JP2002078650A - Self-travelling cleaner - Google Patents
Self-travelling cleanerInfo
- Publication number
- JP2002078650A JP2002078650A JP2000272805A JP2000272805A JP2002078650A JP 2002078650 A JP2002078650 A JP 2002078650A JP 2000272805 A JP2000272805 A JP 2000272805A JP 2000272805 A JP2000272805 A JP 2000272805A JP 2002078650 A JP2002078650 A JP 2002078650A
- Authority
- JP
- Japan
- Prior art keywords
- obstacle
- main body
- control mode
- dust
- movement
- 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 Suction Cleaners (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
Description
【0001】[0001]
【発明の属する技術分野】本発明は、清掃機能と走行機
能とを備え、自動的に清掃を行なう自走式掃除機に関す
るものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled cleaner having a cleaning function and a traveling function and performing automatic cleaning.
【0002】[0002]
【従来の技術】従来より掃除機に移動手段やセンサ類お
よび移動制御手段を付加して、自動的に清掃領域を移動
して清掃を行なういわゆる自立誘導型の自走式掃除機が
開発されている。例えば、清掃機能として本体底部に吸
込具や塵埃掻き上げ用の回転ブラシなどを備え、自在に
移動するために走行機能としての駆動輪と移動方向を転
換するための操舵手段と、移動時の障害物を検知する障
害物検知手段と、位置認識手段とを備え、この障害物検
知手段によって清掃領域の障害物を迂回しつつ、位置認
識手段によって清掃した清掃領域を認識し、まだ清掃し
ていない清掃領域を移動して清掃領域全体を清掃するも
のである。2. Description of the Related Art Conventionally, a so-called self-guided self-propelled cleaner has been developed in which a moving means, sensors and movement control means are added to a cleaner to automatically move and clean a cleaning area. I have. For example, a suction tool and a rotary brush for scraping up dust are provided at the bottom of the main body as a cleaning function, and a driving wheel as a traveling function and a steering means for changing a moving direction for free movement, and an obstacle during the movement. An obstacle detecting means for detecting an object and a position recognizing means are provided. The obstacle detecting means recognizes the cleaning area cleaned by the position recognizing means while bypassing the obstacle in the cleaning area, and has not been cleaned yet. The cleaning area is moved to clean the entire cleaning area.
【0003】さらに例えば、特開昭62−236519
号公報、特開昭62−236520号公報、特開昭63
−222726号公報に記載されているように、吸込具
と集塵室をつなぐ空気通路にゴミ検出部を設けて、この
信号によって走行速度を切換えたり、通常の走行パター
ンから別の走行パターンに切換えて清掃をより念入りに
行なうものも開発されている。Further, for example, Japanese Patent Application Laid-Open No. 62-236519
JP, JP-A-62-236520, JP-A-63-236520
As described in JP-A-222726, a dust detection unit is provided in an air passage connecting the suction tool and the dust collection chamber, and the traveling speed is switched by this signal, or the normal traveling pattern is switched to another traveling pattern. Some have been developed for more careful cleaning.
【0004】[0004]
【発明が解決しようとする課題】しかしながら、このよ
うな従来の自走式掃除機は、駆動輪の回転センサやジャ
イロなどを用いて位置認識を行なっているが、位置計測
誤差の累積によりあらかじめ決められた移動経路からず
れて清掃のやり残しが生じることがあった。また、清掃
領域に多くの障害物が存在する場合では、障害物を回避
しながら清掃領域全体を隈なく塗りつぶすように移動経
路をあらかじめ決定することは難しく、複雑な制御が必
要であった。However, in such a conventional self-propelled cleaner, the position is recognized using a rotation sensor of a driving wheel, a gyro, or the like, but it is determined in advance by accumulating position measurement errors. In some cases, the cleaning route was left behind and the cleaning was left behind. In addition, when there are many obstacles in the cleaning area, it is difficult to determine a moving route in advance so as to fill the entire cleaning area while avoiding the obstacles, and complicated control is required.
【0005】また、あらかじめ決定された移動経路を移
動している間にゴミ検知センサの信号により走行パター
ンを切換える場合でも、清掃領域全体を隈なく塗りつぶ
すためには大幅な移動経路の変更は難しく、ゴミの多い
場所をゆっくりと走行したり、あるいはその周辺を複数
回走行するといった動作を追加するにとどまっていた。Further, even when the running pattern is switched by a signal from the dust detection sensor while moving along a predetermined moving route, it is difficult to significantly change the moving route in order to completely fill the entire cleaning area. They simply added the option of traveling slowly in a garbage-rich area or traveling around the area multiple times.
【0006】そこで本発明は、あらかじめ移動経路を決
定するための位置認識手段を有さず、複雑な制御を行な
うことなく清掃領域を効率良く清掃する自走式掃除機を
提供することを目的としている。SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a self-propelled vacuum cleaner which does not have a position recognizing means for determining a moving route in advance and efficiently cleans a cleaning area without performing complicated control. I have.
【0007】[0007]
【課題を解決するための手段】本発明は、本体を移動さ
せる走行手段および操舵手段と、本体の移動に障害とな
る障害物を検出する障害物検知手段と、床面のゴミを清
掃する清掃手段と、前記清掃手段によって清掃されるゴ
ミの量を検知するゴミ検知手段と、前記走行手段および
操舵手段を制御して本体の移動を制御する移動制御手段
とを本体に具備し、前記移動制御手段は、本体の移動中
に障害物検知手段が障害物を検出したときに本体の移動
方向を変える障害物回避制御モードと、本体の移動中に
ゴミ検知手段が所定量以上のゴミを検知したときにあら
かじめ設定された移動パターンで本体を移動させるパタ
ーン移動制御モードとを有し、本体の移動中に前記2つ
の制御モードを切り換えることにより簡単な構成で効率
よく清掃領域を清掃する自走式掃除機が実現できる。SUMMARY OF THE INVENTION The present invention provides a traveling means and a steering means for moving a main body, an obstacle detecting means for detecting an obstacle obstructing the movement of the main body, and a cleaning for cleaning dust on a floor surface. Means for detecting the amount of dust to be cleaned by the cleaning means, and movement control means for controlling movement of the body by controlling the traveling means and the steering means. The means includes an obstacle avoidance control mode that changes the moving direction of the main body when the obstacle detecting means detects an obstacle while the main body is moving, and the dust detecting means detects a predetermined amount or more of dust while the main body is moving. And a pattern movement control mode for moving the main body in a predetermined movement pattern, and by switching between the two control modes while the main body is moving, the cleaning area is efficiently cleaned with a simple configuration. Self-propelled vacuum cleaner can be realized to be.
