JP3674481B2 - Self-propelled vacuum cleaner - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a self-propelled cleaner that has a cleaning function and a traveling function and performs automatic cleaning.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a so-called self-guided self-propelled cleaner has been developed in which a moving means, sensors, and movement control means are added to a vacuum cleaner, and the cleaning area is automatically moved to perform cleaning. For example, a suction tool or a dust brush for cleaning up dust at the bottom of the main body as a cleaning function, driving wheels as a traveling function to move freely, steering means for changing the moving direction, and obstacles during movement An obstacle detection means for detecting an object and a position recognition means are provided. The obstacle detection means bypasses the obstacle in the cleaning area, recognizes the cleaning area cleaned by the position recognition means, and has not yet cleaned. The entire cleaning area is cleaned by moving the cleaning area.
[0003]
Further, for example, as described in Japanese Patent Application Laid-Open Nos. Sho 62-236519, Sho 62-236520, and Sho 63-222726, dust is detected in the air passage connecting the suction tool and the dust collecting chamber. There is also developed a device that switches a traveling speed by this signal or switches from a normal traveling pattern to another traveling pattern to perform cleaning more carefully.
[0004]
[Problems to be solved by the invention]
However, such a conventional self-propelled cleaner performs position recognition using a rotation sensor of a driving wheel, a gyroscope, etc., but is displaced from a predetermined movement path due to accumulation of position measurement errors. There was a case that left behind. In addition, when there are many obstacles in the cleaning area, it is difficult to determine the movement path in advance so as to completely cover the entire cleaning area while avoiding the obstacles, and complicated control is required.
[0005]
Even when the travel pattern is switched by a signal from the dust detection sensor while moving along a predetermined travel route, it is difficult to change the travel route drastically in order to fill the entire cleaning area without much, and there is a lot of dust. They only added the action of driving slowly around the place or driving around it several times.
[0006]
Therefore, an object of the present invention is to provide a self-propelled cleaner that does not have a position recognizing means for determining a moving route in advance and efficiently cleans a cleaning area without performing complicated control.
[0007]
[Means for Solving the Problems]
The present invention is cleaned by a traveling means and a steering means for moving the main body, an obstacle detecting means for detecting an obstacle that obstructs the movement of the main body, a cleaning means for cleaning dust on the floor, and the cleaning means. And a movement control means for controlling the movement of the main body by controlling the traveling means and the steering means. The movement control means is configured to control the movement of the main body during the movement of the main body. When the obstacle detection means detects an obstacle, the obstacle detection control mode in which the main body is turned in a direction away from the obstacle by a predetermined angle and then advances straight, and the dust detection means removes a predetermined amount or more of dust while the main body is moving. When detected, it has a pattern movement control mode in which the body moves in a zig-zag manner by repeating a certain distance forward and a turn by a certain angle turn. The movement is started in the control mode, and the cleaning area is moved while switching between the pattern movement control mode and the obstacle avoidance control mode according to the output of the obstacle detection means and the output of the dust detection means. Thus, a self-propelled cleaner that efficiently cleans the cleaning area with a simple configuration can be realized.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
The invention described in claim 1 is a traveling means and a steering means for moving the main body, an obstacle detecting means for detecting an obstacle that obstructs the movement of the main body, a cleaning means for cleaning dust on the floor, The main body includes dust detection means for detecting the amount of dust to be cleaned by the cleaning means, and movement control means for controlling the movement of the main body by controlling the traveling means and the steering means. When the obstacle detection means detects an obstacle during the movement of the obstacle, the obstacle avoidance control mode in which the main body is turned by a predetermined angle in the direction away from the obstacle and then goes straight, and the dust detection means is provided during the movement of the main body. When detecting more than a certain amount of dust, it has a pattern movement control mode that moves the main body in a zigzag manner by repeatedly moving forward by a fixed distance and turning at a fixed angle. The cleaning area is started while the movement is started in the obstacle avoidance control mode, and is switched between the pattern movement control mode and the obstacle avoidance control mode according to the output of the obstacle detection means and the output of the dust detection means. By moving the, it is possible to efficiently clean an area with dust with a simple configuration. Also, even if you are moving while removing dust by the cleaning means in the pattern movement control mode, if you detect an obstacle, it switches to the obstacle avoidance control mode, and after moving the main body, move straight so as to avoid it Therefore, when a wall or the like exists in the moving direction, the wall can be avoided.
