JP3344079B2 - Self-propelled vacuum cleaner - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled vacuum cleaner having a cleaning function and a moving function.

[0002]

2. Description of the Related Art In recent years, vacuum cleaners have been developed in which a moving function is added to the vacuum cleaner to improve operability during cleaning. Particularly recently, a so-called self-guided self-propelled cleaner having a microcomputer and various sensors mounted thereon has been developed.

This type of self-propelled cleaner has a suction nozzle, a brush, and the like at the bottom of the main body as a cleaning function, has traveling wheels and steering wheels driven by a motor as a movement function, and has optical guiding means, Usually, guidance control of the main body is performed using inertial navigation means or the like using a gyro, and a power source such as a storage battery is usually provided inside.

A conventional self-propelled vacuum cleaner will be described below. 8 and 9, reference numeral 2 denotes a self-propelled cleaner main body (hereinafter, referred to as a main body), 1 is a side brush that collects dust on the floor, and 3 is a rotary brush that lifts and sucks dust on the floor. In addition, reference numeral 4 denotes a fan motor for generating a vacuum pressure for sucking dust, and these constitute a cleaning means 10. Reference numeral 5 denotes traveling steering means for traveling and steering the main body 2, reference numeral 6 denotes obstacle detection means for detecting obstacles, reference numeral 7 denotes an azimuth sensor, reference numeral 8 denotes position recognition means for recognizing a traveling position, and reference numeral 9 Controls the traveling steering means 5 based on signals from the position recognition means 8 and the obstacle detection means 6,
Further, it is a determination processing unit that controls the cleaning unit 10.

In this type of self-propelled cleaner, the traveling steering means 5 travels straight inside the cleaning area until the obstacle detection means 6 detects an obstacle, and outputs the output of a direction sensor 7 such as a gyro at the detected point. Make a 180 degree turn based on and go straight again. Thereafter, such a reciprocating operation is repeated, and the position
The cleaning means 10 of the fan motor 4, the rotating brush 3, and the side brush 1 is recognized while recognizing the current position in the cleaning area.
It is configured to be cleaned at. Further, after moving forward until a set distance or obstacle is detected, an operation of retreating is performed by swinging a predetermined angle based on the output of the azimuth sensor 7 such as a gyro for each reciprocation. A configuration in which cleaning is performed repeatedly is also devised.

[0006]

However, in the above-described conventional configuration, the side brush 1 and the rotating brush 3 are always operated at a high output during the cleaning operation of the main body 2 in order to improve dust collection. The side brush 1 may damage the wall surface when cleaning the wall, or a specific portion of the carpet may be damaged due to the length of contact time of the rotating brush 3 per unit area of the carpet due to a decrease in running speed when the cleaning direction is reversed. There is a problem that sticking occurs.

The present invention solves the above-mentioned conventional problems, in which the side brush is operated at a high output except at the side of the wall, the number of rotations is low at the side of the wall, and when the cleaning direction is reversed in the rotating brush. By lowering the rotation speed,
It is an object of the present invention to provide a self-propelled vacuum cleaner that can clean a wall, a carpet, and the like without damaging a dust collecting property without damaging the carpet or the like.

[0008]

Means for Solving the Problems] self-propelled cleaner of the present invention to achieve this object, a first means, a travel steering means for moving the body, scraped dust of the floor Lube la < comprising a br /> Shi, a drive motion means before you drive the Kivu brush, and obstacle detection means for detecting a distance between the presence and the obstacle in the traveling direction and the lateral direction of the obstacle, before Symbol obstacle and a configuration for controlling the drive means in response to a signal from the detection means.

[0009] As a second means, the travel steering means for moving the body, and a plurality of brushes which scrape the dust on the floor,
Before comprising a plurality of drive motion means for driving individually the Kivu brush, and obstacle detection means for detecting a distance between the presence and the obstacle in the traveling direction and the lateral direction of the obstacle, from the previous SL obstacle detecting means that controls individually the plurality of drive means in response to the signal
It has been with the configuration.

