JPH09266871A - Method for controlling cleaning robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for controlling a cleaning robot, by which traveling and cleaning action can be controlled in such a way that no eyeball track is left on a floor face. SOLUTION: In a method by which a control part 16 controls the cleaning action of cleaning parts 13a to 13c, 43 by using sensors 17a to 17c to detect azimuth and obstacles and allowing a vehicle to self-travel with vehicle driving mechanisms 11a, 11b, 12a, 12b being controlled by the control part 16, the control part 16 performs control to stop the rotation of the cleaning brushes 13a to 13c for a predetermined time after the vehicle stopped has started to travel.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control method for a cleaning robot having an autonomous traveling function and a cleaning function.

[0002]

2. Description of the Related Art In recent years, a cleaning robot having a cleaning function has been put into practical use in a vehicle that runs autonomously. Such a cleaning robot has a motor driven by a storage battery, a steering wheel, a microcomputer, various sensors such as a direction sensor mounted on the vehicle to control traveling, and a suction nozzle for sucking dust, a cleaning brush, and a cleaning liquid. It has a sprinkling port for sprinkling water, a suction nozzle, etc., sprinkles a cleaning liquid, cleans the floor surface with a cleaning brush, and sucks dirty water after cleaning. As a conventional cleaning robot, for example, there is one disclosed in Japanese Patent Laid-Open No. 5-161582.

[0003]

However, the conventional cleaning robot has a problem that the cleaning brush may continuously brush one place on the floor surface, leaving an eye mark.

For example, as shown in FIG.
When the cleaning robot 1 stops at one location and the cleaning brush continuously brushes and then starts moving in the direction of the arrow, the eye mark 2 remains on the floor surface.

Alternatively, as shown in FIG. 14B, when the cleaning robot 1 makes an in-situ turn (hereinafter referred to as a spin turn) at an angle of 90 degrees, the same place where the spin turn is made continues. The eye mark 2 remains because the brushing is performed by brushing.

Further, as shown in FIG. 14 (c), an obstacle such as a step on the wall 3 is detected, stopped and brushed continuously at the same place, and then the obstacle is avoided as indicated by an arrow. Even when doing, the eye mark 2 is formed on the floor surface.

The present invention has been made in view of the above circumstances, and an object of the present invention is to propose a control method for a cleaning robot capable of controlling running and cleaning operations so as not to leave an eye mark on the floor surface. .

[0008]

A cleaning robot control method according to the present invention detects a direction and an obstacle using a sensor,
A method in which a control unit controls a vehicle drive mechanism based on the detection result to cause the vehicle to travel autonomously, and the control unit controls a cleaning operation of the cleaning unit, wherein the cleaning unit rotates the vehicle. With a cleaning brush that slides on the floor surface according to, and a cleaning brush drive mechanism that rotates the cleaning brush, the control unit starts traveling from a state in which the vehicle is stopped and a predetermined time has elapsed, The cleaning brush drive mechanism is controlled so as to stop the rotation of the cleaning brush. Here, the control unit, when the vehicle is stopped,
A value indicating that the traveling of the vehicle is stopped is set in the stop flag, the counter starts counting, and the rotation of the cleaning brush is stopped until the count reaches a predetermined value. It may control the cleaning brush drive mechanism.

Alternatively, the control unit controls the cleaning brush drive mechanism so as to stop the rotation of the cleaning brush from the state in which the vehicle is stopped until the vehicle starts traveling and travels for a predetermined distance. It may be.

Further, in the control method of the present invention, the control unit controls the cleaning brush drive mechanism so as to stop the rotation of the cleaning brush while the vehicle travels in a direction traversing the initially set travel route. It may be one that does.

Alternatively, in the control method of the present invention, when the sensor detects the first obstacle, the control unit stops the traveling of the vehicle and the rotation of the cleaning brush so that the cleaning brush rotates. When the sensor detects a second obstacle before the predetermined time has elapsed, the stop time of the cleaning brush is maintained. Alternatively, the cleaning brush drive mechanism may be controlled.

