JP2019107400A - Self-propelled vacuum cleaner - Google Patents

Abstract

To provide a self-propelled vacuum cleaner capable of cleaning efficiently according to a battery residual amount.SOLUTION: A self-propelled vacuum cleaner 11 includes a voltage sensor 42, a motor 33, a control unit 27 and a memory 69. The voltage sensor 42 detects a battery residual amount. The motor 33 is driven by power supply from a battery 28. The control unit 27 controls the motor 33. The memory 69 records power usage information which associates information regarding a control content of the motor 33 with information regarding power usage while executing the control content. The control unit 27 sets the control content thereafter according to the power usage information recorded in the memory 69 and a current battery residual amount detected by the voltage sensor 42.SELECTED DRAWING: Figure 1

Description

  Embodiments of the present invention relate to a self-propelled electric vacuum cleaner that cleans a region to be cleaned while self-propelled.

  Conventionally, a camera is mounted in a so-called autonomous traveling type electric vacuum cleaner (cleaning robot) that uses a secondary battery as a power source and cleans the floor surface while autonomously traveling on the floor surface as the surface to be cleaned. It is known that feature points are extracted from captured image data, and estimation of a self position and creation of a map are performed based on the feature points. By creating a map in this manner, it is possible to grasp an area that has not been cleaned based on the created map, and to set a traveling route and the like so that cleaning can be efficiently performed while autonomously traveling.

  However, when setting the traveling route or the like, the entire area can not be cleaned or cleaning may not be performed multiple times because the remaining amount of the secondary battery is not taken into consideration.

Patent No. 5426603 gazette

  Problem to be solved by the invention is providing the self-propelled vacuum cleaner which can be cleaned efficiently according to the battery remaining charge.

  The self-propelled vacuum cleaner of the embodiment is a self-propelled vacuum cleaner which cleans a cleaning target area while self-propelled using a battery as a power source. This self-propelled vacuum cleaner has a remaining amount detection unit, a drive unit, a control unit, and a recording unit. The remaining amount detection unit detects the remaining amount of battery. The drive unit is driven by power supply from the battery. The control unit controls the drive unit. The recording unit records use power information in which information on control content of the drive unit is associated with information on power consumption at the time of execution of the control content. Then, the control unit sets the control content from then on according to the power usage information recorded in the recording unit and the current battery remaining amount detected by the remaining amount detecting unit.

It is a block diagram showing the internal structure of the vacuum cleaner of one embodiment. It is a perspective view which shows a vacuum cleaner same as the above. It is a top view which shows a vacuum cleaner same as the above from the lower part. It is an explanatory view showing an electric cleaning system provided with a vacuum cleaner same as the above. It is explanatory drawing which shows typically self-propelled control of a vacuum cleaner same as the above. The explanatory view which shows an example of the control content recorded on the recording part of the same electric vacuum cleaner, and the control content set by the control part when the battery remaining amount with respect to the used electric power in this control content is enough. is there. It is explanatory drawing which shows typically an example of the estimation method of the cleaning object area | region by the estimation part of a vacuum cleaner same as the above. It is explanatory drawing which shows an example of the conditions at the time of changing control content by the control part of a vacuum cleaner same as the above. It is explanatory drawing which shows an example of the control content recorded on the recording part of a vacuum cleaner same as the above, and the control content set by a control part when battery residual amount runs short with respect to the use electric power in this control content. . FIG. 10 is an explanatory view showing control contents in the case where the recording section is provided with map data, and an example of control contents set by the control section based on the control contents and the remaining battery capacity. It is explanatory drawing which shows an example of the control content in case several cleaning object area | regions are registered into the registration part, and the control content set by the control part based on these control contents and battery residual amount. It is explanatory drawing which shows typically control when it can not complete | finish cleaning by the control content set by the control part same as the above. A description showing an example of the control content recorded in the recording unit of the same electric vacuum cleaner, and the control content set by the control unit based on the control content and the battery remaining amount when the user sets the degree of cleaning FIG. Same as the control content recorded in the recording unit of the electric vacuum cleaner same as the control content set by the control unit based on the control content and the battery remaining amount when the user can set the cleaning time zone FIG. It is explanatory drawing which shows an example of the cleaning schedule of the predetermined period automatically formulated by the control part of a vacuum cleaner same as the above.

  Hereinafter, the configuration of one embodiment will be described with reference to the drawings.

  In FIG. 1 to FIG. 4, reference numeral 11 denotes a self-propelled vacuum cleaner (hereinafter sometimes referred to simply as the vacuum cleaner 11). The vacuum cleaner 11 constitutes a vacuum cleaner together with a charging device (charging stand) 12. In the present embodiment, the vacuum cleaner 11 is a robot cleaner (cleaning robot) that cleans the floor surface while autonomously traveling (self-traveling) on the floor surface as the traveling surface which is the portion to be cleaned. The self-propelled vacuum cleaner 11 is not limited to one that travels completely autonomously, but also includes one that travels by being remotely operated by an external device such as a remote control. And this vacuum cleaner 11 performs wired communication or Wi-Fi (registered trademark) or Bluetooth (registration) with the home gateway (router) 14 as relay means (relay unit) arranged, for example, in a cleaning area or the like. General-purpose server (cloud server) 16 as data storage means (data storage unit) or display via (external) network 15 such as the Internet by communicating (transmitting and receiving) using wireless communication such as trademark) Wired or wireless communication is possible with a general-purpose or dedicated external device 17 having the function of the means (display unit). Further, the vacuum cleaner 11 can communicate wirelessly with the external device 17 via the home gateway 14 if, for example, the inside of a building (in a house) or the like. Therefore, the vacuum cleaner 11 and the external device 17 constitute the vacuum cleaner system 18 via the home gateway 14, the network 15, the server 16, and the like.

  The vacuum cleaner 11 includes a main body case 20 which is a main body. Moreover, this vacuum cleaner 11 is provided with the driving wheel 21 which is a traveling driven part. Furthermore, the vacuum cleaner 11 is provided with a cleaning unit 22 for cleaning dust on the floor surface. Further, the vacuum cleaner 11 includes a sensor unit 23. Furthermore, the vacuum cleaner 11 may include an imaging unit 24. Moreover, this vacuum cleaner 11 may be equipped with the input part into which a predetermined signal is input by remote control or direct operation by the user. Moreover, this vacuum cleaner 11 may be equipped with the communication part (communication adapter) 26 which is a communication means. Furthermore, the vacuum cleaner 11 is provided with a control unit 27 as a control means which is a controller. Moreover, this vacuum cleaner 11 may be provided with the display part which displays an image. And this vacuum cleaner 11 is equipped with the battery 28 for electric power supply used as a power supply part. Hereinafter, the direction along the traveling direction of the vacuum cleaner 11 (body case 20) will be referred to as the front-rear direction (arrows FR and RR shown in FIG. 2), and the left-right direction The description will be made assuming that the both sides direction is the width direction.

  The main body case 20 is formed in a shape that can store various devices and parts. In the main body case 20, a suction port (dust collecting port) 31 as a cleaning unit may be provided in a lower portion facing the floor surface or the like.

  The driving wheel 21 travels (autonomously travels) the vacuum cleaner 11 (main case 20) in the forward direction and backward direction on the floor surface, that is, for traveling. In the present embodiment, a pair of drive wheels 21 is provided, for example, on the left and right of the main body case 20. The drive wheels 21 are independently driven by a motor 33 as a drive unit (travel drive unit). In addition, it may replace with this drive wheel 21, and an endless track etc. can also be used.

