JP2002333921A - Mobile working robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect one round of an inner wall in a room in a mobile working robot for automatically performing the work in a room by moving the main body toward the inside part of the inner wall after making a round on the inner wall in a room. SOLUTION: This mobile working robot is provided with a detecting means for detecting that the main body has made a round around a work area. At the time of detecting that the main body has made a round from the detecting means, a control means switches to movement control in the work area. Thus, it is possible to recognize the starting point when the main body has made a round around the work area, and to automatically advance to the work inside the work area.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to detecting that a self-propelled work robot such as a vacuum cleaner for automatically cleaning the inside of a room or the like has rotated around a work area.

[0002]

2. Description of the Related Art As a self-propelled work robot, for example, a self-propelled cleaner for automatically cleaning a room has been proposed. As a cleaning method, a method has been adopted in which, after one round of the inner wall of a room or the like is detected, the cleaner is moved toward the inside of the inner wall to move and clean the room.

[0003] This will be specifically described with reference to FIG. In FIG. 15, reference numeral 5 denotes a cleaner main body which automatically moves, and reference numeral 6 denotes a wall surface of a room.

[0005] As shown in FIG. 15, one of the corners in the room is a starting point of the cleaner body. First, as shown by the arrow in FIG. 15, the vehicle goes straight from A along the wall surface of the room as shown in FIG. When it comes to the next second corner, it goes straight along the wall surface like C toward the next third corner. When it comes to the next third corner, it goes straight along the wall toward the next fourth corner like a double. When you come to the next fourth corner, go straight along the wall like E toward the next original starting point A. This completes one round along the wall surface in the room. When it hits the wall of the starting point a, it rotates 180 degrees as shown in the figure. Then, the interior of the room is cleaned in parallel with E as shown in FIG. When you hit the facing wall, 18
Rotate 0 degrees. Then, the interior of the room is cleaned as shown in FIG. When it hits the opposite wall, it rotates 180 degrees as shown in the figure. Then, the interior of the room is cleaned in parallel with the box as shown in FIG. When it hits the opposite wall, it rotates 180 degrees as shown in the figure. Then, the interior of the room is cleaned in parallel with the line as shown in the figure. When it hits the opposite wall, it rotates 180 degrees as shown in the figure. Then, if the user hits the wall, it is determined that the entire room has been cleaned, and the cleaning of the room interior has been completed at point Y in the drawing.

[0005]

However, in the above-mentioned conventional system configuration, if it is not recognized that the cleaner main body has made one round, the interior of the room at the point where the cleaner has made one round without the intervention of a person is required. There was a problem that it was not possible to shift from wall surface cleaning to room interior cleaning, and cleaning could not be performed automatically.

The present invention solves the above-mentioned conventional problems, and recognizes that the self-propelled work robot has made one round.
It is an object of the present invention to provide a self-propelled work robot for automatically performing work in a work area without human intervention.

[0007]

In order to solve the above-mentioned conventional problems, a self-propelled work robot according to the present invention comprises a main body provided with a work element, and a main body provided with the main body and having a traveling function and a steering function. Means, control means for controlling the traveling means to make a round around the work area, and thereafter moving in the work area, and detecting means for detecting that the circuit has made a round around the work area, the control means comprising: When the detection means detects that one round has been made, the control is switched to movement control in the work area.

[0008] This makes it possible to recognize the starting point when making a round around the work area, to automatically proceed to work inside the work area, and to automatically perform the operation without human intervention. Work can be done.

[0009]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a main body provided with a working element, a traveling means having a traveling function and a steering function provided on the main body, and a periphery of a work area by controlling the traveling means. Control means for making a circuit around the work area, and a detecting means for detecting that the circuit has made a circuit around the work area.The control means detects that the circuit has made a circuit around the work area. By switching to movement control, it can recognize the starting point when the main body makes a round around the work area, it can automatically proceed to work inside the work area, without human intervention, Work can be done automatically.

According to a second aspect of the present invention, in particular, the detecting means according to the first aspect includes a receiving means provided in the main body, an optical transmitting means provided outside the main body, and receiving light from the optical transmitting means. ,
Only when the main body is located at a position corresponding to a starting point when making a round around the work area, the main body is provided at a position where light emission of the light transmitting unit is interrupted, and The means is a transmitting means for transmitting to the receiving means when the light emission is blocked, and when the main body is at the starting point, the light receiving means blocks and receives the light from the light transmitting means. Can not do. At that time, the wireless transmission means transmits a signal to the main body. Upon receiving the signal, the wireless receiving means incorporated in the main body recognizes that the position of the main body is at the starting point. In this way, the body can recognize that it has made one round of the wall in the work area, can automatically proceed to work inside the work area, and perform the work automatically without human intervention Can be.