[0009]
In the invention described in claim 2, the pattern movement control mode is set such that when the dust detection means detects a predetermined amount or more of dust during the movement of the main body, after moving forward by a predetermined distance, the direction is changed to move backward by a predetermined distance, Since the main body is moved in a zigzag manner by alternately repeating the operation of changing the direction and moving forward a certain distance , the reverse time makes the turn time shorter than the pattern of only the forward drive, so the cleaning time can be reduced. .
[0010]
According to a third aspect of the present invention, the constant angle of the turn in the pattern movement control mode is set to an angle at which the lateral displacement when the main body reciprocates a certain distance is less than the width of the cleaning means. Since the main body is moved within a range where no leftovers occur, it can be moved without leaving any waste.
[0011]
According to a fourth aspect of the present invention, the obstacle detection means distinguishes whether the detected obstacle is on the left or right side of the main body, and the obstacle avoidance control mode of the movement control means is when the obstacle is detected. The main body is turned in a direction away from the obstacle and then moved straight, and the obstacle can be efficiently avoided according to the positional relationship between the main body and the obstacle.
[0012]
According to the fifth aspect of the present invention, the turn angle for turning the main body when an obstacle is detected is constant at 90 degrees or more, and the probability of encountering the obstacle again after avoiding the obstacle can be reduced.
[0013]
According to the sixth aspect of the present invention, the turn angle for turning the main body when an obstacle is detected is determined at random each time, and the probability that it can move evenly over the entire cleaning area can be increased.
[0014]
The invention described in claim 7 switches the moving speed of the main body between the obstacle avoidance control mode and the pattern movement control mode, and can be cleaned more carefully by reducing the movement speed in the pattern movement control mode. At the same time, the driving state can be notified to the user.
[0015]
The invention described in claim 8 is provided with display means for displaying the operation state on the main body, and switches the display of the display means between the obstacle control mode and the pattern movement control mode of the movement control means. Thus, it is possible to notify the user of the driving state.
[0016]
【Example】
(Example 1)
Hereinafter, the example of the self-propelled cleaner of the present invention is described based on Drawings 1-7.
[0017]
In FIG. 1, 1 is a body of a self-propelled cleaner that performs cleaning while moving, and moves forward in the direction of arrow 2 on the floor surface. Reference numerals 3 and 4 denote left and right drive motors, and respective output shafts drive left and right traveling wheels 7 and 8 via left and right speed reducers 5 and 6. The main body 1 is moved by independently controlling the rotation of the left drive motor 3 and the right drive motor 4, and also serves as a traveling means and a steering means. Reference numeral 9 denotes a movement control means for controlling the left and right drive motors 3 and 4 according to various inputs to control the movement of the main body 1, and comprises a microcomputer and other control circuits. Reference numerals 10 and 11 denote obstacle detection means, which are constituted by optical sensors or the like for measuring distances to the front and side obstacles of the main body 1. Reference numeral 12 denotes a cleaning nozzle for cleaning the floor surface, which constitutes a suction tool, and is provided with an agitator 13 made of a rotating brush or the like, and sucks dust by a vacuum pressure generated by a fan motor 14 made of an electric blower. . The agitator 13 is rotationally driven by a nozzle motor 15 via a transmission belt 16. Reference numeral 17 denotes dust detection means such as a photo sensor, which is provided in the air passage 18 through which dust sucked from the cleaning nozzle 12 passes, and detects the amount of dust cleaned by the cleaning nozzle 12. Reference numeral 19 denotes a display unit made of an LED or the like provided on the upper portion of the main body 1 to notify the user of the operating state of the main body 1. Reference numeral 20 denotes a power source made of a battery or the like, which supplies power to the main body 1.
[0018]
FIG. 2 shows a control block configuration of the present embodiment. The movement control means 9 controls the output to the left drive motor 3 and the right drive motor 4 in accordance with the inputs from the obstacle detection means 10 and 11 and the dust detection means 17, and the display means 19 in accordance with the operation state. Control the output to.
[0019]
FIG. 3 shows the overall flow of movement control of the movement control means 9, which will be described in order. First, when the main body 1 is placed on the floor to be cleaned and the operation is started, the left and right drive motors 3 and 4 are driven to advance the main body 1 in step S1. In step S2, it is determined whether there is an obstacle by looking at the input of the obstacle detection means 10, 11, and if there is no obstacle, the process proceeds to step S3. In step S3, it is determined whether the amount of dust sucked from the cleaning nozzle 12 is greater than or equal to a predetermined amount by looking at the input of the dust detection means 17, and if there is more than a predetermined amount of dust, the process proceeds to step S4. If there is no dust, the process returns to step S1. In step S4, a predetermined pattern movement operation is started, and the process proceeds to step S5. In step S5, it is determined whether there is an obstacle. If there is no obstacle, the process returns to step S4, and the pattern movement is continued.
