JP2000037333A - Cleaning robot - Google Patents
Cleaning robotInfo
- Publication number
- JP2000037333A JP2000037333A JP10209392A JP20939298A JP2000037333A JP 2000037333 A JP2000037333 A JP 2000037333A JP 10209392 A JP10209392 A JP 10209392A JP 20939298 A JP20939298 A JP 20939298A JP 2000037333 A JP2000037333 A JP 2000037333A
- Authority
- JP
- Japan
- Prior art keywords
- cleaning
- cleaning robot
- dust
- traveling
- amount
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、自律走行する掃除
ロボットに関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an autonomous cleaning robot.
【０００２】[0002]
【従来の技術】従来の掃除ロボットは定められた領域内
で図８に示すように、掃除ロボット本体１が走行軌跡２
０のような予め定められた経路に沿って蛇行走行し、掃
除機で吸引掃除を行うものである。2. Description of the Related Art In a conventional cleaning robot, as shown in FIG.
The vehicle travels meandering along a predetermined route such as 0, and performs suction cleaning with a vacuum cleaner.
【０００３】また、特開平３−１０６３１９に開示され
ている自走式掃除機は図９に示すように、清掃手段６１
と、走行手段６２と、操舵手段６３と、障害物検知手段
６４と、清掃区域を記憶する記憶部６５と、床ノズル
と、ごみ検知手段６６と、ごみ領域制御手段６７と、本
体の前進・後退・停止・方向転換を制御する判断処理手
段６８と、電源６９と、操作部７０と、方向検知センサ
７１とを備え、部屋の周囲の壁に沿って障害物を回避し
ながら掃除し、ごみ検知手段６６で検知されたごみの量
に応じて移動速度を制御しながら掃除するものがある。The self-propelled cleaner disclosed in Japanese Patent Laid-Open No. 3-106319 has a cleaning means 61 as shown in FIG.
Traveling means 62, steering means 63, obstacle detection means 64, storage section 65 for storing the cleaning area, floor nozzle, dust detection means 66, dust area control means 67, It is provided with a judgment processing means 68 for controlling retreat, stop, and change of direction, a power supply 69, an operation unit 70, and a direction detection sensor 71, and performs cleaning while avoiding obstacles along a wall around the room, and In some cases, cleaning is performed while controlling the moving speed in accordance with the amount of dust detected by the detecting means 66.
【０００４】[0004]
【発明が解決しようとする課題】このような従来の掃除
ロボットは、プログラムされた経路に従って掃除を行い
ながら自動運転するものであり、ごみの量に応じて単に
移動速度を制御するだけで、ごみの吸い残しを減らすよ
うにしている。従って、基本動作は予めプログラムされ
た経路に従って自動運転するもので、ごみの多い場所を
走行経路を制御しながら重点的に掃除することはできな
いという問題があった。Such a conventional cleaning robot performs automatic operation while performing cleaning according to a programmed route, and merely controls the moving speed in accordance with the amount of refuse. I try to reduce the unsucked. Therefore, the basic operation is to automatically drive according to a pre-programmed route, and there is a problem that it is not possible to mainly clean a place with much dust while controlling the traveling route.
【０００５】本発明の第１の目的（請求項１、２、３）
は、上記従来の課題を解決するもので、ごみの多い場所
を優先的に掃除する掃除ロボットを提供するものであ
る。A first object of the present invention (claims 1, 2, and 3)
In order to solve the above-mentioned conventional problems, an object of the present invention is to provide a cleaning robot that preferentially cleans places with a lot of dust.
【０００６】また、本発明の第２の目的（請求項４、
５）は、掃除時にごみの多い場所を優先的に掃除してい
る期間、使用者に動作状態を知らしめることのできる掃
除ロボットを提供するものである。A second object of the present invention (claim 4,
Item 5) is to provide a cleaning robot that can inform a user of an operation state during a period in which a place with much dust is preferentially cleaned during cleaning.
【０００７】また、本発明の第３の目的（請求項６）
は、掃除時にごみの多い場所を識別表示することで、使
用者に掃除区域の汚れ具合等を知らしめることのできる
掃除ロボットを提供するものである。Further, a third object of the present invention (claim 6)
The present invention provides a cleaning robot capable of notifying a user of a degree of dirt in a cleaning area by identifying and displaying a place with much dust during cleaning.
【０００８】[0008]
【課題を解決するための手段】上記目的を達成するため
に、請求項１の発明は、清掃手段と、本体を移動させる
走行手段と、該走行手段を制御する操舵手段と、本体に
設けられた障害物との距離を検知する障害物検知手段
と、本体全体に電力を供給する電源手段を備え、所定の
領域を走行しながら清掃作業を行う掃除ロボットにおい
て、前記清掃手段に設けられたごみ検知手段により掃除
されたごみ量を検知し、設定ゴミ量以上を検知すると所
定回数回転掃除走行を行わせるようにしたことを特徴と
するものである。SUMMARY OF THE INVENTION In order to achieve the above object, the invention according to claim 1 is provided with cleaning means, traveling means for moving the main body, steering means for controlling the traveling means, and provided on the main body. A cleaning robot that includes an obstacle detection unit that detects a distance from the obstacle and a power supply unit that supplies power to the entire main body and performs a cleaning operation while traveling in a predetermined area. The amount of dust that has been cleaned is detected by the detection means, and when the amount of dust is equal to or greater than a set amount of dust, rotation cleaning traveling is performed a predetermined number of times.