[0010] As third means, a travel steering means for moving the body, the floor and rotating brush Kakiageru dust, said a drive motion means that drive the rotating brush, the traveling direction and the lateral direction of obstacle and a obstacle detection means for detecting a distance between the presence and the obstacle, the signal from the previous SL obstacle detecting means
Correspondingly have a configuration that controls the drive means.

[0011] As fourth means, the vertical area where the travel steering means for moving the body, and rotating brush Kakiageru dust floor, a drive motion means you drive the rotary brush, said body cleaning includes a cleaning area inputting means for inputting the horizontal distance, the travel distance count unit that counts the run line distance, the drive in response to a signal from the previous SL travel distance count unit
It has a configuration that controls the movement means.

[0012]

According to the first means, impaired forward signal to the I Ri this body from harm object detection unit, a by rib brush to the moving means driving if it is determined that no obstacle exists in the vicinity of the side Operate at high speed. Is operated at a low speed the rotational speed of the brush when it is judged that the obstacle is present, the wall, without damaging the wall or the like even when cleaning the vicinity of the obstacle, is able to clean without degrading the dust collecting property it can.

[0013] According to the second means, a plurality of a plurality of drive motion means if it is determined that the obstacle in the vicinity of the front side of the body Ri by the signal from obstacles detection means is absent brush To operate at high speed. When it is judged that the rotational speed of only the position to Lube brush laterally to present an obstacle if it is determined that an obstacle on the side near the body there is operated at a low speed, the front side obstacle in the vicinity of the present the rotational speed of the body on both sides of the brush is operated at a low speed the wall, without damaging the wall or the like even when cleaning the vicinity of the obstacle, it is possible to clean while maintaining a higher dust collecting properties.

[0014] According to the third means, to operate the rotating brush at a high speed by the motion means driving if it is determined that the obstacle in the vicinity of the front by Ri the body signal from harm object detection means impaired absent. If it is determined that there is an obstacle, the rotating speed of the rotating brush is operated at a low speed, and the carpet can be cleaned without damaging the carpet or the like without deteriorating the dust collecting property.

According to the fourth means, based on information inputted from the cleaning area inputting means, Kiyoshi掃動Sakuchu operates the rotary brush at a high speed. When the vehicle travels straight on the forward path by the vertical traveling distance input from the cleaning area input means, the operation of reversing the traveling direction, going straight on the return path, and returning is repeated by the horizontal distance input from the cleaning area input means, but each straight line The mileage counting unit calculates the mileage from the start of straight running to the present, and when this integrated value is smaller than the set value, the difference between the vertical straight running distance input from the cleaning area input means and the integrated value is set. By operating the rotating brush at low speed only when it is smaller than the value, without damaging the carpet etc.
It can be cleaned without deteriorating dust collection.

[0016]

(Embodiment 1) Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. The same parts as those in the related art are denoted by the same reference numerals, and description thereof will be omitted.

As shown in FIG. 1, the side brushes 12 arranged in a left and right pair in front of the main body 2 are provided with cleaning means 2.
0, the traveling steering means 5, the side brush 12
The side brush driving means 18 drives the side brushes 12 at the same time in response to a signal from the judgment processing section 19 which controls the operation of the cleaning means 20 including