  The cleaning unit 22 is, for example, for removing dust on the floor surface. The cleaning unit 22 has, for example, a function of collecting and collecting dust on the floor surface from the suction port 31, and wiping and cleaning the floor surface and the like. The cleaning unit 22 generates a negative pressure that sucks dust on the floor surface of the cleaning target area, and allows the motor blower 35 as a drive unit (cleaning drive unit) to suction dust from the suction port 31 and the suction port 31 to be rotatable. The rotary brush 36 as a cleaning unit (rotational cleaning body) attached and scraping dust, a brush motor 37 as a drive unit (auxiliary cleaning drive unit) for rotationally driving the rotary brush 36, and a peripheral portion of the main body case 20 A side brush 38, which is rotatably attached and is an auxiliary cleaning unit (auxiliary cleaning unit) as a swirl cleaning unit that scrapes and collects dust, and a side brush motor 39 as a drive unit (auxiliary cleaning drive unit) that drives the side brush 38. And / or may be provided. Further, the cleaning unit 22 collects dust in the dust collection unit 40 that communicates with the suction port 31 and stores dust.

  The rotating brush 36 is a brush body that guides dust on the floor surface to the suction port 31 by contacting the floor surface while rotating. In the vacuum cleaner 11 of the present embodiment, the rotary brush 36 plays a role of assisting the suction from the suction port 31 by the electric blower 35. In addition, you may comprise the cleaning part 22 (cleaning part) by the aspect which scrapes up the dust on a floor surface with the rotating brush 36, and throws it in to the suction port 31 (induction port), without using attraction | suction by the electric blower 35. The rotating brush 36 is used to clean with a predetermined width in the traveling direction of the vacuum cleaner 11 (main case 20). The rotary brush 36 is positioned at a lower portion of the main body case 20 (for example, a width of about 300 mm). The rotary brush 36 is set to have, for example, a width substantially equal to that of the suction port 31.

  The sensor unit 23 includes a voltage sensor 42 as a remaining amount detection unit that detects the voltage of the battery 28, that is, the remaining amount of the battery 28. That is, the vacuum cleaner 11 is equipped with the voltage sensor 42 as a residual amount detection part. In addition, the sensor unit 23 is a detection unit (detection unit) that senses, for example, the uneven state (step) of the floor surface, a wall or obstacle that obstructs the traveling of the vacuum cleaner 11, and the amount of dust on the floor surface. You may have. Furthermore, the sensor unit 23 detects rotation speed of the drive wheel 21 (motor 33) to detect the traveling speed and traveling distance of the vacuum cleaner 11 (main body case 20). A rotation number detection unit may be provided.

  The imaging unit 24 includes a camera 51 as an imaging unit (imaging unit main body). In addition, the imaging unit 24 may include a lamp 53 as an illumination unit (illumination unit) that illuminates the imaging range of the camera 51. Therefore, the vacuum cleaner 11 is provided with the camera 51 as an imaging means (imaging part main body). Moreover, the vacuum cleaner 11 may be equipped with lamps 53, such as LED as an illumination means (illumination part).

  The camera 51 is directed forward, which is the traveling direction of the main body case 20, and is digital at a predetermined horizontal angle of view (for example, 105 ° or the like) with respect to a direction parallel to the floor surface on which the main body case 20 is mounted. A digital camera that captures an image (moving image, still image, or both) of Although not shown, the camera 51 includes a lens, an aperture, a shutter, an imaging device such as a CCD, an imaging control circuit, and the like. In addition, a plurality of cameras 51 may be provided.

  The communication unit 26 can communicate with the external device 17 outside the house (outside the house) via the server 16 via the home gateway 14 and the network 15. The communication unit 26 can also communicate with the external device 17 inside the house (in the house) via the home gateway 14. The communication unit 26 can transmit data to the external device 17 and can receive signals from the external device 17. For example, the communication unit 26 includes a wireless communication unit (wireless communication unit) for wireless communication with the external device 17 and a wireless LAN device as a cleaner signal reception unit (cleaner signal reception unit). For example, an access point function may be installed in the communication unit 26, and direct wireless communication may be performed with the external device 17 without passing through the home gateway 14. Also, for example, a web server function may be added to the communication unit 26.

  The control unit 27 uses, for example, a microcomputer including a CPU as a control unit main body (control unit main body), a ROM, a RAM, and the like. The control unit 27 is electrically connected to the cleaning unit 22, the sensor unit 23 (voltage sensor 42), the imaging unit 24, the communication unit 26, and the like. Specifically, the control unit 27 is a traveling control unit that causes the main body case 20 (the vacuum cleaner 11) to autonomously travel within the cleaning target area by controlling the driving of the driving wheel 21 (the motor 33). A control unit 61 is provided. Further, the control unit 27 includes a cleaning control unit 62 that is a cleaning control unit that controls the operation of the cleaning unit 22. Further, the control unit 27 includes a sensor connection unit 63 which is a sensor control unit. Further, the control unit 27 may include a communication control unit 64 which is a communication control unit. Furthermore, the control unit 27 may be provided with a SLAM unit 65 having a function of map generation means for generating map data of a cleaning target area which is a traveling target area and self position estimation, and self position estimation means. Furthermore, the control unit 27 may include an estimation unit 66 that is an estimation unit that estimates a cleaning target area. In addition, the control unit 27 may include a determination unit 67 that is a determination unit that determines whether the area to be cleaned is an area that has been cleaned in the past. Furthermore, the control unit 27 may include, for example, a timer 68 as a clocking unit (clocking unit). Further, the control unit 27 includes a memory 69 as a recording unit (recording unit). Furthermore, the control unit 27 is electrically connected to the battery 28. Therefore, the vacuum cleaner 11 is provided with the traveling control part 61 which is a traveling control means. Moreover, the vacuum cleaner 11 is equipped with the cleaning control part 62 which is a cleaning control means. Furthermore, the vacuum cleaner 11 is provided with the sensor connection part which is a sensor control means. Moreover, the vacuum cleaner 11 may be equipped with the self-position estimation means (self-position estimation part) which estimates self-position. Furthermore, the vacuum cleaner 11 may be equipped with the map preparation means (map preparation part) which produces the map data of the area | region for cleaning based on the estimated self-position. Moreover, the vacuum cleaner 11 may be equipped with the estimation part 66 which is an estimation means. Furthermore, the vacuum cleaner 11 may be provided with the determination part 67 which is a determination means. Moreover, the vacuum cleaner 11 may be equipped with the timer 68 as a time-measurement means (time-measurement part). Furthermore, the vacuum cleaner 11 is equipped with the memory 69 as a memory | storage means (recording part).

