JP2007209392A - Self-traveling type vacuum cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-traveling type vacuum cleaner which can efficiently perform cleaning without leaving uncleaned regions. <P>SOLUTION: After performing an overall reciprocating cleaning, a traveling along wall is performed. For traveling along the wall, an uncleaned area at the time of the overall reciprocating cleaning is searched. When the uncleaned area is found, a partial reciprocating cleaning is performed regarding the uncleaned area. Traveling along the wall is performed until at least one round in a room is performed, and thus, an efficient cleaning without overlooking uncleaned regions can be achieved. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a self-propelled cleaner.

  Conventionally, this type of self-propelled cleaner is known to perform cleaning without causing an uncleaned region by combining vertical reciprocating and horizontal reciprocating (for example, , See Patent Document 1).

In this configuration, both the vertical reciprocation and the horizontal reciprocation are performed as a whole. By mapping the locus at that time, it is possible to grasp where the uncleaned area is, and to reclean the uncleaned area.
JP 2004-49778 A

  However, in the above-described self-propelled cleaner, since both the vertical reciprocating operation and the horizontal reciprocating operation are performed as a whole, there is a problem in that redundant cleaning areas increase and wasteful power is consumed. was there.

  This invention is made | formed in view of the said subject, and it aims at providing the self-propelled cleaner which can be cleaned efficiently, without leaving an uncleaned area | region.

In order to achieve the above object, the invention according to claim 2 is directed to a driving mechanism that realizes steering and driving, a cleaning mechanism, a gyro sensor that measures a directional angle of the body, and a traveling distance based on the rotational speed of the wheel. In a self-propelled cleaner comprising a rotary encoder that measures the obstacle and an obstacle sensor that detects obstacles on the front and sides and measures the distance to the obstacle,
Based on the measurement results of the gyro sensor, the obstacle sensor, and the rotary encoder, the main body is moved straight until it substantially bumps against the obstacle, and when it is nearly bumped, the main body is shifted in a direction substantially orthogonal to the straight movement direction. The overall reciprocating cleaning means for causing the cleaning mechanism to perform cleaning while repeatedly causing the drive mechanism to execute steering and driving to be reversed while the main body reaches a preset end point, and the overall reciprocating cleaning means After cleaning the vehicle, the driving mechanism causes the driving mechanism to perform steering and driving to advance the main body along the obstacle based on the measurement results of the gyro sensor, the obstacle sensor, and the rotary encoder. And the gyro sensor and the rotary when the vehicle and the wall-side traveling device travel the body. Uncleaned area determination means for determining whether the current position of the main body specified by the encoder is an uncleaned area that has not been run by the overall reciprocating cleaning means; and the current position of the main body is the uncleaned area When the uncleaned area determination means detects that, based on the measurement results of the gyro sensor, the obstacle sensor, and the rotary encoder, the entire reciprocating cleaning means until the main body substantially hits the obstacle. Steering and driving in which the main body is moved in a direction parallel to the straight traveling direction and reversed while being shifted substantially in a direction substantially perpendicular to the direction in which the main body is moved straight, when the main body is abutted. While the driving mechanism is repeatedly executed until it reaches the cleaned area that has traveled, the cleaning mechanism It is constituted comprising a partial reciprocating cleaning means for causing removal.

  In the invention of claim 2 configured as described above, steering and driving are realized by the drive mechanism, and cleaning can be performed by the cleaning mechanism. The gyro sensor measures the direction angle of the main body, and the rotary encoder measures the travel distance based on the number of rotations of the wheels. Further, an obstacle sensor is provided, and the obstacle sensor detects obstacles on the front and sides and measures the distance from the obstacle.

  The overall reciprocating cleaning means performs the following operations by controlling the above-described units. First, the measurement results of the gyro sensor, the obstacle sensor, and the rotary encoder are acquired, and based on these measurement results, the main body is moved straight until it substantially hits the obstacle. Then, when the main body substantially hits the obstacle, the main body is reversed while being shifted in a direction substantially orthogonal to the direction in which the main body is moved straight. The main body can be reciprocated by repeatedly causing the drive mechanism to perform the above operation. During this time, since the cleaning mechanism performs cleaning, overall cleaning can be performed while reciprocating.

  The wall-side traveling means performs the following operation by controlling the above-described parts after the overall reciprocating cleaning means performs cleaning. Measurement results obtained by the gyro sensor, the obstacle sensor, and the rotary encoder are acquired, and based on these measurement results, the drive mechanism is caused to perform steering and driving to advance the main body along the obstacle. For example, when the obstacle is a wall of a room, the main body travels along the wall.

  The uncleaned area determination means determines whether or not the current position of the main body is an uncleaned area that has not been driven by the overall reciprocating cleaning means when the wall-side traveling means travels the main body. That is, while traveling along an obstacle, the uncleaned area determination means detects whether the main body has reached a place that has not been cleaned by the overall reciprocating cleaning means.

