JP2003256043A - Self-propelled work apparatus, self-propelled cleaner and travel data distributing method for self-propelled work apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled work apparatus such as a self-propelled cleaner efficiently traveling and working throughout a whole of an object floor face even when it is started from an optional position. <P>SOLUTION: The self-propelled work apparatus is provided with a traveling means 21, a travel control means 13, a travel distance measuring means 24 for measuring a travel distance of a body 1, a travel direction measuring means 25 measuring a travel direction from a rotation angle with respect to a predetermined reference direction of the body 1, a distance measuring means 26 for measuring a distance of the body 1 to a peripheral obstacle, and a data storing means 27 for storing a shape and size of the travel object floor face and reference information for recognizing a floor face shape including a position of the obstacle. The control means 13 is composed to carry out travel control while recognizing a present position of the body 1 in the object floor face by comparing the reference information from the data storing means 27 with information acquired from the measuring means by actually traveling. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled work machine and a self-propelled cleaner, and more particularly, to perform work such as cleaning while recognizing the present location from reference data on a target floor surface and information obtained by actually traveling. The present invention relates to a self-propelled work device and a self-propelled cleaner that travel over the entire target floor surface efficiently and efficiently, and also to a traveling data distribution method for the self-propelled work device.

[0002]

2. Description of the Related Art Conventionally, various control systems have been proposed for self-propelled work equipment such as self-propelled vacuum cleaners.

For example, first, an operator manually controls the traveling by remote control to store the traveling route, and thereafter, automatically travels along the stored traveling route to perform work on the target floor surface. The teaching method and the running operation of starting straight running from any position on the floor in any direction and reversing in an at random direction every time a wall surface is detected runs straight on the target floor. A work time estimation method is known in which it is estimated that the work on the entire floor surface is completed by performing the work for a predetermined time according to the size.

However, the teaching method has a problem that the teaching is troublesome and the program of the traveling route is fixed, so that the work cannot be continued if a new obstacle is present on the floor surface. The estimation method has a problem that the working time is extremely long and the working efficiency is very poor in order to work on the entire floor surface completely.

Further, in Japanese Laid-Open Patent Publication No. 9-269824, when the designated target floor surface is to be worked without interruption, it is automatically calculated by giving the range of the target floor surface and the work start position and end position. It is disclosed that the work is performed by reciprocatingly traveling in a zigzag shape at an appropriate traveling pitch obtained as described above. Further, it is disclosed that a vehicle is equipped with a contact sensor for detecting contact with a wall or the like and a scanning sensor for traveling along a wall or the like in order to perform automatic traveling.

Further, in Japanese Patent Laid-Open No. 2000-342496, a cleaning robot travels along a traveling route determined according to a predetermined rule by using map data regarding a cleaning area stored in a memory card to clean and obstruct. Configured to notify remote workers or service companies via mobile phones, intranets, or the Internet when the vehicle cannot run, when the battery level is low, when garbage is full, when parts are exhausted, or when cleaning is completed. What has been done is disclosed. Further, it is disclosed that the cleaning area data is created by causing the cleaning robot to make one round in the cleaning area and teaching the outer coordinates, or storing the data created from CAD.

[0007]

However, in the structure disclosed in the above-mentioned Japanese Unexamined Patent Publication No. 9-269824, it is necessary to give the range of the target floor surface and the work start position and end position, and an unexpected obstacle in the middle. If it interferes with things, the work will be interrupted, and there is a problem that it is not convenient to use.

Further, even in the configuration disclosed in Japanese Patent Laid-Open No. 2000-342496, the cleaning start position is fixed,
If you do not start cleaning from that position, you will not be able to properly clean, and because you will be cleaning along a predetermined traveling route, if you interfere with an unexpected obstacle, the state will be notified, but the work itself There is a problem that it is inconvenient because it is interrupted.