【０００９】また、請求項２の発明は、清掃手段と、本
体を移動させる走行手段と、該走行手段を制御する操舵
手段と、本体に設けられた障害物との距離を検知する障
害物検知手段と、本体全体に電力を供給する電源手段を
備え、所定の領域を走行しながら清掃作業を行う掃除ロ
ボットにおいて、前記清掃手段に設けられたごみ検知手
段により掃除されたごみ量を検知し、第１の設定ごみ量
以上を検知すると回転掃除走行を開始し、第２の設定ご
み量以下になったことを検知したとき、回転掃除走行を
停止するようにしたことを特徴とするものである。Further, the invention according to claim 2 is a cleaning means, a traveling means for moving the main body, a steering means for controlling the traveling means, and an obstacle detecting means for detecting a distance between an obstacle provided on the main body. Means, comprising a power supply means for supplying power to the entire main body, in a cleaning robot performing a cleaning operation while traveling in a predetermined area, detecting the amount of dust cleaned by the dust detection means provided in the cleaning means, Rotation cleaning travel is started when the amount of waste equal to or more than the first set amount of waste is detected, and when it is detected that the amount of waste is equal to or less than the second set amount of waste, the rotation cleaning travel is stopped. .
【００１０】また、請求項３の発明は、請求項１又は２
記載の掃除ロボットにおいて、上記回転掃除走行を所定
角度行わせた後、前後に移動させる前後移動掃除走行を
行わせるようにしたことを特徴とするものである。[0010] The invention of claim 3 is based on claim 1 or 2.
In the cleaning robot described above, after the rotation cleaning travel is performed at a predetermined angle, the cleaning robot travels back and forth to perform forward and backward movement cleaning.
【００１１】また、請求項４の発明は、請求項１、２、
３のいずれかに記載の掃除ロボットにおいて、前記回転
掃除を行っている期間、メロディ等の音を鳴らす音響手
段を設けたことを特徴とするものである。[0011] The invention of claim 4 is based on claims 1, 2,
3. The cleaning robot according to claim 3, further comprising an acoustic unit that emits a sound such as a melody during the rotation cleaning.
【００１２】また、請求項５の発明は、請求項１、２、
３のいずれかに記載の掃除ロボットにおいて、前記回転
制御手段により回転掃除走行を行っている期間、回転掃
除走行中であることを知らせる表示手段を設けたことを
特徴とするものである。[0012] Further, the invention according to claim 5 is based on claims 1, 2,
3. The cleaning robot according to claim 3, further comprising a display unit that notifies that the rotary cleaning is being performed while the rotation control unit is performing the rotary cleaning.
【００１３】また、請求項６の発明は、請求項１、２、
３のいずれかに記載の掃除ロボットにおいて、本体が移
動した掃除走行軌跡および回転掃除走行を行った場所を
記憶する軌跡記憶手段と、該軌跡記憶手段の記憶内容に
基づき移動した軌跡又は掃除済区域および回転掃除走行
を行った場所を表示する表示手段を設けたことを特徴と
するものである。Further, the invention of claim 6 is the invention according to claims 1, 2,
3. In the cleaning robot according to any one of 3., a trajectory storage means for storing a cleaning travel trajectory that the main body has moved and a place where the rotary cleaning travel has been performed, and a trajectory or a cleaned area moved based on the storage content of the trajectory storage means. And a display means for displaying a place where the rotary cleaning travel is performed.
【００１４】[0014]
【作用】従って、請求項１記載の掃除ロボットによる
と、本体がごみの多い区域を通過し、ごみ検知手段が所
定のごみ量以上であることを検知すると、操舵手段が所
定回数回転掃除走行を行わせる。その結果、ごみの多い
区域を先に優先して念入りに掃除することができ、且
つ、畳・フローリングの筋目がある場所でも３６０°回
転することにより、必ず筋目に沿う方向から掃除するこ
とになり、ごみの吸い取り残りが生ずるのを防止するこ
とができる。Therefore, according to the cleaning robot of the first aspect, when the main body passes through the area with a large amount of dust and the dust detection means detects that the amount of waste is equal to or more than a predetermined amount of dust, the steering means rotates the cleaning traveling a predetermined number of times. Let it do. As a result, areas with lots of garbage can be carefully cleaned with priority first, and by rotating 360 ° even where there are tatami / flooring streaks, it will always be cleaned from the direction along the streaks. In addition, it is possible to prevent garbage remaining to be absorbed.