  When the uncleaned area determination unit determines that the current position of the main body is the uncleaned area, the partial reciprocating cleaning unit performs the following operations by controlling each unit described above. The same reciprocating cleaning as that of the general reciprocating cleaning means is executed from the current position determined to be the uncleaned area until reaching the cleaned area already traveled by the general reciprocating cleaning means. That is, by starting the reciprocal cleaning similar to the general reciprocating cleaning means from the uncleaned area at the current position, and continuing the reciprocating cleaning until reaching the cleaned area, the general reciprocating cleaning means Only the uncleaned area that has not been cleaned can be cleaned back and forth, and overlapping cleaning can be suppressed.

According to a third aspect of the present invention, when the entire reciprocating cleaning means performs cleaning, based on the measurement results of the gyro sensor, the obstacle sensor, and the rotary encoder, the cleaned area and the uncleaned area And mapping means for generating mapping data specifying the position of the obstacle and
The uncleaned area determining means determines whether or not the current position of the main body specified by the gyro sensor and the rotary encoder is an uncleaned area in the mapping data when the wall-side traveling means travels the main body. Is determined.

  In the invention of claim 3 configured as described above, the uncleaned area determination means can determine that the current position of the main body is the uncleaned area by mapping. First, mapping means is provided, and when the overall reciprocating cleaning means performs cleaning, the mapping means, based on the measurement results in the gyro sensor, the obstacle sensor, and the rotary encoder, Mapping data specifying the uncleaned area and the position of the obstacle is generated. The uncleaned area determining means applies the current position of the main body specified by the gyro sensor and the rotary encoder and the mapping data when the wall-side traveling means travels the main body, thereby matching the current position. It can be determined whether the position is located in an uncleaned area.

Further, the invention according to claim 4 is a charger detection means for detecting that the main body has reached a charger arranged at a position along the obstacle and capable of supplying power to the main body,
When the wall-side traveling means travels the body, the steering and driving by the wall-side traveling means are stopped when the charger detection means recognizes that the body has reached the charger twice. And a stopping means for stopping.

  In the invention of claim 4 configured as described above, the charger detection means is provided, and the charging danger value means detects that the main body has arrived at the charger arranged at the position along the obstacle. be able to. The stop means recognizes that the charger detection means has detected that the main body has reached the charger twice when the wall-side traveling means travels the main body. Then, when the main body reaches the charger twice, the steering and driving by the wall-side traveling means are stopped.

  Furthermore, the invention according to claim 5 causes the drive mechanism to execute the steering and driving to randomly advance the main body for a certain period after the stopping means stops the steering and driving by the wall-side traveling means. Random cleaning means for cleaning the cleaning mechanism is provided.

  In the invention of claim 5 configured as described above, random cleaning means is provided, and the random cleaning means is configured to hold the main body for a certain period after the stopping means stops steering and driving by the wall-side traveling means. The driving mechanism is caused to execute steering and driving that are randomly advanced. At the same time, by causing the cleaning mechanism to perform cleaning, a random locus can be cleaned.

The present invention can also be realized as a configuration that further embodies the configurations of claims 2 to 6 described above. As an example, the invention according to claim 1 is a drive mechanism that realizes steering and driving. And a cleaning mechanism, a gyro sensor that measures the directional angle of the main body, a rotary encoder that measures the distance traveled by the number of rotations of the wheel, and the distance from the obstacle to the front and side obstacles In a self-propelled cleaner equipped with an obstacle sensor for measuring
The obstacle sensor includes an ultrasonic sensor and an infrared photoreflector, and the CPU executes the control program stored in the memory while expanding it in the RAM, whereby the gyro sensor, the obstacle sensor, and the rotary encoder Based on the measurement results, the steering and driving to move the main body straight until it substantially hits the obstacle, and to reverse while shifting the main body to the direction substantially perpendicular to the direction in which the main body has moved straight, is set in advance. The reciprocating cleaning execution module that causes the cleaning mechanism to perform cleaning while repeatedly executing the driving mechanism until the main body reaches the main body, and the gyro sensor and the obstacle during execution of the overall reciprocating cleaning execution module Based on the measurement results of the object sensor and the rotary encoder, A mapping module that generates mapping data specifying the removed area, the uncleaned area, and the position of the obstacle, and stores the mapping data in the memory, and after the execution of the overall reciprocating cleaning execution module, the gyro sensor and the obstacle sensor And a wall-side travel execution module that causes the drive mechanism to perform steering and driving to advance the main body along the obstacle parallel to the obstacle based on the measurement result in the rotary encoder, and during the execution of the wall-side travel execution module, An uncleaned area determination module for determining whether or not the current position of the main body specified by the gyro sensor and the rotary encoder is an uncleaned area in the mapping data; and the current position of the main body is uncleaned in the mapping data The above uncleaned area When the determination module determines, based on the measurement results of the gyro sensor, the obstacle sensor, and the rotary encoder, the direction reciprocated straight by the overall reciprocating cleaning execution module until the main body substantially hits the obstacle; The main body arrives at the cleaned area in the mapping data from the current position from the current position, with the main body moving in a straight line and reversing while shifting substantially in the direction substantially perpendicular to the direction in which the main body is moved straight. The main body is connected to a partial reciprocating cleaning execution module that causes the cleaning mechanism to perform cleaning while repeatedly executing the driving mechanism, and a charger that is disposed at a position along the obstacle and can supply power to the main body. During the execution of the charger detection module that detects that it has arrived and the wall-side travel execution module When the charger detection module recognizes that the main body has reached the charger twice, a stop module for stopping steering and driving by the wall-side travel execution module; and It is configured to include a microcomputer that executes a random cleaning execution module that causes the cleaning mechanism to perform cleaning while causing the driving mechanism to execute steering and driving to randomly advance the main body for a certain period after execution.