The operation of the self-propelled vacuum cleaner constructed as described above will be described below. When the main body 2 is traveling on the cleaning path A as shown in FIG.
When the vehicle repeatedly moves forward inside the cleaning area until the obstacle detection means 6 detects an obstacle, makes a 180-degree turn based on the output of the direction sensor 7 at the point where the obstacle detection means 6 moves, and then advances again, Based on the angle information of the sensor 7 and the traveling distance information from the traveling steering means 5, the position recognizing means 8 outputs information on the current traveling position to the judgment processing section 19. The determination processing unit 19 controls the traveling steering unit 5 and the cleaning unit 20 based on an input signal from the position recognition unit 8 and a signal indicating the distance to the obstacle from the obstacle detection unit 6. In the judgment processing unit 19, a distance signal from the obstacle detecting means 6 to the front and side walls 22 and the body 2 and the wall 2 set in advance are set.
The distance D is constantly compared with the distance D. When the distance signal is greater than the distance D, the distance from the main body 2 to the wall 22 is determined to be a distance at which the side brush 12 does not contact, and the side brush 12 is moved at high speed. A signal is output to the side brush driving means 18 so as to operate the side brush 12, and the side brush driving means 18 operates the side brush 12 at a high speed. Conversely,
When the distance signal is smaller than the distance D, the body 2
The distance to the side brush 12 is determined to be a distance to which the side brush 12 may come into contact, and a signal is output to the side brush driving means 18 to operate the side brush 12 at a low speed. 12 at low speed.

In the cleaning path B, the operation is along the wall 22. Since the distance signal is smaller than the distance D as shown in FIG. 2, the side brush 12 is operated at a low speed as described above.

As described above, according to the present embodiment, the side brushes 12 arranged as a part of the cleaning means 20 in front of the main body 2 in a left and right pair, and the side brushes for driving the side brushes 12 simultaneously. The current driving position is recognized based on the brush driving means 18, the traveling steering means 5 for traveling and steering the main body 2, the direction sensor 7, the angle information of the direction sensor 7, and the traveling distance information from the traveling steering means 5. The position recognition means 8 and a threshold value of the distance D are set, the number of rotations of the side brush 12 is controlled by a signal from the obstacle detection means 6, and the traveling steering means 5 is controlled by a signal from the position recognition means 8. By providing the determination processing unit 19 for controlling the operation of the cleaning means 20, the rotation speed of the side brush 12 is reduced only at the side of the wall 22 so that the wall of the side brush 12 can be cleaned even when cleaning the vicinity of the wall 22. The impact on the 2 in the minimum, can be cleaned without lowering the dust collecting property.

Embodiment 2 Hereinafter, a second embodiment of the present invention will be described with reference to the drawings.

As shown in FIG. 3, the present embodiment is characterized in that the left side first side arranged in the left and right pairs in front of the main body 2 in the configuration of the first embodiment. Brush 3
1 and the cleaning means 40 by the right second side brush 32
The first side brush 31 is controlled by a signal from a judgment processing unit 39 that controls the operation of the cleaning unit 40 including the traveling steering unit 5, the first side brush 31, and the second side brush 32. First side brush driving means 3 to be driven
7 and a configuration including second side brush driving means 38 for driving the second side brush 32.

The operation of the self-propelled vacuum cleaner constructed as described above will be described below. When the main body 2 is traveling on the cleaning path A as shown in FIG. 2, that is, the traveling steering means 5 advances the inside of the cleaning area until the obstacle detecting means 6 detects an obstacle, and at a point where the obstacle is detected. When the operation of making a 180-degree turn based on the output of the direction sensor 7 and moving forward again is repeated, the position recognizing means 8 determines the current traveling position based on the angle information of the direction sensor 7 and the traveling distance information from the traveling steering means 5. Is output to the determination processing unit 39. The determination processing unit 39 controls the traveling steering unit 5 and the cleaning unit 40 based on an input signal from the position recognition unit 8 and a signal indicating the distance to the obstacle from the obstacle detection unit 6. In the judgment processing unit 39, a distance signal from the obstacle detecting means 6 to the front and the wall 22 and a preset distance D between the main body 2 and the front wall 22 and a distance signal to the side are preset. The distance D 'between the main body 2 and the side wall 22 is always compared. When the distance signal in front is larger than the distance D and the distance signal in the side is larger than the distance D', the distance from the main body 2 is changed. The distance to the wall 22 is the first side brush 3
First, the first side brush driving means 37 and the second side brush are determined so as to operate both the first side brush 31 and the second side brush 32 at a high speed by judging that the distance does not contact the second side brush 32. A signal is output to the brush driving means 38, and the first side brush driving means 37 and the second side brush driving means 38 operate the first side brush 31 and the second side brush 32 at high speed. Obstacle detection means 6
Is smaller than the distance D, regardless of the magnitude of the distance signal to the side wall 22 and the distance D ′, the distance from the main body 2 to the front wall 22 is the first distance signal.
The first side brush drive is performed such that the first side brush 31 and the second side brush 32 are operated at a low speed by judging that there is a possibility that the side brush 31 and the second side brush 32 may come into contact with each other. A signal is output to the means 37 and the second side brush driving means 38, and the first side brush driving means 37 and the second side brush driving means 38 respectively control the first side brush 31 and the second side brush 32. Operate at low speed.