[0020]
As shown in FIG. 4, the pattern movement in the present embodiment advances from the start point A in the direction of the arrow a by a fixed distance L, and temporarily stops at the stop point B. Next, it turns to the left, changes direction, moves forward by a fixed distance L in the direction of arrow b (direction of angle θ), and stops at stop point C. Then, it turns to the right, changes direction, and moves forward in the direction of arrow C (direction of angle θ). In this way, zigzag movement is repeated while repeating forward and turn. The angle θ for changing the direction is set to an angle at which the lateral displacement (for example, the distance between the point A and the point C) when the main body 1 reciprocates the distance L is equal to or less than the width of the cleaning nozzle 12. The cleaning floor 12 passes through the moved floor surface without any wrinkles and is cleaned. The control mode for performing the pattern movement composed of the above steps S4 and S5 is referred to as a pattern movement control mode CM1.
[0021]
If it is determined in step S2 or S5 that there is an obstacle, the process proceeds to step S6. Step S6 performs an obstacle avoidance operation. In this embodiment, the operation shown in FIGS. 5 and 6 is performed. That is, as shown in FIG. 5, when the obstacle W1 is detected at the point P1 while moving in the direction of the arrow d1, it immediately stops and the distance measurement data of the obstacle detection means 10 and 11 are compared to check the obstacle. It is determined whether W1 is on the left or right side of the main body 1. In the case of this figure, since the obstacle W1 is detected closer to the obstacle detection means 11, it is determined that there is an obstacle W1 on the right side of the main body 1, and the main body 1 is turned leftward by a predetermined angle θ1, Go straight in the direction of arrow e1. On the other hand, in the case as shown in FIG. 6, when the obstacle W2 is detected and stopped at the point P2 while moving in the direction of the arrow d2, the obstacle W2 is detected near the obstacle detection means 10, It is determined that there is an obstacle W2 on the left side of 1, and the main body 1 is turned rightward by a predetermined angle θ2 and goes straight in the direction of the arrow e2. At this time, the values of the turn angles θ1 and θ2 are randomly determined within a range of 0 to 180 ° from a random number generated inside the movement control means 9 when an obstacle is detected. Such a control mode for performing the obstacle avoidance operation composed of step S6 is referred to as an obstacle avoidance control mode CM2.
[0022]
With the above configuration, the overall operation of this embodiment will be described.
[0023]
As illustrated in FIG. 7, an example will be described in which a region surrounded by walls on all sides and where dust is distributed like G1 to G5 on the floor is cleaned. As shown in the figure, when the main body 1 is placed at the start point and the operation is started, the nozzle motor 15 and the fan motor 14 of the cleaning nozzle 12 are operated to perform the cleaning operation, and at the same time, the left and right drive motors 3 and 4 are rotated. The main body 1 starts moving forward. At this time, the display means 19 is lit in green. When the main body 1 comes to the dust distribution area G1, the dust detection means 17 detects a dust amount equal to or larger than a predetermined amount, and the control mode is changed to the pattern movement control mode CM1. At this time, the display means 19 also changes from green to red, and the main body 1 cleans the dust in the dust distribution areas G1 and G2 while performing the zigzag movement. And since the obstacle detection means 10 detects the wall which becomes an obstruction at the Q1 point, the control mode is changed to the obstruction avoidance control mode CM2, and the main body 1 temporarily stops and turns right by a predetermined angle, and then proceeds straight. . At this time, the display means 19 changes from red to green. When the main body 1 goes straight and reaches the dust distribution area G3, the control mode is changed to the pattern movement control mode CM1 at the same time as described above, and at the same time, the display means 19 changes to red lighting, and the zigzag movement is performed while moving the dust distribution area G3. Clean up trash. Since the wall that becomes an obstacle is detected at the Q2 point, the control mode is changed to the obstacle avoidance control mode CM2, and at the same time, the display means 19 changes from red to green lighting, and the main body 1 temporarily stops and turns a predetermined angle. Start straight again. Similarly, when a dust amount of a predetermined amount or more is detected in the dust distribution areas G4 and G5, the control mode is changed to the pattern movement control mode CM1 and the display means 19 is lit in green, and an obstacle is detected at the points Q3, Q4, Q5 and Q6. Is detected, the control mode is changed to the obstacle avoidance control mode CM2, and the display means 19 performs cleaning while repeating the operation of lighting in red. If the control mode is in the obstacle avoidance control mode CM2 and continues for a certain time or more, it is determined that there is no dust in the cleaning area, the cleaning is finished, and the operation of the main body 1 is stopped. The moving speed of the main body 1 during the operation will be described. The cleaning time for cleaning a certain cleaning region becomes shorter as the moving speed of the main body 1 is increased, but conversely, if the moving speed is increased, the amount of dust remaining is increased even if the cleaning nozzle 12 passes. Therefore, when the obstacle avoidance control mode CM2 is moving in a place where the amount of dust is small, the movement speed is increased, and in the pattern movement control mode CM1, when moving in a place where the amount of dust is large. Since there are many cases, the movement speed is switched to reduce the movement speed. Thus, there is no leftover of dust and cleaning can be performed in a short time.