  That is, in the invention of claim 1, each control of the present invention can be realized in the self-propelled cleaner by causing the microcomputer to execute each module of the control program. In the first aspect of the invention, the obstacle can be detected by the ultrasonic sensor and the photo reflector.

As described above, according to the first and second aspects of the invention, a self-propelled cleaner that can be efficiently cleaned without leaving an uncleaned area can be provided.
According to the invention concerning Claim 3, it can be detected that the main body has reached the uncleaned area based on the mapping data.
According to the fourth aspect of the present invention, it is possible to stop running near the wall after at least one round of the room, and it is possible to search for an uncleaned area in the room.
According to the fifth aspect of the present invention, the uncleaned area can be eliminated.

Hereinafter, embodiments of the present invention will be described in the following order.
(1) Appearance of self-propelled vacuum cleaner:
(2) Internal configuration of self-propelled cleaner:
(3) Operation of the self-propelled cleaner:
(4) Summary:

(1) Appearance of self-propelled vacuum cleaner:
FIG. 1 shows a self-propelled cleaner according to an embodiment of the present invention as seen from an oblique direction, and FIG. 2 shows the self-propelled cleaner shown in FIG. 1 as seen from below. In addition, in FIG. 1, the direction shown by the white arrow is the advancing direction at the time of advance of a self-propelled cleaner, and means the front. As shown in FIG. 1, a self-propelled cleaner 10 according to the present invention includes a substantially cylindrical main body BD, and two drive wheels 12R and 12L provided on the back side of the main body BD (see FIG. 2). Are driven individually, it is possible to perform straight movement, backward movement and turning about a predetermined rotation axis.

  Further, an ultrasonic sensor 31a as a front obstacle sensor is provided on the front of the self-propelled cleaner 10. Ultrasonic sensors 31b and 31c as side obstacle sensors are provided at symmetrical positions on the left and right side surfaces of the self-propelled cleaner 10. Each of the ultrasonic sensors 31a, 31b, and 31c includes a transmission unit that generates ultrasonic waves and a reception unit that receives the ultrasonic waves emitted from the transmission unit and reflected back to the front wall. The distance to the wall can be calculated from the time until the emitted ultrasonic wave is received by the receiving unit.

  For example, when the front ultrasonic sensor 31a emits ultrasonic waves forward, the distance to the obstacle ahead can be measured. Similar ultrasonic sensors 31b and 31c on the left and right side surfaces emit ultrasonic waves obliquely to the side, whereby the distance to the obstacle in the diagonally forward direction can be measured. Since the ultrasonic sensors 31b and 31c are provided at symmetrical positions, the distances measured by the ultrasonic sensors 31b and 31c are the same when the traveling direction of the main body BD is perpendicular to the front wall. It becomes. A bumper 32 projects forward from the lower front part of the main body BD. The bumper 32 has a mechanical switch for reducing the impact at the time of collision with an obstacle ahead and detecting the collision. Therefore, the bumper 32 can be used as the obstacle sensor of the present invention.

  Photo reflectors 36 (36R, 36L) as obstacle sensors are provided symmetrically on both the left and right sides of the front side of the main body BD. The photo reflector 36 includes a light emitting unit that emits infrared light and a light receiving unit that receives infrared light reflected by the wall. The photo reflector 36 can also detect the presence of an obstacle and the distance from the obstacle. That is, in this embodiment, the ultrasonic sensors 31a, 31b, and 31c and the photo reflector 36 correspond to the obstacle sensor of the present invention. Since the reflectance of ultrasonic waves and infrared light differs depending on the obstacle, it is possible to deal with various obstacles by combining the ultrasonic sensors 31a, 31b, 31c and the photo reflector 36. Of course, the number and position of the ultrasonic sensor and the photo reflector can be appropriately changed. For example, the lateral distance may be measured by the photo reflector.

  In FIG. 2, two drive wheels 12R and 12L are respectively provided at the left and right ends at the center of the back side of the main body BD. Also, three auxiliary wheels 13 are provided on the front side (traveling direction side) on the back side of the main body BD. Furthermore, step sensors 14 for detecting road surface irregularities and steps are provided on the upper right, lower right, upper left, and lower left of the back side of the main body BD, respectively. A main brush 15 is provided below the center of the back side of the main body BD. The main brush 15 is rotationally driven by a main brush motor 52 (not shown), and can scrape off dust on the road surface. Moreover, the opening of the part to which the main brush 15 is attached is a suction port, and the scraped dust is sucked into the suction port while the main brush 15 scrapes the dust. Further, side brushes 16 are respectively provided on the upper right and upper left on the back side of the main body BD.

(2) Internal configuration of self-propelled cleaner:
FIG. 3 is a block diagram showing a configuration of the self-propelled cleaner shown in FIGS. 1 and 2. In the figure, a main body BD is connected to a CPU 21, ROM 23, and RAM 22 constituting a microcomputer via a bus 24. The CPU 21 executes various controls using the RAM 22 as a work area in accordance with a control program and various parameter tables stored in the ROM 23 which is a nonvolatile memory.