【００１５】また、請求項２記載の掃除ロボットによる
と、ごみ検知手段が、清掃手段により掃除されたごみ量
を検出し、その検出したごみ量の値が予め定めた第１の
設定ごみ量以上であると、操舵手段は回転掃除走行を開
始させ、ごみ検知手段により検知したごみ量が第２の設
定ごみ量以下になったことを検知すると操舵手段は回転
掃除走行を停止させる。これにより、ごみの多い区域を
通った場合、３６０°回転掃除走行を開始し、ごみの少
ない状態を検知するまで回転掃除走行を行わせることが
できる。Further, according to the cleaning robot of the present invention, the dust detection means detects the amount of dust cleaned by the cleaning means, and the detected value of the dust is equal to or greater than a predetermined first set waste amount. In this case, the steering means starts the rotation cleaning travel, and when it detects that the amount of dust detected by the dust detection means has become equal to or less than the second set waste amount, the steering means stops the rotation cleaning travel. Thus, when the vehicle passes through the area with a large amount of dust, the 360 ° rotation cleaning traveling can be started, and the rotation cleaning traveling can be performed until the state with little dust is detected.
【００１６】また、請求項３記載の掃除ロボットによる
と、ごみの多い区域を通った場合、操舵手段により３６
０°回転掃除走行を開始し、回転途中で前後移動制御手
段によって前後に移動する掃除走行を行うため、より筋
目に沿う方向から念入りに掃除することができ、ごみの
吸い取りをより効果的に行わせることができる。Further, according to the cleaning robot of the third aspect, when the vehicle passes through an area with a lot of dust, the steering means can be used for the cleaning robot.
Start the 0 ° rotation cleaning travel, and perform the cleaning travel moving back and forth by the forward and backward movement control means during the rotation, so it is possible to clean more carefully from the direction along the line and to more effectively absorb dust. Can be made.
【００１７】また、請求項４および５記載の掃除ロボッ
トによると、回転掃除走行中は音響手段あるいは表示手
段によりメロディ等の音を発生させたり、点滅表示等の
表示を行わせるので、使用者にごみの多い場所を優先的
に回転掃除走行による清掃を行わせていることを報知す
ることができる。According to the cleaning robot according to the fourth and fifth aspects, a sound such as a melody is generated by the acoustic means or the display means or a display such as a blinking display is performed during the rotary cleaning travel, so that the user is provided with the sound. It can be notified that a place with much garbage is preferentially cleaned by rotary cleaning and running.
【００１８】また、請求項６記載の掃除ロボットは、軌
跡記憶手段により、本体が掃除走行した軌跡および回転
掃除走行を行った場所を記憶し、この記憶内容に基づ
き、表示手段に掃除走行した軌跡および回転掃除走行し
た場所を表示させることができる。従って、ごみが多か
った場所、即ち、回転掃除を行った位置を識別表示し、
掃除区域の汚れ具合を使用者に知らせることができる。According to a sixth aspect of the present invention, in the cleaning robot, the trajectory storage means stores the trajectory of the main body cleaning and the place where the rotary cleaning is performed, and based on the stored contents, the trajectory of the cleaning travel on the display means. In addition, it is possible to display the location where the rotary cleaning has been performed. Therefore, the place where there was a lot of dust, that is, the position where the rotary cleaning was performed is identified and displayed,
The user can be notified of the degree of dirt in the cleaning area.
【００１９】[0019]
【発明の実施の形態】以下、図面とともに、本発明の実
施形態を説明する。図１は本発明の実施形態の構成を示
すブロック図である。同図において、１は移動する掃除
ロボット本体であり、この掃除ロボット本体１には、移
動のための左右の駆動車輪５１、５２を含む操舵兼駆動
装置５と補助輪６が設けられている。前記掃除ロボット
本体１内には、各部に電力を供給するバッテリー４と、
障害物との距離を測定する距離センサ２１、２２、２
３、２４と、前記駆動車輪５１、５２のそれぞれに設け
られた走行距離センサ（図示せず）と、本体１の動作を
制御する制御部３と、回転ブラシ、吸い込み口、クリー
ナ部から構成される掃除手段９と、吸い込み口を通過す
るごみの量を検知するフォトインタラプタ等からなるご
み検知手段１０と、使用者に掃除済区域等の動作状況を
知らせる表示部７と、使用者に掃除ロボットの動作状況
を音で知らせるスピーカ８を設けている。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the embodiment of the present invention. In FIG. 1, reference numeral 1 denotes a moving cleaning robot main body. The cleaning robot main body 1 is provided with a steering and driving device 5 including left and right driving wheels 51 and 52 for movement and an auxiliary wheel 6. A battery 4 for supplying power to each part in the cleaning robot body 1;
Distance sensors 21, 22, 2 for measuring distances to obstacles
3, 24, a traveling distance sensor (not shown) provided on each of the drive wheels 51, 52, a control unit 3 for controlling the operation of the main body 1, a rotating brush, a suction port, and a cleaner unit. Cleaning means 9, a dust detection means 10 comprising a photo interrupter or the like for detecting the amount of dust passing through the suction port, a display section 7 for notifying the user of the operation status of the cleaned area, etc., and a cleaning robot for the user. Is provided with a speaker 8 for notifying the operating status of the speaker by sound.
