JP2002204768A - Self-propelled cleaner - Google Patents

Self-propelled cleaner

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Publication number
JP2002204768A
JP2002204768A JP2001004657A JP2001004657A JP2002204768A JP 2002204768 A JP2002204768 A JP 2002204768A JP 2001004657 A JP2001004657 A JP 2001004657A JP 2001004657 A JP2001004657 A JP 2001004657A JP 2002204768 A JP2002204768 A JP 2002204768A
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Japan
Prior art keywords
movement control
body
means
obstacle
direction
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Granted
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JP2001004657A
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Japanese (ja)
Inventor
Masayo Haji
Hideo Okubo
Yoshifumi Takagi
Hidetaka Yabuuchi
Seiji Yamaguchi
Miki Yasuno
幹 保野
雅代 土師
日出男 大久保
誠二 山口
秀隆 藪内
祥史 高木
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Matsushita Electric Ind Co Ltd
松下電器産業株式会社
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Application filed by Matsushita Electric Ind Co Ltd, 松下電器産業株式会社 filed Critical Matsushita Electric Ind Co Ltd
Priority to JP2001004657A priority Critical patent/JP2002204768A/en
Publication of JP2002204768A publication Critical patent/JP2002204768A/en
Application status is Granted legal-status Critical

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Abstract

PROBLEM TO BE SOLVED: To solve the problem of difficulty in previously determining a movement route as if to cover an entire cleaning area. SOLUTION: When moving a body 1 all over a square cleaning area surrounded by vertical lines and horizontal lines, the body 1 is made to wind its way between opposing vertical lines. For this winding, a clearance between a forward winding route and a backward winding route is set so as to leave some parts uncleaned and the cleaner may move all over a wide area in a short time. The body 1 changes the course and travels windingly on opposing horizontal lines, moves from the left to the right in a cleaning area. With the progress of winding travel, finally the body 1 hits against the right vertical line and hindered from progressing. In this case, the direction of departing from the right vertical line, namely, it makes a turnabout leftwards. The body windingly travels between the opposing right and left vertical lines and moves horizontally in the cleaning area. Thus, the body is moved in the cleaning area as if to cover the entire area.

Description

【発明の詳細な説明】 DETAILED DESCRIPTION OF THE INVENTION

【0001】 [0001]

【発明の属する技術分野】本発明は、清掃機能と移動機能とを備え、自動的に清掃を行う自走式掃除機に関するものである。 The present invention relates to relates to a self-propelled cleaner and a moving function and cleaning function, performs 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。 For cleaning by moving the automatically cleaning area by adding the moving means and sensors and movement control means of the Related Art Conventionally cleaners, so-called self-induced self-propelled cleaner is developed there. 例えば、清掃機能として本体底部に吸い込み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、位置確認手段とを備え、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。 For example, and the like rotary brush for scraped suction device and dust to the main body bottom as a cleaning function, and steering means for converting the driving wheels and the moving direction of the drive enable to move freely, failure during movement and obstacle detecting means for detecting an object, and a position confirmation means while bypassing the obstacle of the cleaning area by the obstacle detecting unit, recognizes the cleaning area cleaned by the position recognizing means, not yet cleaned move the cleaning area is intended to clean the entire cleaning region.

【0003】さらに例えば、特開昭62−236519 [0003] Further, for example, JP-A-62-236519
号公報、特開昭62−236520号公報、特開昭63 JP, Sho 62-236520, JP-Sho 63
−222726合公報に記載されているように、吸い込み具と集塵室をつなぐ空気通路にゴミ検出部を設け、この信号によって走行速度を切り換えたり、通常の走行パターンから別の走行パターンに切り換えて清掃をより念入りに行うものも開発されている。 As described in -222,726 Go publication, the dust detection unit provided in an air passage connecting the suction tool and the dust collecting chamber, or switching the traveling speed by the signal is switched from the normal running pattern to another running pattern It has been developed to perform cleaning more carefully.

【0004】 [0004]

【発明が解決しようとする課題】しかしながら、前記従来の自走式掃除機では、駆動輪の回転センサやジャイロなどを用いて行う位置認識の累積誤差のためにあらかじめ決められた移動経路からずれて清掃を行い、その結果清掃のやり残しが生じることがあった。 [SUMMARY OF THE INVENTION] However, the conventional self-propelled cleaner, deviated from the predetermined moving path for the accumulated error position recognition performed by using a rotation sensor or a gyro drive wheel performs a cleaning, there was that unfinished resulting cleaning occurs. 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。 Further, in the case where there are many obstacles to cleaning area, it is difficult to predetermine the movement path so as to fill without thoroughly the entire cleaning region while avoiding obstacles, a complicated control was 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量センサの信号により走行パターンを切り換える場合でも、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, a plurality of times running even when switching the running pattern by signals dust amount sensor, or traveling slowly prone area trash, or its vicinity while moving the movement path is predetermined I have stayed in to add behavior such as.

【0006】本発明は、前記従来の課題を解決するもので、複雑な制御を行うことなく清掃領域を効率よ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。 [0006] The present invention is intended to solve the conventional problems, and its object is to provide a self-propelled cleaner cleaning area efficiently cleaned without complicated control.

【0007】 [0007]

【課題を解決するための手段】前記従来の課題を解決するために本発明の自走式掃除機は、本体を移動させる走行手段と、前記本体の移動方向を転換する移動方向転換手段と、前記走行手段および移動方向転換手段を制御して前記本体の移動を制御する移動制御手段を備え、前記移動制御手段は、前記本体が清掃領域の対向し合う領域線間を蛇行走行するように制御すると共に、前記蛇行走行による進行が阻まれる場合には、前記本体の進行方向を前記蛇行走行の進行を阻む領域線から遠ざかる方向に転換する広範囲移動制御を実施するものである。 Means for Solving the Problems] self-propelled cleaner of the present invention to solve the conventional problems, a traveling means for moving the main body, a moving direction changing means for converting a moving direction of said body, and controls the driving means and the moving direction changing means includes a movement controlling means for controlling the movement of the body, the movement control means controls so as to meander travels between regions line the body facing each other of the cleaning area while, when traveling by the meandering is blocked is to implement a wide range movement control to switch the traveling direction of the body in a direction away from the area line that prevent progression of the meandering.

【0008】この構成によれば、まず、本体を清掃領域を仕切る壁などの領域線で、且つ対向し合う領域線間を蛇行走行させる。 [0008] According to this configuration, first, in the area line such as a wall partitioning the cleaning region a body, to and meandering between regions lines facing each other. この蛇行走行は清掃残しが発生するように蛇行する往路と復路の間隔を設定しておき、短時間で広範囲を移動できるようにしておく。 The meandering may have set up forward and return interval meandering so leave cleaning occurs, keep to move a wide range in a short time. 例えば、清掃領域を上下線と左右線とで囲まれる四角形として考えると、まず、本体が対向し合う上下線で方向を転換して蛇行走行を行い、清掃領域内を左から右側へ移動する。 For example, it is considering as a rectangle surrounded cleaning area in a vertical line and the left and right lines, first, the body performs meandering and change direction at the vertical lines facing each other, to move the cleaning area from left to right. そして、蛇行走行が進行していくと最終的に本体は右線に当たり進行を阻まれてしまう。 And, finally the body and meandering progresses would been hampered the progress Upon right line. この場合には、右線から遠ざかる方向、すなわち、左方向に方向を転回する。 In this case, the direction away from the right line, that is, turning the direction to the left. すると、今度は、対向し合う左右線間を本体が蛇行走行し、清掃領域内を上下方向に移動していく。 Then, in turn, between the left and right lines facing each other body is meandering, moves the cleaning area in the vertical direction. このように、清掃領域内を塗りつぶすように本体を移動させることで、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。 In this manner, by moving the body to fill the cleaning area, the self-propelled cleaner can be achieved to clean efficiently cleaned area with a simple configuration.