  The main body BD has a battery 27, and the CPU 21 can monitor the remaining amount of the battery 27 via the battery monitoring circuit 26. Further, the battery 27 includes a charging terminal 27a for charging from the charger 100 described above. The charging terminal 27a is connected to the power supply terminal 102a of the charger 100 for charging. The battery monitoring circuit 26 mainly monitors the voltage of the battery 27 and detects the remaining amount.

  The main body BD includes ultrasonic sensors 31a, 31b, and 31c as obstacle sensors, photo reflectors 36R and 36L, and a step sensor 14 (see FIGS. 1 and 2). Furthermore, the main body BD includes a gyro sensor 37 as the other sensor. The gyro sensor 37 includes an angular velocity sensor 37a that detects a change in angular velocity caused by a change in the traveling direction of the main body BD. The gyro sensor 37 integrates the sensor output values detected by the angular velocity sensor 37a, and the direction angle that the main body BD faces. Can be detected.

Self-propelled cleaner 10 concerning the present invention has motor drivers 41R and 41L as drive mechanisms.
And drive wheel motors 42R and 42L, drive wheel motors 42R and 42L, and a gear unit (not shown) interposed between the drive wheels 12R and 12L described above. The driving wheel motors 42R and 42L are driven and controlled in detail by the motor drivers 41R and 41L when rotating. Each motor driver 41R, 41L outputs a corresponding drive signal in response to a control instruction from the CPU 21. Various types of gear units and drive wheels 12R and 12L can be employed, and may be realized by driving a circular rubber tire or driving an endless belt.

  The main body BD includes a rotary encoder 38 as the travel distance measuring means. The rotary encoder 38 is integrally attached to the drive wheel motors 42R and 42L, and can calculate the travel distance of the main body BD from the number of rotations of the drive wheels 12R and 12L.

  The rotary encoder may not be directly connected to the driving wheel, but a driven wheel that can freely rotate is attached in the vicinity of the driving wheel, and the rotation amount of the driven wheel may be fed back. By doing so, the actual amount of rotation can be detected even when the drive wheels are slipping. The acceleration sensor 44 detects the acceleration in the XYZ triaxial directions and outputs the detection result. Various types of gear units and drive wheels can be employed, and may be realized by driving a circular rubber tire or driving an endless belt.

  The cleaning mechanism in the self-propelled cleaner 10 according to the embodiment includes two side brushes 16 (see FIG. 2) provided on the back side of the main body BD, and a main brush 15 ( 2), and a suction fan (not shown) for sucking the dust scraped by the main brush 15 and storing it in the dust box. The main brush 15 is driven by a main brush motor 52, and the suction fan is driven by a suction motor 55. Driving power is supplied to the main brush motor 52 and the suction motor 55 from motor drivers 54 and 56, respectively. Cleaning using the main brush 15 is controlled by the CPU 21 as appropriate according to the floor condition, battery condition, user instruction, and the like.

  FIG. 4 shows a module configuration of a control program executed by the CPU 21 using the RAM 22 as a work area. In the figure, the control program P includes an overall reciprocating cleaning execution module P1, a mapping module P2, a near-wall travel execution module P3, an uncleaned area determination module P4, a partial reciprocating cleaning execution module P5, a stop module P6, and a random cleaning execution module. It is comprised from P7 and the charger detection module P8.

  The overall reciprocating cleaning execution module P1, the wall-side travel execution module P3, the partial reciprocating cleaning execution module P5, the stop module P6, and the random cleaning execution module P7 are the sensors described above (ultrasonic sensors 31a, 31b, 31c, photoreflector 36R). , 36L, the step sensor 14, the gyro sensor 37, the rotary encoder 38, and the acceleration sensor 44), and the drive signals to the motor drivers 41R, 41L, 54, and 56 are acquired based on the detection and measurement results. Is output. Thereby, the operation | movement according to each condition is realizable. The operation executed by each module will be described in detail later.

  The mapping module P2 acquires measurement results from the ultrasonic sensors 31a, 31b, 31c, the photo reflectors 36R, 36L, the gyro sensor 37, the rotary encoder 38, and the acceleration sensor 44, and identifies the location of the main body BD from the measurement results. . According to the gyro sensor 37, the rotary encoder 38, and the acceleration sensor 44, the rotation angle and travel distance of the main body BD can be determined, so that the current position with respect to a certain reference position can be specified.

  And the mapping data which shows the locus | trajectory of the main body BD are produced | generated by mapping the position which the main body BD moved actually to a plane coordinate. This mapping data is held in the RAM 22. In addition, by acquiring the measurement results of the ultrasonic sensors 31a, 31b, 31c and the photo reflectors 36R, 36L at each position, the position of the obstacle at each position can also be specified. Therefore, the mapping module P2 maps the position of the obstacle as well as the trajectory of the main body BD.