【0008】[0008]
【発明の実施の形態】請求項1に記載した発明は、本体
を移動させる走行手段および操舵手段と、本体の移動に
障害となる障害物を検出する障害物検知手段と、床面の
ゴミを清掃する清掃手段と、前記清掃手段によって清掃
されるゴミの量を検知するゴミ検知手段と、前記走行手
段および操舵手段を制御して本体の移動を制御する移動
制御手段とを本体に具備し、前記移動制御手段は、本体
の移動中に障害物検知手段が障害物を検出したときに所
定角度だけ本体の移動方向を変える障害物回避制御モー
ドと、本体の移動中にゴミ検知手段が所定量以上のゴミ
を検知したときにあらかじめ設定された移動パターンで
本体を移動させるパターン移動制御モードとを有し、本
体の移動中に前記2つの制御モードを切り換えることに
より簡単な構成で効率よく清掃領域を移動できる。DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention described in claim 1 is a traveling means and a steering means for moving a main body, an obstacle detecting means for detecting an obstacle which hinders the movement of the main body, and a method for removing dust on the floor. Cleaning means for cleaning, dust detection means for detecting the amount of dust cleaned by the cleaning means, and movement control means for controlling movement of the body by controlling the traveling means and steering means, The movement control means includes: an obstacle avoidance control mode that changes the movement direction of the main body by a predetermined angle when the obstacle detection means detects an obstacle while the main body is moving; A pattern movement control mode in which the main body is moved according to a preset movement pattern when dust is detected, and by switching between the two control modes during movement of the main body, a simple configuration is provided. Rate often can move the cleaning area.
【0009】請求項2に記載した発明は、パターン移動
制御モード状態で、障害物検知手段が障害物を検知する
と、パターン移動制御モードから障害物回避制御モード
に切り換えるので、パターン移動制御モードで清掃手段
によるみ取りを行いながら移動していても、障害物を検
知すると回避するように本体を移動させるので、壁など
が移動方向に存在する場合にはその壁を回避することが
できる。According to the second aspect of the present invention, when the obstacle detecting means detects an obstacle in the pattern movement control mode, the mode is switched from the pattern movement control mode to the obstacle avoidance control mode. Since the main body is moved so as to avoid it when an obstacle is detected, even if the body moves while performing the cutting by means, it is possible to avoid the wall when the wall or the like exists in the moving direction.
【0010】請求項3に記載した発明は、障害物回避制
御モード状態で、ゴミ検知手段がゴミを検知すると、障
害物回避制御モードからパターン移動制御モードに切り
換えるので、障害物回避モードでも、ゴミを検知すると
清掃作業に移ることができ、効率よくごみ取りが行え
る。According to the third aspect of the present invention, when the dust detection means detects dust in the obstacle avoidance control mode, the mode is switched from the obstacle avoidance control mode to the pattern movement control mode. When it is detected, it is possible to proceed to a cleaning operation, so that dust can be efficiently removed.
【0011】請求項4に記載した発明は、パターン移動
制御モードでは、清掃手段によるゴミの取り残しが発生
しない範囲で本体を移動させ、障害物回避モードでは障
害物から遠ざかる方向に本体を移動させるので、清掃を
行うパターン移動制御モードではゴミの取り残しがなく
移動でき、また、障害物回避制御モードでは障害物から
遠ざかる方向に移動するので、新たな清掃領域に移動し
易くなる。According to the fourth aspect of the present invention, in the pattern movement control mode, the main body is moved within a range in which no dust is left by the cleaning means, and in the obstacle avoidance mode, the main body is moved in a direction away from the obstacle. In the pattern movement control mode for performing cleaning, dust can be moved without leaving any residue, and in the obstacle avoidance control mode, the dust moves in a direction away from obstacles, so that it is easy to move to a new cleaning area.
【0012】請求項5に記載した発明は、障害物回避制
御モードは、障害物を検出したときに本体をターンさせ
た後に直進させるもので、最も単純に障害物を回避でき
る。According to the fifth aspect of the present invention, the obstacle avoidance control mode is such that when the obstacle is detected, the main body is turned and then goes straight on.
【0013】請求項6に記載した発明は、障害物検知手
段は、検出した障害物が本体の左右どちら側にあるのか
を区別し、移動制御手段の障害物回避制御モードは、障
害物を検出したときに本体を障害物から遠ざかる方向に
ターンさせた後に直進させるもので、本体と障害物との
位置関係に応じて効率良く障害物を回避できる。According to a sixth aspect of the present invention, the obstacle detection means distinguishes whether the detected obstacle is on the left or right side of the main body, and the obstacle avoidance control mode of the movement control means detects the obstacle. In this case, the main body is turned in a direction away from the obstacle and then goes straight, so that the obstacle can be efficiently avoided according to the positional relationship between the main body and the obstacle.
【0014】請求項7に記載した発明は、障害物を検出
したときに本体をターンさせるターン角度は、90度以
上で一定であるもので、障害物回避後に再度障害物に出
会う確率を小さくできる。According to the invention described in claim 7, the turn angle at which the main body is turned when an obstacle is detected is constant at 90 degrees or more, and the probability of encountering the obstacle again after avoiding the obstacle can be reduced. .
【0015】請求項8に記載した発明は、障害物を検出
したときに本体をターンさせるターン角度は、その都度
ランダムに決定されるもので、清掃領域全体に亘ってま
んべんなく移動できる確率を大きくできる。According to the invention described in claim 8, the turn angle at which the main body is turned when an obstacle is detected is randomly determined each time, and the probability that the main body can move evenly over the entire cleaning area can be increased. .
【0016】請求項9に記載した発明は、パターン移動
制御モードは、本体の移動中にゴミ検知手段が所定量以
上のゴミを検知したときに所定距離の前進または後退を
繰り返しながら本体をジグザク移動させるもので、ゴミ
のある領域を効率よく清掃することができる。According to a ninth aspect of the present invention, in the pattern movement control mode, when the dust detecting means detects dust of a predetermined amount or more while moving the main body, the main body is zigzag-moved while repeating forward or backward movement of a predetermined distance. Therefore, the area with dust can be efficiently cleaned.
【0017】請求項10に記載した発明は、パターン移
動制御モードは、本体の移動中にゴミ検知手段が所定量
以上のゴミを検知したときに螺旋状軌跡で内側から外側
に本体を移動させるもので、本体の移動停止時間が短い
からゴミのある領域を最も効率よく清掃することができ
る。According to a tenth aspect of the present invention, in the pattern movement control mode, the main body is moved from the inner side to the outer side in a spiral trajectory when the dust detecting means detects a predetermined amount or more of dust while the main body is moving. Thus, since the movement stop time of the main body is short, the area with dust can be most efficiently cleaned.
【0018】請求項11に記載した発明は、障害物回避
制御モードとパターン移動制御モードとで、本体の移動
速度を切り換えるもので、パターン移動制御モードのと
きの移動速度を落とすことでより念入りに清掃ができる
とともに、使用者に運転状態を報知することができる。According to the eleventh aspect of the present invention, the moving speed of the main body is switched between the obstacle avoidance control mode and the pattern moving control mode, and the moving speed in the pattern moving control mode is reduced. Cleaning can be performed, and the driving state can be notified to the user.