  The traveling control unit 61 autonomously travels the main body case 20 (electric vacuum cleaner 11) in a zigzag manner in the cleaning target area by controlling the driving of the driving wheel 21 (motor 33), that is, a zigzag traveling mode for zigzag traveling. Is equipped. Here, the zigzag travel refers to a cleaning target area sequentially advancing in another direction crossing (orthogonal) one direction while repeating reciprocating travel at a predetermined travel interval along a direction parallel to a predetermined one direction in the cleaning target area. Running autonomously to fill up the More specifically, in zigzag travel, the cleaning target area A is made to go straight toward a predetermined direction, and in one end of the cleaning target area A or in the vicinity of the obstacle O in a predetermined direction (clockwise or counterclockwise) 90 After turning for a predetermined travel interval G and turning 90 ° in the same direction, the area to be cleaned A goes straight in the direction opposite to the predetermined one direction, and is cleaned In the other end of the area A and in the vicinity of the obstacle O, it turned by 90 ° in the opposite direction (counterclockwise or clockwise) to the predetermined direction, traveled for the predetermined travel interval G, and turned 90 ° in the same direction After that, the traveling operation of rectilinearly advancing toward the predetermined direction in the cleaning target area A is repeated (for example, the traveling route is indicated by the arrow in FIG. 5). That is, the traveling control unit 61 has a function of a route setting unit for setting a traveling route to be traveled from now on so as to have a portion adjacent to the area to be cleaned at a predetermined traveling interval in, for example, zigzag traveling. There is. In addition, this traveling distance is usually set so that both ends of the rotating brush 36 wrap. That is, the travel distance is usually set smaller than the width of the rotary brush 36. In addition to the zigzag travel mode, the travel control unit 61 may separately include a travel mode for setting other travel routes. The travel route set by the travel control unit 61 as the route setting unit may be set to travel at a position spaced a predetermined distance from the boundary between the traveled area and the non-traveled area toward the non-traveled area. In addition to the above-mentioned zigzag travel, a travel path that draws a spiral may be used. The above-mentioned "position at a predetermined distance" means a position where the center (center of the cleaning portion) of the vacuum cleaner 11 passes as viewed in the width direction (direction orthogonal to the traveling direction). is there. Therefore, the “predetermined interval” mentioned here is half of the above “travel interval”.

  In addition, the travel control unit 61 has a function of setting control content (travel conditions) related to travel of the vacuum cleaner 11 (main body case 20). That is, the control unit 27 has a function of setting control content (traveling conditions) related to traveling of the vacuum cleaner 11 (main body case 20). The traveling control unit 61 also has a function of resetting the traveling route so as to change the traveling interval in accordance with the power usage information described later and the current battery remaining amount.

  The cleaning control unit 62 controls the operation of the cleaning unit 22. In the present embodiment, the cleaning control unit 62 can control the driving of the electric blower 35, the brush motor 37 (the rotating brush 36), and the side brush motor 39 (the side brush 38). In particular, the cleaning control unit 62 has a function of a suction control unit that controls the suction force by adjusting the output of the electric blower 35. In addition, the cleaning control unit 62 has a function of setting control content (cleaning condition) related to cleaning by the vacuum cleaner 11 (cleaning unit 22). That is, the control unit 27 has a function of setting control content (cleaning condition) related to the cleaning by the vacuum cleaner 11.

  Here, the control content is stored in the memory 69 as power usage information in association with information on power usage at the time of execution of the control content. The control contents (travel conditions) related to travel include, for example, a travel mode, a travel interval, a travel speed, etc., and are stored in the memory 69 as power usage information related to travel in association with information on power usage of the motor 33. The control content (cleaning condition) related to cleaning includes, for example, the suction force by the electric blower 35, and is stored in the memory 69 as the used power information related to the cleaning in association with the information related to the used power of the electric blower 35. These settings are performed at the start of cleaning and / or during the cleaning operation. Specific setting of control contents by the travel control unit 61 and the cleaning control unit 62 (control unit 27) will be described later.

  The sensor connection unit 63 is electrically connected to the sensor unit 23. The sensor connection unit 63 acquires a detection result by the sensor unit 23 and can output the result to the traveling control unit 61, the SLAM unit 65, and the like.

  The communication control unit 64 is electrically connected to the communication unit 26. Further, the communication control unit 64 is electrically connected to the traveling control unit 61, the SLAM unit 65, and the like. The communication control unit 64 processes signals and data transmitted from the communication unit 26 and signals and data received by the communication unit 26.

  The SLAM unit 65 senses the surroundings and creates a map indicating a travelable area, ie, a cleaning target area, and a function (so-called SLAM (Simultaneous Localization and Mapping) function of acquiring the self-location of the vacuum cleaner 11 in the map ). The SLAM function mounted on the vacuum cleaner 11 of the present embodiment utilizes a stereo camera image. That is, in the SLAM unit 65 of the present embodiment, the same position (feature point such as the corner of furniture) in the captured image of each of the two cameras 51, 51 is extracted, and the binocular parallax of these cameras 51, 51 is used. Thus, the distance from the imaging position to the feature point can be acquired. By repeatedly acquiring the distance in this manner, the situation around the vacuum cleaner 11 such as the shape of the wall, the position of the furniture, or the size can be known, so based on the situation around this, the SLAM unit 65 performs the electric cleaning The map which shows the area | region (cleaning object area | region) which the machine 11 (body case 20) can drive can be created. Then, the SLAM unit 65 can acquire the self position by associating the created map with the distance measurement information based on the captured image. In addition, when acquiring a self-position by the SLAM part 65, it is not necessary to necessarily produce a map itself, and the map acquired from the outside may be used. Also, in order to realize the SLAM function, in addition to using stereo camera images, known techniques such as using an infrared sensor or using an angular velocity sensor and an acceleration sensor in combination can be used, so a detailed explanation will be given. I omit it.

  The estimation unit 66 estimates a cleaning target area. More specifically, the estimation unit 66 estimates the size (size) of the cleaning target area. Details of the estimation by the estimation unit 66 will be described later.

  The determination unit 67 has a function of an identification unit that identifies whether the cleaning target area is a predetermined cleaning target area in the cleaning target area that has been cleaned in the past and registered in the memory 69. There is. The determination unit 67 is, for example, a cleaning target area and a cleaning target area that has been cleaned in the past based on the image data captured by the camera 51 and the image data linked to the cleaning target area and recorded in the memory 69. And are judged. Details of the determination by the determination unit 67 will be described later.

  The timer 68 can detect the current time using a function such as an RTC (real time clock). Therefore, the timer 68 can detect the cleaning start time, cleaning end time, date, day of the week, etc. of the vacuum cleaner 11.

  The memory 69 is used electric power information in which information on the control content of the drive unit (motor 33 and the electric blower 35) that executes cleaning in the vacuum cleaner 11 is associated with information on power consumption at the time of execution of the control content. Function as a recording unit that records The power usage information is held also when the power of the vacuum cleaner 11 is turned off, and a non-volatile memory such as a flash memory is used as the memory 69. Further, in the memory 69, a cleaning target area which has been cleaned in the past is registered. That is, the memory 69 has a function of a registration unit that registers the cleaning target area that has been cleaned. The memory 69 also uses, for each registered cleaning target area, map data generated by the SLAM unit 65 or obtained from the outside, date, day of the week, time of day detected by the timer 68, and the like. Information (control content) is correlated and recorded. The control content of the recorded power usage information includes, for example, the date when the cleaning was performed, the day of the week, the time required for the cleaning (cleaning time), and the running rate of the cleaning target area at the time of cleaning Cleaning target area area), running distance in zigzag running, running speed, strength of suction power by electric blower 35, estimated area of cleaning target area, number of cleanings per day, and return to charging device 12 during cleaning There are parameters such as the number of times The information related to the power consumption associated with the control content may be associated with the actual power consumption of the battery 28 at the time of execution of the control content, or the actual power of the battery 28 at the time of execution of the control content Only parameters (such as operating time and energization amount) necessary for calculation of the power consumption may be recorded. The memory 69 may store image data as identification information for identifying the cleaning target area.

