JPS62120510A - Control method for automatic cleaner - Google Patents

Abstract

PURPOSE:To attain the complete cleaning by driving zigzag an automatic cleaner within a room for production of a map showing the cleaned areas and a map showing the positions of obstacles and moving the cleaner to the nucleaned areas for zigzag drive as soon as said both maps are produced. CONSTITUTION:A room to be cleaned is enclosed by walls (ab, bc, cd and da) and an obstacle limited by sides (ef, fg, gh and he) exists in this room. An automatic cleaner is started at a start point A and moved straight and inverted at the side (cd) with a prescribed shift equal to pitch width (p). This inversion is carried out every time the cleaner gets close to walls or the obstacle. Then the driven areas are stored for production of a map to show the cleaned areas and a map to show the position of the obstacle. An uncleaned area is detected out of the map at a point B and a specific point D is decided. Then a route of points B-C-D is calculated and the cleaner is shifted to the point D. Thus the cleaner is driven zigzag in the same way. In such a way, the room can be completely cleaned.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to an automatic vacuum cleaner that autonomously runs and cleans;
In particular, the present invention relates to a method of controlling an automatic vacuum cleaner suitable for cleaning a room with obstacles without waste.

[Background of the invention]

An example of an automatic vacuum cleaner that autonomously runs and cleans is disclosed in Japanese Patent Application Laid-Open No. 55-97608. In this conventional example, when an ultrasonic transmitter/receiver is used to detect a 1IILW object in front of the object while traveling straight, it shifts by 1 pitch and becomes 1806 points.
The vehicle would change direction and then go straight again until it reached the wall and completed the cleaning. However, this method has the disadvantage that if there are obstacles in the room, it cannot be thoroughly cleaned.

[Purpose of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to provide a control method for an automatic vacuum cleaner that eliminates the drawbacks of the above-mentioned prior art and makes it possible to autonomously and thoroughly clean a room even when obstacles are placed. be.

[Summary of the invention]

In order to achieve this object, the present invention causes an automatic vacuum cleaner to travel in a zigzag pattern by repeatedly traveling straight and changing the traveling direction at walls and obstacles while detecting walls and obstacles, and, along with the traveling, A map of the area cleaned by the vacuum cleaner and a map showing the locations of walls and obstacles are created, and when the vacuum cleaner can no longer move, the area that has not been cleaned due to obstacles etc. is determined from the map. The feature is that the vacuum cleaner is detected and moved to the uncleaned area in a zigzag motion.

[Embodiments of the invention]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a flowchart schematically showing a processing procedure of an embodiment of a method for controlling an automatic vacuum cleaner according to the present invention. FIG. 2 is a schematic diagram showing the trajectory of the automatic vacuum cleaner according to this embodiment in a room where obstacles are placed, and the room to be cleaned has walls i; T>, Fm. , Ea,
It is an area surrounded by il'a, and in this room there are edges in,
Assume that there is an obstacle surrounded by rg, iT+, and 5'i.

The processing procedure of the embodiment shown in FIG. 1 will be explained in comparison with the schematic diagram in FIG. 2.

Process 101: First, the automatic vacuum cleaner is started from starting point A and moved straight. When this automatic vacuum cleaner comes to the wall represented by side d, it is temporarily stopped.

Then, the vehicle is shifted by a predetermined pitch width p toward the direction that it is not traveling (cleaning), reverses its direction, and runs straight in the opposite direction. This reversal of the traveling direction is performed every time the vehicle approaches a wall or obstacle, and the traveling straight and the direction reversal are repeated.

Process 102: After stopping near the C2 wall in Process 101,
When it becomes impossible to deviate by the pitch p (that is, when reaching point B), it is determined that a dead end has occurred, and control is transferred to process 103.

During this movement from point A to point B, the automatic vacuum cleaner:
It memorizes the area it has traveled (cleaned) and also stores the position information of obstacles and walls in the room to create a map of the cleaned area, walls, and obstacles.