【0019】請求項12に記載した発明は、本体に運転
状態を表示する表示手段を具備し、移動制御手段の障害
物回避制御モードの場合とパターン移動制御モードの場
合とで前記表示手段の表示を切り換えるもので、使用者
に運転状態を報知することができる。According to a twelfth aspect of the present invention, there is provided a display means for displaying an operation state on a main body, and the display means displays the display means in the case of the obstacle avoidance control mode of the movement control means and in the case of the pattern movement control mode. The user can be notified of the driving state.
【0020】[0020]
【実施例】(実施例1)以下、本発明の自走式掃除機の
実施例を図1〜7に基づいて説明する。(Embodiment 1) An embodiment of a self-propelled cleaner according to the present invention will be described below with reference to FIGS.
【0021】図1において、1は移動しながら清掃を行
なう自走式掃除機の本体で、床面上を矢印2の方向に前
進して移動する。3,4は左右の駆動モータで、それぞ
れの出力軸は左右の減速機5,6を介して左右の走行輪
7,8を駆動する。この左駆動モータ3と右駆動モータ
4を独立に回転制御することにより本体1を移動させる
もので、走行手段および操舵手段を兼ねている。9は各
種入力に応じて左右の駆動モータ3,4を制御し本体1
の移動制御を行なう移動制御手段で、マイクロコンピュ
ータおよびその他制御回路からなる。10,11は障害
物検知手段で、本体1の前方および側方の障害物までの
距離を測距する光センサ等により構成されている。12
は床面を掃除する清掃ノズルで、吸込具を構成しこの吸
込み口には回転ブラシなどからなるアジテータ13が設
けられ、電動送風機からなるファンモータ14で発生さ
せた真空圧によりゴミを吸引する。前記アジテータ13
はノズルモータ15により伝動ベルト16を介して回転
駆動される。17はフォトセンサなどからなるゴミ検知
手段で、清掃ノズル12から吸引されるゴミが通過する
空気通路18に設けられ、清掃ノズル12で清掃される
ゴミの量を検知する。19は本体1の上部に設けたLE
D等からなる表示手段で、本体1の動作状態を使用者に
報知する。20は電池などからなる電源で、本体1内に
電力を供給する。In FIG. 1, reference numeral 1 denotes a main body of a self-propelled vacuum cleaner that performs cleaning while moving, and moves forward on the floor in the direction of arrow 2. Reference numerals 3 and 4 denote left and right drive motors, and their output shafts drive left and right traveling wheels 7 and 8 via left and right reduction gears 5 and 6, respectively. The main body 1 is moved by independently controlling the rotation of the left drive motor 3 and the right drive motor 4, and also serves as a traveling unit and a steering unit. 9 controls the left and right drive motors 3 and 4 in accordance with various inputs and
This is a movement control means for performing a movement control of the microcomputer, and comprises a microcomputer and other control circuits. Obstacle detecting means 10 and 11 are constituted by optical sensors or the like for measuring distances to obstacles in front of and on the side of the main body 1. 12
Reference numeral denotes a cleaning nozzle for cleaning the floor, which constitutes a suction tool. The suction port is provided with an agitator 13 composed of a rotating brush or the like, and sucks dust by vacuum pressure generated by a fan motor 14 composed of an electric blower. The agitator 13
Is rotationally driven by a nozzle motor 15 via a transmission belt 16. Reference numeral 17 denotes dust detecting means, such as a photo sensor, provided in an air passage 18 through which dust sucked from the cleaning nozzle 12 passes, and detects the amount of dust cleaned by the cleaning nozzle 12. 19 is an LE provided on the upper part of the main body 1
The operating state of the main body 1 is notified to the user by a display means such as D. Reference numeral 20 denotes a power supply composed of a battery or the like, and supplies power to the main body 1.
【0022】図2に本実施例の制御ブロック構成を示
す。移動制御手段9は障害物検知手段10,11とゴミ
検知手段17からの入力に応じて、左駆動モータ3およ
び右駆動モータ4への出力を制御するとともに、その動
作状態に応じて表示手段19への出力を制御する。FIG. 2 shows a control block configuration of the present embodiment. The movement control means 9 controls the output to the left drive motor 3 and the right drive motor 4 in accordance with the inputs from the obstacle detection means 10 and 11 and the dust detection means 17, and displays the display means 19 in accordance with the operation state. Control output to
【0023】図3はこの移動制御手段9の移動制御の全
体の流れを示すもので、これを順を追って説明する。ま
ず、本体1が清掃対象の床面上に置かれ運転を開始する
と、ステップS1では左右の駆動モータ3,4を駆動し
て本体1を前進させる。ステップS2で障害物検知手段
10,11の入力を見て障害物があるかどうかを判断
し、障害物がなければステップS3に進む。ステップS
3ではゴミ検知手段17の入力を見て清掃ノズル12か
ら吸引されているゴミの量が所定量以上かどうかを判断
し、所定量以上のゴミがあればステップS4に進み、所
定量以上のゴミがなければステップS1に戻る。ステッ
プS4では予め決められたパターン移動の動作を開始
し、ステップS5に進む。ステップS5では障害物があ
るかどうかを判断し、障害物がなければステップS4に
戻り、パターン移動を継続する。FIG. 3 shows the overall flow of the movement control by the movement control means 9, which will be described step by step. First, when the main body 1 is placed on the floor to be cleaned and starts operation, in step S1, the left and right drive motors 3 and 4 are driven to move the main body 1 forward. In step S2, it is determined whether there is an obstacle by looking at the inputs of the obstacle detection means 10 and 11, and if there is no obstacle, the process proceeds to step S3. Step S
In 3, it is determined whether the amount of dust sucked from the cleaning nozzle 12 is equal to or more than a predetermined amount by looking at the input of the dust detection means 17. If not, the process returns to step S1. In step S4, a predetermined pattern movement operation is started, and the process proceeds to step S5. In step S5, it is determined whether there is an obstacle, and if there is no obstacle, the process returns to step S4 to continue the pattern movement.