Further, according to the control method of the present invention, the control section sets a value indicating that the traveling of the vehicle is stopped when the vehicle is stopped in the stop flag, starts the counting of the counter, and counts this. When the sensor detects the second obstacle before the predetermined time has passed, the counter is cleared to keep the cleaning brush stopped in rotation. It may control the drive mechanism.

Further, in the control method of the present invention, the control unit stops the traveling of the vehicle and the rotation of the cleaning brush when the sensor detects an obstacle while the vehicle is traveling on the traveling route. After the vehicle performs the operation of avoiding the obstacle, the time is measured from the time when the vehicle resumes traveling along the traveling route, and the cleaning brush is kept until the measured time elapses a predetermined time. The cleaning brush drive mechanism may be controlled so as to maintain the rotation of the cleaning brush.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below. First, before describing the control method of the cleaning robot according to the present embodiment in detail, an outline of a control method that does not leave an eye mark on the floor will be described. (1) When the Cleaning Robot Starts Running As shown in FIG. 6, from the time the cleaning robot 10 starts running until a predetermined distance or a predetermined time elapses as indicated by the dotted line, Stop the rotation of the cleaning brush. The time to stop this cleaning brush is 0.3, for example.
You may set arbitrarily between the second and 1 second. And
After the lapse of a predetermined distance or a predetermined time, the cleaning brush is operated to restart the traveling. (2) When the cleaning robot spin-turns As shown in FIG. 7, the cleaning robot 10 that had been traveling straight ahead along a preset traveling route is temporarily stopped and spin-turned 90 degrees to the right to travel. Dotted line from the time when the vehicle travels in a direction that crosses the route (90 degrees or 270 degrees direction), then spin-turns to the right by 90 degrees and restarts straight traveling in parallel to the travel route until a predetermined distance or a predetermined time elapses. The cleaning brush is stopped in the section indicated by.

Here, the reason why the cleaning brush is stopped during the shift running is as follows. In FIG.
The cleaning brush is stopped during a 90-degree spin turn to the right, the cleaning brush is operated during a shift run, and stopped during a 90-degree spin turn to the right again. The contact of the relay that supplies the power is repeatedly turned off, on, and off in a short time. As a result, a spark or a surge voltage is generated to generate noise, which may cause other electronic circuits to malfunction.
Therefore, in order to prevent such a problem from occurring, the cleaning brush is kept in a stopped state even during shift running. (3) When the obstacle sensor detects a plurality of passersby and the cleaning robot is stopped As shown in FIG. 8, there are a plurality of passersby 3a, 3b, 3c in a certain traveling route. Cleaning robot 1
In some cases, 0 will repeatedly run and stop. Passerby 3
In the case where the passerby 3b and the passerby 3c are detected before a predetermined time or a predetermined distance has passed after the detection of a, when the running and stopping are repeated during the section indicated by the dotted line in the figure,
Stop the rotation of the cleaning brush. (4) When the cleaning robot avoids the obstacle As shown in FIG. 9, the obstacle sensor detects the obstacle 11 and the cleaning robot 10 spins 90 degrees to the right after stopping the traveling. The area indicated by the dotted line in the figure from the time when the vehicle shifts laterally, spin-turns to the left 90 degrees, and when straight traveling in the vertical direction is resumed until a certain distance or a certain time elapses. To stop. Here, the reason why the cleaning brush is stopped not only during the spin-turn period but also during the lateral shift travel is that the motor and the relay are frequently turned on and off as described in the above item (2). This is to prevent malfunction of.

Next, a method of controlling the cleaning robot according to this embodiment will be described.