【0009】 [0009]

【発明の実施の形態】請求項1に記載の発明は、本体に設け床面のゴミを清掃する清掃手段と、前記本体を移動させる走行手段と、前記本体の移動方向を転換する移動方向転換手段と、前記走行手段および移動方向転換手段を制御して前記本体の移動を制御する移動制御手段を備え、前記移動制御手段は、前記本体が清掃領域の対向し合う領域線間を蛇行走行するように制御すると共に、前記蛇行走行による進行が阻まれる場合には、前記本体の進行方向を前記蛇行走行の進行を阻む領域線から遠ざかる方向に転換する広範囲移動制御を実施するものである。 DETAILED DESCRIPTION OF THE INVENTION According to one aspect of the present invention, a cleaning means for cleaning the dust on the floor is provided in the main body, a traveling means for moving the body, the moving direction conversion to convert the moving direction of the body and means, a movement controlling means for controlling the movement of the body by controlling the driving means and the moving direction conversion means, said movement control means meandering between regions line the body facing each other of the cleaning area controls as, when traveling by the meandering is blocked is to implement a wide range movement control to switch the traveling direction of the body in a direction away from the area line that prevent progression of the meandering.

【0010】この構成によれば、まず、本体を清掃領域を仕切る壁などの領域線で、且つ対向し合う領域線間を蛇行走行させる。 [0010] According to this configuration, first, in the area line such as a wall partitioning the cleaning region a body, to and meandering between regions lines facing each other. この蛇行走行は清掃残しが発生するように蛇行する往路と復路の間隔を設定しておき、短時間で広範囲を移動できるようにしておく。 The meandering may have set up forward and return interval meandering so leave cleaning occurs, keep to move a wide range in a short time. 例えば、清掃領域を上下線と左右線とで囲まれる四角形として考えると、まず、本体が対向し合う上下線で方向を転換して蛇行走行を行い、清掃領域内を左から右側へ移動する。 For example, it is considering as a rectangle surrounded cleaning area in a vertical line and the left and right lines, first, the body performs meandering and change direction at the vertical lines facing each other, to move the cleaning area from left to right. そして、蛇行走行が進行していくと最終的に本体は右線に当たり進行を阻まれてしまう。 And, finally the body and meandering progresses would been hampered the progress Upon right line. この場合、右線が蛇行走行の進行を阻む領域線に該当し、この右線から遠ざかる方向、すなわち、左方向に本体の方向を転回する。 In this case, corresponds to the region line right lines prevent the progression of the meandering, a direction away from the right line, that is, turning the direction of the body to the left. すると、今度は、対向し合う左右線間を本体が蛇行走行し、 Then, in turn, between the left and right lines facing each other body and meandering,
清掃領域内を上下方向に移動していく。 Moves the cleaning area in the vertical direction. このように、清掃領域内を塗りつぶすように本体を移動させることで、 In this manner, by moving the body to fill the cleaning area,
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。 Self-propelled cleaner can be achieved to clean efficiently cleaned area with a simple configuration. なお、本体の蛇行走行が阻まれる場合には、右線(蛇行走行を阻む領域線)に対して略直交する方向に本体の進行方向を転換するようにしても良く、この場合でも、本体は右線から遠ざかる方向に移動することとなるが、清掃領域が四角形などの場合には上下方向の次に左右方向の蛇行走行となり、清掃領域内を効率よく移動することができる。 In the case where meandering of the body is hampered, the right line (area line that prevent meandering) may be converted to the traveling direction of the main body in a direction substantially orthogonal to, even in this case, the body Although the it moves away from the right line, becomes a meandering in the horizontal direction to the next vertically when such cleaning area rectangle can be moved efficiently cleaning area.

【0011】請求項2に記載の発明は、請求項1記載の発明において、本体の進行方向に位置する障害物を検知する障害物検知手段を設け、移動制御手段は、広範囲移動制御中に、前記障害物検知手段が障害物を検知した場合には、前記障害物を回避する方向に前記本体の進行方向を転換する障害物検知移動制御を有したものである。 [0011] The invention of claim 2 is the invention of claim 1, wherein the obstacle detection means for detecting an obstacle located in the travel direction of the main body is provided, movement control means, in a wide range movement control, when the obstacle detecting unit detects an obstacle are those having an obstacle detection movement control to switch the traveling direction of the body in a direction to avoid the obstacle.

【0012】この構成によれば、清掃領域内に障害物がある場合にも、その障害物を回避することができ、また、障害物の周囲の清掃も可能とすることができる。 [0012] According to this configuration, even if there is an obstacle to the cleaning area, it is possible to avoid the obstacle, and can also enable cleaning of the surrounding obstacles.

【0013】請求項3に記載の発明は、請求項2記載の発明において、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を有し、移動制御手段は、広範囲移動制御中に、前記ゴミ検知手段が所定量以上のゴミを検知した場合には、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を有したものである。 [0013] The invention described in claim 3 is the invention of claim 2 wherein has a dust detection means for detecting an amount of dust is cleaned by the cleaning means, movement control means, in a wide range movement control, when the dust detection means detects the dust of a predetermined amount or more are those having a pattern movement control for moving the body in a movement pattern set in advance.

【0014】この構成によれば、ゴミ検知手段で所定量以上のゴミを検知した場合には、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、つまりゴミのあるところを重点的にゴミを収集できるような移動パターンを実施することで、清掃領域内のゴミを効率よく清掃することができる。 According to this configuration, when detecting the predetermined amount or more of dust in the dust detection means, moves the body in a movement pattern set in advance, i.e. it collects intensively garbage where there is dust by carrying out the movement pattern as it can be cleaned efficiently dust cleaning area.

【0015】請求項4に記載の発明は、請求項1〜3のいずれか1項に記載の発明において、移動制御手段の広範囲移動制御は、蛇行走行の往路と復路のなす角度が所定の角度としたものである。 [0015] The invention described in claim 4 is the invention according to any one of claims 1 to 3, extensive movement control, forward and return angle is a predetermined angle of meandering of the movement control means it is obtained by the.

【0016】請求項5に記載の発明は、請求項1〜3のいずれか1項に記載の発明において、移動制御手段の広範囲移動制御は、蛇行走行による往路と復路の間隔が所定幅としたものである。 [0016] The invention described in claim 5 is the invention according to claim 1, extensive movement control of the movement control means, the interval between the forward and return by meandering has a predetermined width it is intended.