  The uncleaned area determination module P4 acquires the measurement results obtained by the ultrasonic sensors 31a, 31b, 31c, the photo reflectors 36R, 36L, the gyro sensor 37, the rotary encoder 38, and the acceleration sensor 44 in the same manner as the mapping module P2. To identify the current position of the main body BD. Then, the mapping data is acquired from the RAM 22, and it is determined whether or not the current position of the main body BD is on the locus of the main body BD in the mapping data. That is, it is determined whether the position where the main body BD is currently located is a position where the main body BD has already traveled in the past.

  The charger detection module P8 detects the morphological features of the charger 100 using the measurement results of sensors such as the ultrasonic sensors 31a, 31b, and 31c and the photo reflectors 36R and 36L. That is, the obstacles are constantly monitored by the sensors such as the ultrasonic sensors 31a, 31b, and 31c and the photo reflectors 36R and 36L, and the measurement result that matches the morphological characteristics of the charger 100 is obtained. In this case, it is determined that the main body BD is currently traveling in the vicinity of the charger 100. For example, the charger 100 may be provided with a unique infrared reflection pattern, and the photo reflectors 36R and 36L may obtain measurement results corresponding to the infrared reflection pattern, or the charger 100 may be provided with a unique uneven pattern. Alternatively, detection may be performed by the ultrasonic sensors 31a, 31b, 31c and the photo reflectors 36R, 36L.

(3) Operation of the self-propelled cleaner:
Next, the operation of the self-propelled cleaner 10 will be described. FIG. 5 shows the flow of the automatic cleaning execution process. First, in step S100, the overall reciprocating cleaning execution module P1 causes the overall reciprocating cleaning to be executed. That is, the overall reciprocating cleaning execution module P1 inputs the detection results of various sensors included in the self-propelled cleaner 10 while driving the drive wheel motors 42R and 42L to cause the main body BD to travel straight ahead. Drive control based on the results is performed, and the main brush motor 52 and the suction motor 55 are driven to perform cleaning work.

  FIG. 6 shows the trajectory of the main body BD when the overall reciprocating cleaning execution module P1 executes reciprocal cleaning. As shown in the figure, in the entire reciprocating cleaning, the main body BD is first moved straight. Then, the straight traveling is continued until it is detected by the ultrasonic sensor 31a or the photo reflectors 36R and 36L that the main body BD substantially hits the front obstacle. For example, when the distance between the head of the main body BD and the front obstacle is less than a predetermined amount, it may be determined that the main body BD substantially hits the front obstacle.

  When the main body BD substantially hits the front obstacle, the main body BD stops traveling on the spot, and the main body BD is rotated 90 degrees while the rotation angle is monitored by the gyro sensor 37. Then, by moving the main body BD forward by the width of the main body BD, the main body BD can be shifted in a direction orthogonal to the first straight traveling direction. When the main body BD is shifted, the drive wheel motors 42R and 42L are further driven to reverse the main body BD so that the main body BD can travel in the direction opposite to the first straight traveling direction.

  The reversed main body BD starts to advance again and proceeds in the direction opposite to the first straight direction. By repeatedly executing the above operation, the main body BD can travel along a locus as shown in FIG. When the main body BD is shifted in the direction orthogonal to the straight direction, the main body BD is always shifted in the same direction. In the example of FIG. 6, it is always shifted to the right in the drawing, and cleaning can be performed in order from the left. Specifically, when it almost hits an obstacle, it rotates 90 degrees clockwise after moving forward (after moving on the paper), and 90 degrees counterclockwise when moving backward (after moving on the paper). You just have to do it. When the overall reciprocating cleaning execution module P1 executes reciprocating cleaning, the main brush motor 52 and the suction motor 55 are driven to perform the cleaning operation, so the locus shown in FIG. 6 has been cleaned. It means that there is.

  It should be noted that the position of the wall is determined in advance from the measurement results of the obstacle sensors 31a, 31b, 31c, 36R, and 36L so that the entire reciprocating cleaning can be started from the side of the wall, and in a straight line direction along the wall from the side of the wall. It is desirable to start the entire reciprocal cleaning. On the other hand, when it is no longer possible to shift to the right on the paper surface of FIG. That is, when the front is oriented to the right and an obstacle is detected near the front, the entire reciprocating cleaning is terminated.

  The mapping module P2 performs mapping in parallel with the general reciprocating cleaning execution module P1 executing the general reciprocating cleaning in step S100. That is, the mapping module P2 generates mapping data storing the trajectory of the main body BD in the entire reciprocating cleaning, and stores it in the RAM 22. Specifically, while the overall reciprocating cleaning execution module P1 performs the overall reciprocating cleaning, the mapping module P2 sequentially acquires the measurement results of the gyro sensor 37, the rotary encoder 38, and the acceleration sensor 44. By mapping the position of the main body BD at each time and plotting the specified position on the plane coordinates, mapping data indicating the travel locus of the main body BD can be generated.