Process 103: First, based on the map showing the area that the user has cleaned, it is searched to see if there is an area that has not been cleaned yet (uncleaned area). In this case, the automatic vacuum cleaner determines the maximum range in the horizontal and vertical directions that it has moved, sets the rectangular area determined by these ranges as the area to be cleaned, and starts from this area to the area actually cleaned. The area excluding the area is determined to be an uncleaned area. In Figure 2, the automatic vacuum cleaner moves horizontally from a to b, and vertically from a to d.
Therefore, the four corner areas determined by vertices a, b, c, and d are the areas to be cleaned, and the apex e.

The four corner areas determined by f, j, and l are the uncleaned areas.

When an uncleaned area is found, the system searches a map showing the locations of walls and obstacles to see if there are any obstacles in that area. If there is an obstacle there, the area obtained by removing the obstacle from the uncleaned area is set as the area to be actually cleaned. If there is no uncleaned area, the control is terminated, and if there is an uncleaned area, the control is transferred to process 104. In Figure 2,
The uncleaned area that should actually be cleaned is at its peak, g.
It is a square area determined by j and i.

Process 104: First, a specific point in the uncleaned area is determined, and a traveling route from stopping point B to this point is calculated. Here, if a route from point B to point C to point is calculated, the automatic vacuum cleaner is guided along this calculated route, and after reaching the point, the control of process 101 is performed, and the above process is performed again. Repeat.

If you control it using the steps above, the automatic vacuum cleaner will be able to move and clean the entire room.

Next, an automatic vacuum cleaner that can be controlled in this manner will be described.

FIG. 3 is a side sectional view showing the configuration of this automatic vacuum cleaner, and FIG. 4 is a sectional view taken along the line A+-At in FIG. .5 is the wheel axle, 6
, 7 is the motor that drives the wheels 2 and 3, 8.9 is the motor 6
．． 7 is a reducer that reduces the number of rotations, 10.11 is a wheel 2.
Rotary encoder for measuring the rotation speed of 3, 1
2.13.14.15.16.17 are bevel gears that connect the reducers 8, 9 and rotary encoder 10.11 to the wheel shaft 4.5, and 18.19 is an electrical signal that indicates the rotational speed of the motor 6.7. 20.21 is a speed control device that controls the speed of the motor 6.7 based on the electric signal output from the tachogenerator 18.
2 is a suction part of the vacuum cleaner, 23 is a main body of the vacuum cleaner, 24 is a gyro device for detecting the yaw angular velocity of the automatic vacuum cleaner 1, and 25 is a gyro device for transmitting and receiving ultrasonic waves while rotating to connect the automatic cleaner 1
26 is a control device that performs travel control; 27 is a storage battery that supplies power to the entire system.

In the figure, the control device 26 includes an obstacle detection device f25° gyro device 24. The data from the rotary encoder 10.11 is processed to detect and store the position and direction of the automatic vacuum cleaner 1, as well as the position of obstacles, walls, etc.;
A microprocessor (CP) is used to run a cleaning program that is input in advance based on information such as direction.
U), ROM in which the cleaning running program is written, variables,
A map showing the area cleaned by the automatic vacuum cleaner 1 (hereinafter referred to as the cleaning map), a map showing the locations of walls and obstacles (hereinafter referred to as the cleaning map)
RAM that temporarily stores the obstacle map.

It consists of an input/output signal processing circuit (interface).

Further, FIG. 5 is a system block diagram of the automatic vacuum cleaner shown in FIG. 3, in which 26a is a CPU of the control device 26, which calls up a travel control program stored in the ROM 26b and executes processing according to the program. . 26c is an RA that temporarily stores variables and maps necessary for driving control.
It is M. 26d converts a signal from an external peripheral device connected to the control device 26 into an electric signal for inputting into the CPU 026a, and also converts an electric signal output from the CPU 26a into an electric signal for inputting it to an external device. This is an interface circuit for converting to

Next, a method for measuring the self-position and the position of an obstacle while the automatic cleaner 1 is running will be briefly described.

FIG. 6 is a schematic diagram showing a state in which the automatic cleaner 1 is moving in the X-Y coordinate system. Here, in order to simplify the explanation, only wheels 2 and 3 are shown, and the position of the intermediate point between them is assumed to be the position of the automatic cleaner.