【0017】請求項6に記載の発明は、請求項3〜5のいずれか1項に記載の発明において、移動制御手段のパターン移動制御は、前進または後退を繰り返しながら本体をジグザグに移動させるもので、この本体のジクザク移動では清掃残しが発生しないように往路と復路の間隔を設定する必要がある。 [0017] The invention described in claim 6 is the invention according to any one of claims 3-5, pattern transfer control of the movement control means for moving the body in a zigzag while repeating the forward or backward in, the zigzag movement of the body it is necessary to set the interval of the backward and forward so as to leave the cleaning does not occur. 具体的に述べると、本体に設けた清掃手段が清掃できる領域(幅)内に往路と復路との間隔を抑える必要があり、往路と復路とで清掃手段による清掃領域の一部が重なり合うようにしても良い。 To be specific, it is necessary to suppress the distance between the forward path and the backward path in the region (width) that can be cleaned is cleaned means provided in the main body, as part of the cleaning area by the cleaning means in the forward path and the backward path overlap and it may be.

【0018】請求項7に記載の発明は、請求項3〜5のいずれか1項に記載の発明において、移動制御手段のパターン移動制御を、渦巻き状に内側から外側に本体を移動させることにより、複雑な制御を行うことなくゴミを効率よく収集することが出来る。 The invention described in claim 7 is the invention according to any one of claims 3 to 5, the pattern movement control of the movement control means, by moving the main body from the inside to the outside in a spiral shape , it is possible to collect efficiently the trash without performing a complicated control. この場合の移動パターンにおいても隣り合う内側と外側の渦巻きの間隔は、本体に設けた清掃手段が清掃できる領域(幅)内に抑える必要があり、また、清掃手段による清掃領域の一部が重なり合うようにしても良い。 Spacing the inner and outer spiral adjacent even movement pattern in this case, must be kept to a region (width) that can be cleaned is cleaning means provided in the body, also overlapping a portion of the cleaning area by the cleaning means it may be so.

【0019】請求項8に記載の発明は、請求項2〜7のいずれか1項に記載の発明において、移動制御手段の障害物検知移動制御が複数の移動パターンを有することにより、簡単な構成で清掃領域を効率よく移動することが出来る。 [0019] The invention of claim 8 is the invention according to any one of claims 2 to 7, by the obstacle detecting movement control of the movement control means has a plurality of movement patterns, simple structure in it is possible to move the cleaning area efficiently.

【0020】請求項9に記載の発明は、請求項2〜8のいずれか1項に記載の発明において、移動制御手段の広範囲移動制御と障害物検知移動制御とで、本体の移動速度を切り替えることにより、簡単な構成で複雑な制御を行うことなく、ゴミを効率よく収集することが出来る。 [0020] The invention according to claim 9, the invention according to any one of claims 2-8, in a wide range movement control and obstacle detection movement control of the movement control means switches the movement speed of the body it by, without performing a complicated control with a simple configuration, can be collected efficiently garbage.

【0021】請求項10に記載の発明は、請求項3〜8 [0021] The invention according to claim 10, claim 3-8
のいずれか1項に記載の発明において、移動制御手段の広範囲移動制御と障害物検知移動制御とパターン移動制御とで、本体の移動速度を切り替えることにより、簡単な構成で複雑な制御を行うことなく、ゴミを効率よく収集することが出来る。 In the invention according to any one of, in a wide range movement control and obstacle detection movement control and pattern movement control of the movement control means, by switching the moving speed of the body, to perform a complex control with a simple configuration no, it is possible to collect efficiently garbage.

【0022】請求項11に記載の発明は、請求項2〜8 [0022] The invention according to claim 11, claim 2-8
のいずれか1項に記載の発明において、移動制御手段の広範囲移動制御と障害物検知移動制御とで、清掃手段が吸い込みによりゴミを収集することを特徴とし、前記清掃手段の吸引力を切り替えることにより、簡単な構成で複雑な制御を行うことなく、ゴミを効率よく収集することが出来る。 In the invention according to any one of, in a wide range movement control and obstacle detection movement control of the movement control means, characterized by collecting the dust by suction cleaning means, to switch the suction force of the cleaning means by, without performing a complicated control with a simple configuration, it can be collected efficiently garbage.

【0023】請求項12に記載の発明は、請求項3〜8 [0023] The invention according to claim 12, claim 3-8
のいずれか1項に記載の発明にいて、移動制御手段の広範囲移動制御と障害物検知移動制御とパターン移動制御とで、清掃手段が吸い込みによりゴミを収集することを特徴とし、前記清掃手段の吸引力を切り替えることにより、簡単な構成で複雑な制御を行うことなく、ゴミを効率よく収集することが出来る。 Of it is in the present invention according to any one, in a wide range movement control and obstacle detection movement control and pattern movement control of the movement control means, characterized by collecting the dust by suction cleaning means, the cleaning means by switching the suction force without performing a complicated control by a simple structure, it can be collected efficiently garbage.

【0024】 [0024]

【実施例】以下、本発明の実施例について、図面を参照しながら説明する。 EXAMPLES The following examples of the present invention will be described with reference to the drawings.

【0025】(実施例1)図1は、本発明の第1の実施例における自走式掃除機の全体図を示すものである。 [0025] (Embodiment 1) FIG. 1 shows an overall view of the self-propelled vacuum cleaner in a first embodiment of the present invention. 図において、1は移動しながら清掃を行う自走式掃除機の本体で、清掃領域を移動する。 In FIG, 1 is a main body of the self-propelled cleaner for cleaning while moving, to move the cleaning area. 2,3は本体1の後方左右に配した左右の駆動モータで、それぞれの出力軸は左右の減速機4,5を介して本体1の両側面に配した左右の走行輪6,7を駆動する。 2 and 3 the drive motor of the left and right which arranged behind the left and right of the body 1, each of the output shaft drives the driving wheels 6 and 7 of the left and right arranged on both sides of the main body 1 through left and right decelerator 4,5 to. この左駆動モータ2と右駆動モータ3を独立に回転制御することにより本体1を移動させると共に、移動方向も転換することができるもので、走行手段および移動方向転換手段を兼ねている。 It moves the main body 1 by the rotation control of the left drive motor 2 and the right drive motor 3 independently moving direction as it can be converted, also serves as a traveling means and the moving direction conversion means.

【0026】8は本体1内に配され、各種入力に応じて左右の駆動モータ2,3を制御し、本体1の移動制御を行う移動制御手段で、マイクロコンピュータおよびその他制御回路からなる。 [0026] 8 is disposed in the main body 1, to control the left and right drive motors 2 and 3 in accordance with the various inputs, the mobile control unit for controlling the movement of the main body 1, a microcomputer and other control circuitry. 13は本体1の前部に設けた床面を掃除する清掃ノズルで、清掃ノズル13の下面には吸い込み口が開口しており、また、清掃ノズル13内には前記吸い込み口に臨む回転ブラシなどからなるアジテータ14が回転自在に設けられている。 13 is a cleaning nozzle for cleaning the floor surface provided at a front portion of the main body 1 has an opening that suction opening on the lower surface of the cleaning nozzle 13, also in the cleaning nozzle 13 such as a rotating brush facing the suction port consisting agitator 14 is rotatably provided. また、本体1内には電動送風機を構成するファンモータ15が配され、ファンモータ15で発生させた真空圧により清掃ノズル1 Further, the main body 1 fan motor 15 constituting the electric blower is arranged, cleaned by vacuum pressure caused by the fan motor 15 nozzle 1
3の吸い込み口を介して床面上のゴミを吸引する。 Through the third suction port for sucking the dust on the floor surface. 前記アジテータ14は本体1内に配したノズルモータ16により伝動ベルト17を介して回転駆動される。 The agitator 14 is rotated via the transmission belt 17 by a nozzle motor 16 arranged in the body 1. 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。 20 denotes a power supply made of batteries, for supplying power to the main body 1.