Further, the first reciprocation of the cleaning path B and the forward path of FIG.
Even when the forward distance signal input from the obstacle detecting means 6 such as the middle Z point is larger than the distance D, the distance is lateral (leftward).
When the distance signal to the wall 22 is smaller than the distance D ', the determination processing unit 39 determines that the first left side brush 31 may come into contact with the wall 22 and only the first side brush 31 A signal is output to the first side brush driving means 37 so as to operate at a low speed, and only the first side brush 31 is operated at a low speed.

As described above, according to the present embodiment, the first side brush 31 and the second side brush 32 which are arranged as a part of the cleaning means 40 in front of the main body 2 in the left and right pairs. A first side brush driving means 3 for driving the first side brush 31 and the second side brush 32, respectively;
7, the second side brush driving means 38, the traveling steering means 5 for traveling and steering the main body 2, the direction sensor 7, the angle information of the direction sensor 7 and the traveling distance information from the traveling steering means 5, The position recognition means 8 for recognizing the traveling position of the vehicle and the threshold values of the distances D and D 'are set, and the first side brush 31,
The number of rotations of the second side brush 32 is controlled, and the traveling steering unit 5 and the cleaning unit 40 are controlled by a signal from the position recognition unit 8.
Is provided, the rotation speed of the first and second side brushes 31 and 32 is reduced only at the side of the wall 22, and the wall exists when the side wall exists. When the rotation speed of only one side brush is reduced, the first side brush 3 is also used for cleaning the vicinity of the wall 22.
First, the effect of the second side brush 32 on the wall 22 can be minimized, and cleaning can be performed without deteriorating dust collection.

Embodiment 3 Hereinafter, a third embodiment of the present invention will be described with reference to FIGS.

As shown in FIG. 4, a feature of the present embodiment is that a part of the cleaning means 50 is constituted by a rotary brush 42 for scooping and sucking dust on the floor surface in the structure of the first embodiment, Traveling steering means 5, cleaning means 5 including rotating brush 42
The configuration is such that a rotary brush driving unit 48 that drives the rotary brush 42 in response to a signal from a determination processing unit 49 that controls the operation of No. 0 is provided.

The operation of the self-propelled cleaner constructed as described above will be described below. As shown in FIG. 5, the main body 2 swings the angle θ with respect to the wall 51 using the direction of the arrow a as the reference direction of the azimuth sensor 7, and cleans the cleaning area up to the distance L from the wall 51 while repeating forward and backward movements. Let's say you are running while At this time, the position recognizing unit 8 outputs information on the current traveling position to the judgment processing unit 49 based on the angle information of the direction sensor 7 and the traveling distance information from the traveling steering unit 5. The determination processing unit 49 switches the traveling direction to retreat when the wall 51 is detected by the signal from the obstacle detection unit 6 during the forward movement,
While the vehicle is moving backward, a signal is output to the traveling steering device 5 so as to switch to forward when the vehicle travels a distance L away from the wall 51 by a signal from the position recognition device 8 to perform a forward / backward operation. C in the figure indicates the cleaning width. When the traveling direction is switched by detecting the wall 51, the absolute value of the traveling speed of the main body 2 converges to zero and increases again when the traveling direction is reversed. When this traveling direction is reversed, the contact time of the rotating brush 42 per unit area of the floor surface becomes longer, that is, the rotating brush 4 is applied only to the floor surface near the wall 51.
2, the contact time becomes longer.