【0024】本実施例でのパターン移動は、図4に示す
ように、開始点Aから矢印aの方向に一定距離Lだけ前
進して停止点Bで一旦停止する。次に左方向にターンし
て方向転換して矢印bの方向(角度θの方向)に一定距
離Lだけ前進して停止点Cで停止する。そして右方向に
ターンして方向転換して矢印cの方向(角度θの方向)
に前進する。このように前進とターンを繰り返しながら
ジグザク移動を繰り返すようになっている。上記の方向
転換する角度θは、本体1が距離Lを往復したときの横
変位(例えば点Aと点Cとの距離)は清掃ノズル12の
幅以下になる角度に設定されており、このパターン移動
した床面は隈なく清掃ノズル12が通過し清掃を行なう
ようになっている。以上のステップS4とS5からなる
パターン移動を行なう制御モードをパターン移動制御モ
ードCM1と呼ぶ。As shown in FIG. 4, the pattern movement in this embodiment advances from the start point A by a predetermined distance L in the direction of the arrow a and temporarily stops at the stop point B. Next, the vehicle turns left and changes direction, moves forward by a predetermined distance L in the direction of arrow b (direction of angle θ), and stops at the stop point C. Then turn right and change direction to the direction of arrow c (direction of angle θ)
To move forward. Thus, the zigzag movement is repeated while repeating the advance and the turn. The angle θ at which the direction is changed is set to an angle at which the lateral displacement (for example, the distance between the points A and C) when the main body 1 reciprocates the distance L is equal to or smaller than the width of the cleaning nozzle 12. The cleaning nozzle 12 passes through the moved floor to clean the floor. The control mode for performing the pattern movement consisting of the above steps S4 and S5 is called a pattern movement control mode CM1.
【0025】ステップS2またはS5で障害物があると
判断した場合はステップS6に進む。ステップS6は障
害物回避動作を行なうもので、本実施例では図5および
図6に示すような動作を行なう。すなわち、図5に示す
ように矢印d1の方向に移動中にP1地点で障害物W1
を検出した場合は直ちにここで停止し、障害物検知手段
10,11の測距データを比較して障害物W1が本体1
の左右どちら側にあるのかを判断する。この図の場合、
障害物W1は障害物検知手段11の方が近くに検出され
るので、本体1の右側に障害物W1があると判断して本
体1を左向きに所定角度θ1だけターンし、矢印e1の
方向に直進する。一方、図6に示すような場合は、矢印
d2の方向に移動中にP2地点で障害物W2を検出し停
止したとき、障害物W2は障害物検知手段10の近くに
検出されるので、本体1の左側に障害物W2があると判
断して本体1を右向きに所定角度θ2だけターンし、矢
印e2の方向に直進する。このとき上記ターン角度θ
1,θ2の値は、障害物を検出した時点で移動制御手段
9の内部で発生させた乱数から0〜180°の範囲でラ
ンダムに決定される。このようなステップS6からなる
障害物回避動作を行なう制御モードを障害物回避制御モ
ードCM2と呼ぶ。If it is determined in step S2 or S5 that there is an obstacle, the process proceeds to step S6. In step S6, an obstacle avoiding operation is performed. In this embodiment, the operation shown in FIGS. 5 and 6 is performed. That is, while moving in the direction of arrow d1, as shown in FIG.
If the obstacle W1 is detected, the obstacle W1 is stopped immediately.
Which side is left or right. In this case,
Since the obstacle W1 is detected closer to the obstacle detection means 11, it is determined that the obstacle W1 is present on the right side of the main body 1, and the main body 1 is turned leftward by the predetermined angle θ1 in the direction of arrow e1. Go straight. On the other hand, in the case as shown in FIG. 6, when the obstacle W2 is detected and stopped at the point P2 while moving in the direction of the arrow d2, the obstacle W2 is detected near the obstacle detection means 10, so that the main body It is determined that there is an obstacle W2 to the left of 1 and the main body 1 is turned rightward by a predetermined angle θ2 and goes straight in the direction of arrow e2. At this time, the above turn angle θ
The values of 1, θ2 are randomly determined within a range of 0 to 180 ° from a random number generated inside the movement control means 9 when an obstacle is detected. The control mode for performing the obstacle avoidance operation including the step S6 is called an obstacle avoidance control mode CM2.
【0026】以上のような構成において、本実施例の全
体動作について説明する。With the above configuration, the overall operation of this embodiment will be described.
【0027】図7に示すように、四方を壁に囲まれ、床
にゴミがG1〜G5のように分布している領域を清掃す
る場合を例にとって説明する。図のようにスタート点に
本体1を置き運転を開始させると、清掃ノズル12のノ
ズルモータ15およびファンモータ14が作動して清掃
運転を行なうと同時に、左右の駆動モータ3,4が回転
して本体1は前進を始める。このとき表示手段19は緑
色に点灯している。本体1がゴミ分布領域G1に来る
と、ゴミ検知手段17が所定量以上のゴミ量を検知し、
制御モードがパターン移動制御モードCM1に変わる。
このとき表示手段19も緑色から赤色の点灯に変わり、
本体1はジグザグ移動を行ないながらゴミ分布領域G
1,G2のゴミを清掃する。そして、Q1地点で障害物
検知手段10が障害物となる壁を検出するので制御モー
ドは障害物回避制御モードCM2に変わり、本体1は一
旦停止して右方向に所定角度ターンした後、直進する。
このとき表示手段19は赤色から緑色の点灯に変わる。
本体1が直進してゴミ分布領域G3に来ると、上記と同
様に制御モードがパターン移動制御モードCM1に変わ
ると同時に表示手段19が赤色の点灯に変わり、ジグザ
グ移動を行ないながらゴミ分布領域G3のゴミを清掃す
る。Q2地点で障害物となる壁を検出するので制御モー
ドは障害物回避制御モードCM2に変わると同時に表示
手段19は赤色から緑色の点灯に変わり、本体1は一旦
停止して所定角度ターンした後、再び直進を始める。以
下同様に、ゴミ分布領域G4やG5で所定量以上のゴミ
量を検知すると制御モードがパターン移動制御モードC
M1に変わり表示手段19は緑色に点灯し、Q3やQ
4,Q5,Q6地点で障害物を検出すると制御モードは
障害物回避制御モードCM2に変わり表示手段19は赤
色に点灯するという動作を繰り返しながら清掃を行なう
ものである。そして、制御モードが障害物回避制御モー
ドCM2の状態で一定時間以上続けば、清掃領域のゴミ
がなくなったと判断して清掃を終了し、本体1の運転が
停止する。上記運転中の本体1の移動速度について述べ
る。一定の清掃領域を清掃する清掃時間は、本体1の移
動速度を速くすればするほど短くなるが、逆に移動速度
を速くすると清掃ノズル12が通過してもゴミの取り残
しが多くなる。そこで、障害物回避制御モードCM2の
ときはゴミ量が少ない所を移動している場合であるから
移動速度を速くし、パターン移動制御モードCM1のと
きはゴミ量が多い所を移動している場合が多いから移動
速度を遅くするという移動速度の切り換えを行なってい
る。このことにより、ゴミの取り残しがなく短時間で清
掃が可能である。As shown in FIG. 7, a case where an area surrounded by walls on all sides and dust is distributed on the floor as G1 to G5 will be described as an example. When the main body 1 is placed at the start point and the operation is started as shown in the figure, the nozzle motor 15 and the fan motor 14 of the cleaning nozzle 12 operate to perform the cleaning operation, and at the same time, the left and right drive motors 3 and 4 rotate. The main body 1 starts moving forward. At this time, the display means 19 is lit in green. When the main body 1 comes to the dust distribution area G1, the dust detecting means 17 detects a dust amount equal to or more than a predetermined amount,
The control mode changes to the pattern movement control mode CM1.