In the same figure, the automatic vacuum cleaner l is at a point (xt1) at a certain time.
Assume that the vehicle is located at + Y mu υ and the azimuth is θ, and after a unit time Δ has passed, it moves to the point (Xl, Y) and the azimuth becomes θ length. Let the moving distance in unit time Δt be ΔL□, and the moving distance of the right wheel 3 be Δ
If L ri, automatic vacuum cleaner 1 in unit time Δt
The displacement angle Δθ1. and the moving distance ΔLi is expressed by the following equation.

Here, the angle θ is counterclockwise as the positive direction, and Δω is the turning angular velocity of the mobile vehicle per unit time Δt.

Therefore, the moving distance of the automatic vacuum cleaner 1 to reach the point (XL-0Yt-t) is Ll-l, and the point (Xl-1).

If the straight line distance between Y(-1) and the point (Xt, Yt) is ΔL, then the total distance traveled after a unit time Δ has passed.

The azimuth angle θ□ and the point (Xl, Yt) are each calculated by the following formula %
Formula % Total travel distance Ll-Lmu-1+ΔL8...(3
) Azimuth angle θ1-θ, +Δθ1...(4)...
(6) Therefore, the initial point (X6, YO) and initial orientation θ of the automatic vacuum cleaner 1. If it is clear, the arbitrary point (Xi, Yt) and azimuth θ1 of the automatic cleaner 1 can be expressed by the following equation by accumulating from the initial point.

Xl-x, +Σ ΔX, ・+71n
=1 However, it is assumed that Δt is minute.

In the above formula, the moving distance ΔL□ of the left and right wheels 2.3
, ΔLri can be obtained by counting the number of pulses of the rotary encoders 10 and 11, and the angular velocity Δω can be obtained from the output of the gyro 24.

In addition, in FIG. 6, the obstacle detection device 25 detects the coordinates (
Suppose that an obstacle located at Xs, Ys) is detected.

The obstacle detection device 25 emits a highly directional ultrasonic beam and receives the ultrasonic waves that bounce off an obstacle. The radar is configured to receive signals only when the beam hits a corner of a wall or obstacle.

As shown in Fig. 6, when the azimuth angle of the automatic vacuum cleaner 1 is θ, the coordinates (Xi, Ys) of the obstacle detected at the angle α and distance Hr=s from the automatic vacuum cleaner are as follows. It is given by the formula.

Furthermore, the distance to the obstacle is L! can be obtained by measuring the time from transmitting an ultrasound beam to receiving it.

If the propagation speed of the ultrasonic beam is VUS, and the time from transmission to reception is tic, then the distance to the obstacle is expressed by . Further, the angle α can be easily obtained by connecting the rotary encoder 10 that measures the wheel rotation speed, or the same as If, to the rotating shaft of the obstacle detection device 250.

Next, a method for creating an obstacle map and a cleaning map will be explained.

FIG. 7 shows the memory area of the RAM 26c of the control device 26, where Adl, Ad2, and Ad3 indicate the addresses assigned to the memory, and AdL indicates the self-position measurement and failure of the automatic vacuum cleaner 1 shown above. This is the starting address of the variable area for temporarily storing data and variables for physical measurement calculations. Ad2 is the starting address of the memory area allocated to store the Fil book map. Also, Ad
3 is the starting address of the memory area allocated to store the cleaning map. FIG. 8 is an enlarged view of the memory area for storing the map in FIG. 7, and FIG. 9 is a schematic diagram showing a method of forming and storing a cleaning map in this memory area.

R A that stores the cleaning map and obstacle map shown in Figure 7.
As shown in FIG. 8, the memory area of the M26c is a two-dimensional array of a large number of square minute areas with each side Δa divided into H pieces in the X direction and 7 pieces in the Y direction. Addresses are assigned to these minute areas, and each address makes the minute area correspond to a position on the floor where the automatic cleaner 1 actually runs. In the initial state when the automatic vacuum cleaner 1 starts to be used, a 0" bit is written in each micro area as an initial value, indicating the location where an obstacle is located (Xs, Ys)
is determined using the method described above, then the point (X, .

The address Aads of the minute area where "1" bit is written in the minute area corresponding to the address corresponding to Y,) is as follows: Adds = Ad2+Xs /Δa+( Ys/Δa')
XH...Can be obtained with α. In this way, the obstacle map is stored in RAM2.
tα can be written on 6c.

The same is true for the cleaning map, where the self position (Xl.