FIG. 7 schematically shows mapping data generated by the mapping module P2 when the room shown in FIG. In the figure, mapping data is image data in which each pixel is arranged in a dot matrix, and each pixel has three gradations of 0 to 2 representing any one of three types of states. In addition, the state which each gradation value means is as follows.
0: Not cleaned 1: Cleaned 2: Obstacle

  The address of each pixel corresponds to the physical position where the main body BD travels, and the size of one pixel substantially corresponds to the size of the main body BD when viewed from above. The mapping module P2 sequentially specifies the current position of the main body BD, and gives gradation 1 that means cleaning (running) to the pixel corresponding to the specified current position. Thereby, the locus of the main body BD can be recorded with the mapping data. When there is no obstacle at the center in the reciprocating direction in the room, the room can be reciprocated from end to end, so that the room can be cleaned without hesitation. However, as shown in FIG. 7, when there is an obstacle such as a table or a sofa in the center of the reciprocating direction in the room, the main body BD is turned back in the middle of the reciprocating movement, so that an uncleaned area remains in the room. It becomes.

  In the mapping, the relative distance between the main body BD and the obstacle at each position is determined by acquiring the measurement results of the obstacle sensors 31a, 31b, 31c, 36R, and 36L at each position. Then, gradation 2 indicating an obstacle is given to the pixel corresponding to the position where the obstacle exists. Thereby, the position of an obstacle can be recorded with mapping data. The mapping as described above is continuously executed in a period until the overall reciprocating cleaning execution module P1 starts and ends the overall reciprocating cleaning.

  When the overall reciprocating cleaning execution module P1 finishes the overall reciprocating cleaning, the near-wall travel execution module P3 starts the near-wall travel at step S110. FIG. 8 shows a trajectory for running near the wall in the room shown in FIG. In running along the wall, the main body BD is caused to travel such that obstacles are always present at a constant distance on either the left or right side of the main body BD. In FIG. 8, the main body BD travels counterclockwise on the page, and the main body BD is traveled so that an obstacle is always present at a certain distance on the right side of the main body BD.

  When traveling near the wall, the ultrasonic sensor 31b on the right side always monitors the distance to the obstacle on the right side, and the entire reciprocating cleaning execution module P1 drives the drive wheel motors 42R and 42L so that this distance is always constant. Drive. Since the entire reciprocating cleaning in step S100 is completed when the main body BD has moved to the right end of the room, the main body BD can be made to travel along the wall of the room in the wall-side traveling in step S110. In running near the wall, the main brush motor 52 and the suction motor 55 may be driven to perform a cleaning operation, or the cleaning operation may be stopped in order to reduce power consumption.

  In running near the wall, the uncleaned area determination module P4 sequentially acquires the current position of the main body BD by acquiring the measurement results of the gyro sensor 37, the rotary encoder 38, and the acceleration sensor 44. In step S120, the uncleaned area determination module P4 periodically determines whether or not the current position during running near the wall is in the uncleaned area. The uncleaned area determination module P4 acquires the mapping data generated by the overall reciprocating cleaning in step S100, acquires the gradation of the pixel of the mapping data corresponding to the current position while running near the wall, and the gradation is 0. It is determined whether or not.

  Then, if the current position while running near the wall is a position corresponding to a pixel in the uncleaned area (gradation is 0) in the mapping data, the partial reciprocal cleaning execution module P5 executes partial reciprocal cleaning in step S130. Let When the main body BD arrives at a point T shown in FIG. 8, the gradation of the pixel of the mapping data corresponding to the current position of the main body BD shifts from cleaned 1 to uncleaned 0. It is determined that the current position is an uncleaned area.

  FIG. 9 shows the trajectory of the main body BD with a solid line when the partial reciprocating cleaning execution module P5 executes partial reciprocating cleaning on the room shown in FIG. As shown in the figure, in the partial reciprocating cleaning, the main body BD is first moved straight in the straight direction similar to the general reciprocating cleaning from the current position T determined to be an uncleaned area. Then, as in the general reciprocating cleaning, the vehicle continues straight until the ultrasonic sensor 31a or the photo reflectors 36R and 36L detects that the main body BD substantially hits the front obstacle.

  When the main body BD substantially hits the front obstacle, the main body BD stops traveling on the spot, and the main body BD is rotated 90 degrees while the rotation angle is monitored by the gyro sensor 37. Here, the main body BD is rotated 90 degrees in the direction in which the vehicle traveled just before the wall. Then, by moving the main body BD forward by the width of the main body BD as in the case of the entire reciprocating cleaning, the main body BD can be shifted in the direction orthogonal to the first straight traveling direction. When the main body BD is shifted, the drive wheel motors 42R and 42L are driven in the same manner, and the main body BD is reversed so that the main body BD can travel in the direction opposite to the first straight traveling direction. By repeating the above operation, the main body BD can be run along a locus as shown in FIG. In the partial reciprocating cleaning, the main brush motor 52 and the suction motor 55 are driven to perform the cleaning operation as in the general reciprocating cleaning, and the mapping module P2 performs the mapping in parallel.

  Further, even during partial reciprocal cleaning, the uncleaned area determination module P4 sequentially acquires the current position of the main body BD by acquiring the measurement results of the gyro sensor 37, the rotary encoder 38, and the acceleration sensor 44. ing. When the gradation of the pixel of the mapping data corresponding to the current position where the partial reciprocal cleaning is being performed shifts to 1 that has been cleaned, the partial reciprocal cleaning in step S130 is terminated, and the running by the wall is performed again. Let it begin. When the main body BD reaches the point H shown in FIG. 9, the gradation of the pixel of the mapping data corresponding to the current position of the main body BD shifts from 0 which has not been cleaned to 1 which has been cleaned. It is determined that the current position is a cleaned area.