According to a third aspect of the present invention, there is provided an elastic body having a metal ball provided at a position corresponding to a starting point when making a round around the work area,
An impact sensor provided in the main body to detect an impact when the metal ball collides. No external power source is required, the main body can automatically recognize that the circuit has completed one round, and automatically without human intervention. It is possible to work within the work area.

According to a fourth aspect of the present invention, the detecting means of the first aspect includes an optical transmitting means provided on the main body, an optical receiving means provided on the main body for receiving light of the optical transmitting means,
It is provided at a position corresponding to a starting point when making a round around the working area, and emits light from the light transmitting means when the main body reaches a position corresponding to a starting point when making a round around the working area. It is a non-reflective light absorber, does not require an external power supply, does not need to remove a collision object such as a metal ball, can recognize that the main body has made one round, without human intervention, It is possible to automatically work in the work area.

According to a fifth aspect of the present invention, in particular, the detecting means according to the first aspect has a magnetic body provided at a position corresponding to a starting point when making a round around the work area, and a main body is provided around the work area. Is a reed switch provided at a position in the body opposite to when reaching a position corresponding to the starting point when making a round, and a magnetic body attached to the starting point,
The reed switch attached to the main body at the starting point facing the magnetic body can recognize that the main body has made one round, and automatically work in the work area without human intervention. be able to.

According to a sixth aspect of the present invention, in particular, the detecting means of the first aspect is provided at a position corresponding to an electromagnetic wave receiving means provided on the main body and a starting point when making a round around the work area. An electromagnetic wave generating means for generating an electromagnetic wave reaching the electromagnetic wave receiving means only when the main body reaches a position corresponding to a starting point when making a round around the work area, and an electromagnetic wave generating means attached to the starting point When,
By the electromagnetic wave receiving means attached to the main body, it is possible to recognize that the main body has made one round automatically, and it is possible to automatically work in the work area without human intervention.

According to a seventh aspect of the present invention, in particular, the detecting means according to the first aspect is provided at a position corresponding to a radio wave transmitting means provided on the main body and a starting point when making a round around the work area. An induced voltage generating means for generating an induced voltage by a radio wave from the radio wave transmitting means only when reaching a position corresponding to a starting point when making a circuit around the work area, A detection radio wave transmitting means provided at a position corresponding to the starting point and transmitting a detection radio wave when detecting the induced voltage, and a detection radio wave receiving means provided on the main body for receiving the detection radio wave, which is attached to the starting point. The induced voltage generating means, the detected radio wave transmitting means, the radio wave transmitting means and the detected radio wave receiving means attached to the main body can recognize that the main body has automatically made one round, and can be operated through human operation. And no, it is possible to work automatically work area.

According to an eighth aspect of the present invention, in particular, the detecting means according to the first aspect includes a weight change detecting means provided at a position corresponding to a starting point when making a round around the work area; A radio wave transmitting means provided at a position corresponding to a starting point when making a round and transmitting a radio wave when a weight change is detected by the weight change detecting means, and a radio wave receiving means receiving a radio wave from the radio wave transmitting means provided on the main body By means of the weight change detecting means and the radio wave transmitting means attached to the starting point, and the radio wave receiving means attached to the main body, it is possible to recognize that the main body has automatically made one round, and through human operation. Without having to do this, it is possible to automatically work in the work area.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the drawings, taking a self-propelled cleaner as an example of a self-propelled work robot.