The judgment processing section 49 always compares the distance signal between the front and the wall 51 inputted from the obstacle detecting means 6 with the preset distance D between the main body 2 and the wall 51. If the distance signal is larger than the distance D, the main body 2 determines that the traveling direction is not reversed and outputs a signal to the rotating brush driving means 48 to operate the rotating brush 42 at high speed. 48
Drives the rotating brush 42 at high speed. Conversely, when the distance signal is smaller than the distance D, it is determined that the main body 2 has not yet entered the reversing operation of the traveling direction, and a signal is output to the rotating brush driving means 48 so as to operate the rotating brush 42 at a low speed.
The rotating brush driving means 48 operates the rotating brush 42 at a low speed.

As described above, according to the present embodiment, the rotating brush 42 that rotates as a component of the cleaning means 50 to scoop up dust on the floor surface, and the rotating brush driving means 48 that drives the rotating brush 42 include: A traveling steering unit 5 for traveling and steering the main body 2, a direction sensor 7, a position recognition unit 8 for recognizing a current traveling position based on angle information of the direction sensor 7 and traveling distance information from the traveling steering unit 5. , A threshold value of the distance D, the number of rotations of the rotary brush 42 is controlled by a signal from the obstacle detecting means 6, and the operation of the traveling steering means 5 and the cleaning means 50 is controlled by a signal from the position recognizing means 8. Is provided, the rotation speed of the rotating brush 42 is reduced only at the side of the wall 51 to minimize the influence of the rotating brush 42 on the floor surface even when cleaning the vicinity of the wall 51. T It can be without cleaning that impair the sex.

In the present embodiment, the front wall 51 has been described, but it goes without saying that the same applies to the rear wall.

Embodiment 4 Hereinafter, a fourth embodiment of the present invention will be described with reference to the drawings.

As shown in FIG. 6, this embodiment is characterized in that a traveling distance counting unit for counting the straight traveling distance based on the traveling distance signal output from the position recognizing means 8 in the configuration of the third embodiment. 66 and a signal from the traveling steering means 8, the traveling steering means 5 and the cleaning means 5 including the rotating brush 42.
0 is a configuration provided with a rotating brush driving means 68 for driving the rotating brush 42 in response to a signal from a determination processing unit 69 for controlling the operation of the rotating brush 42.

The operation of the self-propelled cleaner constructed as described above will be described below. The main body 2 uses the direction of arrow a as the reference direction of the direction sensor 7 as shown in FIG.
, While repeating forward and backward movement,
Traveling while cleaning the cleaning area up to a distance L set to operate. At this time, the position recognizing means 8 outputs the information of the current traveling position to the judgment processing section 69 based on the angle information of the direction sensor 7 and the traveling distance information from the traveling steering means 5, and the judgment processing section 69 advances the distance L forward. Then, a signal is output to the traveling steering means 5 so as to switch the traveling direction to the backward movement, and to switch to the forward movement when the distance L is moved backward, thereby performing the forward and backward operations. When the traveling direction is switched, the absolute value of the traveling speed of the main body 2 converges to zero, and increases again when the traveling direction is reversed. When the traveling direction is reversed, the contact time of the rotating brush 42 per unit area of the floor surface becomes longer, that is, the contact time of the rotating brush 62 becomes longer only on the floor surface near the wall.