At this time, the display means 19 also changes from green to red,
The main body 1 performs a zigzag movement while the dust distribution area G
1. Clean G2 trash. Then, since the obstacle detection means 10 detects a wall serving as an obstacle at the point Q1, the control mode is changed to the obstacle avoidance control mode CM2, and the main body 1 stops temporarily, turns rightward by a predetermined angle, and then goes straight. .
At this time, the display means 19 changes from red to green.
When the main body 1 goes straight to the dust distribution area G3, the control mode is changed to the pattern movement control mode CM1 and the display means 19 is turned on in red at the same time as above, and the dust distribution area G3 is moved while performing zigzag movement. Clean trash. Since a wall serving as an obstacle is detected at the point Q2, the control mode changes to the obstacle avoidance control mode CM2, and at the same time, the display means 19 changes from red to green, and the main body 1 stops once and turns a predetermined angle. Start going straight again. Similarly, when a dust amount equal to or more than a predetermined amount is detected in the dust distribution regions G4 and G5, the control mode is changed to the pattern movement control mode C.
Instead of M1, the display means 19 lights green, and Q3 and Q
When an obstacle is detected at points 4, Q5, and Q6, the control mode is changed to the obstacle avoidance control mode CM2, and the display unit 19 performs cleaning while repeating the operation of lighting red. If the control mode continues in the obstacle avoidance control mode CM2 for a certain period of time or longer, it is determined that there is no dust in the cleaning area, the cleaning is terminated, and the operation of the main body 1 is stopped. The moving speed of the main body 1 during the operation will be described. The cleaning time for cleaning a certain cleaning area becomes shorter as the moving speed of the main body 1 is increased, but conversely, when the moving speed is increased, dust remains more even when the cleaning nozzle 12 passes. Therefore, the moving speed is increased in the obstacle avoidance control mode CM2 when moving in a place where the amount of dust is small. Therefore, the moving speed is switched so that the moving speed is reduced. Thus, cleaning can be performed in a short time without leaving any trash.
【0028】以上のように、本体1は移動中に障害物検
知手段10,11が障害物を検出すれば障害物回避制御
モードCM2へ、ゴミ検知手段17が所定量以上のゴミ
を検知すればパターン移動制御モードCM1へと2種類
のセンサーからの入力により制御モードを切り換えると
いう単純なアルゴリズムで、障害物を回避しながらゴミ
のある所を重点的に移動できるものである。しかも清掃
領域における本体1の位置を認識するためのジャイロな
どの高価な位置認識手段も必要ない。また、制御モード
によって表示手段19の表示が切り換わるので、使用者
はそのときの運転状態を知ることができる。As described above, the main body 1 moves to the obstacle avoidance control mode CM2 when the obstacle detection means 10 and 11 detect an obstacle while moving, and when the dust detection means 17 detects a predetermined amount or more of dust. This is a simple algorithm that switches the control mode to the pattern movement control mode CM1 based on inputs from two types of sensors, and enables the user to focus on the place with dust while avoiding obstacles. Moreover, there is no need for expensive position recognition means such as a gyro for recognizing the position of the main body 1 in the cleaning area. Further, since the display of the display means 19 is switched according to the control mode, the user can know the driving state at that time.
【0029】また、障害物回避制御モードCM2は、障
害物を検出したときに本体1を所定角度だけターンさせ
た後に直進させるという非常に単純なアルゴリズムで実
現できるが、本実施例にように左右の障害物検知手段1
0,11を用いて障害物が本体1の左右どちら側にある
のかを区別し、障害物から遠ざかる方向にターンさせる
ことにより、本体1が障害物を検出する確率が低くなり
効率良く障害物を回避できる。Further, the obstacle avoidance control mode CM2 can be realized by a very simple algorithm of turning the main body 1 by a predetermined angle and then going straight ahead when an obstacle is detected. Obstacle detection means 1
By using 0 and 11 to determine whether the obstacle is on the left or right side of the main body 1, by turning in the direction away from the obstacle, the probability that the main body 1 detects the obstacle is reduced, and the obstacle is efficiently detected. Can be avoided.
【0030】そして、本実施例では、障害物回避制御モ
ードCM2における本体1のターン角度は、その都度ラ
ンダムに決定しているので掃領域全体に亘ってまんべん
なく移動できる確率が大きいが、ランダムに角度を決定
する手段がない場合は、90度以上の角度であればかな
り効率よく清掃領域全体を移動できることが分かってい
る。In this embodiment, since the turn angle of the main body 1 in the obstacle avoidance control mode CM2 is determined randomly each time, the probability that the main body 1 can move evenly over the entire swept area is large. It has been found that if there is no means for determining the angle, an angle of 90 degrees or more can move the entire cleaning area quite efficiently.
【0031】なお、パターン移動制御モードCM1で
は、本体1を所定距離Lだけ前進させた後ターンさせ再
び所定距離Lだけ前進させるという動作の繰り返しでジ
グザク移動させているが、例えば一定距離だけ前進させ
て後、方向を少し変えて一定距離の後退させ、再び方向
を少し変えて前進させる動作を交互に繰り返して本体1
をジグザク移動させても良い。この場合、後退時に障害
物を検出する手段が必要であるが、ターン時間が短くな
るから清掃時間も短縮できる。In the pattern movement control mode CM1, the zigzag movement is performed by repeating the operation in which the main body 1 is advanced by a predetermined distance L, then turned and then advanced again by a predetermined distance L. After that, change the direction a little and retreat a certain distance, then change the direction a little again and advance
May be moved zigzag. In this case, a means for detecting an obstacle at the time of retreat is required, but since the turn time is short, the cleaning time can be shortened.
【0032】なお、表示手段19は本実施例ではLED
等からなる発光手段を用いているが、例えばLCD等で
文字で表示したり、音声で表示するものであっても良
い。In this embodiment, the display means 19 is an LED.
Although the light emitting means is used, for example, it may be displayed by characters on an LCD or the like, or may be displayed by voice.
【0033】(実施例2)実施例1では、パターン移動
制御モードCM1は、前進または後退を繰り返しながら
本体をジグザク移動させるものについて述べたが、本実
施例ではこのパターン移動として螺旋状軌跡で内側から
外側に本体を移動させるものについて説明する。(Embodiment 2) In Embodiment 1, the pattern movement control mode CM1 has been described in which the main body is zigzag-moved while repeating forward and backward movements. That moves the main body from the outside to the outside will be described.
【0034】基本的な構成は実施例1と全く同様である
が、図3のパターン移動制御モードCM1におけるステ
ップS4のパターン移動のプログラムの内容のみが実施
例1と異なる。The basic configuration is exactly the same as that of the first embodiment, but differs from the first embodiment only in the contents of the program for pattern movement in step S4 in the pattern movement control mode CM1 of FIG.