  The battery 28 supplies power for operation to the motor 33, cleaning unit 22 (electric blower 35, brush motor 37, side brush motor 39), sensor unit 23, imaging unit 24, communication unit 26, control unit 27 and the like. It is In the present embodiment, for example, a rechargeable secondary battery is used as the battery 28. For this reason, in the present embodiment, for example, the charging terminal 71 for charging the battery 28 is exposed and disposed at the bottom of the main body case 20. The charging terminal 71 is connectable to the charging device 12 installed in the cleaning target area by traveling.

  The charging device 12 is a base unit that returns when the vacuum cleaner 11 finishes traveling (cleaning). The charging device 12 may incorporate a charging circuit such as a constant current circuit, for example. Further, the charging device 12 is provided with a charging terminal 72 for charging the battery 28. The charging terminal 72 is electrically connected to the charging circuit. The charging terminal 72 is mechanically and electrically connected to the charging terminal 71 of the vacuum cleaner 11 returned to the charging device 12.

  The home gateway 14 is also called an access point or the like, installed in a building, and connected to the network 15 by, for example, a wire.

  The server 16 is a computer (cloud server) connected to the network 15, and can store various data.

  The external device 17 is capable of wired or wireless communication with the network 15 via, for example, the home gateway 14 inside the building, and wired or wireless communication with the network 15 outside the building, for example, a PC (tablet It is a general-purpose device such as a terminal (tablet PC)) or a smartphone (mobile phone). The external device 17 includes a display 73 such as a liquid crystal display device, and has at least the function of external device display means (external device display unit) that displays an image on the display 73. Further, the display 73 has a touch panel function for the user to input an instruction by a touch by a finger or an indicator. That is, the external device 17 has a function of external device input means (external device input unit). The external device 17 displays the contents of control and the amount of dust, and the user can start or stop the cleaning of the vacuum cleaner 11, set the degree of cleaning, set the time when cleaning is possible, or the battery 28. An application (program) may be installed to make it possible to command charging and the like. Furthermore, the external device 17 may be provided in advance with a function of transmitting and receiving an electronic mail. Then, the input to the external device 17 is transmitted via the server 16 via the network 15, and is received via the home gateway 14 or directly by the communication unit 26 of the electric vacuum cleaner 11, thereby the electric vacuum cleaner It is input and set to 11 side.

  Next, the operation of the above embodiment will be described.

  The vacuum cleaner 11 has a cleaning mode in which cleaning by the cleaning unit 22 is performed while traveling autonomously, for example, in accordance with a preset schedule or in accordance with a command from the user.

  In this cleaning mode, for example, the vacuum cleaner 11 is at a timing when, for example, a preset cleaning start time has come, or when a control command for cleaning start transmitted by a remote control or an external device is received by the input unit. The control unit 27 switches to the travel mode and starts cleaning. At this time, for example, when newly cleaning a room that has not been cleaned, the area to be cleaned is not registered in the memory 69. In this case, a predetermined operation is performed, and an obstacle or the like around the vacuum cleaner 11 (main body case 20) is detected based on the image data captured by the camera 51, thereby supporting the cleaning target area by the SLAM unit 65. Create new map data. The map data may be acquired from the outside regardless of the creation in the vacuum cleaner 11 (SLAM unit 65).

  Next, the traveling control unit 61 sets a traveling route along the map data linked to the cleaning target area and recorded in the memory 69. When setting this traveling route, although it is possible to efficiently clean the inside of the cleaning target area basically based on only map data, if the remaining amount of the battery 28 is not sufficient, cleaning can not be completed until the end. There is a possibility of If cleaning ends in this way, it returns to the charger 12 once, and there is a method to resume cleaning after charging of the battery 28 is complete, but if that method is used each time, cleaning is completed A considerable amount of time is required, and it is expected that the cleaning may not be completed in the absence of the user. Although the control content is basically determined so that dust does not remain in the area to be cleaned according to the cleaning method by the cleaning unit 22 of the vacuum cleaner 11, it can not be removed even at a location with a large amount of dust The case is also assumed. In this case, if there is a surplus in the battery remaining amount, it is desirable to set control conditions for cleaning more cleanly and the vacuum cleaner 11 to clean automatically.

  Therefore, in the present embodiment, the control unit 27 (the traveling control unit 61, the cleaning control unit 62) responds to the power consumption information recorded in the memory 69 and the current remaining amount of the battery 28 detected by the voltage sensor 42. Set the control contents in the following free-running control. When the past used power information (control content) is not recorded in the memory 69 (in the case of the first cleaning), for example, the preset (initially set) used power information (control content) is selected. . At the time of this setting, the control unit 27 (the traveling control unit 61, the cleaning control unit 62) controls the control content of the used power information referenced according to the ratio of the used power information recorded in the memory 69 to the remaining amount of the battery 28. Set the control content that adjusted the power consumption for. That is, when the current remaining amount of the battery 28 detected by the voltage sensor 42 is insufficient for the used power of the used power information referred to, the used power is further suppressed for the control content of the used power information If the control content is set and the current remaining amount of the battery 28 substantially matches the used power of the referenced used power information, the control content of the referred used power information is used as it is, and the current remaining amount of the battery 28 is When there is a margin for the power consumption of the power consumption information referred to, the control content of the power consumption information is set to the control content of which the power consumption is further increased. The power usage information recorded in the memory 69 may be calculated based on the power usage per unit area of the cleaning target area registered in association with the control content of the power usage information or per unit travel distance. It may be calculated from the power consumption information at the time of the previous self-propelled control (at the time of cleaning). When calculating the used power based on the used power per area of the cleaning target area, it is necessary to obtain the used power of the battery 28 only by the voltage sensor 42 before and after the start of the self-propelled control (cleaning) Power can be obtained, reducing processing burden and memory burden. When calculating the used power based on the used power per unit traveling distance, the ratio to the remaining amount of the battery 28 can be accurately determined, and a new cleaning target area that has not been cleaned in the past Even when traveling on the road, it is possible to determine the ratio to the remaining amount of the battery 28 with reference to the past traveling record. In addition, since the self-propelled vacuum cleaner 11 often determines the cleaning target area to be used, when the power consumption is calculated based on the power consumption information at the time of the previous self-propelled control, control is performed. It can be simplified.

  Then, the control unit 27 sets the control content at least in a state where the charging terminal 71 is connected to the charging device 12, that is, in a state where the vacuum cleaner 11 is docked to the charging device 12 such as before cleaning starts. For example, the self-running control is started under one of the conditions that the current remaining amount of the battery 28 detected by the voltage sensor 42 is sufficient with respect to the predicted power consumption by execution of the set control content. By doing this, it is possible to prevent the situation where it is judged that the remaining amount of the battery 28 is insufficient immediately after self-propelled control (cleaning) is started, and the battery comes back without cleaning. Then, in the traveling control unit 61, the vacuum cleaner 11 (main body case 20) is detached from the charging device 12 based on the control contents for setting the operation of the motor 33 and the traveling route, and along the set traveling speed and traveling route. Operation (output) of the cleaning unit 22 (electric blower 35, brush motor 37 (rotation brush 36), side brush motor 39 (side brush 38)) according to the control content to be set in the cleaning control unit 62 while traveling autonomously Adjust the and clean the floor of the area to be cleaned. In the cleaning unit 22, for example, dust on the floor surface is driven to the dust collection unit 40 via the suction port 31 by driving the electric blower 35, the brush motor 37 (rotating brush 36), or the side brush motor 39 (side brush 38). Collect.