【００２０】上記構成において、まず通常の掃除ロボッ
ト本体１の動作を説明する。制御部３には、予め掃除を
行うエリアが記憶されている。掃除ロボット本体１の周
囲に設置した距離センサ２１、２２、２３、２４により
壁面等の障害物の有無および、障害物との距離を測定
し、この測定結果に基づき、駆動車輪５１、５２の速度
差を制御して掃除ロボット本体１の移動方向の制御、つ
まり操舵制御を行い、掃除部９で掃除を行いながら自律
走行する。そして、前記制御部３に予め記憶されたエリ
アを掃除する。この時の軌跡を掃除済区域として表示部
７に表示する。In the above configuration, the operation of the ordinary cleaning robot body 1 will be described first. The control unit 3 stores an area to be cleaned in advance. The presence or absence of an obstacle such as a wall surface and the distance to the obstacle are measured by distance sensors 21, 22, 23 and 24 installed around the cleaning robot body 1, and the speeds of the drive wheels 51 and 52 are determined based on the measurement result. By controlling the difference, the control of the moving direction of the cleaning robot body 1, that is, steering control, is performed, and the cleaning unit 9 performs autonomous traveling while performing cleaning. Then, the area previously stored in the control unit 3 is cleaned. The locus at this time is displayed on the display unit 7 as a cleaned area.
【００２１】＜実施形態１＞図２は、本発明の第１の実
施形態の動作を示すフローチャートである。決められた
走行パターンに従って掃除走行を開始した掃除ロボット
本体１は、ステップＳ１において、ごみ検知手段１０で
検知したごみ量から、ごみ量が多い状態を示す設定量以
上であるか否かを制御部３で判断して、設定量以上の場
合は、ステップＳ２で回転掃除走行を行う。この回転掃
除走行は例えば、図１に示す左側駆動車輪５１を前進方
向に回転させ、右側駆動車輪５２を後進方向に回転させ
ることによって行わせることができ、駆動車輪５１、５
２の間隔の中点を中心として右方向に掃除ロボット本体
１が回転するようになる。次にステップＳ３で、上記の
回転数が予め設定されている回転数、例えば１回転だけ
回転したことを検出すると、通常の走行パターンに戻
り、通常の掃除走行を継続する。<First Embodiment> FIG. 2 is a flowchart showing the operation of the first embodiment of the present invention. In step S1, the cleaning robot main body 1 that has started the cleaning travel according to the determined travel pattern determines whether or not the amount of waste detected by the waste detection unit 10 is equal to or greater than a set amount indicating a large amount of waste. If it is determined in step 3 that the amount is equal to or larger than the set amount, the rotary cleaning is performed in step S2. This rotation cleaning traveling can be performed, for example, by rotating the left driving wheel 51 shown in FIG. 1 in the forward direction and rotating the right driving wheel 52 in the reverse direction.
The cleaning robot main body 1 rotates rightward about the middle point of the interval 2. Next, in step S3, when it is detected that the above-mentioned number of revolutions has been rotated by a preset number of revolutions, for example, one revolution, the routine returns to the normal traveling pattern and the normal cleaning traveling is continued.
【００２２】従って、ごみが多い区域を走行すると、通
常の走行パターンとは別の回転掃除走行を行い、念入り
掃除を行うことができる。このとき、畳・フローリング
等の筋目がある場合、床面においては、３６０°回転す
ることにより、必ず筋目に沿う方向から掃除することに
なり、ごみの吸い取り残りが生ずるのを防止することが
できる。Therefore, when the vehicle travels in an area with a lot of dust, it is possible to perform a rotational cleaning traveling different from a normal traveling pattern, thereby performing a careful cleaning. At this time, if there are streaks such as tatami mats and flooring, the floor is rotated by 360 ° so that the floor is always cleaned from the direction along the streaks, and it is possible to prevent garbage from being left unabsorbed. .
【００２３】図３は前記回転掃除走行が行われた場合
に、掃除走行軌跡と回転掃除走行軌跡を表示する表示方
法を示す図である。掃除ロボット本体１が通常の走行パ
ターンに従って掃除走行を行っている場合は、その軌跡
２０を表示部７に図示するようなパターンで表示する。
設定ごみ量以上のゴミ量を検知し、掃除ロボットが回転
掃除を行っている場合は、回転掃除を行っている位置で
掃除ロボット本体１を示す表示マーク２１を点滅表示さ
せる。その結果、使用者に対して、ごみ量が多いため回
転掃除を行っていることを示すことができ、故障等で回
転を始めた等の誤解を与えないようにすることができ
る。なお、この実施形態では、表示部７で表示マーク２
１を点滅表示させるものについて説明したが、掃除ロボ
ット本体１の表示マークが回転するピクチャ表示を行っ
たり、また、ＬＥＤ等の別の表示部を設け表示させるよ
うにしてもよい。FIG. 3 is a view showing a display method for displaying the cleaning travel locus and the rotary cleaning travel locus when the rotary cleaning travel is performed. When the cleaning robot main body 1 is performing the cleaning traveling according to the normal traveling pattern, the trajectory 20 is displayed on the display unit 7 in a pattern as illustrated.