【0027】上記構成による、本体1の走行動作について説明する。 [0027] the above structure will be described traveling operation of the main body 1. まず左右の駆動モータ2,3を駆動して、 First by driving the left and right drive motors 2 and 3,
予め決められた広範囲移動制御を行うように本体1を前進させる。 Advancing the main body 1 so as to perform a predetermined extensive movement control. 本実施例での広範囲移動制御は、図2に示すように、四角形の上下線と左右線とで囲まれた清掃領域内を移動する場合を例に挙げ、開始点Aから矢印aの方向に開始するものとする。 Extensive movement control in the present embodiment, as shown in FIG. 2, like the case of moving the cleaning area surrounded by the vertical line of the rectangle and the left and right lines as an example, from the start point A in the direction of arrow a it is assumed that the start. 本体1は前進できなくなった地点B(領域線である下線)で左方向に方向転換し、角度θの方向である矢印bの方向へ再び前進する。 Body 1 is diverted to the left at the point can no longer advance B (underlined an area line), again advanced in the direction of arrow b is the direction of the angle theta. また前進できなくなればその地点C(領域線である上線)で今度は右方向に方向転換し、角度θの方向、つまり矢印c The next time in if not move forward that point C (upper line is an area line) is diverted to the right, the direction of the angle theta, i.e. arrow c
の方向へ前進する。 To move forward in the direction. このように対向し合う領域線間を前進とターンを繰り返しながらジグザグ移動を繰り返す、 Thus repeated zigzag movement while between area lines facing each other repeatedly forward and turns,
すなわち蛇行走行を実施するようにしている。 That is, so as to implement the meandering.

【0028】このときに地点Dのように移動方向を転換しても前進できない地点へ達したとき、すなわち、蛇行走行を阻む領域線である右線に到達したときは、今までの進行方向と略直交する方向あるいは右線と略直交する方向、すなわち、右線から離れる方向となるような矢印dの方向(角度θaの方向)へ移動方向を転換した後、 [0028] When it reaches to a point that can not be advanced even to convert the moving direction as a point D in this case, i.e., when it reaches the right line is an area lines that prevent meandering traveling, the traveling direction until now substantially orthogonal direction or the right lines in a direction substantially perpendicular, i.e., after the conversion of the moving direction of the arrow d as a direction away from the right line in the direction (direction at an angle .theta.a),
前進とターンを繰り返しながらジグザグ移動を繰り返す。 Repeat the zigzag movement while repeating the forward and turn. 再び移動方向を転換しても前進できないと判断したときは、清掃を終了して前記本体1の走行動作を停止する。 When it is determined that neither can advance to convert the moving direction, it stops the running operation the body 1 to end the cleaning again. なお、方向転換角度θおよびθaは、予め最適な値を実験的に決定するものである。 Note that turning angles θ and θa is to determine in advance the optimum value experimentally.

【0029】また、本実施例での別の広範囲移動制御を図3を用いて説明する。 Further, another broad movement control in this embodiment will be described with reference to FIG. 開始点A1から開始し、前進できなくなった地点B1で左方向に90°移動方向を転換し、所定距離wだけ前進した後、再び左方向に90°移動方向を転換して前進する。 Starting from the starting point A1, the 90 ° movement direction converted to the left at the point B1 that can no longer be advanced, after advancing by a predetermined distance w, advanced to convert the 90 ° direction of movement to the left again. 前進できなくなった地点C Point C that are no longer able to move forward
1で今度は右方向に90°移動方向を転換して所定距離wだけ前進し、再び右方向に90°移動方向を転換して前進する。 Now in 1 is converted to 90 ° movement direction to the right direction advanced by a predetermined distance w, advanced to convert the 90 ° direction of movement in the right direction again. このように前進とターンを繰り返して往路と復路の間隔が所定幅になるように前記本体1を移動させる蛇行走行を実施する。 Thus forward and return interval by repeating forward and turn out the meandering moving the body 1 to a predetermined width. このとき地点D1のように移動方向を転換しても前進できないとき、すなわち、蛇行走行を阻む領域線である右線に到達したときは、今までの進行方向と略直交する方向あるいは右線と略直交する方向、すなわち、右線から離れる方向となるような矢印d At this time if you can not advance even to convert the moving direction as the point D1, i.e., when it reaches the right line is an area lines that prevent meandering traveling, the traveling direction and the direction or the right line that is substantially orthogonal to date substantially perpendicular direction, i.e., the arrow d as a direction away from the right line
1の方向へ移動方向を転換した後、同様の往復運動を繰り返す。 After converting the direction of movement to one direction, and repeats the same reciprocating motion. 再び移動方向を転換しても前進できないと判断したときは、清掃を終了して前記本体1の走行動作を停止する。 When it is determined that neither can advance to convert the moving direction, it stops the running operation the body 1 to end the cleaning again. なお所定距離wは、予め最適な値を実験的に決定するものである。 Incidentally predetermined distance w is for determining in advance the optimum value experimentally.

【0030】(実施例2)次に、本発明の第2の実施例を説明する。 [0030] Next (Example 2), illustrating a second embodiment of the present invention. 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た障害物検知手段9,10,11,12を本体1に付加する以外は実施例1と同様の構成である。 Configuration similar to that in Example 1 except that the addition of obstacle detection means 9, 10, 11, 12, which is constituted by an optical sensor which ranging the distance to the obstacle in front and side of the main body 1 to the main body 1 it is.

【0031】図4に示すような中央に障害物がある清掃領域を、実施例1で説明したジグザグ移動するような広範囲移動制御を用いて清掃する場合、障害物Wに対して矢印a2の方向に進行中に接触した時に、方向転換角度θ、すなわち矢印b2の方向へ移動方向を転換してしまい、障害物Wに接触する場所によっては清掃領域を隈なく清掃できない場合があった。 [0031] the center, as shown in FIG. 4 the cleaning region there is an obstacle, in the case of cleaning using a wide range movement control such that zigzag movement described in Embodiment 1, the direction of the arrow a2 against the obstacle W to when contacted in progress, turning angle theta, i.e. would be to convert the moving direction in the direction of arrow b2, in some places in contact with the obstacle W there may not be cleaned without thoroughly cleaning area.

【0032】本実施例はこの問題を解決するものであり、図5に示すように矢印a3の方向へ進行中に障害物Wを検出した場合には、障害物Wに沿うような矢印b3 [0032] The present embodiment is intended to solve this problem, when detecting an obstacle W in progress in the direction of arrow a3, as shown in FIG. 5, such as along the obstacle W arrow b3
の方向へ移動方向を転換する。 To convert the direction of movement of the direction. 障害物を検出している間は矢印b3の方向へ移動するといった、障害物移動検知制御を行い、障害物を検出しなくなれば矢印c3の方向へ移動方向を転換して再び広範囲移動制御を用いて清掃を行う。 Such during the detection of obstacles to movement in the direction of arrow b3, it performs the obstacle movement detection control, again using a broad movement control by converting the direction of movement in the direction of the arrow c3 if no obstacle is detected for cleaning Te.

【0033】次に、図6を用いて移動制御手段8での走行制御アルゴリズムの一例を示す。 [0033] Next, an example of a running control algorithm in the mobile control unit 8 with reference to FIG.