The traveling distance counting section 66 is provided with the position recognizing means 8.
The traveling distance signal from the vehicle is input, and the traveling distance from the start of the straight traveling to the present is counted every straight traveling, and the integrated value is output to the judgment processing unit 69. The judgment processing unit 69 also calculates the integrated signal of the traveling distance in one straight line input from the traveling distance counting unit 66 and a predetermined distance from the stop position of the main body 2 as the distance D. Distance (L-
D) is always compared, and when the traveling distance integrated value signal is smaller than the distance (LD), it is determined that the main body 2 does not reverse the traveling direction, and the rotating brush 42 is operated at high speed. A signal is output to the rotating brush driving means 68 so that the rotating brush driving means 68 operates the rotating brush 42 at high speed. Conversely, the running integrated value signal indicates the distance (L-
D), it is determined that the main body 2 has not yet entered the reversing operation of the traveling direction, and a signal is output to the rotating brush driving means 68 to operate the rotating brush 42 at a low speed. 42 is operated at a low speed.

As described above, according to the present embodiment, the rotating brush 42 which rotates as a component of the cleaning means 50 to scoop out dust on the floor surface, and the rotating brush driving means 68 which drives the rotating brush 42 include: A traveling steering unit 5 for traveling and steering the main body 2, a direction sensor 7, a position recognition unit 8 for recognizing a current traveling position based on angle information of the direction sensor 7 and traveling distance information from the traveling steering unit 5. A travel distance counting unit 66 that counts the travel distance in a straight line based on a signal from the position recognition unit 8, a threshold value of the distance D is set, and a signal from the travel distance count unit 66 controls the rotation brush 42. By providing a judgment processing unit 69 for controlling the number of rotations and controlling the operation of the traveling steering unit 5 and the cleaning unit 50 based on a signal from the position recognition unit 8, when the traveling speed of the traveling direction reversal decreases, The rotational speed of the rotary brush 42 in the low speed, the impact on a particular portion of the floor surface of the rotary brush 42 with a minimum, and can be no cleaning impairing the dust collection properties.

In the first to fourth embodiments, the object detected by the obstacle detecting means 6 is a wall, but it is needless to say that all obstacles may be used. In addition, the term “operating at a low speed” is used, but the term “low speed” includes a stopped state.

[0038]

The present invention, as is clear from the above description, as the first means, the drive and the travel steering means for moving the body, and lube Lassi scraped dust of the floor, the front Kivu brush a drive motion means you, Bei <br/> example the obstacle detecting means for detecting a distance between the presence and the obstacle in the traveling direction and the lateral direction of the obstacle, according to a signal from the previous SL obstacle detecting means The driving hand
By controlling the stage, if it is determined that obstacles exist
The rotational speed of the brush is operated at a low speed, the wall, without damaging the wall or the like even when cleaning the vicinity of the obstacle, Ru can be cleaned without reducing the dust collecting properties.

[0039] As second means, a travel steering means for moving the body, and a plurality of brushes which scrape the dust on the floor,
Before comprising a plurality of drive motion means for driving individually the Kivu brush, and obstacle detection means for detecting a distance between the presence and the obstacle in the traveling direction and the lateral direction of the obstacle, from the previous SL obstacle detecting means that controls individually the plurality of drive means in response to the signal
Things, the near wall, without damaging the wall or the like even when cleaning the vicinity of the obstacle, Ru can be cleaned with retention of high dust collecting property than the first means.

[0040] As third means, a travel steering means for moving the body, the floor and rotating brush Kakiageru dust, said a drive motion means that drive the rotating brush, the traveling direction and the lateral direction of obstacle and a obstacle detection means for detecting a distance between the presence and the obstacle, the signal from the previous SL obstacle detecting means
By that controls the drive means according to, during avoidance operation of the obstacle, without damaging the carpet or the like by the operation concentration at a particular portion of the rotary brush when the traveling direction reversal, without reducing the dust collecting property Can be cleaned.

[0041] As fourth means, the vertical area where the travel steering means for moving the body, and rotating brush Kakiageru dust floor, a drive motion means you drive the rotary brush, said body cleaning includes a cleaning area inputting means for inputting the horizontal distance, the travel distance count unit that counts the run line distance, the drive in response to a signal from the previous SL travel distance count unit
By that controls the motion means, wall, the when reversing the traveling direction regardless of the presence or absence of an obstacle, without damaging the carpet or the like by the operation concentration at a particular portion of the rotary brush, without reducing the dust collecting property Can be cleaned.