【0035】図8に示すように、四方を壁に囲まれ、床
にゴミがG11,G12のように分布している領域を清
掃する場合を例にとって説明する。図のようにスタート
点に本体1を置き運転を開始させると、清掃ノズル12
のノズルモータ15およびファンモータ14が作動して
清掃運転を行なうと同時に、左右の駆動モータ3,4が
回転して本体1は前進を始める。このとき表示手段19
は緑色に点灯している。本体1がゴミ分布領域G11に
来ると、ゴミ検知手段17が所定量以上のゴミ量を検知
し、制御モードがパターン移動制御モードCM1に変わ
る。このとき表示手段19も緑色から赤色の点灯に変わ
り、本体1は矢印fのように右旋回を始め、徐々に回転
半径が大きくなるように移動しながらゴミ分布領域G1
1のゴミを清掃する。そして、Q11地点で障害物検知
手段10が障害物となる壁を検出するので制御モードは
障害物回避制御モードCM2に変わり、本体1は一旦停
止して右方向に所定角度ターンした後、直進し、さらに
Q12地点でも障害物となる壁を検出するので一旦停止
して右方向に所定角度ターンした後、直進する。本体1
が直進してゴミ分布領域G12に来ると、上記と同様に
制御モードがパターン移動制御モードCM1に変わると
同時に表示手段19が赤色の点灯に変わり、矢印gのよ
うに右旋回を始め、徐々に回転半径が大きくなるように
移動しながらゴミ分布領域G12のゴミを清掃する。Q
13地点で障害物となる壁を検出するので制御モードは
障害物回避制御モードCM2に変わると同時に表示手段
19は赤色から緑色の点灯に変わり、本体1は一旦停止
して所定角度ターンした後、再び直進を始める。以下同
様な動作を繰り返しながら清掃を行なうものである。As shown in FIG. 8, a case will be described as an example in which an area surrounded by walls on all sides and dust is distributed on the floor like G11 and G12 is cleaned. When the main body 1 is placed at the start point and the operation is started as shown in FIG.
The nozzle motor 15 and the fan motor 14 operate to perform the cleaning operation, and at the same time, the left and right drive motors 3 and 4 rotate, and the main body 1 starts to move forward. At this time, the display means 19
Is lit green. When the main body 1 comes to the dust distribution area G11, the dust detection means 17 detects a dust amount equal to or more than a predetermined amount, and the control mode is changed to the pattern movement control mode CM1. At this time, the display means 19 also changes from green to red, and the main body 1 starts turning right as shown by the arrow f, and moves while increasing the turning radius gradually to the dust distribution area G1.
Clean 1 garbage. Then, since the obstacle detection means 10 detects a wall serving as an obstacle at the point Q11, the control mode is changed to the obstacle avoidance control mode CM2, and the main body 1 stops temporarily, turns rightward by a predetermined angle, and then goes straight ahead. Further, since a wall serving as an obstacle is also detected at the point Q12, the vehicle temporarily stops, turns rightward at a predetermined angle, and then goes straight on. Body 1
Goes straight to the dust distribution area G12, similarly to the above, the control mode changes to the pattern movement control mode CM1, and at the same time, the display means 19 changes to lighting red and starts turning right as shown by the arrow g, gradually. The dust in the dust distribution area G12 is cleaned while moving so as to increase the rotation radius. Q
Since a wall serving as an obstacle is detected at 13 points, the control mode changes to the obstacle avoidance control mode CM2, and at the same time, the display means 19 changes from red to green, and the main body 1 stops once and turns at a predetermined angle. Start going straight again. Hereinafter, cleaning is performed while repeating the same operation.
【0036】このように、パターン移動を螺旋状軌跡で
移動させることにより、ジグザグ移動のように一旦停止
やターン動作といった時間のかかる動作がなくなるか
ら、短時間で効率よくゴミのある領域を移動して清掃す
ることができるものである。As described above, by moving the pattern along a spiral trajectory, time-consuming operations such as a temporary stop or a turn operation such as a zigzag movement are eliminated, so that the area with dust can be efficiently moved in a short time. Can be cleaned.
【0037】[0037]
【発明の効果】請求項1に記載した発明は、本体を移動
させる走行手段および操舵手段と、本体の移動に障害と
なる障害物を検出する障害物検知手段と、床面のゴミを
清掃する清掃手段と、前記清掃手段によって清掃される
ゴミの量を検知するゴミ検知手段と、前記走行手段およ
び操舵手段を制御して本体の移動を制御する移動制御手
段とを本体に具備し、前記移動制御手段は、本体の移動
中に障害物検知手段が障害物を検出したときに所定角度
だけ本体の移動方向を変える障害物回避制御モードと、
本体の移動中にゴミ検知手段が所定量以上のゴミを検知
したときにあらかじめ設定された移動パターンで本体を
移動させるパターン移動制御モードとを有し、本体の移
動中に前記2つの制御モードを切り換えることにより簡
単な構成で効率よく清掃領域を移動して清掃する自走式
掃除機が実現できるものである。According to the first aspect of the present invention, the traveling means and the steering means for moving the main body, the obstacle detecting means for detecting an obstacle obstructing the movement of the main body, and the cleaning of dust on the floor surface. A cleaning unit; a dust detection unit configured to detect an amount of dust cleaned by the cleaning unit; and a movement control unit configured to control movement of the body by controlling the traveling unit and the steering unit. The control means is an obstacle avoidance control mode that changes the movement direction of the main body by a predetermined angle when the obstacle detection means detects an obstacle while the main body is moving,
A pattern movement control mode in which the main body is moved in a predetermined movement pattern when the dust detection means detects dust of a predetermined amount or more while the main body is moving, and the two control modes are set while the main body is moving. By switching, a self-propelled cleaner capable of efficiently moving and cleaning the cleaning area with a simple configuration can be realized.
【0038】請求項2に記載した発明は、パターン移動
制御モード状態で、障害物検知手段が障害物を検知する
と、パターン移動制御モードから障害物回避制御モード
に切り換えるので、パターン移動制御モードで清掃手段
によるみ取りを行いながら移動していても、障害物を検
知すると回避するように本体を移動させるので、壁など
が移動方向に存在する場合にはその壁を回避することが
できる。According to the second aspect of the present invention, when the obstacle detecting means detects an obstacle in the pattern movement control mode, the mode is switched from the pattern movement control mode to the obstacle avoidance control mode. Since the main body is moved so as to avoid it when an obstacle is detected, even if the body moves while performing the cutting by means, it is possible to avoid the wall when the wall or the like exists in the moving direction.
【0039】請求項3に記載した発明は、障害物回避制
御モード状態で、ゴミ検知手段がゴミを検知すると、障
害物回避制御モードからパターン移動制御モードに切り
換えるので、障害物回避モードでも、ゴミを検知すると
清掃作業に移ることができ、効率よくごみ取りが行え
る。According to the third aspect of the present invention, when the dust detection means detects dust in the obstacle avoidance control mode, the mode is switched from the obstacle avoidance control mode to the pattern movement control mode. When it is detected, it is possible to proceed to a cleaning operation, so that dust can be efficiently removed.