  Then, when the cleaning is completed, the vacuum cleaner 11 returns to, for example, the charging device 12 and then shifts to a charging operation of the battery 28. The control unit 27 causes the memory 69 to record power consumption information in which the control content and the information on the power consumption of the control performed in the control content are associated at an arbitrary timing after the end of the cleaning.

  When setting the control content as described above, if cleaning of the cleaning target area has been completed at the time of the past cleaning, there is no need to greatly change the control content from the past control content, for example. If so, you can also review it so that you can clean it better than when cleaning it in the past. For example, if the cleaning time in the past control content is less than the cleaning possible time estimated from the remaining amount of the battery 28 of the current vacuum cleaner 11 with reference to the power usage information corresponding to the control content, If there is a margin in the current remaining amount of the battery 28 with respect to the subsequent use power predicted by the execution of the control content, if the number of cleanings per day is one, within the range allowed by the remaining amount of the battery 28 Control content to be able to clean more beautifully can be set. For example, as shown in an example in FIG. 6, the traveling interval of zigzag traveling is made narrower than that of the previous control (table on the left side in the drawing) to reduce traveling speed and increase suction force by the electric blower 35. If the cleaning completion time expected when the set control content (right table in the figure) is set is within the cleaning available time expected from the current battery level of the vacuum cleaner 11, more beautiful cleaning is possible. become. That is, when the cleaning capability is increased with respect to the control content of the previous control, when cleaning can be completed within the cleaning possible time estimated from the voltage of the battery 28 detected by the voltage sensor 42, such cleaning unit 22 Control content with increased cleaning ability can be set.

  Therefore, by adjusting the traveling speed based on the control content set to control the operation of the motor 33 by the traveling control unit 61, if the remaining amount of the battery 28 is sufficient, the relatively slow traveling speed is used. If the remaining amount of the battery 28 is insufficient while cleaning it, it is possible to complete the cleaning even with a small remaining amount by appropriately increasing the traveling speed.

  At this time, for example, the remaining amount of the battery 28 is sufficiently left in the used power information corresponding to the control contents in the past, and when cleaning the same area to be cleaned this time, it takes a long time to clean It is necessary to refer to the past traveling speed as a comparison reference of “slow”. Therefore, it is preferable that the control content includes information on the traveling speed. Alternatively, a reference traveling speed may be set (initial setting) and adjusted to be "slow" compared to the reference traveling speed. The adjustment of the traveling speed may be performed in a plurality of stages using a table in which the traveling speed is associated with the degree of shortage of the remaining amount of the battery 28 with respect to the subsequent use electric power due to the execution of the control content It may be performed steplessly using a mathematical expression that expresses a relation.

  Similarly, by adjusting the output of the electric blower 35 based on the control content set to control the operation of the electric blower 35 by the cleaning control unit 62, if the remaining amount of the battery 28 is sufficient, the electric blower 35 is used. While the suction power is relatively strengthened to clean carefully, if the remaining amount of the battery 28 is insufficient, the suction power can be reduced to complete the cleaning with a small remaining amount.

  At this time, for example, the remaining amount of the battery 28 is sufficiently left in the used power information corresponding to the control contents in the past, and when cleaning with the strong suction power this time to clean the same cleaning target area It is necessary to refer to the past suction power as a comparison standard of For that purpose, it is preferable that the control content includes information on the suction force of the electric blower 35. Alternatively, a reference suction force may be set (initial setting) and adjusted to be “strong” compared to the reference suction force. The adjustment of the suction power may be selected according to the degree of shortage of the remaining amount of the battery 28 with respect to the subsequent use power by execution of the control content from fixed suction powers (for example, strong, medium, weak etc.) It may be performed steplessly using a mathematical expression representing their correspondence.

Then, in order to improve the setting accuracy of such control content, the estimation unit 66 may estimate the cleaning target area (the size of the cleaning target area). That is, the control unit 27 (the traveling control unit 61, the cleaning control unit 62) adds the power consumption information recorded in the memory 69 and the voltage of the battery 28 detected by the voltage sensor 42 to the cleaning target estimated by the estimation unit 66. The subsequent control content may be set based on the area (the size of the area to be cleaned). If the size of the area to be cleaned can be estimated in this way, the control content can be easily changed if the entire area to be cleaned can not be cleaned last time (the part to be cleaned can not be cleaned), and the accuracy is improved It can be done. Although various estimation methods can be considered, as an example, as shown in FIG. 7, when the straight traveling time of the vacuum cleaner 11 (main case 20) is the longest in the zigzag traveling, the cleaning object is to be cleaned from the traveling distance L The outline of the region A1 can be estimated. Specifically, for example, when the vacuum cleaner 11 (body case 20) goes straight on for 10 seconds at a traveling speed of 25 cm / s, the traveling distance is 2.5 m, so the cleaning target area A1 is approximately 6 mats (about 8 .7 m ² ) can be estimated.

  Further, for example, when setting the control content by the control unit 27 (the traveling control unit 61, the cleaning control unit 62), if the cleaning target area that has been cleaned in the past is registered in the memory 69, this cleaning The setting can be performed based on the power usage information recorded in the memory 69 in association with the target area. When cleaning the same cleaning target area as the cleaning target area cleaned in the past, the power consumption is assumed to be the same degree, so the voltage sensor 42 acquires the remaining amount of the battery 28 at least at the start and end of cleaning. Then, it is possible to record the used power used for the self-propelled control (cleaning) of the cleaning target area only by recording it in the memory 69 as the used power information, thereby reducing the processing load and the memory load. be able to.

  The setting of the above control content by the control unit 27 can be performed not only at the start of cleaning but also during self-propelled control, that is, during the cleaning operation. For example, when the actual area to be cleaned is wider or narrower than the intended area to be cleaned, or according to an error caused by actual traveling with respect to the cleaning completion time estimated when setting the control content, It becomes possible to respond by adjusting (resetting) the control content by the control unit 27 (travel control unit 61, cleaning control unit 62). For example, when the previous (past) cleaning target area A1 registered in the memory 69 is between six tatami mats as an example shown in FIG. 7, it is recorded in the memory 69 in correspondence with the cleaning target area A1. Although the content of the control this time is set based on the used electric power information, as shown in FIG. 8, the cleaning target area A2 connected with the next cleaning target area is opened with the door D which was closed last time If the vacuum cleaner 11 (body case 20) travels straight for 28 seconds at a traveling speed of 25 cm / s in zigzag travel, the traveling distance L becomes 7 m. It can be estimated that the area to be cleaned is wider than the previous one. In this case, there is a possibility that the cleaning can not be completed with the control content set based on the used power information associated with the cleaning target area A1 at the time of the previous self-propelled control. Therefore, when it is predicted that the current remaining amount of the battery 28 detected by the voltage sensor 42 is insufficient for the power usage information recorded in the memory 69, the control unit 27 (travel control unit 61, cleaning control unit 62) sets the control content so as to suppress the power consumption (cleaning capacity) in the self-propelled control. In addition, for example, when it is predicted that an error will occur with respect to the estimated cleaning completion time due to the stack of the vacuum cleaner 11 (main body case 20), the slip of the drive wheel 21 or the like during self-propelled control, The control unit 27 (the travel control unit 61, the cleaning control unit 62) can also reset the control content so as to absorb the error. As a result, it is possible to complete the cleaning reliably.