If Yl) is calculated using the above measurement method, that point (Xt
, Yt) is Addi=Ad
Since it is calculated as 3+Xt/Δa+(Yi/Δa)XH...αa, it is sufficient to write a "1" bit into the minute area at that address. However, as shown in Fig. 9, in the case of a cleaning map, "1" bit is written at once in minute areas of multiple addresses corresponding to the width of the suction part 22 (Fig. 3) of the vacuum cleaner. By doing this, you can remember the places you have cleaned. In addition, in FIG. 9, 1 is an automatic cleaner, and 2.3 is a wheel.

Although each map is obtained in the above manner, this embodiment will be explained in more detail with reference to FIG. 10, which shows FIG. 1 more specifically. In addition, in FIG. 10, processing 82 to S16
corresponds to process 101 in FIG. 1, and processes SIO, S11.
S13. S14 also corresponds to process 102,
Processing S17. 318 also corresponds to process 103, and process S19. S20 also corresponds to process 104.

Sl: First, self (automatic vacuum cleaner) in RAM M26c
In addition to initializing the position and direction data, an "O" bit is written in a small area at each address in the memory area that stores obstacle maps and cleaning maps, and the direction in which the automatic vacuum cleaner 1 should be rotated when an obstacle is encountered is determined. The variable UT to be determined is set to "0".

S2: Data from the gyro 24 and rotary encoder 10.11 is sent to the CPU 2 through the interface circuit 26d.
6a, and from that data, the position and orientation of the automatic vacuum cleaner 1, Xt+Yi, θ, are determined according to the position measurement method described above.
To calculate the positive value, use formulas (3) to (9)), RAM26
Store in c.

S3: Next, when an obstacle is detected by the obstacle detection device 25, the distance between the automatic vacuum cleaner 1 and the obstacle is determined based on the data obtained from the obstacle detection device 25. angle(
Direction) α is obtained according to the previous measurement method, and the position data (Xs, Ys) of the obstacle is calculated using the X, Ys, obtained in S2.
, yi, and θharuka, it is determined from αυ in the above equation a. Then, according to formula α, the address Adds constituting the obstacle map is calculated, and "1" is written as obstacle data at that address in the memory area of the RAM 26c, thereby forming the obstacle map.

go.

S4: Based on the self-position data Xi and Yi obtained in S2, a cleaning map is created in the manner described above.

S5: Whether or not there is an obstacle in the running direction of the automatic cleaner 1 is determined by searching the obstacle map created on the RAM 26c as shown in FIG. Since the position (Xi, Yi) of the automatic vacuum cleaner during movement is determined by processing 1s2, we now move the automatic vacuum cleaner 1 in a direction parallel to the coordinate axis Y-axis.
For example, if the self-coordinates (Xi,
A place (Xi
, Yt + ΔV), and a search is made to see if the value "1", which is obstacle data, is written in the minute area contents of a certain number of addresses in a horizontal row, centering on the address of the obstacle map corresponding to .

If there is no value of "1", it is determined that there is no obstacle ahead, and if "1" is written, it is determined that there is an obstacle ahead.

S5': When it is determined that there are no obstacles in S5, similarly to S5, this time a small area of a fixed number of addresses in a horizontal row centered on the address of the memory area of the cleaning map corresponding to the position (Xi, Y, +ΔV) is created. The content is the data that it was cleaned.
1". In this process, the automatic vacuum cleaner 1 will not enter the area that has been cleaned once.

S6: If it is determined in S5 and S5' that there are no obstacles ahead and that cleaning is not being performed, the interface circuit 2 is sent from the CPU 26a so that the automatic vacuum cleaner 1 moves straight.
A speed command is output to the speed control circuit 20.21 via the speed control circuit 6d, and the motor 6.7 is driven to rotate the wheel 2.3.

S7: If it is determined that there is an obstacle ahead in S5 or that the area in front is the area to be cleaned in 35', the speed control circuit 20° is activated from the CP LJ 26a via the interface 26d to stop the automatic vacuum cleaner 1. A speed command is output to 21 to stop the motor 6.7.

S8: Determine whether the value of a variable UT that determines the priority direction of a U-turn (to be described later) of the automatic vacuum cleaner 1 is "0".