If the amount of dust equal to or greater than the set amount of dust is detected and the cleaning robot is performing rotary cleaning, the display mark 21 indicating the cleaning robot main body 1 is blinked at the position where the rotary cleaning is being performed. As a result, it is possible to indicate to the user that rotation cleaning is being performed because the amount of dust is large, and it is possible to avoid giving a misunderstanding that rotation has started due to a failure or the like. In this embodiment, the display unit 7 displays the display mark 2
Although the flashing display of 1 has been described, a picture display in which the display mark of the cleaning robot body 1 rotates may be displayed, or another display unit such as an LED may be provided and displayed.
【００２４】また、スピーカ８により、回転掃除を行っ
ている期間、メロディ等を発生させれば、離れた位置に
いる使用者に対しても、ごみが多いため回転掃除を行っ
ていることを知らせることができる。If a melody or the like is generated by the speaker 8 during the rotation cleaning, the user at a remote position is informed that rotation cleaning is being performed because there is a lot of dust. be able to.
【００２５】＜実施形態２＞図４は、本発明の第２の実
施形態における掃除ロボットの走行方式を示すフローチ
ャートである。決められた走行パターンに従って掃除走
行を開始した掃除ロボット本体１は、ステップＳ１０に
おいて、ごみ検知手段１０で検知したごみ量が多い状態
を示す第１の設定量以上であるか否か制御部３で判断す
る。そして、第１の設定量以上であることを検知する
と、ステップＳ１１で回転掃除走行を行わせる。そし
て、ステップＳ１２でごみ量が少ない状態を示す第２の
設定量以下になったことを検知するまで回転掃除走行を
行う。その結果、ごみ量が多い場所での清掃を確実に行
わせることができる。<Embodiment 2> FIG. 4 is a flowchart showing a traveling system of a cleaning robot according to a second embodiment of the present invention. In step S10, the cleaning robot main body 1 that has started the cleaning travel according to the determined travel pattern determines whether or not the amount of waste detected by the waste detection means 10 is equal to or greater than a first set amount indicating a large state. to decide. Then, when it is detected that the amount is equal to or more than the first set amount, in step S11, rotation cleaning traveling is performed. Then, in step S12, the rotary cleaning traveling is performed until it is detected that the amount of dust is less than or equal to the second set amount indicating a small amount of dust. As a result, it is possible to reliably perform cleaning in a place where the amount of waste is large.
【００２６】＜実施形態３＞図５は、本発明の第３の実
施形態における掃除ロボットの動作を示すフローチャー
トである。決められた掃除パターンに従って掃除走行パ
ターンに従って掃除走行を開始した掃除ロボット本体１
は、ごみ検知ステップＳ２０において、１０で検知した
ごみ量が多い状態を示す設定量以上であるか否かを制御
部３で判断する。設定量以上であることを検知すると、
ステップＳ２１で所定角度回転を行い、その後ステップ
Ｓ２２で制御部３に予め設定された回数だけ前後に掃除
走行する。次に、ステップＳ２３において、予め制御部
３に設定された回転数だけ掃除ロボット本体１が回転掃
除走行を行ったか否かを判断し、設定された回転数に達
していない場合はステップＳ２１に戻り、回転掃除走行
が予め設定された所定の回転数になるまで前記ステップ
Ｓ２１からＳ２３までの動作を繰り返す。そして、所定
角度づつ回転させながら、回転掃除走行とその後の前後
への掃除走行を繰り返し行う。<Embodiment 3> FIG. 5 is a flowchart showing the operation of a cleaning robot according to a third embodiment of the present invention. The cleaning robot main body 1 that starts cleaning traveling according to the cleaning traveling pattern according to the determined cleaning pattern 1
In the dust detection step S20, the control unit 3 determines whether or not the amount of waste detected in step 10 is equal to or greater than a set amount indicating a large state. When it detects that it is more than the set amount,
In step S21, rotation is performed by a predetermined angle, and then, in step S22, the vehicle travels back and forth by the number of times preset in the control unit 3. Next, in step S23, it is determined whether or not the cleaning robot body 1 has performed rotational cleaning traveling by the number of revolutions set in the control unit 3 in advance. If the number of revolutions has not reached the set number, the process returns to step S21. The operations from steps S21 to S23 are repeated until the rotational cleaning travel reaches a preset predetermined number of rotations. Then, while rotating by a predetermined angle, the rotation cleaning traveling and the subsequent cleaning traveling back and forth are repeatedly performed.
【００２７】図６は、この場合の掃除ロボットの動作を
説明するためのものである。掃除ロボット本体１は、左
右の駆動輪５１、５２を個々に回転制御することによっ
て、所定角度だけ回転方向に回転した後、前後方向に走
行する。即ち、図６（ａ）に示すように上下方向に、ま
た図６（ｂ）に示すように左右方向に走行させる等任意
の方向に走行させることができ、回転掃除走行場所での
任意の方向への前後掃除走行を行わせることができる。
その結果、任意の方向の筋目に沿った掃除が可能にな
り、ごみの吸い取りを更に効果的に行わせることができ
る。FIG. 6 illustrates the operation of the cleaning robot in this case. The cleaning robot body 1 rotates in a rotational direction by a predetermined angle by controlling the rotation of the left and right drive wheels 51 and 52 individually, and then travels in the front-rear direction. That is, it can be run in any direction, such as running up and down as shown in FIG. 6 (a), and running in the left and right direction as shown in FIG. 6 (b). The cleaning traveling before and after can be performed.