In Japanese Patent Laid-Open No. 2000-39918, the distance to an obstacle of four revolutions (360 °) is measured at an arbitrary start position so that the obstacle can move efficiently regardless of the start position, and the closest distance is obtained. Move towards the obstacle,
It is disclosed that the vehicle turns around near an obstacle and runs along the obstacle, but it takes time to measure the distance to the obstacle on four laps, and the relationship between the work area and the work route after that. Since there is no disclosure, the above problem cannot be solved.

In view of the above-mentioned conventional problems, the present invention provides a self-propelled work machine and a self-propelled vacuum cleaner that can work by efficiently and efficiently traveling over the entire target floor surface even if it is started from an arbitrary position. It is an object of the present invention to provide a suitable traveling data distribution method for self-propelled work equipment.

[0011]

A self-propelled work machine according to the present invention comprises traveling means for traveling the main body, traveling control means for controlling the traveling means, traveling distance measuring means for measuring the traveling distance of the main body, A traveling direction measuring means for measuring the traveling direction from a rotation angle of the main body with respect to a predetermined reference direction, a distance measuring means for measuring a distance between the main body and an obstacle around the main body, a shape / size of a traveling target floor surface, and an obstacle. Data storage means for storing reference information for recognizing a floor surface shape including arrangement, and the travel control means, the reference information from the data storage means, and travel distance information and travel direction information obtained by actual travel. It is configured to perform the traveling control while recognizing the current position of the main body on the target floor surface by comparing and judging the distance information to the obstacle and the data obtained from actual traveling and the reference information. In comparison, since the running control is performed while recognizing the current position, it is possible to work on the entire target floor surface even if the vehicle is started from an arbitrary position, and the obstacles included in the reference information. The detection of can be shifted to the next traveling operation by the minimum necessary detection operation, so that the work can be efficiently performed, and the work time and the power consumption can be shortened.

Further, the self-propelled cleaner of the present invention comprises an electric blower for generating a suction force using a rechargeable battery as a power source, and a suction tool for sucking dust on the surface to be cleaned by applying the suction force to the main body. In the self-propelled vacuum cleaner having, the traveling control means is configured to automatically drive the inside of the surface to be cleaned and clean it while recognizing the current position within the surface to be cleaned of the main body as described above. Even if it is started from the position, the entire surface to be cleaned can be thoroughly cleaned, and the cleaning can be efficiently performed, which can shorten the working time and reduce the power consumption.

Further, an electric blower for generating a suction force using a rechargeable battery as a power source in the main body, and a suction tool for applying a suction force to suck dust on a surface to be cleaned, and a suction tool incorporated in the suction tool and rotated by a motor. In a self-propelled cleaner having a rotating brush, a traveling means, a control means for controlling the electric blower, the motor and the traveling means, a traveling distance measuring means, a traveling direction measuring means, a distance measuring means, and a cleaning target. Data storing means for storing reference information for recognizing the shape of the surface to be cleaned including the shape / size of the surface and arrangement of obstacles, information on properties of each part of the surface to be cleaned, and power supply information of the electric blower and the motor. The control means controls the traveling means, the electric blower, and the motor while recognizing the current position on the surface to be cleaned of the main body, and automatically travels all over the surface to be cleaned for cleaning. With this configuration, the entire surface to be cleaned can be thoroughly cleaned even if it is started from an arbitrary position as described above, and the cleaning can be performed efficiently, which shortens the work time and power consumption. In addition to adjusting the suction force and the rotation of the rotating brush according to the properties of each part of the surface to be cleaned, or stopping the rotation of the rotating brush when the body is turned over, It is possible to perform proper cleaning according to the property, prevent damage to the cleaning surface, and save power.

Further, when the data storage means is rewritable and detachable from the main body, the reference information can be input or rewritten to the data storage means by an external personal computer or the like, which improves usability.