【0040】請求項4に記載した発明は、パターン移動
制御モードでは、清掃手段によるゴミの取り残しが発生
しない範囲で本体を移動させ、障害物回避モードでは障
害物から遠ざかる方向に本体を移動させるので、清掃を
行うパターン移動制御モードではゴミの取り残しがなく
移動でき、また、障害物回避制御モードでは障害物から
遠ざかる方向に移動するので、新たな清掃領域に移動し
易くなる。According to the fourth aspect of the present invention, in the pattern movement control mode, the main body is moved within a range in which no dust is left by the cleaning means, and in the obstacle avoidance mode, the main body is moved in a direction away from the obstacle. In the pattern movement control mode for performing cleaning, dust can be moved without leaving any residue, and in the obstacle avoidance control mode, the dust moves in a direction away from obstacles, so that it is easy to move to a new cleaning area.
【0041】請求項5に記載した発明は、移動制御手段
の障害物回避制御モードは、障害物を検出したときに本
体を所定角度だけターンさせた後に直進させるもので、
最も単純な制御で障害物を回避する自走式掃除機が実現
できるものである。According to a fifth aspect of the present invention, in the obstacle avoidance control mode of the movement control means, when an obstacle is detected, the main body is turned by a predetermined angle and then goes straight.
A self-propelled cleaner that avoids obstacles with the simplest control can be realized.
【0042】請求項6に記載した発明は、障害物検知手
段は、検出した障害物が本体の左右どちら側にあるのか
を区別し、移動制御手段の障害物回避制御モードは、障
害物を検出したときに本体を障害物から遠ざかる方向に
所定角度だけターンさせた後に直進させるもので、本体
と障害物との位置関係に応じて効率良く障害物を回避す
る自走式掃除機が実現できるものである。According to a sixth aspect of the present invention, the obstacle detection means distinguishes whether the detected obstacle is on the left or right side of the main body, and the obstacle avoidance control mode of the movement control means detects the obstacle. After turning the main body by a predetermined angle in the direction away from the obstacle when it is done, go straight ahead, and realize a self-propelled cleaner that avoids obstacles efficiently according to the positional relationship between the main body and the obstacle It is.
【0043】請求項7に記載した発明は、障害物を検出
したときに本体をターンさせるターン角度は、90度以
上で一定であるもので、障害物回避後に再度障害物に出
会う確率を小さくした自走式掃除機が実現できるもので
ある。According to the invention described in claim 7, the turn angle at which the main body is turned when an obstacle is detected is constant at 90 degrees or more, and the probability of encountering the obstacle again after avoiding the obstacle is reduced. A self-propelled vacuum cleaner can be realized.
【0044】請求項8に記載した発明は、障害物を検出
したときに本体をターンさせるターン角度は、その都度
ランダムに決定されるもので、清掃領域全体に亘ってま
んべんなく移動して清掃する自走式掃除機が実現できる
ものである。According to the eighth aspect of the present invention, the turn angle at which the main body is turned when an obstacle is detected is randomly determined each time, and it is possible to move the main body evenly over the entire cleaning area for cleaning. A traveling vacuum cleaner can be realized.
【0045】請求項9に記載した発明は、移動制御手段
のパターン移動制御モードは、本体の移動中にゴミ検知
手段が所定量以上のゴミを検知したときに所定距離の前
進または後退を繰り返しながら本体をジグザク移動させ
るもので、ゴミのある領域を単純な制御で効率よく清掃
する自走式掃除機が実現できるものである。According to a ninth aspect of the present invention, in the pattern movement control mode of the movement control means, when the dust detection means detects a predetermined amount or more of dust during the movement of the main body, it repeatedly moves forward or backward by a predetermined distance. By moving the main body in a zigzag manner, it is possible to realize a self-propelled cleaner that efficiently cleans an area with dust by simple control.
【0046】請求項10に記載した発明は、移動制御手
段のパターン移動制御モードは、本体の移動中にゴミ検
知手段が所定量以上のゴミを検知したときに螺旋状軌跡
で内側から外側に本体を移動させるもので、本体の移動
停止時間を短くしてゴミのある領域を最も効率よく清掃
する自走式掃除機が実現できるものである。According to a tenth aspect of the present invention, in the pattern movement control mode of the movement control means, when the dust detection means detects a predetermined amount or more of dust during the movement of the body, the body moves from the inside to the outside in a spiral locus. This makes it possible to realize a self-propelled cleaner that shortens the stop time of the movement of the main body and most efficiently cleans the area with dust.
【0047】請求項11に記載した発明は、移動制御手
段の障害物回避制御モードとパターン移動制御モードと
で、本体の移動速度を切り換えるもので、パターン移動
制御モードのときの移動速度を落とすことでより念入り
に清掃ができ、使用者に対して運転状態を報知できる自
走式掃除機が実現できるものである。。According to an eleventh aspect of the present invention, the movement speed of the main body is switched between the obstacle avoidance control mode and the pattern movement control mode of the movement control means, and the movement speed in the pattern movement control mode is reduced. Thus, a self-propelled cleaner that can perform more careful cleaning and notify the user of the driving state can be realized. .
【0048】請求項12に記載した発明は、本体に運転
状態を表示する表示手段を具備し、移動制御手段の障害
物回避制御モードの場合とパターン移動制御モードの場
合とで前記表示手段の表示を切り換えるもので、使用者
に運転状態を報知する自走式掃除機が実現できるもので
ある。According to a twelfth aspect of the present invention, there is provided a display means for displaying an operation state on the main body, and the display means displays the display means when the movement control means is in the obstacle avoidance control mode and when it is in the pattern movement control mode. And a self-propelled cleaner that notifies the user of the driving state can be realized.
【図1】本発明の第1の実施例である自走式掃除機の内
部透視斜視図FIG. 1 is an internal perspective view of a self-propelled cleaner according to a first embodiment of the present invention.
【図2】同、システム構成を示すブロック図FIG. 2 is a block diagram showing the same system configuration.
【図3】同、移動制御のフローチャートFIG. 3 is a flowchart of the movement control.
【図4】同、パターン移動制御モードの動作説明図FIG. 4 is an explanatory diagram of an operation in the same pattern movement control mode.
【図5】同、障害物回避制御モードの動作説明図FIG. 5 is an explanatory diagram of an operation in the obstacle avoidance control mode.
【図6】同、障害物回避制御モードの動作説明図FIG. 6 is an explanatory diagram of an operation in the obstacle avoidance control mode.
【図7】同、全体動作説明図FIG. 7 is an explanatory diagram of the whole operation.
【図8】本発明の第2の実施例である自走式掃除機の全
体動作説明図FIG. 8 is a view for explaining the overall operation of a self-propelled cleaner according to a second embodiment of the present invention.