As a result, cleaning along the streaks in an arbitrary direction becomes possible, and it is possible to more effectively absorb dust.
【００２８】＜実施形態４＞図７は、本発明の第４の実
施形態を説明するための図であり、掃除ロボットの移動
経路および該掃除ロボットによる掃除済区域を表示部に
表示した一例を示すものである。掃除ロボット１により
掃除を行った区域は、図７に示すように走行パターンの
軌跡２０として表示部７に随時表示されるが、ごみ検知
手段１０で検知されたごみの量に応じて回転掃除を行っ
た場所を表示パターン２２で示すように区別して表示す
る。このような表示を行わせることにより、掃除区域の
汚れ具合を使用者に報知することができる。ここでは、
場所をパターンで表示したが、色の識別表示を行っても
よい。なお、上記した通常の走行パターン２０は、予め
部屋のマップを制御部３に記憶している場合の折返し走
行を行う例について示しているが、これに限るものでな
く、最初に壁に沿って移動しながら掃除を行い、部屋を
一周し終わると、この移動軌跡内を清掃区域と判断し
て、この清掃区域内を障害物を回避しながら自動清掃す
る走行パターンであってもよい。<Embodiment 4> FIG. 7 is a view for explaining a fourth embodiment of the present invention, and shows an example in which a moving path of a cleaning robot and an area cleaned by the cleaning robot are displayed on a display unit. It is shown. The area cleaned by the cleaning robot 1 is displayed on the display unit 7 as a trajectory 20 of the traveling pattern at any time as shown in FIG. 7, but the rotation cleaning is performed in accordance with the amount of dust detected by the dust detection unit 10. The place where the operation is performed is distinguished and displayed as indicated by the display pattern 22. By performing such a display, the user can be notified of the degree of dirt in the cleaning area. here,
Although the location is displayed in a pattern, a color identification display may be performed. In addition, although the above-described normal traveling pattern 20 shows an example in which the turning traveling is performed when the map of the room is stored in the control unit 3 in advance, the present invention is not limited to this, and the traveling traveling first is performed along the wall first. A running pattern in which cleaning is performed while moving, and when a round of the room is completed, the inside of the movement locus is determined to be a cleaning area, and the inside of the cleaning area is automatically cleaned while avoiding obstacles.
【００２９】[0029]
【発明の効果】本発明は上記のような構成であるので、
ごみの多い区域を検知すると、その区域で回転掃除走行
を行い、ごみの多い区域を優先して確実に掃除を行わせ
ることができ、人が実際に掃除を行う動作に近い掃除動
作を行う掃除ロボットを提供することができる。従っ
て、ごみの多少には関係なく掃除経路が一定の掃除ロボ
ットに比べ、掃除を確実に行うことができるとともに掃
除ロボットの動作に親近感・安心感を持たせることがで
きる。また、畳・フローリング等の筋目がある場合、床
面においては、ごみが多い区域で３６０°回転して清掃
するので、必ず筋目に沿う方向からの掃除を行わせるこ
とができ、ごみの吸い取りをより効果的に行わせること
ができる。Since the present invention has the above configuration,
When an area with a lot of dust is detected, a rotary cleaning run is performed in that area, and the area with a lot of dust can be reliably cleaned with priority, and a cleaning operation similar to the operation of a person actually cleaning is performed. A robot can be provided. Therefore, as compared with a cleaning robot having a constant cleaning path regardless of the amount of dust, cleaning can be performed more reliably, and the operation of the cleaning robot can be made more familiar and secure. In addition, when there are streaks such as tatami mats and flooring, the floor is cleaned by rotating 360 ° in areas with lots of dirt, so it can be made to be cleaned from the direction along the ditches, It can be performed more effectively.
【００３０】また、回転掃除を行っている場合には、音
あるいは点滅表示などで回転掃除走行中であることを使
用者に報知するので、使用者に故障で回転している等の
不安を与える恐れがない。Further, when the rotary cleaning is being performed, the user is notified of the running of the rotary cleaning by a sound or blinking display or the like, thereby giving the user an anxiety that the user is rotating due to a breakdown or the like. There is no fear.
【００３１】また、ごみの多い場合の回転掃除走行をし
た場所を特定のパターンで表示部に表示できるようにし
ているので、使用者が掃除区域の汚れ具合を後から知る
ことができ、ごみ収納袋の取り換えや、今後の掃除間隔
の変更等に活用することができる。Further, since the place where the rotary cleaning operation is performed when there is a lot of dust can be displayed on the display unit in a specific pattern, the user can know the degree of dirt in the cleaning area later, and can store the dust. It can be used for changing bags or changing the cleaning interval in the future.
【図１】 本発明の掃除ロボットの一実施形態の要部を
示すブロック図である。FIG. 1 is a block diagram showing a main part of an embodiment of a cleaning robot of the present invention.