[0024]
As described above, the main body 1 moves to the obstacle avoidance control mode CM2 when the obstacle detection means 10, 11 detects an obstacle while moving, and the pattern movement control when the dust detection means 17 detects a predetermined amount or more of dust. It is a simple algorithm that switches the control mode to mode CM1 by input from two types of sensors, and can move intensively where there is dust while avoiding obstacles. Moreover, expensive position recognition means such as a gyro for recognizing the position of the main body 1 in the cleaning area is not required. Moreover, since the display of the display means 19 switches with control modes, the user can know the driving | running state at that time.
[0025]
The obstacle avoidance control mode CM2 can be realized by a very simple algorithm in which the main body 1 is turned by a predetermined angle and then straightened when an obstacle is detected. By distinguishing whether the obstacle is on the left or right side of the main body 1 using the detection means 10 and 11 and turning in a direction away from the obstacle, the probability that the main body 1 detects the obstacle is lowered and the obstacle is efficiently You can avoid things.
[0026]
In this embodiment, the turn angle of the main body 1 in the obstacle avoidance control mode CM2 is determined at random each time, so there is a high probability that the main body 1 can move evenly over the entire sweep area, but the angle is determined randomly. In the absence of means, it has been found that the entire cleaning area can be moved fairly efficiently if the angle is greater than 90 degrees.
[0027]
In the pattern movement control mode CM1, the main body 1 is moved forward by a predetermined distance L, then turned and then moved forward again by the predetermined distance L. For example, after moving forward by a predetermined distance, The main body 1 may be moved in a zigzag manner by alternately repeating the operation of changing the direction a little and moving it backward by a certain distance and changing the direction a little and moving it forward again. In this case, a means for detecting an obstacle at the time of retreat is necessary, but since the turn time is shortened, the cleaning time can be shortened.
[0028]
In this embodiment, the display means 19 uses a light emitting means such as an LED. However, the display means 19 may be a text display on an LCD or the like, or a voice display.
[0029]
(Example 2)
In the first embodiment, the pattern movement control mode CM1 has been described in which the main body is moved in a zigzag manner while repeating forward and backward movements. In this embodiment, the main body is moved from the inside to the outside by a spiral trajectory as this pattern movement. Will be described.
[0030]
Although the basic configuration is exactly the same as that of the first embodiment, only the contents of the pattern movement program in step S4 in the pattern movement control mode CM1 of FIG.