  At this time, in the traveling control unit 61, for example, the traveling intervals of adjacent traveling paths in zigzag traveling can be extended or traveling speed can be increased. For example, in the traveling control unit 61, as shown in an example in FIG. 9, the traveling interval in the past control contents (table on the left side in the drawing) has a margin smaller than the cleaning width by the cleaning unit 22, eg, the width of the rotating brush 36 In this case, the control content (table on the right side in the drawing) can be set to increase the interval on the traveling route, and the cleaning time can be shortened.

  That is, when the remaining amount of the battery 28 is sufficient, the control content is set so as to make the travel interval of the travel path relatively narrow, thereby increasing the wrap amount of the area through which the rotating brush 36 passes and politely If the remaining amount of the battery 28 runs short while cleaning, the control content is set so as to reduce the wrap amount in the area through which the rotating brush 36 passes, and the cleaning can be completed even with a small remaining amount. It becomes possible.

  When the travel interval is increased, for example, by setting the width of the rotating brush 36 as the upper limit, the area to be cleaned can be cleaned without leaving any cleaning. Further, in addition to or instead of changing the traveling interval by the traveling control unit 61, it is possible to increase the cleanable time by setting the control content to suppress the suction force of the electric blower 35. It is. Specifically, in the cleaning control unit 62, the control content can be set so as to reduce the suction force of the electric blower 35, and the power consumption can also be suppressed.

  For example, when a cleaning target area that has been cleaned in the past is registered in the memory 69, if the user provides a function of specifying using the input unit of the vacuum cleaner 11 or the external device 17, for example, the control content is It is possible to suppress the risk of changing during self-propelled control (cleaning operation).

  Also, for example, it is assumed that there is a cleaning target area to be cleaned by two or more types at home. Therefore, for example, when the cleaning target area is identified by the determination unit 67 and the cleaning target area corresponding to the identified area is registered in the memory 69, the control unit 27 associates the cleaning target area with the cleaning target area. The control content may be set according to the power usage information recorded in the memory 69 and the current voltage of the battery 28 detected by the voltage sensor 42. As an example of the identification method by the determination unit 67, one piece of image data of the cleaning target area is taken by the camera 51 from the position of the charging device 12 or the position having a predetermined relationship with the charging device 12 every cleaning start. The image data is stored in the memory 69 in association with the cleaning target area. Then, the determination unit 67 extracts feature points of the image data of the area to be cleaned currently imaged and the image data linked to the area to be cleaned which has been cleaned in the past, and matches these feature points. By doing this, it is determined whether the area is the same as the area in which cleaning was performed in the past according to the matched score. For example, as a result of matching, the current cleaning target area is registered in the memory 69 when the number of matched feature points is a predetermined ratio such as 50% with respect to the total number of feature points of the current cleaning target area image data. It is determined that the area to be cleaned is the same as the area to be cleaned, and control is performed based on the power usage information linked to this area and stored in the memory 69 and the voltage of the current battery 28 detected by the voltage sensor 42. The control content can be set more accurately by the unit 27 (travel control unit 61, cleaning control unit 62).

  At this time, when the map data is associated with the area to be cleaned registered in the memory 69 and stored in the memory 69, the area to be cleaned can not be cleaned temporarily. Not only the part of the part could not be cleaned, but also the ratio of the cleaned area, that is, the running rate (table on the left side in the figure) can be calculated as shown in an example in FIG. The accuracy of setting can be improved. For example, when there are a plurality of cleaning target areas and these are cleaned in one day, the control content can be easily managed by the map data. That is, as shown in an example in FIG. 11, there are two areas to be cleaned (area 1 and area 2). When cleaning these areas substantially continuously, in the previous control contents (table on the left side in the figure) When the cleaning of one cleaning target area (area 2) can not be completed (the running failure rate is not 100%), the traveling control unit 61 refers to these control contents, and the other cleaning target area (area The control content of 1) (the table on the right side in the figure) can be adjusted so that the cleaning target area (area 2) can be also cleaned. For example, when there are a plurality of cleaning target areas registered in the memory 69, the control unit 27 (the traveling control unit 61, the cleaning control unit 62) performs cleaning as compared with the case where there is one cleaning target area registered in the memory 69. The control content can also be set so as to leave a large amount of remaining battery 28 at the end. In this way, when cleaning a plurality of areas to be cleaned continuously (without charging in between), after cleaning of one area to be cleaned is completed, the next area to be cleaned is prepared for cleaning. be able to. Also, by mapping map data of the cleaning target area to the memory 69 and recording it, the size of the cleaning target area can be grasped more efficiently, and by utilizing this map data, the cleaning target area can be grasped in advance. Since the setting of the control content in the traveling control unit 61 can be further improved.

  In addition to the feature point matching of the image data, the identification of the cleaning target area by the determination unit 67 may be performed using another known tag such as using an identification tag (wireless, magnetism, image, etc.) installed in the cleaning target area. Any method can be used.

  On the other hand, if cleaning of the cleaning target area could not be completed temporarily in the past cleaning, it is preferable to set the changed control content without using the control content of the used power information in the past cleaning as it is . Also, although cleaning was completed last time, when starting the cleaning from now on, the battery remaining amount is not 100%, and when the cleaning available time is less than the previous cleaning time, there is still a cleaning command from the user Since it is the performance for which the vacuum cleaner 11 is required to clean all the cleaning target areas, the control content can be set for that.

  Furthermore, it may also be assumed that it is determined that the entire cleaning target area can not be cleaned regardless of how the control content is set at the start of traveling. In this case, for example, it is incomplete and inefficient to clean only a part of the cleaning target area and return it to the charging device 12. Therefore, it is predicted that the remaining amount of the battery 28 detected by the voltage sensor 42 is insufficient for a predetermined amount or more of the power used in the subsequent free-running control by execution of the control content of the used power information recorded in the memory 69, for example. In this case, as shown by an example in a two-dot chain line in FIG. 12, control is performed so that the travel interval between adjacent travel paths in zigzag travel is made larger than the cleaning width by the cleaning unit 22, for example, the width of the rotating brush 36 By setting the content, although the uncleaned area remains, it is possible to evenly clean (roughly clean) the inside of the area to be cleaned instead of cleaning only a part of the area to be cleaned. In this case, for example, the width of the main body case 20 is the upper limit of the travel interval. At this time, a gap where the rotating brush 36 does not pass will be generated at the portions where the traveling routes are adjacent, but by giving priority to cleaning the entire cleaning target area evenly, the remaining amount of the battery 28 is considerable It is possible to complete the cleaning even if there is a shortage.

  In addition, although it is difficult to occur under the above conditions, for example, if the user has stopped cleaning halfway or the vacuum cleaner 11 is stuck during cleaning and the battery 28 is exhausted, the user When cleaning is resumed after noticing the stack state, it may be assumed that it is determined that the area to be cleaned after that can not be cleaned with the control content set during the cleaning. At this time, the control unit 27 determines the degree to which the remaining amount of the current battery 28 detected by the voltage sensor 42 is insufficient with respect to the power used in the subsequent self-running control predicted by execution of the control content of the current used power information. If the value is less than the predetermined value, the control content is reset to suppress the power consumption and the control is continued, and if the degree that the remaining amount of the battery 28 is insufficient is the predetermined value or more, the traveling control unit 61 Thus, traveling control may be performed such that the vacuum cleaner 11 (body case 20) is returned to the charging device 12 and the charging terminal 71 is connected to the charging terminal 72 of the charging device 12. By doing this, while the cleaning is completed as much as possible according to the remaining amount of the battery 28, if the cleaning of an acceptable level can not be secured, the battery 28 is charged and so on. It will be possible.