【0034】ステップ1において、左右の駆動モータ2,3を駆動して本体1を前進させ、広範囲移動制御を実行する。 [0034] In Step 1, to advance the body 1 by driving the left and right drive motors 2 and 3, to perform a wide range movement control. ステップ2において、障害物検知手段9,1 In step 2, the obstacle detecting means 9,1
0,11,12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1に戻り、障害物があればステップ3に進んで障害物検知移動制御を実行する。 To determine if there is an obstacle to look at the input of 0,11,12, if there is no obstacle back to step 1 to execute the obstacle detection movement control proceeds to step 3 if there is an obstacle.

【0035】障害物検知移動制御として本実施例では、 [0035] As the obstacle detection movement control in the present embodiment,
図7〜図10に示すような動作を行う。 It performs the operation as shown in FIGS. 7 to 10. すなわち、図7 That is, FIG. 7
に示すように矢印e1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停止し、障害物検知手段9,10,11,12の測距データを比較して障害物W In P1 point while moving in the direction of the arrow e1 stopped immediately when an obstacle is detected W1 as shown in, obstacle by comparing the distance data of the obstacle detecting means 9, 10, 11, 12 W
1が本体1の左右どちら側にあるのかを判断する。 1 determines whether the left and right both side of the main body 1. この図の場合、障害物W1は障害物検知手段10の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だけ方向転換し、矢印f1の方向に直進する。 In this figure, since the obstacle W1 is detected near the obstacle detecting means 10, it is determined that the right side of the body 1 there is an obstacle W1 only redirecting certain angle θ1 body 1 to the left, arrows straight in the direction of the f1.

【0036】一方、図8に示すような場合は矢印e2の方向に移動中にP2地点で障害物W2を検出して停止したとき、障害物W2は障害物検知手段9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だけ方向転換し、矢印f On the other hand, when the case shown in FIG. 8 has stopped by detecting an obstacle W2 at point P2 while moving in the direction of the arrow e2, obstacles W2 is detected near the obstacle detecting means 9 since, it is determined that the left side of the body 1 there is an obstacle W2 only redirecting certain angle θ2 the body 1 to the right, the arrow f
2の方向に直進する。 Straight in the second direction. さらに、図9に示すような場合は矢印e3の方向に移動中にP3地点で障害物W3を検出して停止したとき、障害物W3は障害物検知手段10および12の近くに検出されるので、本体1の左斜め側に障害物W3があると判断して本体1を左向きに所定角度θ3だけ方向転換し、矢印f3の方向、つまり障害物W Further, when the case shown in FIG. 9 has stopped by detecting an obstacle W3 at P3 point while moving in the direction of the arrow e3, since the obstacle W3 can be detected near the obstacle detecting means 10 and 12 , only redirecting certain angle θ3 the body 1 to the left is determined that the left oblique side of the main body 1 there is an obstacle W3, the direction of the arrow f3, ie obstacle W
3に沿うような方向に直進する。 Straight in a direction along the 3. また、図10に示すような場合は矢印e4の方向に移動中にP4地点で障害物W4を検出して停止したとき、障害物W4は障害物検知手段9および11の近くに検出されるので、本体1の右斜め側に障害物W4があると判断して本体1を右向きに所定角度θ4だけ方向転換し、矢印f4の方向、つまり障害物W4に沿うような方向に直進する。 Further, when the case shown in FIG. 10 that has stopped by detecting an obstacle W4 in P4 sites while moving in the direction of the arrow e4, since obstacles W4 is detected near the obstacle detection means 9 and 11 , only redirecting certain angle θ4 body 1 to the right it is determined that there is an obstacle W4 on the right oblique side of the main body 1, the direction of the arrow f4, i.e. straight in a direction along the obstacle W4.

【0037】ここで、本体1が障害物に沿うような方向に直進しているときの動作切り換えの一例を図11および図12を用いて説明する。 [0037] Here it will be described with reference to FIGS. 11 and 12 an example of the operation switching when the body 1 is straight in a direction along the obstacle. 図11に示すように、本体1が障害物に沿って直進している時にP5'地点で障害物検知手段9,10,11,12のいずれからも測距データが得られなかった場合、本体1は前記障害物が中央障害物であると判断して広範囲移動制御に切り換える。 As shown in FIG. 11, when the distance measurement data from any of the obstacle detecting means 10, 11, 12 at P5 'point was not obtained when the main body 1 goes straight along the obstacle body 1 switch to wide movement control is determined that the obstacle is a central obstacle.
この場合本体1は、P5地点で障害物に沿うように方向転換したときの角度θ5だけ左方向へ方向転換した後矢印f5の方へ向かって前進し、広範囲移動制御を実行する。 Body 1 in this case, advanced toward the direction of arrow f5 after turning angle θ5 only to the left direction when it turning along the obstacle P5 point executes a broad movement control.

【0038】また、図12に示すように、P6'地点で障害物検知手段9および11から障害物が検出された場合、本体1は清掃領域の隅に到達したと判断して広範囲移動制御に切り換える。 Further, as shown in FIG. 12, P6 'when an obstacle from the obstacle detection means 9 and 11 are detected at point, the main body 1 in the wide movement control and determined to have reached the corner of the cleaning area It switched. この場合本体1は進行方向d6 Body 1 in this case, the traveling direction d6
とe6が略直交するような角度θ6だけ方向転換した後、広範囲移動制御を実行する。 When e6 is after turning angle θ6 as substantially perpendicular to perform extensive movement control.

【0039】なお、方向転換角度θ1,θ2,θ6は予め最適な値を実験的に決定するものである。 It should be noted, turning angle .theta.1, .theta.2, .theta.6 is to determine in advance the optimum value experimentally. また、この説明では本体から見て左側に障害物がある時を説明したが、右側にある場合も同様に実行でき、その場合は方向転換の向きを逆にすればよい。 Although described when in this description there is an obstacle on the left side as viewed from the body, can achieve the same when the right, in which case it is sufficient the direction of turning reversed.

【0040】(実施例3)次に、本発明の第3の実施例を説明する。 Next (Example 3), illustrating a third embodiment of the present invention. 清掃ノズル13で清掃されるゴミの量を検知できるように、吸引されたゴミが通過する空気通路1 As can detect the amount of waste to be cleaned by the cleaning nozzle 13, the air passage 1 sucked dust passes
9にフォトセンサなどからなるゴミ検知手段18を本体に付加する以外は実施例2と同様の構成である。 Except for adding dust detection means 18 consisting of such as a photo sensor body 9 has the same structure as in Example 2.

【0041】以下、図13を用いて移動制御手段8での走行制御アルゴリズムの一例を示す。 [0041] Hereinafter, an example of a running control algorithm in the mobile control unit 8 with reference to FIG. 13. ステップ11において、左右の駆動モータ2,3を駆動して本体1を前進させ、広範囲移動制御を実行する。 In step 11, to advance the body 1 by driving the left and right drive motors 2 and 3, to perform a wide range movement control. ステップ12において、障害物検知手段9,10,11,12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13に進み、障害物があればステップ17に進んで障害物検知移動制御を実行する。 In step 12, it is determined whether there is an obstacle to look at the input of the obstacle detecting means 10, 11, 12, if there is no obstacle proceeds to step 13, the routine proceeds to step 17 if there is an obstacle performing an obstacle detection movement control.

