are calculated using the traveling directions detected from the rotational speeds of the left wheel 3 and the right wheel 4, even if the place is near a wall or an obstacle, Accurate calculation is possible without being affected by magnetism due to the reinforcing bars used in the pillars or the speakers of audio equipment placed in the room. Thereby, it is possible to travel accurately along the wall without making a mistake in the travel route, and it is possible to clean the room cleanly.

  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, the progress vector Uo and the accumulated vector Us may be calculated not only for every predetermined time but for every predetermined distance traveled. When the output of the geomagnetic sensor 36 is normal (when it is not affected by magnetism from a reinforcing bar, a speaker, etc.), the travel vector Uo is output from the travel direction determination unit 39 (that is, the travel direction detected based on the geomagnetism). You may calculate using. At the start of cleaning, the autonomous mobile robot cleaner 1 may self-travel to a position adjacent to an obstacle such as a wall, and then automatically start traveling along an obstacle such as a wall.

(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 figure which shows the running example of the robot cleaner. The figure which shows another traveling example of the robot cleaner. The figure which shows the example of driving | running | working along the wall of the robot cleaner. The flowchart which shows the cleaning operation control process of the robot cleaner. The flowchart which shows the cleaning operation control process of the robot cleaner. The flowchart which shows the cleaning operation control process 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 section 36 Geomagnetic sensor 37 Left wheel encoder 38 Right wheel encoder 39, 40 Travel direction determination section 41 Travel distance calculation section 45 Control section 50a, 50b, 50c, 50d, 50e Wall 60 Floor

Claims (3)

Traveling means having left and right wheels for running and turning the equipment body, obstacle detecting means for detecting distances to the front and side walls of the equipment body, and cleaning for cleaning the traveling area of the equipment body In an autonomous traveling robot cleaner comprising: a control means for controlling the traveling of the device body by the traveling means and the cleaning operation by the cleaning means based on the output of the obstacle detecting means,
First traveling direction detection means for detecting the traveling direction of the device main body based on the direction of geomagnetism,
Second traveling direction detection means for detecting the traveling direction of the device main body based on the number of rotations of each of the left wheel and the right wheel;
A travel distance detecting means for detecting the travel distance of the device main body based on the number of rotations of each of the left wheel and the right wheel;
The control means includes
Run the device body along the first wall,
Thereafter, when the second wall ahead in the traveling direction is reached, the device main body is turned by approximately 90 ° and moved by the size of the device main body, and then the device main body is further turned by approximately 90 ° to move the third wall ahead in the traveling direction. Run straight until it reaches the wall, and repeat this running motion to run in a spell-like route,
Then, when the fourth wall that is substantially parallel to the first wall is reached, the device main body travels along the fourth wall,
When traveling on the spelled path,
A travel direction is determined based on the output of the first travel direction detection means, and it is determined based on the output of the obstacle detection means that the wall has reached the front in the travel direction. Run the device body so that
When traveling along the wall,
Based on the output of the obstacle detection means, the distance to the wall located on the side of the device body is detected, and when the distance to the wall exceeds a predetermined value, the device body is moved so as to approach the wall, When the distance up to the predetermined value or less, run the device body to move away from the wall,
At each predetermined time, a travel vector indicating the travel direction and travel distance of the device body is calculated based on the output of the second travel direction detection means and the output of the travel distance detection means, and the travel vector up to that time is calculated. A cumulative vector obtained by cumulative addition is calculated to obtain a slope of the progress vector with respect to the cumulative vector,
If the inclination of the progression vector is less than or equal to a predetermined value, the vehicle continues to travel along the wall,
When the inclination of the traveling vector exceeds a predetermined value, the traveling along the wall is stopped and the apparatus main body travels straight in the direction of the accumulated vector, and then the apparatus main body travels along the spelled path. An autonomous running robot cleaner characterized by A traveling means for traveling and turning the apparatus main body, an obstacle detecting means for detecting a distance to an obstacle on the side of the apparatus main body, a cleaning means for cleaning a region in which the apparatus main body travels, and the obstacle detecting means. In an autonomous traveling robot cleaner comprising a control means for controlling the traveling of the device body by the traveling means and the cleaning operation by the cleaning means based on the output,
Traveling direction detection means for detecting the traveling direction of the device body;
A travel distance detecting means for detecting the travel distance of the device body,
The control means includes
Based on the output of the obstacle detection means, the device body is run along the obstacle so that the distance to the obstacle located on the side of the device body is substantially constant,
While traveling along the obstacle, a travel vector indicating the travel direction and travel distance of the device body is calculated based on the output of the travel direction detection means and the output of the travel distance detection means at predetermined timings. And calculating a cumulative vector obtained by cumulatively adding the previous progress vectors to obtain a slope of the progress vector with respect to the cumulative vector,
An autonomous traveling robot cleaner characterized in that when the inclination of the progress vector exceeds a predetermined value, the traveling along the obstacle is stopped and the apparatus main body travels in the direction of the accumulated vector. The traveling means has a left wheel and a right wheel for traveling and turning the device body,
The traveling direction detection means detects the traveling direction of the device main body based on the number of rotations of each of the left wheel and the right wheel,
The autonomous traveling robot cleaner according to claim 2, wherein the traveling distance detecting means detects a traveling distance of the device main body based on the number of rotations of each of the left wheel and the right wheel.

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