(Embodiment 1) FIG. 1 is a perspective view of the overall configuration of a self-propelled cleaner according to a first embodiment of the present invention. In FIG. 1, reference numeral 5 denotes a main body of a self-propelled cleaner that performs cleaning while moving in a cleaning area, and moves forward on the floor in the direction of arrow 102. Reference numerals 103 and 104 denote left and right drive motors disposed on the left and right sides of the main body 5, and their output shafts are connected to left and right traveling wheels 107 and 108 disposed on both rear sides of the main body 5 via left and right reduction gears 105 and 106. Drive rotationally. By independently controlling the rotation of the left drive motor 103 and the right drive motor 104, not only can the main body 5 be moved in the direction of the arrow 102, but also the rotational speeds of the left drive motor 103 and the right drive motor 104 can be made different. It is a traveling means that can turn the main body 5 right or left and has a steering function. Reference numeral 109 denotes control means for controlling the rotation of the left and right drive motors 103 and 104 in accordance with various inputs and for controlling the movement of the main body 5 and comprises a microcomputer and other control circuits. Reference numerals 110 and 111 denote distance measuring means provided on the left and right in the upper part of the main body 1, and are constituted by optical sensors for measuring the distance to the front and side walls of the main body 5 and obstacles. Reference numeral 121 denotes position recognition means for measuring the direction and position of the main body 5, which is composed of trajectory measurement means for calculating a traveling trajectory from the number of revolutions of the running wheels 107 and 108. They may be combined. 112 is arranged in the lower front part of the main body 5,
A cleaning nozzle for cleaning the floor surface, a suction port for sucking dust is provided on the lower surface of the cleaning nozzle 112, and an agitator 113 such as a rotating brush is provided in the cleaning nozzle 112 so as to face the suction port. By driving the fan motor 114 constituting the blower, a vacuum pressure is generated,
The vacuum pressure is applied to the cleaning nozzle 112 to suck dust from the suction port. The agitator 113 is driven to rotate by a nozzle motor 115 via a transmission belt 116. In this embodiment, the cleaning nozzle 112 and the fan motor 1
The cleaning means, which is a working element, is constituted by 14 and the agitator 113, but the agitator 113 may be provided as needed. Reference numeral 120 denotes a power supply composed of a battery or the like, which is used for the drive motors 103 and 104, the fan motor 114, and the nozzle motor 115 in the main body 5, the control unit 109 and the position recognition unit 121 which are circuit units, and a distance measuring unit which is a sensor. Power is supplied to the means 110 and 111.

FIG. 2 is a block diagram of a vacuum cleaner for explaining the detecting means in the first embodiment of the present invention. In FIG. 2, reference numeral 5 denotes a vacuum cleaner main body, 1 denotes an optical transmission means which is driven by an external power supply mounted on a wall at a starting point in the room, 2
Is a light receiving means that is driven by an external power source to receive the light on another wall surface; and 3 is a wireless transmission that transmits a signal to the cleaner body 5 when the light from the light transmitter 1 is blocked by the cleaner body 5. Means 4 are wireless transmission means 3 attached to the cleaner body
A wireless receiving means for receiving a signal from the device is a wall in the room. The light transmitting means 1, the light receiving means 2, the wireless transmitting means 3 and the wireless receiving means 4 constitute a detecting means.

Regarding the vacuum cleaner constructed as described above,
The operation and operation will be described below.

The movement control means 109 includes distance measuring means 110, 1
The main body 5 is moved by controlling the outputs to the left drive motor 103 and the right drive motor 104 according to the input from the position recognition unit 121 and the position recognition unit 121. During the movement, the output to the fan motor 14 and the nozzle motor 15 is controlled and cleaned. The main body 5 starts from the starting point A as shown in the movement trajectory shown in FIG. 15 similarly to the conventional example, and the control means 109 keeps a certain distance from the wall based on the input from the distance measuring means 110 and 111. , Along the indoor wall surface 6,
It goes around the room and moves back to the starting point A again.

If there is no cleaner body 5 at the starting point, the light receiving means 2 always receives the light from the light transmitting means 1. At that time, the wireless transmission means 3 does not transmit a signal to the cleaner body 5. Since the wireless receiving means 4 incorporated in the cleaner main body 5 does not receive the signal, it recognizes that the position of the cleaner main body 5 is not at the starting point and proceeds further.

As shown in FIG. 3, when the cleaner main body 5 is at the starting point, the light receiving means 2 blocks the light from the light transmitting means 1. At that time, the wireless transmission means 3 transmits a signal to the cleaner body 5. The wireless receiving means 4 incorporated in the cleaner main body 5 receives the signal, recognizes that the position of the cleaner main body 5 is at the starting point, and determines that one round has been made.

Next, when the control means 109 detects that the detection means has made one round around the inside of the room (work area), the control means 109 switches to the movement control in the room (work area).

In this manner, the cleaner main body 5 can recognize that it has made one round of the indoor wall, and can automatically proceed to the cleaning of the interior of the room, and perform the cleaning automatically without any human operation. It can be carried out.