  Then, after returning to the charging device 12 once, when the remaining amount of the battery 28 charged by the charging device 12 becomes more than the state necessary for the power used in the subsequent control by the execution of the current control content, the running control The control may be performed so that the unit 61 separates from the charging device 12 and resumes control. At this time, the control unit 27 (the traveling control unit 61, the cleaning control unit 62) may further change the control content. By doing this, it is possible to minimize the delay of the cleaning completion time. In addition, when returning to the charging device 12, the amount of remaining battery capacity is stored in the memory 69 as power usage information, so that control contents are set at the time of subsequent control. By utilizing it, the feedback to the charging device 12 from the next time onward may be suppressed.

  When returning to the charging device 12 once, the position may be recorded in the memory 69, or the number of rotations of the left and right driving wheels 21 (motor 33) from that position to the charging device 12 using an encoder or the like. It may be recorded in the memory 69 or the like. By doing this, after charging of the battery 28 is completed, the traveling control unit 61 can easily return the vacuum cleaner 11 (body case 20) to the position where the cleaning was interrupted and restart the cleaning from that position , You do not need to duplicate and clean the area cleaned before interruption.

  As described above, during the self-running control, it is predicted that the remaining amount of the battery 28 detected by the voltage sensor 42 is insufficient with respect to the power used in the self-running control after the execution of the current control content. In this case, the control unit 27 resets the control content to suppress the power consumption and continues the free-running control, or causes the charging device 12 to return and connect the charging terminal 71 to the charging terminal 72 of the charging device 12 The user may set the control unit 27 (travel control unit 61) from the outside using the input unit of the vacuum cleaner 11, the external device 17, and the like. In this way, when the remaining amount of the battery 28 is relatively small, the cleaning is allowed to be rough cleaning and priority is given to the completion of the cleaning, or it is permitted to take time for recharging. The user can select whether priority is given to the politeness of cleaning.

  Also, as described above, although the uncleaned area remains, in the case where the area to be cleaned is evenly cleaned (roughly cleaned), or regardless of the setting of the control content, all the areas to be cleaned can be cleaned at one time. It is preferable to provide a function to notify the user when the uncleaned area occurs in part of the area to be cleaned and the vacuum cleaner 11 once returns to the charging device 12. As the notification, for example, a notification is provided by a display unit provided on the vacuum cleaner 11 (main case 20), or the external device 17 via the server 16 via the home gateway 14 and the network 15 via the communication unit 26. It can be notified as data that can be displayed by an electronic mail or an application installed in the external device 17. By doing this, it is possible to notify the user that the cleaning completion time may be delayed, and in particular, the user who does not directly observe the cleaning operation of the vacuum cleaner 11 performs on the performance and operation of the vacuum cleaner 11 Can make you suspicious. That is, by performing notification to the outside based on the control content set by control unit 27, cleaning performed is rough cleaning or cleaning is interrupted and cleaning is resumed if charging is in progress. It is possible for the user to understand things and the like and to avoid misunderstanding of the user. In addition, the user may set whether or not to resume cleaning after charging is completed, so that the user may not be disadvantaged. At this time, the user can also set the control unit 27 (travel control unit 61) from the outside using, for example, the input unit of the vacuum cleaner 11, the external device 17 and the like whether or not the cleaning needs to be resumed.

  Furthermore, the user may be able to set the degree of cleaning of the vacuum cleaner 11 by an external input. At this time, the user can set the control unit 27 (the traveling control unit 61, the cleaning control unit 62) from the outside using, for example, the input unit of the vacuum cleaner 11, the external device 17, and the like. In this case, when the degree of cleaning is set, the control unit 27 (the traveling control unit 61, the cleaning control unit 62) can set the control content based on the degree of cleaning prior to the user's instruction. As the degree of cleaning that can be set by the user, for example, it may be selected from a plurality of predetermined types such as "hurry", "normal", and "cleanly". For example, when the user selects “hurry up”, the traveling control unit 61 increases the traveling interval with respect to the control content in the past (the table on the left side in the drawing) as shown in FIG. By setting the control content (the table on the right side in the drawing) so as to increase also, the cleaning can be completed in a shorter time.

  Moreover, the vacuum cleaner 11 can also provide the function which can be set so that cleaning may be performed in a predetermined time slot | zone by setting the time slot | zone which can be cleaned to the vacuum cleaner 11 by a user by external input. For example, specification may be made possible in accordance with a private schedule, such as a user's absence time zone. At this time, the user can also set in the control unit 27 (travel control unit 61, cleaning control unit 62) using, for example, the input unit of the vacuum cleaner 11 or the external device 17. In this case, the control unit 27 (the traveling control unit 61, the cleaning control unit 62) performs cleaning within a time zone set based on the control content in the past (the table on the left side in the drawing), as illustrated in FIG. The control content (table on the right in the figure) can be set and cleaned to complete. At this time, if the control unit 27 (the traveling control unit 61, the cleaning control unit 62) can complete the cleaning within the set time zone, the control content is arbitrarily selected according to the remaining amount of the battery 28 detected by the voltage sensor 42. It can be set. That is, when a cleanable time zone is set due to individual circumstances such as noise, a schedule set by the user is used even if the control content of the self-propelled control is changed according to the remaining amount of the battery 28. It can protect.

  In addition, when it controls so that cleaning may be completed within the time slot set in this way, since cleaning completion time is important, control unit 27 sets driving of motor 33 by traveling control unit 61. The setting of the output of the electric blower 35 by the cleaning control unit 62 can also be prioritized. That is, when the control unit 27 sets the control content, the setting of the drive of the motor 33 by the traveling control unit 61 and the setting of the output of the electric blower 35 by the cleaning control unit 62 are performed according to the requested setting content. Priority may be set or weighted.

  In addition, if it is impossible to finish cleaning within the set time zone regardless of how the control content is set, for example, the network using the application installed from the vacuum cleaner 11 to the external device 17 or the like A notification may be sent via the server 16 via the server 16 that termination is not possible in time, and cleaning may not be started, or the user may still determine whether or not to carry out cleaning. .

  Then, based on the past used power information recorded in the memory 69, the traveling control unit 61 may automatically determine a cleaning schedule for a predetermined period. The control unit 27 (the traveling control unit 61, the cleaning control unit 62) is based on the control content (table on the left side in the drawing) for the latest one week for each cleaned day and time as shown in FIG. , This week's control content (right table in the figure) is set. For example, when cleaning twice a day, the first cleaning is finished earlier, and it is planned to charge the battery 28 by the charging device 12 before the second cleaning. In this case, it is possible to clean more intelligently, to operate intelligently as the vacuum cleaner 11, and to improve usability.

  As described above, according to the embodiment described above, the remaining control of the battery 28 is performed by setting the control content in the subsequent travel control in consideration of the past used power information and the current remaining amount of the battery 28. If the amount is sufficient, the power is consumed to clean carefully, and if the remaining amount of the battery 28 is insufficient, the power is saved and the cleaning is completed even with a small remaining amount according to the current remaining amount of the battery 28 Cleaning becomes possible and cleaning can be completed efficiently.