【0042】ステップ13において、ゴミ検知手段18 [0042] In step 13, dust detection means 18
の入力より吸引されたゴミの量が所定量以上かどうかを判断し、所定量未満であればステップ11に戻り、所定量以上であればステップ14に進んでパターン移動制御を実行する。 The amount of aspirated dust from the input, it is determined whether a predetermined amount or more, the process returns to step 11 is less than the predetermined amount, executing the pattern transfer control proceeds to step 14 if the predetermined amount or more of. ステップ15において、パターン移動制御を実行中に障害物検知手段9,10,11,12の入力より障害物があると判断した場合、ステップ17に進んで障害物検知移動制御を実行する。 In step 15, if it is determined that there is an obstacle than the input of the obstacle detecting means 9, 10, 11, 12 during the pattern transfer control to perform an obstacle detection movement control proceeds to step 17.

【0043】ステップ16において、パターン移動制御が終了したかどうかを判断し、終了していればステップ11に戻って広範囲移動制御を実行し、終了してなければステップ14に戻ってパターン移動制御を実行する。 [0043] In step 16, it is determined whether the pattern movement control is finished, perform extensive movement control returns to step 11 if completed, the pattern transfer control returns to step 14 If completed Run.

【0044】パターン移動制御として本実施例では、図14に示すように、開始点AAから矢印aaの方向に所定距離L1だけ前進して停止点BBで一旦停止する。 [0044] In the present embodiment as a pattern movement control, as shown in FIG. 14, from the starting point AA in the direction of arrow aa advances by a predetermined distance L1 once stopped at the stop point BB. 次に左方向に方向転換して角度θdの方向、すなわち矢印bbの方向へ所定距離L1だけ前進して停止点CCで停止する。 Then the direction of the angle θd by turning to the left, that is, stops just forward to stopping point CC predetermined distance L1 in the direction of arrow bb. そして右方向に方向転換して角度θdの方向、 And the direction of the angle θd by turning in the right direction,
つまり矢印ccの方向に前進する。 That is advanced in the direction of the arrow cc. このように前進と方向転換を繰り返しながらジグザグ移動し、本体1の横方向への移動距離が所定距離wd以上になったと判断した時点でパターン移動制御を終了し、最初の停止点BBへ移動する。 Such zigzag move while repeating forward and turning, the moving distance in the lateral direction of the body 1 has finished pattern movement control when it is determined that it is more than a predetermined distance wd, go to the last stop point BB .

【0045】なお方向転換角度θdおよび所定距離L [0045] Note that turning angle θd and a predetermined distance L
1,wdは、予め最適な値を実験的に決定するものである。 1, wd is to determine in advance the optimum value experimentally. また、本体1が往復したときの横方向への移動距離が清掃ノズル13の幅以下になるように回転角度を設定しておくと、パターン移動制御で移動した床面は隈なく清掃ノズル13が通過して清掃することになるので、効率の点で有効である。 The horizontal when the moving distance of the direction setting the rotational angle to be equal to or less than the width of the cleaning nozzle 13, the floor surface moves in pattern transfer control thoroughly without cleaning the nozzle 13 when the main body 1 has round trip since passage to thereby cleaning is effective in terms of efficiency.

【0046】なお、以上の説明ではパターン移動制御は本体1を所定距離L1だけ前進させた後、方向転換して再び所定距離L1だけ前進させる、という動作を繰り返すことによってジグザグ移動しているが、所定距離前進した後方向転換して後退し、所定距離後退したら再び方向転換して前進させるという動作を交互に繰り返すことによってジグザグ移動させても良い。 [0046] Incidentally, after the pattern transfer control to advance the body 1 by a predetermined distance L1 in the above description, is advanced again by the predetermined distance L1 by turning, although zigzag movement by repeating the operation of, retracted by turning after a predetermined distance forward, it may be zigzag movement by alternately repeating an operation of advancing again diverted after a predetermined distance backward. この場合、後退時に障害物を検出する手段を付加する必要があるが、方向転換時間が短くなるため清掃時間を短縮することが出来る。 In this case, it is necessary to add a means for detecting an obstacle during retraction, it is possible to shorten the cleaning time for direction change time is shortened.

【0047】また以上の説明では、前進時の移動距離は一定であるが、所定距離以内にゴミ検知手段18によるゴミの検出が所定量未満になれば方向転換して前進させるようにしてもよい。 [0047] In the above description, the moving distance during forward is constant, the detection of dust by the dust detection unit 18 within the predetermined distance may be caused to advance by turning if less than a predetermined amount . この場合、ゴミの集中しているところをより重点的に清掃することが出来、効率の点で有効である。 In this case, can be more focus on cleaning the place, which are concentrated in the dust, it is effective in terms of efficiency.

【0048】さらに以上の説明では、横方向への移動距離は一定であるが、所定距離以内にゴミ検知手段18によるゴミの検出が所定量未満になればパターン移動制御を終了してもよい。 [0048] In yet above description, the moving distance in the lateral direction is constant, the detection of dust may end the pattern transfer control if less than a predetermined amount by the dust detection unit 18 within a predetermined distance. この場合、ゴミの集中しているところをより重点的に清掃することが出来、効率の点で有効である。 In this case, can be more focus on cleaning the place, which are concentrated in the dust, it is effective in terms of efficiency.

【0049】また、図15に示すように、開始点AA1 Further, as shown in FIG. 15, the starting point AA1
から矢印aa1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させ、この螺旋状移動動作の開始から所定時間Tを経過した時点でパターン移動制御を終了する。 Began turning right as indicated by an arrow aa1 from, move gradually so that the rotation radius increases, and terminates the pattern transfer control at the time of the lapse of the predetermined time T from the start of the spiral movement.

【0050】なお所定時間Tは予め最適な値を実験的に決定するものである。 [0050] Note that the predetermined time T is to determine in advance the optimum value experimentally. また、本体1の螺旋状移動の移動幅が清掃ノズル13の幅以下になるように設定しておくと、パターン移動制御で移動した床面は隈なく清掃ノズル13が通過して清掃することになるので、効率の点で有効である。 Further, the movement width of the helical movement of the main body 1 is set to be less than the width of the cleaning nozzle 13, the floor surface moves in pattern transfer control to be cleaned through the thoroughly without cleaning nozzle 13 since, it is effective in terms of efficiency.

【0051】なお、以上の説明では右旋回しているが、 [0051] It should be noted that, while turning to the right in the above description,
左旋回でももちろん良いものである。 Are those of course may be in the left turn. また、以上の説明では、所定時間経過後に終了することにしているが、ゴミ検知手段18によるゴミの検出が所定量未満になればパターン移動制御を終了してもよい。 In the above description, although to terminate after a predetermined time has elapsed, the detection of dust by the dust detection unit 18 may end the pattern transfer control if less than a predetermined amount. この場合、ゴミの集中しているところをより重点的に清掃することが出来、効率の点で有効である。 In this case, can be more focus on cleaning the place, which are concentrated in the dust, it is effective in terms of efficiency.

【0052】(実施例4)本実施例は広範囲移動制御と障害物検知移動制御とで左右の駆動モータ2,3の出力を切り換えるものであり、これ以外は実施例2と同様に出来るものである。 [0052] (Example 4) This example is intended for switching the output of the left and right driving motors 2 and 3 in a wide range movement control and obstacle detection movement control, in which other can in the same manner as in Example 2 is there.