When the Sl variable UT is "0'", the variable UT is set to 1.

S10: Then, it is determined whether the automatic cleaner 1 can make a right U-turn. FIG. 12 is a schematic diagram showing a map search when making a right U-turn. As shown in the figure, in this embodiment, in the case of a right U-turn, the right wheel 2 of the automatic vacuum cleaner 1 is moved backward so that it is at the 2' position with the left wheel 3 as the center as shown in the figure. Next, rotate the left wheel 3 around the right wheel 2',
Place the automatic vacuum cleaner in the position shown in 1'. In this case, the CPU
26a sends a speed command to speed control circuit 20.21 via interface 26d to drive motor 6.7. By doing this, when the automatic vacuum cleaner 1 moves back and forth, its suction port 22 (FIG. 3) will move with a certain deviation width, and as shown in FIG. part and width 0. ．． Since they overlap each other in height, they are effective in preventing unsuction from being left behind. Furthermore, a left U-turn can also be achieved by performing control in a completely symmetrical manner opposite to that of a right U-turn.

In order to make the above U-turn, there must be no obstacles within the area surrounded by diagonal lines in Figure 12.

Therefore, with the current position t (Xi, Yi) at the time of the posture of the automatic vacuum cleaner 1 shown in FIG. 12 as the base point, the square KL
RAM2 corresponding to the range surrounded by -, 2-, 3-, and 4
The contents of the address on the obstacle map of 6c are thoroughly searched.

Then, if there is a minute area in which even one obstacle data, that is, a value of "1°" is written in the searched address, it is determined that a right U-turn is not possible.
If there is no obstacle data in -, 2-, 3-, or 4, next, as shown in FIG. 12, in the cleaning map created in the RAM 26e,
Search for the address of the part corresponding to the location of rectangle C, shown in the resulting grid, and if a value of 1", which is data indicating that it has been cleaned, is written, it is determined that a right U-turn is not possible. By doing this, It is efficient because it prevents a U-turn to the area that has been cleaned once and eliminates the waste of cleaning the same area twice.And if the cleaned data is not written to the search address, it is For the first time, the automatic vacuum cleaner determines that it is possible to make a right U-turn.

S11: If it is determined in step S10 that a right U-turn is not possible, then the same process as in S10 is performed in the symmetrical opposite direction to determine whether a left U-turn is possible.

S12: If it is determined in step S8 that U'r is not "0", the UTO value is set to 10".

S13: Perform the same process as process Sll.

S14: Perform the same process as process S10.

S15: If it is determined in step S10 or 314 that a right U-turn is possible, make a right U-turn as shown in FIG.

S16: If it is determined in step 311 or 313 that a left U-turn is possible, make a left U-turn in the opposite direction to that shown in FIG.

S17: If it is determined in S10 and Sll or S13 and S14 that a U-turn to the right or left is not possible (in this case, the automatic vacuum cleaner 1 is at point B in FIG. 2), the uncleaned Perform area search.

S18: If an uncleaned area is found, the process moves to 319, and if there is no uncleaned area, the cleaning ends.

S19: If it is determined in process 318 that there is an area that has not been cleaned,
A route for moving to an uncleaned area is determined according to a route search method to be described later.

S20: Control the automatic cleaner 1 so that it moves along the route determined in step 319 to the uncleaned area.

After this, the process returns to S2 and repeats the same control.

The automatic cleaner 1 is controlled by the above control procedure.

Next, the uncleaned area search method in step S17 and the route search method in step 319 will be described.

When the automatic vacuum cleaner 1 is controlled according to the above control procedure,
As shown in FIG. 2, the automatic vacuum cleaner 1 repeatedly travels in a zigzag pattern as shown by the broken line from the starting point until it reaches a point B. Is it possible to make a U-turn to the left or right at this point?3
Judgments are made in steps 13 and 314, and RA indicates that there is a wall, that is, an obstacle, on the left side when viewed from the automatic vacuum cleaner 1.
This is determined based on the obstacle map created on the M26c. Further, it is determined from the cleaning map created on the RAM 26c that the right side as seen from the automatic vacuum cleaner 1 is an area that has already been cleaned once, and it is determined that a right U-turn is not possible.

Thereby, the process moves to process S17.