【図２】 本発明の第１の実施形態の動作説明に用いる
フローチャートである。FIG. 2 is a flowchart used to explain the operation of the first embodiment of the present invention.
【図３】 本発明の掃除ロボットの掃除走行パターンを
説明するための図である。FIG. 3 is a view for explaining a cleaning traveling pattern of the cleaning robot of the present invention.
【図４】 本発明の第２の実施形態の動作説明に用いる
フローチャートである。FIG. 4 is a flowchart used to describe the operation of the second embodiment of the present invention.
【図５】 本発明の第３の実施形態の動作説明に用いる
フローチャートである。FIG. 5 is a flowchart used to explain the operation of the third embodiment of the present invention.
【図６】 本発明の掃除ロボットの回転掃除走行の動作
を説明するための図である。FIG. 6 is a view for explaining an operation of the rotary cleaning traveling of the cleaning robot of the present invention.
【図７】 本発明の第４の実施形態の掃除走行パターン
を示す図である。FIG. 7 is a diagram showing a cleaning traveling pattern according to a fourth embodiment of the present invention.
【図８】 従来の掃除ロボットの移動経路の説明図であ
る。FIG. 8 is an explanatory diagram of a movement path of a conventional cleaning robot.
【図９】 従来の掃除ロボットの構成を示すブロック図
である。FIG. 9 is a block diagram illustrating a configuration of a conventional cleaning robot.
１ 掃除ロボット本体 ３ 制御部 ４ バッテリー ５ 操舵・駆動装置 ６ 補助輪 ７ 表示部 ８ スピーカ ９ 掃除部 １０ ごみ検知手段 ２１，２２，２３，２４ 距離センサ ５１ 左側駆動車輪 ５２ 右側駆動車輪 DESCRIPTION OF SYMBOLS 1 Cleaning robot main body 3 Control part 4 Battery 5 Steering / driving device 6 Auxiliary wheel 7 Display part 8 Speaker 9 Cleaning part 10 Garbage detection means 21, 22, 23, 24 Distance sensor 51 Left driving wheel 52 Right driving wheel
Claims (6)
と、該走行手段を制御する操舵手段と、本体に設けられ
た障害物との距離を検知する障害物検知手段と、本体全
体に電力を供給する電源手段を備え、所定の領域を走行
しながら清掃作業を行う掃除ロボットにおいて、前記清
掃手段に設けられたごみ検知手段により掃除されたごみ
量を検知し、設定ゴミ量以上を検知すると所定回数回転
掃除走行を行うようにしたことを特徴とする掃除ロボッ
ト。1. A cleaning means, a traveling means for moving a main body, a steering means for controlling the traveling means, an obstacle detecting means for detecting a distance from an obstacle provided on the main body, and a power supply for the whole main body. In a cleaning robot that includes a power supply unit that supplies power, and performs a cleaning operation while traveling in a predetermined area, when a dust amount detected by the dust detection unit provided in the cleaning unit is detected and a dust amount equal to or more than a set dust amount is detected. A cleaning robot characterized by performing a predetermined number of rotation cleaning runs.
と、該走行手段を制御する操舵手段と、本体に設けられ
た障害物との距離を検知する障害物検知手段と、本体全
体に電力を供給する電源手段を備え、所定の領域を走行
しながら清掃作業を行う掃除ロボットにおいて、前記清
掃手段に設けられたごみ検知手段により掃除されたごみ
量を検知し、第１の設定ごみ量以上を検知すると回転掃
除走行を開始し、第２の設定ごみ量以下になったことを
検知したとき、回転掃除走行を停止するようにしたこと
を特徴とする掃除ロボット。2. A cleaning means, a traveling means for moving the main body, a steering means for controlling the traveling means, an obstacle detecting means for detecting a distance from an obstacle provided on the main body, and a power supply for the whole main body. A cleaning robot that performs a cleaning operation while traveling in a predetermined area, wherein the cleaning unit detects the amount of dust cleaned by a dust detection unit provided in the cleaning unit, and is equal to or more than a first set waste amount. A cleaning robot that starts rotating cleaning traveling when detecting that the amount of waste is equal to or less than a second set amount of dust, and stops rotating cleaning traveling when detecting that the amount becomes equal to or less than a second set amount of waste.
いて、上記回転掃除走行を所定角度行わせた後、前後に
移動させる前後移動掃除走行を行わせるようにしたこと
を特徴とする掃除ロボット。3. The cleaning robot according to claim 1, wherein the rotary cleaning travel is performed at a predetermined angle, and then the cleaning robot is moved forward and backward.
除ロボットにおいて、前記回転掃除を行っている期間、
メロディ等の音を鳴らす音響手段を設けたことを特徴と
する掃除ロボット。4. The cleaning robot according to claim 1, wherein the rotary cleaning is being performed.
A cleaning robot provided with sound means for sounding a melody or the like.
除ロボットにおいて、前記回転制御手段により回転掃除
走行を行っている期間、回転掃除走行中であることを知
らせる表示手段を設けたことを特徴とする掃除ロボッ
ト。5. The cleaning robot according to claim 1, further comprising a display unit for notifying that the cleaning operation is being performed while the rotation control unit is performing the cleaning operation. A cleaning robot characterized by the following.