FIG. 1 shows the structure of a cleaning robot 10 controlled by the control method according to this embodiment. In the figure, the arrow pointing to the left is the front. A pair of drive wheels 12a and 12b are provided on both sides of the cleaning robot 10, and a right drive motor 11a and a left drive motor 11b are provided on the respective drive wheels 12a and 12b. Right drive motor 11
Motor drivers 15a and 15b are provided corresponding to a and the left drive motor 11b, respectively. The motor drivers 15a and 15b are based on the command signal given from the control unit 16 and the right drive motor 11a and the left drive motor 11b are provided. Control the operation of each.

Right drive motor 11a and left drive motor 11
Distance sensors 14a and 14b for measuring the traveling distance of the cleaning robot 10 are provided on the rotation axis of b. A front obstacle sensor 17a for detecting a front obstacle indicated by an arrow is provided on the front side of the cleaning robot 10, and a front obstacle for detecting an obstacle in each direction is provided on the left and right side surfaces of the cleaning robot 10. Sensors 17b and 17c are provided, and an azimuth sensor 18 for detecting the azimuth is further provided. The detection signals output from the distance sensors 14a and 14b, the front obstacle sensors 17a to 17c, and the azimuth sensor 18 are input to the control unit 16.

FIG. 2 shows a more detailed circuit configuration of the control unit 16. The control unit 16 has interfaces 19a to 19d.
And a main controller 20 and a counter 21. The interface 19a is the front obstacle sensor 1
The detection signals 7a to 17c detect the obstacles and are output, and perform necessary processing such as amplification and level shift, and output the main controller 20. Interface 19
b is given a detection signal output by the azimuth sensor 18 after detecting the azimuth, performs processing such as amplification, and outputs the result to the main controller 20.

Further, distance sensors 14a and 1 mounted on the drive shafts of the right drive motor 11a and the left drive motor 11b, respectively.
4b detects the number of rotations of each drive shaft, and the counter 2
1 calculates the distance by counting based on this rotation speed.
This distance is given to the main controller 20.

The main controller 20 drives the motor based on the presence / absence of a front obstacle detected by the front obstacle sensors 17a to 17c, the azimuth detected by the azimuth sensor 18, and the traveling distance calculated by the counter 21. A command signal and a command signal required by the cleaning unit controller 33 are generated and output to the interface 19c and the interface 19d, respectively.

The command signal provided to the interface 19c is provided to the left and right motor drivers 15a and 15b, and the motor drivers 15a and 15b cause the right drive motor 1 to operate.
The drive of each of the 1a and the left drive motor 11b is controlled. For example, a predetermined cleaning area 51 as shown in FIG.
The operations of the right drive motor 11a and the left drive motor 11b are controlled so that the cleaning robot 10 travels in a predetermined route indicated by arrows D1 to D11.

The command signal given to the interface 19d is given to the cleaning unit controller 33 included in the cleaning unit. The cleaning unit is the cleaning unit controller 3 shown in FIG.
3 and a brush rotary motor 3 connected to its output terminal
0, a blower motor 31, a cleaning liquid valve 32, and a squeegee lifting motor 34. Cleaning unit controller 33
Is based on a command signal output from the main controller 20 and given through the interface 19d, the brush rotation motor 30, the blower motor 31, the cleaning liquid valve 3
2. Output command signals to the squeegee lifting motor 34, respectively.

The structure of the cleaning section is as shown in FIG. The cleaning brushes 13a to 13a that are rotated by the drive of the brush rotation motor 30 from the lower rear side of the cleaning robot 10.
3c is provided.

A squeegee 43 having a width substantially the same as the width of the cleaning robot 10 is provided behind the cleaning brushes 13a to 13c, as shown in FIG. The squeegee 43 sucks the dirty water after cleaning from the opening 43a, and is moved up and down by the squeegee lifting motor 34. As a result, the opening 43a of the squeegee 43 comes into contact with or separates from the floor surface.

In front of the cleaning brushes 13a to 13c, there is provided a water spray port 42 for spraying the cleaning liquid. Water spout 4
2 communicates with a cleaning liquid tank 37 provided at the upper part of the cleaning robot 10 via a cleaning liquid valve 32 that controls the outflow of the cleaning liquid. As a result, the cleaning liquid 3
7 is sprinkled on the floor surface from the sprinkling port 42.