【0053】本体1が広範囲移動制御で移動しているときの移動速度を速くすればするほど清掃時間は短くなるが、逆に清掃ノズル13が通過してもゴミの取り残しが多くなる。 [0053] as cleaning time to be the moving speed at which the main body 1 is moving in a wide range movement control is shortened, the cleaning nozzle 13 on the contrary leftover increases the dust be passed. 一方、本体1が障害物検知移動制御で移動している時は障害物を回避するような動作のみを行えばよく、またゴミの量が少ない所を移動している場合であるから移動速度が速くても問題はない。 Meanwhile, when the body 1 is moving obstacle detection movement control may be performed only operation that avoids obstacles, also the movement speed is because when you are moving at the amount of waste is small there is no problem even if fast.

【0054】このことにより、広範囲移動制御と障害物検知移動制御とで本体1の移動速度を切り換えることにより、短時間で効率よく清掃することが可能である。 [0054] Thus, by in a wide range movement control and obstacle detection movement control switch the moving velocity of the body 1, it is possible to clean efficiently in a short time.

【0055】なお、以上の説明では広範囲移動制御と障害物検知移動制御で切り換えるのは本体1の移動速度であるが、ファンモータ15およびノズルモータ16の出力を切り換えることによってゴミの吸引力を切り換えても良く、この場合はゴミの集中しているところをより重点的に清掃することが出来、効率の点で有効である。 [0055] Incidentally, in the above description, but to switch a wide range movement control and obstacle detection movement control is a mobile speed of the main body 1 to switch the suction force of the dust by switching the output of the fan motor 15 and nozzle motor 16 at best, in this case, it is possible to clean the place where are concentrated waste more intensively, it is effective in terms of efficiency.

【0056】また、本体1の移動速度とゴミの吸引力を組み合わせて切り換えても良く、この場合はさらに効率よく清掃することが出来る。 [0056] It is also possible to switch a combination of the attraction force of the moving speed and the dust of the main body 1, in this case, it is possible to more efficiently cleaned.

【0057】(実施例5)本実施例は広範囲移動制御と障害物検知移動制御とパターン移動制御とで左右の駆動モータ2,3の出力を切り換えるものであり、これ以外は実施例3と同様に出来るものである。 [0057] (Example 5) This example is intended for switching the output of the left and right driving motors 2 and 3 in a wide range movement control and obstacle detection movement control and pattern transfer control, the same procedure as in Example 3 except this it is those that can be in.

【0058】実施例4と同様、広範囲移動制御では本体1の移動速度を速くすればするほど清掃時間が短くなるが、逆に清掃ノズル13が通過してもゴミの取り残しが多くなる。 [0058] Similarly to Example 4, but shorter cleaning time more you increase the moving speed of the body 1 an extensive movement control, cleaning nozzles 13 conversely leftover increases the dust be passed. また、本体1が障害物検知移動制御で移動している時は障害物を回避するような動作のみを行えばよく、またゴミの量が少ない所を移動している場合であるから移動速度が速くても問題はない。 Further, when the body 1 is moving obstacle detection movement control may be performed only operation that avoids obstacles, also the movement speed is because when you are moving at the amount of waste is small there is no problem even if fast. 一方、本体がパターン移動制御で移動しているときは、ゴミが多い所を移動している場合であるから、移動速度を遅くすればゴミを効率的に収集することが出来る。 On the other hand, the body is when moving pattern movement control, because when moving the place dust is large, effectively it is possible to collect the dust when the moving speed.

【0059】このことにより広範囲移動制御と障害物検知移動制御とパターン移動制御とで本体1の移動速度を切り換えることにより、短時間で効率よく清掃することが可能である。 [0059] By switching the moving speed of the main body 1 in a wide range movement control and obstacle detection movement control and pattern transfer controlled by this, it is possible to clean efficiently in a short time.

【0060】なお、以上の説明では広範囲移動制御と障害物検知移動制御とパターン移動制御とで切り換えるのは本体1の移動速度であるが、ファンモータ15およびノズルモータ16の出力を切り換えることによってゴミの吸引力を切り換えても良く、この場合はゴミの集中しているところをより重点的に清掃することが出来、効率の点で有効である。 [0060] Incidentally, in the above description, the switching between wide movement control and obstacle detection movement control and pattern transfer control is the moving speed of the body 1, dust by switching the output of the fan motor 15 and nozzle motor 16 may be switched in suction force, in this case, can clean the place where are concentrated waste more intensively, it is effective in terms of efficiency.

【0061】また、本体1の移動速度とゴミの吸引力を組み合わせて切り換えても良く、この場合はさらに効率よく清掃することが出来る。 [0061] It is also possible to switch a combination of the attraction force of the moving speed and the dust of the main body 1, in this case, it is possible to more efficiently cleaned.

【0062】 [0062]

【発明の効果】以上のように、本発明によれば、簡単な構成で複雑で精密な制御を行うことなく、隈なく清掃領域を清掃することが出来る。 As is evident from the foregoing description, according to the present invention, without complicated and precise control with a simple configuration, it is possible to clean the dark circles without cleaning area.

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

【図1】本発明の一実施例の自走式掃除機の内部透視斜視図 Internal transparent perspective view of the self-propelled cleaner of an embodiment of the present invention; FIG

【図2】本発明の一実施例の広範囲移動制御の動作説明図 [2] Operation Figure extensive movement control of an embodiment of the present invention

【図3】本発明の一実施例の広範囲移動制御の動作説明図 Operation explanatory diagram of the wide movement control of an embodiment of the present invention; FIG

【図4】本発明の一実施例の障害物がある場合の広範囲移動制御の動作説明図 Operation explanatory diagram of the wide movement control when there is an obstacle in an embodiment of the present invention; FIG

【図5】本発明の一実施例の障害物検知移動制御の動作説明図 [5] Operation diagram of obstacle detection movement control of an embodiment of the present invention

【図6】本発明の一実施例の移動制御手段での処理内容を示す流れ図 Flowchart showing the processing content of the mobile control means of an embodiment of the invention; FIG

【図7】本発明の一実施例の障害物検知移動制御の動作説明図 [7] Operation diagram of obstacle detection movement control of an embodiment of the present invention

【図8】本発明の一実施例の障害物検知移動制御の動作説明図 [8] diagram for describing operation of the obstacle detection movement control of an embodiment of the present invention

【図9】本発明の一実施例の障害物検知移動制御の動作説明図 [9] diagram for describing operation of the obstacle detection movement control of an embodiment of the present invention

【図10】本発明の一実施例の障害物検知移動制御の動作説明図 [10] Operation diagram of obstacle detection movement control of an embodiment of the present invention

【図11】本発明の一実施例の障害物検知移動制御の動作説明図 [11] Operation diagram of obstacle detection movement control of an embodiment of the present invention

【図12】本発明の一実施例の障害物検知移動制御の動作説明図 [12] Operation diagram of obstacle detection movement control of an embodiment of the present invention

【図13】本発明の一実施例の移動制御手段での処理内容を示す流れ図 Flowchart showing the processing content of the mobile control means of an embodiment of FIG. 13 the present invention

【図14】本発明の一実施例のパターン移動制御の動作説明図 [14] Operation view of the pattern movement control of an embodiment of the present invention

【図15】本発明の一実施例のパターン移動制御の動作説明図 [15] Operation view of the pattern movement control of an embodiment of the present invention