除ロボットにおいて、本体が移動した掃除走行軌跡およ
び回転掃除走行を行った場所を記憶する軌跡記憶手段
と、該軌跡記憶手段の記憶内容に基づき移動した軌跡又
は掃除済区域および回転掃除走行を行った場所を表示す
る表示手段を設けたことを特徴とする掃除ロボット。6. A cleaning robot according to claim 1, wherein said cleaning means stores a cleaning travel locus of the main body and a location where the rotary cleaning travel is performed. A cleaning robot provided with display means for displaying a trajectory moved or a cleaned area and a place where a rotary cleaning run is performed based on stored contents.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20939298A JP3741542B2 (en) | 1998-07-24 | 1998-07-24 | Cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20939298A JP3741542B2 (en) | 1998-07-24 | 1998-07-24 | Cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2000037333A true JP2000037333A (en) | 2000-02-08 |
| JP3741542B2 JP3741542B2 (en) | 2006-02-01 |
Family
ID=16572149
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20939298A Expired - Fee Related JP3741542B2 (en) | 1998-07-24 | 1998-07-24 | Cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3741542B2 (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002078650A (en) * | 2000-09-08 | 2002-03-19 | Matsushita Electric Ind Co Ltd | Self-travelling cleaner |
| JP2002204769A (en) * | 2001-01-12 | 2002-07-23 | Matsushita Electric Ind Co Ltd | Self-propelled cleaner |
| JP2002360478A (en) * | 2001-06-05 | 2002-12-17 | Matsushita Electric Ind Co Ltd | Self-sustaining travel device |
| JP2007029488A (en) * | 2005-07-28 | 2007-02-08 | Matsushita Electric Ind Co Ltd | Autonomously moving cleaning device and program |
| JP2016077854A (en) * | 2015-01-06 | 2016-05-16 | パナソニックＩｐマネジメント株式会社 | Autonomous travel-type cleaner |
| US9723962B2 (en) | 2010-10-05 | 2017-08-08 | Samsung Electronics Co., Ltd. | Dust inflow sensing unit and robot cleaner having the same |
| WO2017134705A1 (en) * | 2016-02-05 | 2017-08-10 | パナソニックＩｐマネジメント株式会社 | Autonomous cleaner, auxiliary brush therefor, and cleaner system equipped with autonomous cleaner |
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| KR101848412B1 (en) | 2016-08-19 | 2018-05-24 | 한양대학교 에리카산학협력단 | Garbage collecting system |
| US10271705B2 (en) | 2014-10-10 | 2019-04-30 | Panasonic Intellectual Property Management Co., Ltd. | Autonomous travel-type cleaner |
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| JP2002078650A (en) * | 2000-09-08 | 2002-03-19 | Matsushita Electric Ind Co Ltd | Self-travelling cleaner |
| JP2002204769A (en) * | 2001-01-12 | 2002-07-23 | Matsushita Electric Ind Co Ltd | Self-propelled cleaner |
| JP2002360478A (en) * | 2001-06-05 | 2002-12-17 | Matsushita Electric Ind Co Ltd | Self-sustaining travel device |
| JP2007029488A (en) * | 2005-07-28 | 2007-02-08 | Matsushita Electric Ind Co Ltd | Autonomously moving cleaning device and program |
| US9723962B2 (en) | 2010-10-05 | 2017-08-08 | Samsung Electronics Co., Ltd. | Dust inflow sensing unit and robot cleaner having the same |
| US10271705B2 (en) | 2014-10-10 | 2019-04-30 | Panasonic Intellectual Property Management Co., Ltd. | Autonomous travel-type cleaner |
| JP2016077854A (en) * | 2015-01-06 | 2016-05-16 | パナソニックＩｐマネジメント株式会社 | Autonomous travel-type cleaner |
| WO2017134705A1 (en) * | 2016-02-05 | 2017-08-10 | パナソニックＩｐマネジメント株式会社 | Autonomous cleaner, auxiliary brush therefor, and cleaner system equipped with autonomous cleaner |
| CN108601497A (en) * | 2016-02-05 | 2018-09-28 | 松下知识产权经营株式会社 | Autonomous type dust catcher and its pilot bruss and the cleaner system for having autonomous type dust catcher |
| JP2019037857A (en) * | 2016-02-05 | 2019-03-14 | パナソニックＩｐマネジメント株式会社 | Autonomous travel type vacuum cleaner |
| JP2017140350A (en) * | 2016-02-05 | 2017-08-17 | パナソニックＩｐマネジメント株式会社 | Autonomous travel-type vacuum cleaner, auxiliary brush for the same and vacuum cleaner system including autonomous travel-type vacuum cleaner |
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| KR101848412B1 (en) | 2016-08-19 | 2018-05-24 | 한양대학교 에리카산학협력단 | Garbage collecting system |
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| JP2021180872A (en) * | 2020-03-13 | 2021-11-25 | みこらった株式会社 | Vacuum cleaning device, program for vacuum cleaning device, vacuum cleaner, program for vacuum cleaner, separate device, and program for separate device |
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