The opening 43a of the squeegee 43 communicates with the bellows hose 39, which can move up and down, and the conduit 40,
Further, the end of the conduit 40 is provided inside the waste water tank 36. The dirty water tank 36 contains dirty water sucked by the blower 41 which is driven to rotate by the blower motor 31. As a result, the cleaning liquid is sprinkled on the floor surface and becomes a dirty water liquid after cleaning, which is sucked from the opening 43a of the squeegee 43 and stored in the dirty water tank 36 from the bellows hose 39 through the conduit 40.

The cleaning robot 10 having such a configuration
A method of controlling the will be described below.

First, during normal traveling in which there is no risk of leaving the above-mentioned mark marks, the cleaning liquid valve 32 is opened and the sprinkling port 42 is opened while the cleaning robot 10 is traveling along a predetermined route in the cleaning area. The cleaning brushes 13a to 13c are rotated while water is sprayed with the cleaning liquid to clean the floor surface. And
With the opening 43a of the squeegee 43 in contact with the floor surface, the dirty water after cleaning is sucked.

Next, a control method in the following three cases in which there is a possibility that an eye mark may remain will be described with reference to a flowchart showing a control procedure. (1) At the start of traveling of the cleaning robot In the control device shown in FIG. 2, the power is turned on to start the control operation of the main controller 20. The main controller 20 has a memory (not shown), and operates by reading a program stored in advance in this memory. In the flowchart of FIG. 10, various initial states are set as step 100. In step 102, the robot stop flag STOPF provided in the main controller 20 is set to 1. The main controller 20 can recognize that the cleaning robot 10 is currently stopped by referring to the value of the robot stop flag STOPF. Then, the cleaning brush on counter included in the main controller 20 is cleared and the count value is set to zero. This cleaning brush on counter has a count value of 0 to a predetermined time (for example, 0.
Count for 2 to 1 seconds). The cleaning brushes 13a to 13c are not turned on until the predetermined time is reached.

Thereafter, at step 104, the traveling start switch is turned on to start traveling routine processing. The right motors 11a and 11b rotate, and the cleaning robot 10 starts traveling. This traveling is mainly performed based on the azimuth detected by the azimuth sensor 18 using a gyro or the like. After starting traveling, the counter counts to a predetermined value, and when one second elapses, the cleaning brushes 13a to 13c start rotating. By this procedure, the cleaning operation described with reference to FIG. 6 is realized, and it is possible to prevent the formation of the eyeball mark which was conventionally formed at the start of traveling. (2) When the cleaning robot spin-turns In the flowchart of FIG. 11, when the cleaning robot 10 travels a set distance after starting traveling, step 2
The traveling is stopped as 00. As step 202, the rotation of the cleaning brushes 13a to 13c is stopped, and step 204
As a result, the robot stop flag STOPF is set to 1 and the cleaning robot 10 is stopped. Then, the cleaning brush on counter is cleared and the count value is set to zero.

Then, for example, as step 206, 9
Spin turn to the right at an angle of 0 degrees, step 208
As a step 210, the vehicle travels in a shift direction in the direction of 90 degrees and spins to the right at an angle of 90 degrees.

Again, based on the azimuth detected by the azimuth sensor 18, the normal traveling routine is resumed. The counting of the counter is started, and when one second has passed since the count value reached a predetermined value, the cleaning brush is rotated. As a result, the operation described with reference to FIG. 7 is realized, and it is possible to prevent the formation of eyeball traces during spin turns. (3) When the cleaning robot is stopped every time the obstacle sensor detects a plurality of passersby In the flowchart of FIG. 11, as a step 214, whether or not an obstacle such as a passerby is detected by the front obstacle sensors 17a to 17c. To judge. If an obstacle is detected, the cleaning robot 10 is stopped in step 220. As step 222, the cleaning brush 13a-
Stop 13c. Reset the cleaning brush on counter to zero. The robot stop flag STOPF is set to 1 to bring the robot into a stopped state, and the cleaning brush on counter starts counting.