  That is, as a result of performing partial reciprocal cleaning, the main body BD reaches a cleaned area that has already been cleaned, and it is not necessary to continue the reciprocal cleaning any more, and the running by the wall is started again. In the restarted wall-side traveling, by traveling again on the wall-side, it is possible to search for an uncleaned area at another location and shift to partial reciprocal cleaning for the next uncleaned area. In the example of FIG. 9, partial reciprocal cleaning is first performed on the uncleaned area A1, and then partial reciprocal cleaning is performed on the next uncleaned area A2 after running near the wall.

  On the other hand, if it is determined in step S120 that the current position is not an uncleaned area, the end condition of the wall-side travel is determined in step S140. In the present embodiment, when performing wall-side traveling, the charger detection module P8 detects that the main body BD has traveled in the vicinity of the charger 100. In step S140, the main body in the wall-side traveling started from step S110. The stop module P6 determines that the BD has traveled twice near the charger 100. Then, when the main body BD travels twice in the vicinity of the charger 100 in the wall-side traveling started from step S110, the stop module P6 stops the wall-side traveling in step S150.

  That is, when the main body BD travels twice in the vicinity of the charger 100 arranged at a certain place in the room during the wall-side traveling, it can be determined that at least the main body BD has made one round of the room. Judge that the search is completed. When the wall running is stopped in step S150, the random cleaning execution module P7 executes random cleaning in step S160. Normally, the charger 100 is disposed near a wall or an obstacle so as to use a room or secure a power source. Therefore, the charger 100 can be used while traveling along an obstacle such as a wall. It will be detected.

  FIG. 10 shows a state of random cleaning. In the random cleaning, the main brush motor 52 and the suction motor 55 are driven to perform the cleaning operation. In the random cleaning, the drive wheel motors 42R and 42L are driven as in the case of the reciprocating cleaning, and the main body BD is caused to travel straight until substantially hitting an obstacle on the front. Then, when substantially hitting the obstacle, the main body BD is rotated in a random direction, and the main body BD is caused to travel straight again in the rotated direction. By repeating the above operations, it is possible to realize a travel without any artifacts. Thereby, it is possible to clean the area surrounded by the obstacle from the outside of the reciprocating movement direction in the reciprocating cleaning as in the uncleaned area A3 in FIG. When the random cleaning is continued for a certain time, the random cleaning is ended and the automatic cleaning process is completed.

(4) Summary:
As described above, in the present invention, the wall travel is performed after the entire reciprocating cleaning. When running near the wall, an uncleaned area in the entire reciprocal cleaning is searched, and when an uncleaned area is searched, the uncleaned area is partially reciprocated. By causing the vehicle to run against the wall until it makes at least one round in the room, it is possible to achieve efficient and leak-free cleaning.

  Needless to say, the present invention is not limited to the above embodiments. It goes without saying to those skilled in the art that, as an embodiment of the present invention, it is possible to appropriately change the combination of the mutually replaceable members and configurations disclosed in the above embodiments and apply them. It is disclosed. In addition, although not disclosed in the above-described embodiments, members and configurations that are known techniques and can be mutually replaced with the members and configurations disclosed in the above-described embodiments are appropriately replaced, and combinations thereof are also possible. The modification and application are disclosed as an embodiment of the present invention. Furthermore, although not disclosed in the above-described embodiments, members and configurations that can be assumed as substitutes for members and configurations disclosed in the above-described embodiments by those skilled in the art based on publicly known techniques and the like are appropriately replaced. Moreover, changing and applying the combination is also disclosed as an embodiment of the present invention.

It is an external appearance perspective view of the self-propelled cleaner concerning the present invention. It is a reverse view of a self-propelled cleaner. It is a block diagram which shows the structure of a self-propelled cleaner. It is a block diagram which shows the software structure of a self-propelled cleaner. It is a flowchart of an automatic cleaning execution process. It is a figure which shows the locus | trajectory of the main body in the whole reciprocating cleaning. It is a figure which shows mapping data. It is a figure which shows the locus | trajectory of the main body in wall-side running. It is a figure which shows the locus | trajectory of the main body in partial reciprocating cleaning. It is a figure which shows the locus | trajectory of the main body in random cleaning.

Explanation of symbols

10 ... Self-propelled cleaners 12R, 12L ... Drive wheels 14 ... Step sensor 21 ... CPU
22 ... RAM
23 ... ROM
26 ... Battery monitoring circuit 27 ... Battery 27a ... Charging terminals 31a, 31b, 31 ... Ultrasonic sensor 32 ... Bumper 36R, 36L ... Photo reflector 37 ... Gyro sensor 37a ... Angular velocity sensor 38 ... Rotary encoder 100 ... Charger

Claims (5)