If data rewriting means for rewriting the data in the data storage means with information from the information terminal device outside the main body is provided in the main body, the data in the data storage means is rewritten from the information terminal device outside the main body. It is possible to improve the usability.

Further, if the data rewriting means is equipped with a wireless communication means, the data can be rewritten wirelessly without being connected to an external information terminal device by a wire or the like, so that the usability is further improved.

Further, based on the information of the comparison judging means for comparing and judging the traveling distance information, the traveling direction information, the distance information to the obstacle and the reference information obtained by the actual traveling of the main body, the information is actually used based on the information of the comparing and judging means. When the main body is provided with data correction means for rewriting the data in the data storage means so as to match the information at the time of traveling, the data in the data storage means is corrected according to the actual condition of the surface to be cleaned confirmed by the actual traveling. By that,
During subsequent work, the work efficiency can be improved because the operation is controlled based on proper data.

Further, the dust detection means for detecting the presence / absence of dust passage in the suction passage through which the dust on the surface to be cleaned is suctioned, and the information from the dust detection means and the current location information are associated and stored as dust position information. If a dust position data storage means is provided in the main body, even if there is a lot of dust on the surface to be cleaned or a little dust, the state is stored as data, so the cleaning operation should be controlled accordingly. Therefore, proper cleaning can be performed efficiently.

Data reference means for referencing the data in the dust position data storage means based on the current location information is provided.
If the control means is configured to control at least one of the electric blower and the traveling means in accordance with the information from the data reference means, the controller appropriately performs cleaning according to the current position while traveling and in accordance with the amount of dust. be able to.

Specifically, the control means controls the suction force of the electric blower from the information from the data reference means when the current position coincides with a position having a large amount of dust, regardless of the presence or absence of the information from the dust detection means. It is configured to raise the speed, slow down the traveling speed of the traveling means, or both, and automatically and carefully cleans a dusty place without any detection operation by the dust detection means. can do.

Further, if the main body is provided with a data transmission means for transmitting the data in the data storage means or the data in the dust position data storage means or both of them, which are corrected by the data correction means, to the information terminal device outside the main body. , Such data on each surface to be cleaned can be stored in an external information terminal device.

Further, when the data transmitting means is composed of the wireless communication means, the data can be transmitted wirelessly without being connected to the external information terminal device by the wire or the like, so that the usability is further improved.

Further, the traveling data distribution method for a self-propelled work device according to the present invention comprises a server for transmitting information to the self-propelled work device or its user terminal via a communication line,
The server performs a step of determining a traveling operation procedure of the self-propelled work equipment based on work area information of the self-propelled work equipment, and a step of transmitting the traveling operation procedure to the user terminal or the self-propelled work equipment, The server can efficiently generate travel data and deliver it to each self-propelled work device and its user terminal.

Further, the self-propelled work equipment is equipped with a server for acquiring the work area information through the communication line and transmitting the information to the self-propelled work equipment or its user terminal through the communication line. The server determines the traveling operation procedure of the self-propelled work equipment based on the work area information of the work equipment and the step of transmitting the traveling operation procedure to the user terminal or the self-propelled work equipment. It is possible to acquire work area information via a communication line, efficiently create travel data in the server based on the work area information, and distribute the travel data to each self-propelled work device or its user terminal.

If the work area information is image information of the work area, the amount of information is large, and accurate travel data can be created and distributed.

[0026]

BEST MODE FOR CARRYING OUT THE INVENTION (First Embodiment) Hereinafter, a self-propelled vacuum cleaner according to a first embodiment of the present invention will be described with reference to FIGS.
Will be described with reference to.