Here, when there are a plurality of passers-by in the travel route and the cleaning robot 10 repeatedly travels and stops within a predetermined time, the cleaning brush on counter is cleared to 0 each time it stops. Therefore, the cleaning brushes 13a to 13c do not rotate and maintain the stopped state until the cleaning brush on counter starts the counting operation and counts up to a certain value (for example, a value corresponding to 20 seconds). Therefore, even when the running and stopping are repeated in a short time, the cleaning brushes 13a to 13c are not repeatedly turned on and off, and sparks or the like are not scattered to cause a malfunction in the circuit.

If no obstacle is detected in step 214, the process proceeds to step 216, and it is determined whether or not the vehicle has finished traveling a preset distance before the start of traveling.
If the traveling of the set distance has not ended, step 212
When the process is completed, the process proceeds to step 218 to stop the traveling.

By the control as described above, the control of the running and cleaning operations shown in FIG. 8 is realized. (4) When the Cleaning Robot Avoids the Obstacle As shown in FIG. 9, the operation when avoiding the obstacle 11 is as follows. As shown in FIG. 12, when the obstacle 11 is detected in step 302 during traveling in a normal traveling routine as step 300, traveling is stopped as step 304. As step 306, the cleaning brushes 13a to 13c are stopped. Step 3
At 08, the robot stop flag STOPF is set to 1. The cleaning brush on counter is cleared and the count value is set to 0. After stopping traveling in step 304, FIG.
After performing the operation of avoiding the obstacle as shown by the arrow in, the routine returns from step 310 to the normal traveling routine. When the counting of the cleaning brush on counter is started and the count value reaches a predetermined value corresponding to, for example, one second,
The cleaning brush turns on and restarts the rotation operation. (5) Normal Travel Routine A normal travel routine using the azimuth sensor 18 is shown in FIG.
It is like the flowchart shown in FIG. Step 40
When it is set to 0, it is determined whether or not the value of the robot stop flag STOPF is 1. Here, the robot stop flag STOPF
When is 0, it means that one second has passed since the start of running, and when it is 1, it means that it is stopped or that a predetermined time, for example, one second has not passed since the start of running. And When the robot stop flag STOP is not 1 in step 400, that is, at the stage immediately after starting traveling, the process proceeds to step 402. The main controller 20 starts the counting operation of the built-in 50 msec timer. Using this timer, step 404
The cleaning brush on counter is counted up every 50 msec.

The count value of the cleaning brush on counter is 2
It is determined in step 406 whether it is 0 or more. While this count value is less than 20, that is, 1 second (5
Steps 408 to 41 in which the cleaning brush is turned on while 0 msec × 20 = 1000 msec = 1 second) has not elapsed.
By bypassing the process of No. 2, the right drive motor 11a and the left drive motor 11b are turned on in step 414. As a result, the cleaning robot 10 runs.

If the count value of the cleaning brush on counter is 20 or more in step 406, step 4
08. The cleaning brushes 13a to 13c are turned on and rotated, and in step 410, the cleaning brush on counter is cleared and the count value is set to zero. Step 41
2, clear the robot stop flag STOPF,
This indicates that one second has elapsed since the cleaning robot 10 started traveling. After shifting to step 414, the right drive motor 11a and the left drive motor 11b are continuously rotated.

According to the present embodiment, it is possible to prevent the cleaning brushes 13a to 13c from continuously rotating at the same place on the floor surface to form an eye mark, and to secure and clean the appearance of the floor surface. Quality improvement is achieved.

The above-described embodiment is an example and does not limit the present invention. For example, the present invention is a method of controlling the cleaning brush so as not to rotate the floor surface for a predetermined period of time, and can be applied to a cleaning robot that does not have a mechanism for spraying a cleaning liquid or sucking dirty water after cleaning. is there.