[0031]
As shown in FIG. 8, a case will be described as an example in which a region surrounded by walls on all sides and where dust is distributed like G11 and G12 on the floor is cleaned. As shown in the figure, when the main body 1 is placed at the start point and the operation is started, the nozzle motor 15 and the fan motor 14 of the cleaning nozzle 12 are operated to perform the cleaning operation, and at the same time, the left and right drive motors 3 and 4 are rotated. The main body 1 starts moving forward. At this time, the display means 19 is lit in green. When the main body 1 comes to the dust distribution region G11, the dust detection means 17 detects a dust amount that is a predetermined amount or more, and the control mode is changed to the pattern movement control mode CM1. At this time, the display means 19 also changes from green to red lighting, and the main body 1 starts to turn right as indicated by the arrow f, and cleans the dust in the dust distribution area G11 while moving so that the rotation radius gradually increases. And since the obstacle detection means 10 detects the wall which becomes an obstruction at the Q11 point, the control mode is changed to the obstruction avoidance control mode CM2, and the main body 1 temporarily stops and turns rightward for a predetermined angle, and then goes straight. Furthermore, since a wall that becomes an obstacle is detected at the point Q12, the vehicle stops once, turns right by a predetermined angle, and then goes straight. When the main body 1 goes straight and reaches the dust distribution region G12, the control mode changes to the pattern movement control mode CM1 at the same time as described above, and at the same time, the display means 19 changes to red lighting and starts turning right as indicated by the arrow g. The dust in the dust distribution region G12 is cleaned while moving so that the radius of rotation gradually increases. Since the wall which becomes an obstacle is detected at the point Q13, the control mode is changed to the obstacle avoidance control mode CM2, and at the same time, the display means 19 is changed from red to green, and the main body 1 is temporarily stopped and turned a predetermined angle. Start straight again. Thereafter, cleaning is performed while repeating similar operations.
[0032]
In this way, by moving the pattern movement along the spiral trajectory, there is no longer a time-consuming operation such as a stop or turn operation like the zigzag movement. It is something that can be done.
[0033]
【The invention's effect】
The invention described in claim 1 is a traveling means and a steering means for moving the main body, an obstacle detecting means for detecting an obstacle that obstructs the movement of the main body, a cleaning means for cleaning dust on the floor, The main body includes dust detection means for detecting the amount of dust to be cleaned by the cleaning means, and movement control means for controlling the movement of the main body by controlling the traveling means and the steering means. When the obstacle detection means detects an obstacle during the movement of the obstacle, the obstacle avoidance control mode in which the main body is turned by a predetermined angle in the direction away from the obstacle and then goes straight, and the dust detection means is provided during the movement of the main body. When detecting more than a certain amount of dust, it has a pattern movement control mode that moves the main body in a zigzag manner by repeatedly moving forward by a fixed distance and turning at a fixed angle. The cleaning area is started while the movement is started in the obstacle avoidance control mode, and is switched between the pattern movement control mode and the obstacle avoidance control mode according to the output of the obstacle detection means and the output of the dust detection means. By moving the, it is possible to efficiently clean the area with dust with a simple configuration. Also, even if you are moving while removing dust by the cleaning means in the pattern movement control mode, if you detect an obstacle, it switches to the obstacle avoidance control mode, and after moving the main body, move straight so as to avoid it Therefore, when a wall or the like exists in the moving direction, the wall can be avoided.
[0034]
In the invention described in claim 2, the pattern movement control mode is set such that when the dust detection means detects a predetermined amount or more of dust during the movement of the main body, after moving forward by a predetermined distance, the direction is changed to move backward by a predetermined distance, Since the main body is moved in a zigzag manner by alternately repeating the operation of changing the direction and moving forward a certain distance , the reverse time makes the turn time shorter than the pattern of only the forward drive, so the cleaning time can be reduced. .
[0035]
According to a third aspect of the present invention, the constant angle of the turn in the pattern movement control mode is set to an angle at which the lateral displacement when the main body reciprocates a certain distance is less than the width of the cleaning means. Since the main body is moved within a range where no leftovers occur, it can be moved without leaving any waste.
[0036]
According to a fourth aspect of the present invention, the obstacle detection means distinguishes whether the detected obstacle is on the left or right side of the main body, and the obstacle avoidance control mode of the movement control means is when the obstacle is detected. The main body is turned by a predetermined angle in a direction away from the obstacle and then straightened, and a self-propelled cleaner that efficiently avoids the obstacle according to the positional relationship between the main body and the obstacle can be realized.
[0037]
The invention described in claim 5 is a self-propelled type in which the turn angle for turning the main body when an obstacle is detected is constant at 90 degrees or more, and the probability of encountering the obstacle again after avoiding the obstacle is reduced. A vacuum cleaner can be realized.
[0038]
In the invention described in claim 6, the turn angle for turning the main body when an obstacle is detected is randomly determined each time, and the self-propelled cleaning that moves and cleans the entire cleaning area evenly. The machine can be realized.
[0039]
According to the seventh aspect of the present invention, the movement speed of the main body is switched between the obstacle avoidance control mode and the pattern movement control mode of the movement control means, and the movement speed in the pattern movement control mode can be reduced more carefully. It is possible to realize a self-propelled cleaner that can be cleaned and that can inform the user of the driving state.