Figure 13 shows the cleaning map created in RAM 26c when the point is reached, and Figure 14 shows the same <RAM 26c.
The obstacle map created on c is shown. In particular, in the obstacle map shown in FIG. 14, the obstacle detection device 25 (FIG. 3) does not detect the side of the obstacle that is behind the obstacle or the part of the wall indicated by range α when viewed from the X-axis side. Although it is unclear, the state of the interior of the room to be cleaned is almost the same as the actual state of the room to be cleaned while traveling from the starting point A to the point B.

Therefore, we will describe how to detect uncleaned areas from the obstacle map and cleaning map created as described above.

The square 5-tu-■ shown in FIGS. 13 and 14 will be called a search area. This search area is the 15th
As shown in the figure, RAM26c, which is the smallest component of the map,
It is a square area made up of n and * n micro areas in the memory area of the automatic vacuum cleaner l.
It has a width corresponding to the cross-sectional area of 2, and is the range to be searched all at once in the uncleaned area search.

In this search area, it is determined whether or not it is an uncleaned area by executing the processing procedure shown in FIG.

S21: Move and scan the search area in the direction of arrow Y' while sequentially shifting the search area in the direction of arrow Search on the cleaning map created above. In this case, the maximum width (i'k) in the X-axis direction and the maximum width (i'k) in the Y-axis direction on the cleaning map are
! The square area determined by i1+) is the area to be cleaned,
The search area is set so that the entire area is searched.

S22: In process S21, if the cleaned data is not written in the search area, this time the search area is set on the obstacle map created on the RAM 26c, which is the same location as the location where the search area was set on the cleaning map. Then, the obstacle data “” is displayed at the address within the set search area.
A search is made to see if a value of 1' has been written.

S23: If there is no data indicating that the searched area has been cleaned in step 521, and if no obstacle data has been written in step S22, the portion corresponding to the searched area is set as an uncleaned area.

S24: If it is determined that there is cleaned data at the address within the search area set in process S21, or if there is obstacle data within the set search area in S22, the location where the search area was set is the cleaned area. shall be. That is,
The area of the obstruction is also the cleaned area.

The above processes 321 to S24 are performed in a square sk shown in FIG.
If the search area is moved all over within a 1 meter range, the search area will enter the uncleaned area as shown in Fig. 13C4. If the square area of the search area when the search area first enters the uncleaned area is n, then the center point of this area n is as shown in Figure 2.
This is the target point for the automatic vacuum cleaner to move to the uncleaned area.

Next, the route search method shown in FIG. 10 for finding a route for moving the automatic cleaning ml to the spot in the uncleaned area thus found will be explained using FIG. 17.

In Fig. 17, point S (X 3?, Y st) is the point where the automatic vacuum cleaner l is currently stopped, which corresponds to point B in Fig. 2, and point T (Xt + Yy) is the point where the automatic vacuum cleaner l is currently stopped. 1 corresponds to the point in Figure 2, which is the target point to which we should move from now on)
It is.

Here, first, as a relay point, a point AI (Xsy +
YT) and X coordinate are equal to point 'r0)X coordinate Y'
Point A2 (Xt, Y
st), and determine whether there is an obstacle on the route 5-Al-'r (the shaded area shown in Figure 17) using $MW from the obstacle map created on the RAM 26c. search for. The width W is a value that allows the automatic vacuum cleaner 1 to sufficiently pass through. That is, when searching for a route, the address on the obstacle/object map is searched for all the pieces of width W at once. Then, when searching on the obstacle map as shown in Fig. 14, the route from the current stopping point B of the automatic vacuum cleaner 1 to the target point in the uncleaned area via point C can be found. can be found.

By the route search described above, a route can be calculated in a short time in a room with a simple configuration as shown in FIG. Hereinafter, based on the above route search method, an example will be described in which it is extended to a camphor tree that can handle rooms with more diverse obstacles.

FIG. 18 is a schematic diagram showing the travel route of the automatic cleaner 1 when an obstacle qr-s-t exists at the left end of the room.

In the same figure, first, the automatic vacuum cleaner 1 starts from the starting point F and is controlled by the control method described earlier in FIG.
As shown in Fig. 18, the vehicle repeatedly travels in a zigzag pattern until it reaches point G. Then, using the uncleaned area search method explained in FIGS. 13 and 14, a square area surrounding point J in the uncleaned area is found.