As described above, in this embodiment, the cleaner main body 5 can recognize that it has made one round of the wall surface of the room, and can automatically proceed to cleaning the inside of the room. It is possible to automatically clean the room without the need.

Further, in this embodiment, when there is no cleaner main body 5 at the starting point, the wireless transmitting means 3 does not transmit a signal to the cleaner main body 5, but it transmits a signal to clean the starting point. When the machine body 5 is present, the wireless transmission means may not transmit a signal to the vacuum cleaner.

(Embodiment 2) The overall configuration of the embodiment 2 is the same as that of the embodiment 1, so that the explanation is omitted. FIG.
It is a block diagram of a vacuum cleaner especially explaining a detection means of the second embodiment of the present invention. In FIG. 4, reference numeral 7 denotes an elastic body such as a spring attached to a starting point, 8 denotes a metal ball attached to the elastic body 7, and 9 denotes an impact attached to the cleaner main body 5 for detecting an impact upon collision. Sensor, 5 is the vacuum cleaner body,
6 is an indoor wall. The elastic body 7, the metal sphere 8 and the impact sensor 9 constitute a detecting means.

With respect to the vacuum cleaner configured as described above,
The operation and operation will be described below.

First, when the cleaner main body 5 has not reached the starting point, the impact sensor 9 does not collide with the metal ball 8, so it is determined that the starting point has not been reached.

As shown in FIG. 5, when the cleaner body 5 reaches the starting point, the metal ball 8 and the impact sensor 9 collide. Then
The impact sensor 9 detects the impact and recognizes that the vehicle has reached the starting point.

Next, when the control means 109 detects that the detection means has made a round around the inside of the room (work area), the control means 109 switches to the movement control in the room (work area).

As described above, in the present embodiment, the starting point is recognized by the collision between the metal sphere 8 and the impact sensor 9.
As in the first embodiment, there is an effect that it is not necessary to provide a power supply to the optical transmission unit 1 from outside.

Further, in this embodiment, the metal ball 8 can be configured so that it can be removed when it is not to be cleaned, so that it does not interfere with humans.

(Embodiment 3) The overall configuration of Embodiment 3 is the same as Embodiments 1 and 2, and the description thereof is omitted.

FIG. 6 is a structural view of a vacuum cleaner for explaining a detecting means according to a third embodiment of the present invention. In FIG.
10 is a black paper which is a light absorber attached to the wall at the starting point, 1
Reference numeral 1 denotes an optical transmission unit using a power supply inside the cleaner, and reference numeral 12 denotes an optical reception unit using a power supply inside the cleaner. Black paper 1
0, light transmitting means 11 and light receiving means 12 constitute a detecting means.

With respect to the vacuum cleaner configured as described above,
Hereinafter, the operation and operation will be described with reference to FIG.

When the cleaner main body 5 is not at the starting point, the light transmitted from the light transmitting means 11 is reflected on the wall surface and received by the light receiving means 12.

As shown in FIG. 7, when the cleaner main body 5 comes to the starting point, the light transmitted from the light transmitting means 11 hits the black paper 10. The black paper 10 absorbs light and is not reflected. Therefore, the light receiving means 12 does not receive light.

At this time, the cleaner body 5 can recognize that it is at the starting point.

Next, when the control means 109 detects that the detection means has made one round around the inside of the room (work area), it switches to the movement control in the room (work area).

As described above, in this embodiment, the reflected light is absorbed by the black paper 10 attached to the starting point, and when there is no reflected light, it is possible to recognize that the point is the starting point.

Further, the non-reflective black paper 10 of the present embodiment may be, for example, black fur.

(Embodiment 4) The overall configuration of Embodiment 4 is the same as Embodiments 1 to 3, and a description thereof will be omitted.

FIG. 8 is a block diagram of a vacuum cleaner for explaining a detecting means of the fourth embodiment of the present invention. In FIG.
13 is a magnet which is a magnetic material attached to the starting point, 14
Is a reed switch attached to the cleaner body 5 at the starting point so as to face the magnet 13. The magnet 13 and the reed switch 14 constitute a detecting means.

With respect to the vacuum cleaner configured as described above,
Hereinafter, the operation and operation will be described.

As shown in FIG. 8, when the cleaner main body 5 is not at the starting point, the magnetic force of the magnet 13 does not reach the reed switch 14, and the reed switch 14 is in an off state.