In FIG. 1 showing the basic structure of the self-propelled cleaner of the present embodiment, 1 is a main body for cleaning while traveling,
The left and right drive wheels 2 are driven by a drive motor 3 to travel, and the left and right drive wheels 2 are independently rotated to change directions. Four
Is a driven wheel rotatably attached to the rear bottom surface of the main body 1, and the main body 1 is supported by the three weights of the driven wheel 4 and the drive wheel 2. An electric blower 5 that generates a suction force is connected to the suction tool 10 through the intake passage 6, the filter 7, and the dust box 8. The suction tool 10 is arranged on the bottom surface of the front part of the main body 1 and is attached to a support arm 9 supported by a fulcrum 9a so as to be vertically swingable, and is supported so as to be vertically movable with respect to the main body 1. Further, a rotary brush (not shown) driven by a motor 17 (see FIG. 2) is provided at the suction port of the suction tool 10.

Reference numeral 11 denotes a rechargeable battery as a power source,
It is connected to the electric circuit of the main body 1 via the power switch 12 to supply electric power. Reference numeral 13 is a control means including a microcomputer and other control circuits. Reference numeral 14 denotes an operation panel disposed on the rear upper surface of the main body 1, which is configured by arranging operation means composed of a transparent touch switch on display means such as liquid crystal.

Reference numeral 15 is an obstacle detection sensor for detecting the distance to obstacles in front of, left side, right side, and rear of the main body 1 by light, and 16 is provided at four corners of the main body 1 so as to project to the left front,
This is a floor distance sensor that detects the distance to the front right, rear left, and rear right floors by light.

Next, the control configuration of the self-propelled cleaner having the above-mentioned configuration will be described with reference to FIG. In FIG. 2, the control means 13 includes a drive wheel 2 and a drive motor 3.
It is configured to control the traveling means 21 composed of, the electric blower driving means 22 for driving and controlling the electric blower 5, and the motor driving means 23 for driving and controlling the motor 17 for driving the rotary brush of the suction tool 10. Electric power is supplied to the control means 13 from the battery 11. Further, the control means 13 includes a traveling distance measuring means 24 for measuring a traveling distance of the main body 1, and a traveling direction measuring means 25 including a gyroscope for measuring a traveling direction from a rotation angle of the main body 1 with respect to a predetermined reference direction. , The detection data from the distance measuring means 26 such as the obstacle detection sensor 15 or the floor distance sensor 16 which measures the distance between the main body 1 and the surrounding obstacles, and the shape and size of the surface to be cleaned are input. The data of the data storage means 27 in which the reference information and other various data are stored is read out. In the present embodiment, the data storage means 27 stores, in addition to the reference information for recognizing the shape / size of the surface to be cleaned and the shape of the surface to be cleaned including the arrangement of obstacles, information on the properties of each part of the surface to be cleaned. And the information about the electric power supplied to the electric blower 5 and the motor 17 corresponding thereto are stored.

A basic traveling control algorithm for the traveling means 21 by the control means 13 is as shown in FIG.
When the main body 1 is arranged in any position on the surface to be cleaned 40 surrounded by the wall surface 41 in four directions in any direction, first, from that state, the vehicle travels straight ahead as shown in FIG. As shown in (b), when the distance measuring means 26 detects the facing portion 42 of the wall surface 41, the direction is changed, and the traveling direction measuring means 2
5 and one round trip along the wall surface 41 based on the detection information by the distance measuring means 26, and then, as shown in FIG.
When the next corner wall surface 43 after the round traveling is detected, between the wall surfaces 41 facing each other in the orthogonal direction in parallel with the wall surface 41 traveling immediately before at a predetermined pitch interval set corresponding to the suction range by the suction tool 10. Zigzag, then (d)
As shown in FIG. 5, when the traveling of the entire surface to be cleaned 40 is completed and the corner wall surface 44 on the opposite side of the corner wall surface 43 is detected, zigzag shape is formed at a predetermined pitch interval in the direction orthogonal to the zigzag traveling direction. Drive, and as shown in (e), the corner wall surface 44
When the corner wall surface 45 on the opposite side is detected, the traveling ends,
It is set to complete cleaning.