A driving mechanism that realizes steering and driving, a cleaning mechanism, a gyro sensor that measures the direction angle of the main body, a rotary encoder that measures the distance traveled by the number of wheel rotations, and front and side obstacles In a self-propelled cleaner equipped with an obstacle sensor that detects and measures the distance to the obstacle,
The obstacle sensor comprises an ultrasonic sensor and an infrared photoreflector,
By executing the control program stored in the memory while the CPU expands the RAM,
Based on the measurement results of the gyro sensor, the obstacle sensor, and the rotary encoder, the main body is moved straight until it substantially bumps against the obstacle, and the main body is shifted in a direction substantially perpendicular to the direction in which the main body is moved straight. An overall reciprocating cleaning execution module that causes the cleaning mechanism to perform cleaning while repeatedly causing the driving mechanism to execute steering and driving to be reversed while the main body reaches a preset end point;
During execution of the overall reciprocating cleaning execution module, mapping data specifying the cleaned area, the uncleaned area, and the position of the obstacle based on the measurement results of the gyro sensor, the obstacle sensor, and the rotary encoder A mapping module to generate and store in memory;
After the execution of the overall reciprocating cleaning execution module, the driving mechanism performs steering and driving to advance the main body along the obstacle in parallel based on the measurement results of the gyro sensor, the obstacle sensor, and the rotary encoder. A wall running execution module to be executed,
An uncleaned area determination module that determines whether or not the current position of the main body specified by the gyro sensor and the rotary encoder is an uncleaned area in the mapping data during the execution of the wall running execution module;
When the uncleaned area determination module determines that the current position of the main body is an uncleaned area in the mapping data, the main body is determined based on the measurement results of the gyro sensor, the obstacle sensor, and the rotary encoder. Steering and driving in which the main body moves straight in parallel with the direction reciprocated by the overall reciprocating cleaning execution module until it substantially hits an obstacle, and the main body is reversed and shifted in a direction substantially orthogonal to the direction in which the main body is moved straight. A partial reciprocating cleaning execution module that causes the cleaning mechanism to perform cleaning while repeatedly executing the driving mechanism until the main body reaches the cleaned area in the mapping data from the current position,
A charger detection module that detects that the main body has reached a charger that is arranged at a position along the obstacle and can supply power to the main body;
During execution of the near-wall travel execution module, when the charger detection module recognizes that the main body has reached the charger twice, a stop for stopping steering and driving by the near-wall travel execution module Module,
Including a microcomputer that executes a random cleaning execution module that causes the cleaning mechanism to perform cleaning while causing the driving mechanism to execute steering and driving to randomly advance the main body for a certain period after execution of the stop module. A self-propelled vacuum cleaner characterized by A driving mechanism that realizes steering and driving, a cleaning mechanism, a gyro sensor that measures the direction angle of the main body, a rotary encoder that measures the distance traveled by the number of wheel rotations, and front and side obstacles In a self-propelled cleaner equipped with an obstacle sensor that detects and measures the distance to the obstacle,
Based on the measurement results of the gyro sensor, the obstacle sensor, and the rotary encoder, the main body is moved straight until it substantially bumps against the obstacle, and when it is nearly bumped, the main body is shifted in a direction substantially orthogonal to the straight movement direction. An overall reciprocating cleaning means for causing the cleaning mechanism to perform cleaning while repeatedly causing the drive mechanism to execute steering and driving to be reversed while the main body reaches a preset end point;
After the overall reciprocating cleaning means performs the cleaning, the steering and driving for moving the main body along the obstacle parallel to the obstacle based on the measurement results of the gyro sensor, the obstacle sensor, and the rotary encoder A wall-side traveling means to be executed by the drive mechanism;
Whether or not the current position of the main body specified by the gyro sensor and the rotary encoder is an uncleaned area that was not traveled by the overall reciprocating cleaning means when the wall-side traveling means travels the main body. Uncleaned area determining means for determining;
When the uncleaned area determination means determines that the current position of the main body is the uncleaned area, the main body is set as an obstacle based on the measurement results of the gyro sensor, the obstacle sensor, and the rotary encoder. Steering and driving to move the main body straight in parallel with the straight traveling direction in the overall reciprocating cleaning means until it substantially hits, and to reverse and shift the main body in a direction substantially perpendicular to the direction in which the main body has moved substantially straight. A partial reciprocating cleaning means for causing the cleaning mechanism to perform cleaning while repeatedly causing the driving mechanism to execute until it reaches a cleaned area that has already traveled by the overall reciprocating cleaning means from a position. Self-propelled vacuum cleaner. When the overall reciprocating cleaning means performs the cleaning, the mapping that specifies the cleaned area, the uncleaned area, and the position of the obstacle based on the measurement results of the gyro sensor, the obstacle sensor, and the rotary encoder A mapping means for generating data;
The uncleaned area determining means determines whether or not the current position of the main body specified by the gyro sensor and the rotary encoder is an uncleaned area in the mapping data when the wall-side traveling means travels the main body. The self-propelled cleaner according to claim 2, wherein Charger detection means for detecting that the main body has arrived at a charger that is arranged at a position along the obstacle and can supply power to the main body;
When the wall-side traveling means travels the body, the steering and driving by the wall-side traveling means are stopped when the charger detection means recognizes that the body has reached the charger twice. The self-propelled cleaner according to any one of claims 2 and 3, further comprising stop means for stopping. Random cleaning that causes the cleaning mechanism to perform cleaning while causing the driving mechanism to execute steering and driving that cause the main body to travel at random for a certain period after the stopping means stops steering and driving by the wall-side traveling means. The self-propelled cleaner according to claim 4, further comprising means.

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