[0041]

As described above, according to the cleaning robot control method of the present invention, a predetermined time elapses after the start of traveling from the traveling stopped state, or during the shift traveling across the traveling route, or In the case where an obstacle is detected and stopped before a predetermined time has elapsed after the start of traveling, the rotation of the cleaning brush can be stopped to prevent the formation of eye marks and ensure the appearance.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a cleaning robot that is a target of a control method according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a detailed configuration of a control unit of the cleaning robot.

FIG. 3 is an explanatory view showing an example of a region cleaned by the cleaning robot.

FIG. 4 is a block diagram showing a circuit configuration of a cleaning unit of the cleaning robot.

FIG. 5 is a vertical sectional view showing a mechanism of a cleaning unit of the cleaning robot.

FIG. 6 is an explanatory view showing an example of the operation of the cleaning robot controlled according to the embodiment of the present invention.

FIG. 7 is an explanatory diagram showing another example of the operation of the cleaning robot controlled according to the embodiment of the present invention.

FIG. 8 is an explanatory diagram showing another example of the operation of the cleaning robot controlled according to the embodiment of the present invention.

FIG. 9 is an explanatory diagram showing another example of the operation of the cleaning robot controlled according to the embodiment of the present invention.

FIG. 10 is a flowchart showing an operation procedure of a cleaning robot control method according to an embodiment of the present invention.

FIG. 11 is a flowchart showing an operation procedure of a cleaning robot control method according to an embodiment of the present invention.

FIG. 12 is a flowchart showing an operation procedure of a cleaning robot control method according to an embodiment of the present invention.

FIG. 13 is a flowchart showing an operation procedure of a cleaning robot control method according to an embodiment of the present invention.

FIG. 14 is an explanatory diagram showing eyeball marks formed on a floor surface by a conventional cleaning robot control method.

[Explanation of symbols]

 10 cleaning robot 11a right drive motor 11b left drive motor 12a, 12b drive wheels 13a-13c cleaning brushes 14a, 14b distance sensor 15a, 15b motor driver 16 controller 17a-17c front obstacle sensor 18 direction sensor 19a-19d interface 20 main Controller 21 Counter 30 Brush rotation motor 31 Blower motor 32 Cleaning liquid valve 33 Cleaning unit Controller 34 Squeegee evidence motor 36 Sewage liquid tank 37 Cleaning liquid valve 40 Pipe line 41 Blower 42 Sprinkling port 43 Squeegee 43a Opening 51 Cleaning area

Claims (9)