On the other hand, the reference information including the shape and size of the surface to be cleaned 40, the arrangement of obstacles, etc., stored in the data storage means 27 is set along the outer shape of the surface to be cleaned 40 as shown in FIG. Outer shape data G (x, y) for traveling around the set outer circumference
And internal data M (x, y) for zigzag running set therein. Outline data G (x,
y) is divided into blocks each having the size of the main body 1 along the outer shape of the surface to be cleaned 40, and the coordinate data (x, y) of each block is defined. Internal data M (x,
y) is the suction tool 1 for the space surrounded by the outline data G.
Blocks corresponding to the width of the suction port of 0 are set in a matrix to define coordinate data (x, y) of each block.

In FIG. 4, the case where the surface 40 to be cleaned has a square shape is illustrated for simplification of description, but the same is set when the surface 40 has an arbitrary shape. The coordinate data is given at the center point of each block. Also, this reference information is
By inputting the shape and size of the surface 40 to be cleaned by using a personal computer or the like, it can be easily generated from the size of the main body 1 and the width size of the suction port of the suction tool 10.

Then, while the main body 1 performs cleaning while traveling in accordance with the traveling control algorithm shown in FIG. 3, the control means 13 actually travels the traveling distance measuring means 24, traveling direction measuring means 25 and distance measuring means 26. The actual travel route is traced by the information from and stored as a travel area pattern,
The present position is configured to be recognized by comparing and judging this with reference information. Figure 5
Referring to FIG. 5, the surface to be cleaned 40 having obstacles 46 and 47 and having irregularities, as shown in FIG.
When cleaning the, the coordinate data (0, 0) is used as the reference information of the surface to be cleaned 40 stored in the data storage means 27.
When (7, 5) is set, when the traveling area pattern S by actual traveling becomes a pattern as shown in FIG. 5 (b), the traveling area pattern S is set to the reference information of FIG. 5 (a). By pattern matching with, the area of the main body 1 matches the area surrounded by the thick solid line in FIG.
It is recognized that the current position is point C.

In this way, by comparing the data obtained from the actual traveling of the main body 1 with the reference information and performing the traveling control while recognizing the current position, the main body 1 can be started from an arbitrary position on the surface 40 to be cleaned. Also, the entire surface 40 to be cleaned can be efficiently and thoroughly worked. Also, the surface to be cleaned 40
By recognizing the current position in the interior, it is necessary to perform the minimum necessary detection operation for obstacles such as the wall surface 41.
Since it is possible to shift to the next traveling operation based on the reference information, the work can be efficiently performed, and the work time and the power consumption can be shortened. Further, even if there is an unexpected obstacle on the surface to be cleaned 40 and the uncleaned portion remains when the main body 1 travels according to the basic traveling control algorithm, the position is recognized, so that portion By setting a traveling control algorithm that also cleans, it is possible to clean completely.

Further, in this embodiment, the data storage means 2
In addition to the reference information, the information about the properties of each part of the surface 40 to be cleaned and the information on the electric power supplied to the electric blower 5 and the motor 17 are stored in the reference numeral 7 in FIG.
The property of the surface to be cleaned 40 is adjusted by adjusting the suction force by the electric blower 5 and the rotation of the rotating brush by the motor 17 according to the properties of each part of 0, and by stopping the rotation of the rotating brush when the body is reversed. Therefore, it is possible to properly clean the surface 40, and to prevent damage when the surface 40 to be cleaned is made of, for example, a rug, and to save power.

(Second Embodiment) Next, a self-propelled cleaner according to a second embodiment of the present invention will be described with reference to FIG. In the following description of the embodiments, the same components as those of the preceding embodiment are designated by the same reference numerals, the description thereof will be omitted, and only different points will be described.

In the present embodiment, the data storage means 2
7 is composed of a rewritable memory stick or the like which can be attached to and detached from the main body 1, and the main body 1 is provided with an attaching / detaching means 28 for the data storage means 27.