In this case, the moving target point T (Xr, Y
T) is the point J in FIG. 18, and the current stopping point S (Xst, Ysy) of the automatic vacuum cleaner l is the point G. In this indoor condition, the route cannot be found using only the route searching method described above because the route is blocked by the obstacles qr-s-t. Therefore, the route search method is expanded as follows.

First, as shown in FIG. 17, T (Xy, Y
Points Pi (X, Y,) and A2 (
Point P2 (X, Ys
). The X coordinates of Pl and P2 are always kept equal, and each time the value of this X coordinate is gradually increased from XT, that is, shifted to the right as shown in FIG.

Therefore, search the obstacle map created on the RAM 26e for a route connecting points P1 and P2 within the range of width W, and
If there is no obstacle within the searched range, then point P
1 and point P2 are the relay points of the route, and the route is 5-P2-PI.
-Determine T. If the route cannot be determined even after repeating this process until the X coordinate values of points P1 and P2 become Xs, gradually change the X coordinate values of points PL and P2 from XT to i.e. PI and P2
Shift each other to the left side, search the obstacle map within the range of width W connected by PI-P2, and if there is no obstacle within the searched range, set the current Pl and P2 as the interrupting point of the route and create a route. 5-P2-PI-T is determined. With this process, in the case of FIG. 18, a route connecting points GH-1-J is calculated. Then, the automatic vacuum cleaner 1 firstly
The robot moves along this route to the target point J in the uncleaned area, and then travels in a zigzag pattern through the uncleaned area to the point K, when the cleaning of the uncleaned area is completed.

In this case, even when the automatic cleaning machine #1 is moving from the stopping point G to the target point, it is determined from the cleaning map whether or not it is an area that has not been cleaned. For example, as shown in FIG. Furthermore, when passing through an area that has not been cleaned while moving from the relay point C to the target point, cleaning is also performed at the same time.

The route searching method described above will be explained below using the flowcharts of FIGS. 17 and 19.

S25: First, Al (Xsr, Yy) and A2 (Xr
, Ygt).

S26: Then, the obstacle map created on the RAM 26c is searched to see if there is an obstacle between 5-Al-T.

S21: If it is determined that there is no obstacle in S26, 5
-AI -T is determined as the route and the route search ends.

S28: If it is determined that there is an obstacle in S26, next, if there is an obstacle between 5-A2-T, RAM
The obstacle map created on 26c is searched.

S29: If it is determined that there is no obstacle in S28, 5
-A2-Tt- route is determined, and the route search ends.

330: If it is determined in S28 that there is an obstacle, then the obstacle map created on the RAM 26c is searched to see if there is an obstacle between T-A1 and A2-3.

If it is determined in S31:330 that there is an obstacle, the route search is terminated as no route has been found.

332: When it is determined that there are no obstacles at 530, PR (X, YT) and P2 (X, Y
st).

S33: The X coordinates of P1 and P2 set in 332 are set as the X coordinate Xt of point T, which is the movement target point.

S34: Check whether there is an obstacle between points Pi and P2, R
Search the obstacle map on AM26C.

At S35:334, it is determined that there are no obstacles, the route is determined to be 5-P2-PI-T, and the route search is ended.

S36: In S34, if it is determined that there is an obstacle, then the current X coordinates of points PL and P2 are incremented by ΔX to be the new X coordinates of points P1 and P2.

S37: Then, the X coordinates of points Pi and P2 set in S36 are set to point 5 (Xst) where the automatic vacuum cleaner is currently stopped.
.

338: Here, point P1. The X coordinate of P2 is again set as Xt of the moving target point T (Xt, Yt).

S39: The same process as in 334 is performed.

340: Performs the same processing as 335.

S41: If it is determined in S39 that there is an obstacle, then the current X coordinates of points PL and P2 minus ΔX are set as new X coordinates of points Pi and P2.

S42: Then, if the X coordinates of the points PL and P2 set in S41 are smaller than Xn+in, process S43.
If they are larger or equal, the process returns to step S39 and repeats the process. Note that Xa+in above is the value of the X coordinate of the left wall position in FIG.