[Brief description of the drawings]

FIG. 1 is a block diagram of a first embodiment of the present invention.

FIG. 2 is a cleaning path diagram according to the first and second embodiments of the present invention.

FIG. 3 is a block diagram of a second embodiment of the present invention.

FIG. 4 is a block diagram of a third embodiment of the present invention.

FIG. 5 is a cleaning path diagram according to a third embodiment of the present invention.

FIG. 6 is a block diagram of a fourth embodiment of the present invention.

FIG. 7 is a cleaning path diagram according to a fourth embodiment of the present invention.

FIG. 8 is a schematic configuration diagram of a conventional vacuum cleaner.

FIG. 9 is a block diagram of a conventional vacuum cleaner.

[Explanation of symbols]

 2 body 5 traveling steering means 6 obstacle detection means 7 azimuth sensor 8 position recognition means 12 side brush 18 side brush driving means 19, 39, 49, 69 judgment processing unit 20, 40, 50 cleaning means 31 first side brush 32 Second side brush 37 First side brush driving means 38 Second side brush driving means 48, 68 Rotating brush driving means 66 Traveling distance counting unit

──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Hidetaka Yabuuchi 1006 Kazuma Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. (72) Mitsuyasu Ogawa 1006 Kazama Kadoma Kadoma City, Osaka Matsushita Electric Industrial Co., Ltd. In-company (72) Inventor Toshiaki Fujiwara 1006 Kadoma Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. (72) Inventor Osamu Eguchi 1006 Odaka Kadoma, Kadoma City, Osaka Matsushita Electric Industrial Co., Ltd. (72) Inventor Person Hirofumi Inui 1006 Kazuma Kadoma, Kadoma City, Osaka Prefecture (72) Inside the Matsushita Electric Industrial Co., Ltd. (72) Inventor Yoshifumi Takagi 1006 Kazuma Odoma, Kadoma City, Osaka Prefecture Inside the Matsushita Electric Industrial Co., Ltd. (72) Yoshiki Kuroki Kadoma Osaka 1006 Kadoma, Matsudai, Matsushita Electric Industrial Co., Ltd. (56) References JP-A-6-125861 (JP, A) JP-A-5-46246 (JP A) Patent flat 6-22884 (JP, A) (58 ) investigated the field (Int.Cl. ^7, DB name) A47L 9/00 102 A47L 9/28

Claims (4)

(57) [Claims] 1. A and the travel steering means for moving the body, and lube Lassi scraped dust of the floor, the drive <br/> motion means before you drive the Kivu brush, the traveling direction and the lateral direction of obstacle and a obstacle detection means for detecting a distance between the presence and obstacle, controls the drive means in response to a signal from the previous SL obstacle detecting means
Self-propelled vacuum cleaner that. Wherein the travel steering means for moving the body, and a plurality of brushes which scrape the dust on the floor, and a plurality of drive motion means for individually driving the front Kivu brush, the traveling direction and the lateral direction of obstacle and a obstacle detection means for detecting a distance between the presence and obstacles, depending on the signal from the previous SL obstacle detecting means
Self Hashishiki cleaner that controls individually the plurality of driving means. 3. A travel steering means for moving the body, and rotating brush Kakiageru dust floor, a drive motion means you drive the rotary brush, whether the obstacle in the traveling direction and the lateral direction of obstacle Bei <br/> example the obstacle detecting means for detecting a distance between said driving hands in response to a signal from the previous SL obstacle detecting means
Self-Hashishiki vacuum cleaner that controls the stage. 4. A travel steering means for moving the body, and rotating brush Kakiageru dust on the floor, the drive and motion means that drive the rotating brush, the vertical area where the body makes a clean, horizontal distance comprising a cleaning area inputting means for inputting a travel distance count unit that counts the run line distance, self Hashishiki cleaner that controls the driving means in response to a signal from the previous SL running distance count unit.