As shown in FIG. 9, when the cleaner body 5 reaches the starting point, the magnetic force of the magnet 13 reaches the reed switch 14,
The reed switch 14 turns on. At this time, the cleaner body 5
Can be recognized as being at the starting point.

Next, when the control means 109 detects that the detection means has made a round around the inside of the room (work area), the control means 109 switches to the movement control in the room (work area).

As described above, in the present embodiment, the starting point is provided by providing the magnet 13 attached to the starting point and the reed switch 14 attached to the cleaner main body 5 at the starting point so as to face the magnet 13. At the point, the reed switch 14 is turned on, and the starting point can be detected.

In the present embodiment, the magnet 13 is attached to the wall surface. However, the magnet 13 may be attached to the floor at the starting point, and a reed switch may be attached to the vacuum cleaner facing the magnet.

If a plastic magnet is used as the magnet 13 of this embodiment, the magnet can be mounted thinly and widely, and the range of the opposing relationship between the reed switch and the magnet is widened.
The starting point detection accuracy is improved.

(Embodiment 5) The overall configuration of Embodiment 5 is the same as Embodiments 1 to 4, and a description thereof will be omitted.

FIG. 10 is a structural view of a vacuum cleaner for explaining a detecting means of the fifth embodiment of the present invention. In FIG. 10, reference numeral 17 denotes the electromagnetic wave generating means attached to the starting point, 1
Reference numeral 8 denotes an electromagnetic wave receiving unit attached to the cleaner main body 5 for detecting the electromagnetic wave generated by the electromagnetic wave generating unit 17. 1
9 is an electromagnetic wave generated by the electromagnetic wave generating means 17.
The electromagnetic wave generating means 17 and the electromagnetic wave receiving means 18 constitute a detecting means.

With respect to the vacuum cleaner configured as described above,
Hereinafter, the operation and operation will be described.

As shown in FIG. 10, when the cleaner main body 5 is not at the starting point, the electromagnetic field 1 generated by the electromagnetic wave generating means 17
9 is an electromagnetic wave receiving means 18 attached to the cleaner body 5.
And the electromagnetic field 19 of the electromagnetic wave generation means 17 cannot be detected.

Next, as shown in FIG. 11, when the cleaner body 5 comes to the starting point, the electromagnetic field 19 generated by the electromagnetic wave generator 17 reaches the electromagnetic wave receiver 18 attached to the cleaner body 5, In this state, the electromagnetic field 19 of the electromagnetic wave generating means 17 can be detected. At this time, the cleaner body 5 can recognize that it is at the departure point.

Next, when the control means 109 detects that the detection means has made a round around the inside of the room (work area), the control means 109 switches to the movement control in the room (work area).

As described above, in this embodiment, the electromagnetic wave generating means 17 attached to the starting point and the electromagnetic wave receiving means 18 attached to the cleaner main body 5 are provided, so that the cleaner main body is provided at the starting point. 5 can detect the electromagnetic field 19 and can detect the starting point.

(Embodiment 6) The overall configuration of Embodiment 5 is the same as Embodiments 1 to 4, and a description thereof will be omitted.

FIG. 12 is a structural view of a vacuum cleaner for explaining a detecting means according to a sixth embodiment of the present invention. In FIG. 12, reference numeral 20 denotes a radio wave transmitting means attached to the cleaner main body 5, reference numeral 21 denotes a starting point, and an induced voltage generating means for generating an induced voltage by radio waves emitted from the radio wave transmitting means 20; , A detecting radio wave transmitting means for transmitting a detecting radio wave when the induced voltage generating means 21 detects the generation of the induced voltage, and a detecting radio wave receiving means 23 mounted on the cleaner body 5. The detecting means is constituted by the radio wave transmitting means 20, the induced voltage generating means 21, the detected radio wave transmitting means 22, and the detected radio wave receiving means 23.

With respect to the vacuum cleaner configured as described above,
The operation and operation will be described below.

As shown in FIG. 12, when the cleaner main body 5 is not at the starting point, the radio wave from the radio wave transmitting means 20 attached to the cleaner main body 5 does not reach the induced voltage generating means 21 attached to the starting point. And no induced voltage is generated. Since no induced voltage is generated, the detection radio wave transmitting means 22 attached to the starting point does not transmit the detection radio wave. Therefore, the detection radio wave receiving means 23 attached to the cleaner body 5 does not detect the detection radio wave. That is, it is determined that the starting point has not been reached.