S43: The route search is terminated as the route is not found.

In this example, the route search is terminated at S31 and 343, but if the above principle is expanded upon, even more complex obstacles can be placed. It is possible to find the driving route even indoors. Moreover, in this route search, the route is calculated by a combination of straight lines parallel to the X axis or the Y axis, and
Although it is not possible to find the shortest route, it is practical because it does not require complex coordinate transformations, etc., which are necessary for searching, and the route can be calculated at high speed.

〔Effect of the invention〕

As explained above, according to the present invention, a room containing an obstacle can be cleaned without being left unswept without being taught the shape of the obstacle in the room, and there is no need for manual cleaning (automatic cleaning). In addition, since the automatic vacuum cleaner remembers the places it has cleaned, it is efficient because there is no need to clean the same place again, and it is also possible to find the shortest distance when searching for a route. However, on the other hand, the time required for route searching is significantly shortened, and it is possible to provide a practical and efficient control method for automatic vacuum cleaners. It is an object of the present invention to provide a control method for an automatic vacuum cleaner with excellent functionality, which eliminates the drawbacks of the above-mentioned prior art, such as when painting a floor surface, etc., it can be applied as is by simply converting the vacuum cleaner section into a coating mechanism. can.

[Brief explanation of drawings]

FIG. 1 is a flowchart showing a processing procedure of an embodiment of an automatic vacuum cleaner control method according to the present invention, FIG. 2 is a schematic diagram showing a travel trajectory of an automatic vacuum cleaner moving through a room with obstacles, and FIG. 3 4 is a sectional side view of the automatic vacuum cleaner according to the present invention, FIG. 4 is a sectional view taken along the line A+-At in FIG. 3, FIG. 5 is a system block diagram of the automatic vacuum cleaner shown in FIG. 3, and FIG. is a schematic diagram for explaining position measurement and obstacle measurement of an automatic vacuum cleaner, FIG. 7 is a memory layout diagram of the RAM in FIG. Fig. 9 is a schematic diagram showing a method of creating a cleaning map, Fig. 10 is a flowchart showing more specifically the control procedure of the automatic vacuum cleaner shown in Fig. 1, and Fig. 11 is a map when the automatic vacuum cleaner moves straight. A schematic diagram showing the search state, Fig. 12 is a schematic diagram showing map search during a right U turn, Fig. 13 is a schematic diagram showing the cleaning map created on the RAM in Fig. 6, and Fig. 14 is the same. <R
Schematic diagram showing the obstacle map created on AM, No. 15
FIG. 16 is a schematic diagram showing the search area when searching for an uncleaned area, FIG. 16 is a flowchart showing the method for searching for an uncleaned area, FIG. 17 and FIG.
FIG. 9 is a flowchart illustrating the route searching method shown in FIG. 18. 1... Automatic vacuum cleaner, 2.3... Wheels, 6.7...
Motor, 8.9...Reducer, 10.11...Rotary encoder, 18.19...Tachogenerator, 2
0.21... Speed control device, 23... Vacuum cleaner body, 24... Gyro device, 25... Obstacle detection device, 26... Travel control device, 27... Storage battery. Agent Patent Attorney Kenji Takeshi (1 other person) Figure 1 Figure 3 Figure 5 Figure 6 Figure 7 Figure 88 Figure 9 Figure 10/11 Collection 12 Figure 13 Figure 14 Figure 17 Old figure

Claims (1)

[Claims] A control method in which an automatic vacuum cleaner equipped with a cleaning section, a driving section, an obstacle detection section, a position detection section, an arithmetic control section, a storage section, and an input/output section runs autonomously to clean a room where there is an obstacle. In this step, the automatic vacuum cleaner is caused to travel in a zigzag manner by traveling straight and changing the traveling direction at a predetermined pitch at a wall or obstacle based on the detection data of the obstacle detection unit; At the same time, a map representing the cleaned area and a map representing the positions of walls and obstacles are created using the detection data of the position detection section and the detection data of the obstacle detection section, and when the vacuum cleaner finishes traveling, these maps are created. A method for controlling an automatic vacuum cleaner, characterized in that an uncleaned area caused by the obstacle or the like is detected from a map, and the vacuum cleaner is moved to the uncleaned area and travels in a zigzag pattern.