  In the above embodiment, the adjustment of the traveling speed by controlling the driving of the motor 33 by the traveling control unit 61 is performed when the remaining amount of the battery 28 is surplus and when the remaining amount of the battery 28 is not sufficient. Only one of the adjustments may be used. Similarly, the adjustment of the output of the electric blower 35 by the cleaning control unit 62 may be only one of the adjustment when the remaining amount of the battery 28 is left and the adjustment when the remaining amount of the battery 28 is not enough. .

  Further, as the cleaning portion, in addition to the rotating brush 36, a cloth or the like for wiping and cleaning the surface to be cleaned may be used, or the suction port 31 may be used.

  Furthermore, the cleaning control unit 62 adjusts the output of the brush motor 37 (rotating brush 36) or in place of the adjustment of the output of the electric blower 35 based on the control content or in place of the adjustment of the output of the electric blower 35 The output of the side brush motor 39 (side brush 38) may be adjusted.

  Also, as the control content (power usage information), an embodiment including both the control of the drive of the motor 33 by the traveling control unit 61 and the adjustment of the output of the electric blower 35 etc. by the cleaning control unit 62 has been shown. Only one of these may be used.

  The traveling route having portions adjacent to each other at a predetermined interval may be a traveling route traveling spirally in addition to zigzag traveling.

  Moreover, the setting of the control content can be changed variously with various intentions. For example, each parameter included in the control content is not limited to the above embodiment.

  Furthermore, the numerical values of the control content (power consumption information) disclosed in FIG. 6, FIG. 9 to FIG. 11, FIG. 13 to FIG. 15 etc. show only an example, and the embodiment is limited to these numerical values. Absent.

  While certain embodiments of the present invention have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and the gist of the invention, and are included in the invention described in the claims and the equivalent scope thereof.

11 Self-propelled vacuum cleaner
12 Charger
21 drive wheels
27 Control unit
28 battery
33 Motor as Drive
35 Electric blower as drive
36 Rotating brush as a cleaning unit
42 Voltage sensor as remaining amount detection unit
61 Traveling control unit with function of route setting unit
62 Cleaning control unit with function of suction control unit
67 Judgment unit with function of identification unit
69 Memory as recording unit with function of registration unit
71 Charge Terminal A Cleaning Target Area

Claims (13)

A self-propelled vacuum cleaner that cleans a cleaning target area while self-propelled using a battery as a power source,
A remaining amount detection unit that detects the remaining amount of battery;
A drive unit driven by power supply from the battery;
A control unit that controls the drive unit;
A recording unit configured to record used power information in which information related to control content of the drive unit and information related to used power at the time of execution of the control content are associated;
The control unit sets a control content thereafter according to the power consumption information recorded in the recording unit and the current battery remaining amount detected by the remaining amount detecting unit. Vacuum cleaner. A registration unit that registers a cleaning target area that has been cleaned;
An identification unit that identifies a predetermined cleaning target area from among the plurality of cleaning target areas;
The recording unit records power consumption information for each of the cleaning target areas,
The self-propelled vacuum cleaner according to claim 1, wherein the control unit uses, for setting of control content, the power consumption information in a current cleaning target area among a plurality of the cleaning target areas. When a plurality of cleaning target areas are registered in the registration unit, the control unit is configured to leave more battery remaining amount at the end of the cleaning than in the case where one cleaning target area is registered in the registration unit. The self-propelled vacuum cleaner according to claim 2, characterized in that: Driving wheels for traveling,
And a motor as a drive unit for driving the drive wheel,
The self-propelled electric cleaning according to any one of claims 1 to 3, characterized in that the control unit includes a traveling control unit that adjusts a traveling speed based on the control content set to control the operation of the motor. Machine. It has an electric blower as a drive unit that generates a negative pressure that sucks in dust on the surface to be cleaned in the area to be cleaned,
The control unit is provided with a suction control unit that adjusts the output of the electric blower based on the control content set to control the operation of the electric blower. Mobile vacuum cleaner. The control unit includes a route setting unit that sets a traveling route to be traveled from now on so as to travel from the boundary between the traveled area and the non-traveling area at a position spaced by a predetermined distance toward the non-traveling area.
The route setting unit is capable of changing the interval and resetting the traveling route according to the power usage information recorded in the recording unit and the current battery remaining amount detected by the remaining amount detecting unit. The self-propelled vacuum cleaner according to any one of claims 1 to 5, which is characterized. It has a cleaning unit that cleans with a predetermined width in the traveling direction,
When the current battery remaining amount detected by the remaining amount detecting unit is insufficient for the used power information recorded in the recording unit by a predetermined amount or more, the control unit sets the interval in the following traveling route larger than the width of the cleaning unit The control content is set so that it may be performed. The self-propelled vacuum cleaner of Claim 6 characterized by the above-mentioned. The charging device can be connected to a charging device installed in a cleaning target area by traveling, and has a charging terminal for charging a battery through the charging device.
The control unit executes setting of the control content at least in a state where the charging terminal is connected to the charging device, and detects the power consumption by the execution of the set control content by the remaining amount detecting unit. 8. A self-propelled vacuum cleaner according to any one of claims 1 to 7, wherein control is started under one of the conditions that the remaining battery capacity is sufficient. The charging device can be connected to a charging device installed in a cleaning target area by traveling, and has a charging terminal for charging a battery through the charging device.
The control unit is returned to the charging device when it is predicted that the current battery remaining amount detected by the remaining amount detecting unit is insufficient with respect to the subsequent use power due to the execution of the current control content during control. Running control so that the charging terminal is connected to the charging device, and the remaining battery capacity of the battery charged by the charging device becomes more than a necessary state for use power after execution of the control content The self-propelled vacuum cleaner according to any one of claims 1 to 8, further comprising: a traveling control unit which is separated from the charging device to restart traveling control. The charging device can be connected to a charging device installed in a cleaning target area by traveling, and has a charging terminal for charging a battery through the charging device.
The control unit uses the power used by the drive unit if the degree of the battery remaining amount detected by the remaining amount detection unit is insufficient with respect to the subsequent used power due to the execution of the current control content during control. Reset the control content so as to suppress the movement and continue the traveling control, and if the degree is greater than or equal to a predetermined value, the traveling control is made to return to the charging device to connect the charging terminal to the charging device The self-propelled vacuum cleaner according to any one of claims 1 to 9, further comprising a travel control unit. The charging device can be connected to a charging device installed in a cleaning target area by traveling, and has a charging terminal for charging a battery through the charging device.
If it is predicted that the current battery remaining amount detected by the remaining amount detection unit is insufficient with respect to the subsequent used power due to the execution of the current control content during control, the control unit suppresses the used power in the drive unit It has a function capable of externally setting whether control content is reset and control is continued or feedback to the charging device is made so as to connect the charging terminal to the charging device. 11. Self-propelled vacuum cleaner according to any one of 10. The self-propelled vacuum cleaner according to any one of claims 1 to 11, further comprising a function of performing notification to the outside based on the control content set by the control unit. Has a feature that can be configured to perform cleaning at a given time zone,
The control part sets a control content so that cleaning may be completed within the set said time slot | zone. The self-propelled vacuum cleaner as described in any one of Claim 1 thru | or 12 characterized by the above-mentioned.

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