1 本体 3,4 駆動モータ 5,6 減速機 7,8 駆動輪 9 移動制御手段 10,11 障害物検知手段 12 清掃ノズル 14 ファンモータ 17 ゴミ検知手段 19 表示手段 CM1 パターン移動制御モード CM2 障害物回避制御モード DESCRIPTION OF SYMBOLS 1 Main body 3,4 Drive motor 5,6 Reduction gear 7,8 Driving wheel 9 Movement control means 10,11 Obstacle detection means 12 Cleaning nozzle 14 Fan motor 17 Dust detection means 19 Display means CM1 Pattern movement control mode CM2 Obstacle avoidance Control mode
───────────────────────────────────────────────────── フロントページの続き (72)発明者 土師 雅代 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 Fターム(参考) 3B006 KA01 3B057 DA00 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Masayo Hoshi 1006 Kadoma Kadoma, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. F term (reference) 3B006 KA01 3B057 DA00
Claims (12)
段と、本体の移動に障害となる障害物を検出する障害物
検知手段と、床面のゴミを清掃する清掃手段と、前記清
掃手段によって清掃されるゴミの量を検知するゴミ検知
手段と、前記走行手段および操舵手段を制御して本体の
移動を制御する移動制御手段とを本体に具備し、前記移
動制御手段は、本体の移動中に障害物検知手段が障害物
を検出したときに本体の移動方向を変える障害物回避制
御モードと、本体の移動中にゴミ検知手段がゴミを検知
したときにあらかじめ設定された移動パターンで本体を
移動させるパターン移動制御モードとを有し、前記本体
の移動中に前記2つの制御モードを切り換えることによ
り清掃領域を移動させる自走式掃除機。1. A traveling means and a steering means for moving a main body, an obstacle detecting means for detecting an obstacle which hinders the movement of the main body, a cleaning means for cleaning dust on a floor, and a cleaning by the cleaning means. Dust detection means for detecting the amount of dust to be produced, and movement control means for controlling the movement of the main body by controlling the traveling means and the steering means, wherein the movement control means An obstacle avoidance control mode that changes the moving direction of the main unit when the obstacle detection unit detects an obstacle, and moves the main unit in a preset movement pattern when the dust detection unit detects dust while the main unit is moving A self-propelled cleaner having a pattern movement control mode for causing the cleaning area to move by switching between the two control modes while the main body is moving.
検知手段が障害物を検知すると、パターン移動制御モー
ドから障害物回避制御モードに切り換える請求項1記載
の自走式掃除機。2. The self-propelled cleaner according to claim 1, wherein, when the obstacle detecting means detects an obstacle in the pattern movement control mode, the mode is switched from the pattern movement control mode to the obstacle avoidance control mode.
手段がゴミを検知すると、障害物回避制御モードからパ
ターン移動制御モードに切り換える請求項1または2記
載の自走式掃除機。3. The self-propelled cleaner according to claim 1, wherein when the dust detection means detects dust in the obstacle avoidance control mode, the mode is switched from the obstacle avoidance control mode to the pattern movement control mode.
によるゴミの取り残しが発生しない範囲で本体を移動さ
せ、障害物回避モードでは障害物から遠ざかる方向に本
体を移動させる請求項1乃至3のいずれか1項に記載の
自走式掃除機。4. The apparatus according to claim 1, wherein in the pattern movement control mode, the main body is moved in a range in which no dust is left by the cleaning means, and in the obstacle avoidance mode, the main body is moved in a direction away from the obstacle. The self-propelled vacuum cleaner according to claim 1.
したときに本体をターンさせた後に直進させる請求項1
乃至4のいずれか1項に記載の自走式掃除機。5. In the obstacle avoidance control mode, when an obstacle is detected, the main body is turned and then goes straight.
The self-propelled cleaner according to any one of claims 1 to 4.
体の左右どちら側にあるのかを区別し、移動制御手段の
障害物回避制御モードは、障害物を検出したときに本体
を障害物から遠ざかる方向にターンさせた後に直進させ
る請求項1乃至4のいずれか1項に記載の自走式掃除
機。6. The obstacle detecting means distinguishes whether the detected obstacle is on the left or right side of the main body. The obstacle avoidance control mode of the movement control means sets the main body to an obstacle when the obstacle is detected. The self-propelled vacuum cleaner according to any one of claims 1 to 4, wherein the self-propelled cleaner is made to travel straight after being turned in a direction away from the vehicle.
せるターン角度は、90度以上で一定である請求項5ま
たは6記載の自走式掃除機。7. The self-propelled cleaner according to claim 5, wherein a turn angle at which the main body is turned when an obstacle is detected is constant at 90 degrees or more.
せるターン角度は、その都度ランダムに決定される請求
項5または6記載の自走式掃除機。8. The self-propelled cleaner according to claim 5, wherein a turn angle at which the main body is turned when an obstacle is detected is randomly determined each time.
中にゴミ検知手段が所定量以上のゴミを検知したときに
所定距離の前進または後退を繰り返しながら本体をジグ
ザク移動させる請求項1乃至8のいずれか1項に記載の
自走式掃除機。9. The pattern movement control mode according to claim 1, wherein when the dust detecting means detects dust of a predetermined amount or more during the movement of the main body, the main body is zigzag-moved while repeatedly moving forward or backward by a predetermined distance. A self-propelled vacuum cleaner according to any one of the preceding claims.
動中にゴミ検知手段が所定量以上のゴミを検知したとき
に螺旋状軌跡で内側から外側に本体を移動させる請求項
1乃至8のいずれか1項に記載の自走式掃除機。10. The pattern movement control mode according to claim 1, wherein, when the dust detection means detects a predetermined amount or more of dust during the movement of the main body, the main body is moved from inside to outside in a spiral trajectory. The self-propelled vacuum cleaner according to claim 1.
制御モードとで、本体の移動速度を切り換える請求項1
乃至10のいずれか1項に記載の自走式掃除機。11. The moving speed of the main body is switched between an obstacle avoidance control mode and a pattern movement control mode.
The self-propelled vacuum cleaner according to any one of claims 10 to 10.
具備し、移動制御手段の障害物回避制御モードの場合と
パターン移動制御モードの場合とで前記表示手段の表示
を切り換える請求項1乃至11のいずれか1項に記載の
自走式掃除機。12. The apparatus according to claim 1, further comprising a display unit for displaying an operation state on the main body, wherein a display of the display unit is switched between an obstacle avoidance control mode of the movement control unit and a pattern movement control mode. The self-propelled vacuum cleaner according to any one of the above.
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JP2000272805A JP3674481B2 (en) | 2000-09-08 | 2000-09-08 | Self-propelled vacuum cleaner |
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JP2000272805A JP3674481B2 (en) | 2000-09-08 | 2000-09-08 | Self-propelled vacuum cleaner |
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