[0040]
The invention described in claim 8 is provided with display means for displaying the operation state on the main body, and switches the display of the display means between the obstacle control mode and the pattern movement control mode of the movement control means. Thus, a self-propelled cleaner that informs the user of the driving state can be realized.
[Brief description of the drawings]
FIG. 1 is an internal perspective view of a self-propelled cleaner according to a first embodiment of the present invention. FIG. 2 is a block diagram showing a system configuration. FIG. 3 is a flowchart of movement control. FIG. 5 is an operation explanatory diagram of the obstacle avoidance control mode. FIG. 6 is an operation explanatory diagram of the obstacle avoidance control mode. FIG. 7 is an overall operation explanatory diagram. FIG. 8 is an overall operation explanatory view of a self-propelled cleaner according to a second embodiment of the present invention.
DESCRIPTION OF SYMBOLS 1 Main body 3,4 Drive motor 5,6 Reducer 7,8 Drive wheel 9 Movement control means 10,11 Obstacle detection means 12 Cleaning nozzle 14 Fan motor 17 Dust detection means 19 Display means CM1 Pattern movement control mode CM2 Obstacle avoidance Control mode

Claims (8)

  Traveling means and steering means for moving the main body, obstacle detection means for detecting obstacles that obstruct the movement of the main body, cleaning means for cleaning dust on the floor, and the amount of garbage cleaned by the cleaning means And a movement control means for controlling the movement of the main body by controlling the traveling means and the steering means. The movement control means is configured to detect the obstacle detection means during the movement of the main body. When an obstacle is detected, an obstacle avoidance control mode in which the main body is turned by a predetermined angle in a direction away from the obstacle and then goes straight, and when the dust detection means detects a predetermined amount or more of dust while moving the main body, It has a pattern movement control mode in which the main body is moved in a zigzag manner by repeating a forward movement of a constant distance and a turn of a certain angle, and the obstacle avoidance control mode at the start of operation. Accordingly, the self-propelled type that starts the movement and moves the cleaning area while switching between the pattern movement control mode and the obstacle avoidance control mode according to the output of the obstacle detection means and the output of the dust detection means. Vacuum cleaner. Traveling means and steering means for moving the main body, obstacle detection means for detecting obstacles that obstruct the movement of the main body, cleaning means for cleaning dust on the floor, and the amount of garbage cleaned by the cleaning means And a movement control means for controlling the movement of the main body by controlling the traveling means and the steering means. The movement control means is configured to detect the obstacle detection means during the movement of the main body. When an obstacle is detected, an obstacle avoidance control mode in which the main body is turned by a predetermined angle in a direction away from the obstacle and then straightened, and when the dust detection means detects a predetermined amount or more of dust while the main body is moving, After moving a certain distance, the pattern movement control mode moves the main body in a zigzag by repeating the operation of changing the direction, moving backward by a certain distance, and changing the direction again and moving forward by a certain distance. At the start of operation, the movement is started in the obstacle avoidance control mode, and the pattern movement control mode and the obstacle avoidance control according to the output of the obstacle detection means and the output of the dust detection means Self-propelled vacuum cleaner that moves the cleaning area while switching to either mode .   The constant angle of the turn in the pattern movement control mode is set to an angle at which the lateral displacement when the main body reciprocates a certain distance is equal to or less than the width of the cleaning means, and the main body is within a range where no waste is left by the cleaning means. The self-propelled cleaner according to claim 1 or 2, wherein   The obstacle detection means distinguishes whether the detected obstacle is on the left or right side of the main body, and the obstacle avoidance control mode of the movement control means turns the main body away from the obstacle when an obstacle is detected. The self-propelled cleaner according to any one of claims 1 to 3, wherein the self-propelled cleaner is made to go straight after being moved.   The self-propelled cleaner according to any one of claims 1 to 4, wherein a turn angle for turning the main body when an obstacle is detected is constant at 90 degrees or more.   The self-propelled cleaner according to any one of claims 1 to 4, wherein a turn angle for turning the main body when an obstacle is detected is randomly determined each time.   The self-propelled cleaner according to any one of claims 1 to 6, wherein the moving speed of the main body is switched between an obstacle avoidance control mode and a pattern movement control mode.   8. The display device according to claim 1, further comprising display means for displaying an operation state on the main body, wherein the display means is switched between an obstacle avoidance control mode of the movement control means and a pattern movement control mode. A self-propelled vacuum cleaner as described in 1.

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