[Claims] 1. A direction and an obstacle are detected by using a sensor,
A control method of a cleaning robot, wherein a control unit controls a vehicle drive mechanism based on the detection result to allow the vehicle to travel autonomously, and the control unit controls a cleaning operation of a cleaning unit, wherein the cleaning unit rotates the vehicle. Has a cleaning brush that slides on the floor surface as the vehicle travels, and a cleaning brush drive mechanism that rotates the cleaning brush. The controller starts traveling from a state in which the vehicle is stopped and a predetermined time elapses. A method for controlling a cleaning robot, comprising: controlling the cleaning brush drive mechanism so as to stop the rotation of the cleaning brush during a period. 2. When the vehicle stops, the control unit sets a value indicating that the traveling of the vehicle is stopped in a stop flag, starts counting by a counter, and until the counted value reaches a predetermined value. The cleaning robot control method according to claim 1, wherein the cleaning brush drive mechanism is controlled to stop the rotation of the cleaning brush during the period. 3. A direction and an obstacle are detected by using a sensor,
A control method of a cleaning robot, wherein a control unit controls a vehicle drive mechanism based on the detection result to allow the vehicle to travel autonomously, and the control unit controls a cleaning operation of a cleaning unit, wherein the cleaning unit rotates the vehicle. Has a cleaning brush that slides on the floor surface as the vehicle travels, and a cleaning brush drive mechanism that rotates the cleaning brush. The controller starts traveling from a state in which the vehicle is stopped and travels a predetermined distance. Until then, the cleaning brush drive mechanism is controlled so as to stop the rotation of the cleaning brush. 4. A direction and an obstacle are detected by using a sensor,
A control method of a cleaning robot, wherein a control unit controls a vehicle drive mechanism based on the detection result to allow the vehicle to travel autonomously, and the control unit controls a cleaning operation of a cleaning unit, wherein the cleaning unit rotates the vehicle. A cleaning brush that slides on the floor surface as the vehicle travels, and a cleaning brush drive mechanism that rotates the cleaning brush. The controller controls the vehicle while traveling in a direction that traverses an initially set traveling route. A method for controlling a cleaning robot, wherein the cleaning brush drive mechanism is controlled so as to stop the rotation of the cleaning brush. 5. The control unit sets a value indicating that the traveling of the vehicle is stopped to a stop flag and stops the rotation of the cleaning brush when the vehicle traveling on the traveling route is stopped. When the vehicle travels in a direction traversing the travel route and starts traveling again along the travel route, counting of the counter is started, and until the count value reaches a predetermined value, the cleaning brush The control method of the cleaning robot according to claim 4, wherein the cleaning brush drive mechanism is controlled so as to maintain the rotation stopped state. 6. A direction and an obstacle are detected by using a sensor,
A control method of a cleaning robot, wherein a control unit controls a vehicle drive mechanism based on the detection result to allow the vehicle to travel autonomously, and the control unit controls a cleaning operation of a cleaning unit, wherein the cleaning unit rotates the vehicle. A cleaning brush that slides on the floor surface as the vehicle travels, and a cleaning brush drive mechanism that causes the cleaning brush to rotate. When the vehicle detects that the sensor detects the first obstacle, , Stopping the traveling of the vehicle and stopping the rotation of the cleaning brush, measuring the time during which the cleaning brush has stopped rotating, and before the measured time exceeds a predetermined time, the sensor detects When the obstacle 2 is detected,
A method for controlling a cleaning robot, wherein the cleaning brush drive mechanism is controlled so that the cleaning brush maintains a stopped state. 7. When the vehicle stops, the control unit sets a value indicating that the traveling of the vehicle is stopped in a stop flag and starts counting by a counter, and the counting time is a predetermined time. When the sensor detects the second obstacle before the passage of, the counter is cleared to control the cleaning brush drive mechanism so as to maintain the rotation of the cleaning brush stopped. 7. The control method for the cleaning robot according to claim 6, wherein. 8. A bearing and an obstacle are detected by using a sensor,
A control method of a cleaning robot, wherein a control unit controls a vehicle drive mechanism based on the detection result to allow the vehicle to travel autonomously, and the control unit controls a cleaning operation of a cleaning unit, wherein the cleaning unit rotates the vehicle. A cleaning brush that slides on the floor surface as the vehicle travels, and a cleaning brush drive mechanism that causes the cleaning brush to rotate. When the vehicle is traveling on a preset travel route, When the sensor detects an obstacle, the vehicle stops running and the cleaning brush stops rotating,
After the vehicle has performed the operation to avoid the obstacle, the time is measured from the time when the traveling along the traveling route is restarted, and the cleaning brush is operated until the measured time elapses a predetermined time. A method for controlling a cleaning robot, comprising controlling the cleaning brush drive mechanism so as to maintain a state in which the rotation is stopped. 9. The control unit sets a value indicating that the traveling of the vehicle is stopped to a stop flag when the vehicle is stopped, and after the vehicle performs an operation of avoiding an obstacle, Counting of the counter is started from the time when the traveling along is resumed, and the cleaning brush is maintained so that the rotation of the cleaning brush is stopped until the counting time exceeds a predetermined time. 9. The cleaning robot control method according to claim 8, wherein the drive mechanism is controlled.