【符号の説明】 DESCRIPTION OF SYMBOLS

1 本体 2,3 駆動モータ 4,5 減速機 6,7 走行輪 8 移動制御手段 13 清掃ノズル 15 ファンモータ 1 body 2, 3 drive motor 4, 5 reducer 6,7 running wheels 8 movement control unit 13 cleaning nozzles 15 fan motor

───────────────────────────────────────────────────── フロントページの続き (72)発明者 山口 誠二 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 (72)発明者 藪内 秀隆 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 (72)発明者 高木 祥史 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 (72)発明者 保野 幹 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) 3B057 DA03 DA05 DA07 ────────────────────────────────────────────────── ─── of the front page continued (72) inventor Yamaguchi, Seiji Osaka Prefecture Kadoma Oaza Kadoma 1006 address Matsushita Electric industrial Co., Ltd. in the (72) inventor Hidetaka Yabuuchi Osaka Prefecture Kadoma Oaza Kadoma 1006 address Matsushita Electric industrial Co., Ltd. in the ( 72) inventor Takagi Sachishi Osaka Prefecture Kadoma Oaza Kadoma 1006 address Matsushita Electric industrial Co., Ltd. in the (72) inventor Hono stem Osaka Prefecture Kadoma Oaza Kadoma 1006 address Matsushita Electric industrial Co., Ltd. in the F-term (reference) 3B057 DA03 DA05 DA07

Claims (12)

    【特許請求の範囲】 [The claims]
  1. 【請求項1】 本体に設け床面のゴミを清掃する清掃手段と、前記本体を移動させる走行手段と、前記本体の移動方向を転換する移動方向転換手段と、前記走行手段および移動方向転換手段を制御して前記本体の移動を制御する移動制御手段を備え、前記移動制御手段は、前記本体が清掃領域の対向し合う領域線間を蛇行走行するように制御すると共に、前記蛇行走行による進行が阻まれる場合には、前記本体の進行方向を前記蛇行走行の進行を阻む領域線から遠ざかる方向に転換する広範囲移動制御を実施する自走式掃除機。 And 1. A cleaning device for cleaning the dust on the floor is provided in the main body, a traveling means for moving the body, a moving direction changing means for converting the direction of movement of the body, the traveling means and the moving direction changing means control to the provided movement control means for controlling the movement of the body, the movement control means with the body is controlled so as to meander travels between area lines facing each other of the cleaning area, progress by the meandering If the is blocked, the self-propelled cleaner for implementing a wide range movement control to switch the traveling direction of the body in a direction away from the area line that prevent progression of the meandering.
  2. 【請求項2】 本体の進行方向に位置する障害物を検知する障害物検知手段を設け、移動制御手段は、広範囲移動制御中に、前記障害物検知手段が障害物を検知した場合には、前記障害物を回避する方向に前記本体の進行方向を転換する障害物検知移動制御を有した請求項1記載の自走式掃除機。 Wherein provided an obstacle detecting means for detecting an obstacle located in the travel direction of the body, movement control means, in a wide range movement control, in the case where the obstacle detector detects the obstacle, self-propelled cleaner according to claim 1, wherein having an obstacle detection movement control to switch the traveling direction of the body in a direction to avoid the obstacle.
  3. 【請求項3】 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を有し、移動制御手段は、広範囲移動制御中に、前記ゴミ検知手段が所定量以上のゴミを検知した場合には、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を有した請求項2 3. has a dust detection means for detecting an amount of dust is cleaned by the cleaning means, movement control means, in a wide range movement control, when the dust detection means detects the dust of a predetermined amount or more is claim 2 having a pattern movement control for moving the body in a movement pattern set in advance
    記載の自走式掃除機。 Self-propelled cleaner according.
  4. 【請求項4】 移動制御手段の広範囲移動制御は、蛇行走行の往路と復路のなす角度が所定の角度とした請求項1〜3のいずれか1項に記載の自走式掃除機。 4. A wide movement control of the movement control means, the self-propelled cleaner according to any one of claims 1 to 3, forward and return angle of meandering was the predetermined angle.
  5. 【請求項5】 移動制御手段の広範囲移動制御は、蛇行走行による往路と復路の間隔が所定幅とした請求項1〜 Extensive movement control of 5. The movement control means, according to claim 1 in which the interval of forward path and the backward path due to meandering has a predetermined width
    3いずれか1項に記載の自走式掃除機。 3 self-propelled cleaner according to any one.
  6. 【請求項6】 移動制御手段のパターン移動制御は、前進または後退を繰り返しながら本体をジグザグに移動させる請求項3〜5いずれか1項に記載の自走式掃除機。 6. A pattern transfer control of the movement control means, the self-propelled cleaner according to any one of claims 3 to 5 for moving the body in a zigzag while repeating the forward or backward.
  7. 【請求項7】 移動制御手段のパターン移動制御は、渦巻き状に内側から外側に本体を移動させる請求項3〜5 Pattern transfer control 7. movement control means, claim to move the body from the inside to the outside spiral 3-5
    いずれか1項に記載の自走式掃除機。 Self-propelled cleaner according to any one.
  8. 【請求項8】 移動制御手段の障害物検知移動制御は、 Obstacle detection movement control of 8. movement control means,
    複数の移動パターンを有する請求項2〜7のいずれか1 Any of claims 2-7 having a plurality of travel patterns 1
    項に記載の自走式掃除機。 Self-propelled vacuum cleaner according to the item.
  9. 【請求項9】 移動制御手段の広範囲移動制御と障害物検知移動制御とで、本体の移動速度を切り替える請求項2〜8のいずれか1項に記載の自走式掃除機。 In 9. and extensive movement control and obstacle detection movement control of the movement control means, the self-propelled cleaner according to any one of claims 2-8 for switching the moving speed of the body.
  10. 【請求項10】 移動制御手段の広範囲移動制御と障害物検知移動制御とパターン移動制御とで、本体の移動速度を切り替える請求項3〜8のいずれか1項に記載の自走式掃除機。 In 10. and extensive movement control and obstacle detection movement control and pattern movement control of the movement control means, the self-propelled cleaner according to any one of claims 3 to 8 for switching the moving speed of the body.
  11. 【請求項11】 移動制御手段の広範囲移動制御と障害物検知移動制御とで、清掃手段が吸い込みによりゴミを収集することを特徴とし、前記清掃手段の吸引力を切り替える請求項2〜8のいずれか1項に記載の自走式掃除機。 In 11. and extensive movement control and obstacle detection movement control of the movement control means, characterized by collecting the dust by suction cleaning means, any claim 2-8 for switching the suction force of the cleaning means or self-propelled cleaner according to one of claims.
  12. 【請求項12】 移動制御手段の広範囲移動制御と障害物検知移動制御とパターン移動制御とで、清掃手段が吸い込みによりゴミを収集することを特徴とし、前記清掃手段の吸引力を切り替える請求項3〜8のいずれか1項に記載の自走式掃除機。 In 12. and extensive movement control and obstacle detection movement control and pattern movement control of the movement control means, according to claim 3, characterized in that collecting the dust by suction cleaning means, switching the suction force of the cleaning means self-propelled cleaner according to any one of 8.
JP2001004657A 2001-01-12 2001-01-12 Self-propelled cleaner Granted JP2002204768A (en)

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US7706917B1 (en) 2004-07-07 2010-04-27 Irobot Corporation Celestial navigation system for an autonomous robot
US8239992B2 (en) 2007-05-09 2012-08-14 Irobot Corporation Compact autonomous coverage robot
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