Next, as shown in FIG. 13, when the cleaner main body 5 comes to the starting point, the radio wave from the radio wave transmitting means 20 attached to the cleaner main body 5 receives the induced voltage generating means attached to the starting point. 21 and an induced voltage is generated. Since the induced voltage is generated, the detection radio wave transmitting means 22 attached to the starting point transmits the detection radio wave. The detected radio wave receiving means 23 attached to the cleaner body 5 detects the detected radio wave from the detected radio wave transmitting means 22. Then, it is determined that the starting point has been reached.

Next, when the control means 109 detects that the detection means has made one round around the inside of the room (work area), it switches to the movement control in the room (work area).

As described above, in the present embodiment, the induced voltage generating means 21 attached to the starting point and the detected radio wave transmitting means 2 for transmitting the detected radio wave when the induced voltage is generated.
2 and the detection radio wave receiving means 23 attached to the cleaner main body 5, the start point can be detected.

(Embodiment 7) The overall configuration of Embodiment 7 is the same as Embodiments 1 to 6, and a description thereof will be omitted.

FIG. 14 is a structural view of a vacuum cleaner for explaining a detecting means according to a seventh embodiment of the present invention. In FIG. 14, reference numeral 24 denotes a weight change detecting unit placed on the floor at the starting point;
Numeral 25 is a radio wave transmitting means for transmitting a radio wave when a change in weight is detected by the weight change detecting means 24, and 26 is a radio wave receiving means attached to the cleaner body 5. The weight change detecting means 24, the radio wave transmitting means 25 and the radio wave receiving means 26 constitute a detecting means.

With respect to the vacuum cleaner configured as described above,
Hereinafter, the operation and operation will be described.

As shown in FIG. 14, when the cleaner main body 5 is not at the starting point, the cleaner main body 5 does not ride on the weight change detecting means 24, so that the weight does not change and the radio wave transmitting means 25 does not change. Does not generate radio waves. Since there is no radio wave,
The radio wave receiving means 26 attached to the cleaner body 5 does not receive radio waves. Therefore, it is determined that the starting point has not been reached.

Next, as shown in FIG. 15, when the cleaner body 5 comes to the starting point, the cleaner body 5
On the radio transmission means 25
To generate radio waves. When a radio wave is generated, the radio wave receiving means 26 attached to the cleaner body 5 receives the radio wave. Then, it is determined that the starting point has been reached.

Next, when the control means 109 detects that the detection means has made a round around the inside of the room (work area), the control means 109 switches to the movement control in the room (work area).

As described above, in this embodiment, by providing the weight change detecting means 24 attached at the starting point, the electric wave transmitting means 25, and the electric wave receiving means 26 attached to the cleaner body 5, The starting point can be detected.

[0074]

As described above, according to the present invention, it is possible to automatically recognize that the self-propelled work robot main body has made one round around the work area, and it is possible to recognize that the self-propelled work robot body does not involve human operation It is possible to automatically work in the work area.

[Brief description of the drawings]

FIG. 1 is a perspective view of the overall configuration of a self-propelled cleaner according to a first embodiment of the present invention.

FIG. 2 is a configuration diagram of a vacuum cleaner according to the first embodiment of the present invention.

FIG. 3 is a configuration diagram of a vacuum cleaner according to the first embodiment of the present invention.

FIG. 4 is a configuration diagram of a vacuum cleaner according to a second embodiment of the present invention.

FIG. 5 is a configuration diagram of a vacuum cleaner according to a second embodiment of the present invention.

FIG. 6 is a configuration diagram of a vacuum cleaner according to a third embodiment of the present invention.

FIG. 7 is a configuration diagram of a vacuum cleaner according to a third embodiment of the present invention.

FIG. 8 is a configuration diagram of a vacuum cleaner according to a fourth embodiment of the present invention.

FIG. 9 is a configuration diagram of a vacuum cleaner according to a fourth embodiment of the present invention.

FIG. 10 is a configuration diagram of a vacuum cleaner according to a fifth embodiment of the present invention.

FIG. 11 is a configuration diagram of a vacuum cleaner according to a fifth embodiment of the present invention.

FIG. 12 is a configuration diagram of a vacuum cleaner according to a sixth embodiment of the present invention.

FIG. 13 is a configuration diagram of a vacuum cleaner according to a sixth embodiment of the present invention.

FIG. 14 is a configuration diagram of a vacuum cleaner according to a seventh embodiment of the present invention.

FIG. 15 is a configuration diagram of a vacuum cleaner according to a seventh embodiment of the present invention.

FIG. 16 is a diagram showing an operation of cleaning the interior of a conventional vacuum cleaner.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1, 11 Light transmission means 2, 12 Light reception means 3 Wireless transmission means 4 Wireless reception means 5 Vacuum cleaner main body 7 Elastic body 8 Metal ball 9 Impact sensor 10 Black paper (light absorber) 13 Magnet (magnetic body) 14 Reed switch Reference Signs List 17 electromagnetic wave generating means 18 electromagnetic wave receiving means 20 radio wave transmitting means 21 induced voltage generating means 22 detected radio wave transmitting means 23 detected radio wave receiving means 103, 104 drive motor (running means) 105, 106 reduction gear (running means) 107, 108 running wheels (Running means) 109 Control means 112 Cleaning nozzle (work element) 114 Fan motor (work element)

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Keiko Noda 1006 Kazuma Kadoma, Kadoma City, Osaka Prefecture F-term (reference) in Matsushita Electric Industrial Co., Ltd. AA02 AA10 BB11 BB14 CC03 CC06 CC10 DD07 DD16 DD17 EE08 EE10 EE13 EE15 FF06 FF08 FF10 GG08 GG27 HH19 LL01 LL06

Claims (8)

[Claims] 1. A main body provided with a work element, a traveling means provided on the main body having a traveling function and a steering function, and controlling the traveling means to make a round around a work area and thereafter moving in the work area. A self-propelled work robot comprising: control means for causing the work area to go around the work area; and detection means for detecting that the work area has gone around. When the control means detects that the work area has gone around, the control means switches to movement control in the work area. 2. The detecting means comprises: receiving means provided on the main body;
Light transmitting means provided outside the main body, receiving light from the light transmitting means, and only when the main body is located at a position corresponding to a starting point when making a round around the work area, the main body, The self-propelled type according to claim 1, further comprising: a light receiving unit provided at a position where light emission of the light transmitting unit is blocked, and a transmitting unit transmitting to the receiving unit when the light receiving unit is blocked from emitting light. Working robot. 3. A detecting means detects an elastic body provided at a position corresponding to a starting point when making a round around the working area and having a metal ball, and an impact provided at a main body when the metal ball collides. The self-propelled work robot according to claim 1, wherein the self-propelled work robot is a shock sensor that performs the operation. 4. A detecting means corresponding to a light transmitting means provided on the main body, a light receiving means provided on the main body for receiving the light of the light transmitting means, and a starting point when making a round around the work area. The light absorber according to claim 1, wherein the light absorber does not reflect light from the light transmitting unit when the main body reaches a position corresponding to a starting point when making a round around the work area. Self-propelled work robot. 5. A magnetic body provided at a position corresponding to a starting point when making a round around the working area, and a detecting means at a position corresponding to a starting point when the main body makes a round around the working area. The self-propelled work robot according to claim 1, wherein the self-propelled work robot is a reed switch provided at a position inside the main body when the robot arrives. 6. A detecting means is provided at a position corresponding to an electromagnetic wave receiving means provided on the main body and a starting point when making a round around the work area, and when the main body makes a round around the work area. 2. The self-propelled work robot according to claim 1, wherein the self-propelled work robot is an electromagnetic wave generating unit that generates an electromagnetic wave reaching the electromagnetic wave receiving unit only when the electromagnetic wave reaches a position corresponding to a starting point. 7. A detecting means is provided at a position corresponding to a radio wave transmitting means provided on the main body and a starting point when making a round around the work area, and the starting means is provided when the main body makes a round around the work area. An induced voltage generating means for generating an induced voltage by a radio wave from the radio wave transmitting means only when reaching a position corresponding to a point, and the induced voltage provided at a position corresponding to a starting point when making a circuit around the work area. The self-propelled work robot according to claim 1, further comprising: a detection radio wave transmitting means for transmitting a detection radio wave when detecting the detection radio wave; and a detection radio wave receiving means provided on the main body for receiving the detection radio wave. 8. A weight change detecting means provided at a position corresponding to a starting point when making a round around the working area, and a detecting means provided at a position corresponding to a starting point when making a round around the working area. The self-propelled work according to claim 1, further comprising: a radio wave transmitting unit that transmits a radio wave when the weight change is detected by the weight change detecting unit; and a radio wave receiving unit that receives a radio wave from the radio wave transmitting unit provided in a main body. robot.