According to this embodiment, the data storage means 27
Data such as reference information can be input or rewritten externally by a personal computer or the like, and by attaching the data storage means 27 corresponding to each surface 40 to be cleaned to any main body 1, the main body 1 is applicable. Since the surface 40 to be cleaned can be automatically cleaned, usability is improved.

(Third Embodiment) Next, a self-propelled cleaner according to a third embodiment of the present invention will be described with reference to FIGS. 7 and 8.

In this embodiment, the main body 1 is provided with the data rewriting means 29 for rewriting the data in the data storage means 27 with the information from the information terminal device 30 such as a personal computer or a mobile phone outside the main body 1. . The data rewriting unit 29 may be connected to the information terminal device 30 by a cable, but it is preferable that the data rewriting unit 29 is configured to be capable of wirelessly communicating information as a configuration including a wireless communication unit. Further, while the main body 1 is actually traveling, the traveling distance measuring means 24, the traveling direction measuring means 25, and the traveling distance information obtained by the distance measuring means 26 are compared with the traveling direction information, the distance information to the obstacle, and the reference information. Comparing and judging means 31 for judging,
The main body 1 is provided with a data correction means 32 that rewrites the data in the data storage means 27 so as to match the information at the time of actual traveling based on the information obtained by the comparison and determination means 31.
As a result, the basic information of the surface to be cleaned 40, which is created based on the information input by a personal computer or the like and is stored in the data storage means 27, has the size as shown by the solid line in FIG. 8A. However, when the actual surface to be cleaned 40 has the size shown by the broken line, the basic information as shown in FIG. 8B is rewritten based on the above information obtained by the actual traveling. Is configured.

According to this embodiment, the data rewriting means 29 can rewrite the data in the data storage means 27 by giving an instruction from the information terminal device 30 outside the main body, and the usability is improved. In addition, if it is possible to rewrite by wireless, the usability is further improved. Also,
The comparison judgment means 31 and the data correction means 32 correct the data in the data storage means 27 in accordance with the actual condition of the surface 40 to be cleaned, which is confirmed by the actual running, so that the correct data can be used in the subsequent work. The operation efficiency can be improved because the operation is controlled by the operation.

(Fourth Embodiment) Next, a self-propelled cleaner according to a fourth embodiment of the present invention will be described with reference to FIGS. 9 and 10.

In the present embodiment, the dust detection means 33 for detecting the presence or absence of the passage of dust in the suction passage through which the dust on the surface 40 to be cleaned is suctioned and passed through the main body 1, and the dust detection means 33.
There is provided a dust position data storage means 34 which stores information as a dust position information in association with the information from the current position information. For example, as shown in FIG. 10, the dust position information is added with the dust amount data (n) at each location in association with the outer shape data G (x, y) of the reference information and the internal data M (x, y). External dust position data Gn (x,
y, n) and internal dust position data Mn (x, y, n). Alternatively, it may be configured to store as data only a portion having a particularly large amount of dust. Further, data reference means 35 for referring to the data of the dust position data storage means 34 based on the current location information is provided, and the control means 13 controls the electric blower 5 and the traveling means 21 according to the information from the data reference means 35. Is configured. Specifically, when the current location coincides with a portion having a large amount of dust according to the information from the data reference unit 35, the control unit 13 does not depend on the presence or absence of the information from the dust detection unit 33. The suction force is increased, the traveling speed of the traveling means 21 is decreased, or both are performed.

Further, in this embodiment, the data correction means 32
The main body is provided with data transmission means 36 for transmitting the data in the data storage means 27 and the data in the dust position data storage means 34, which have been modified by the above, to the information terminal device 30 outside the main body 1. The data transmitting unit 36 may be connected to the information terminal device 30 by a cable, but it is preferable that the data transmitting unit 36 is configured to be capable of wirelessly communicating information as a configuration including a wireless communication unit.

According to the present embodiment, even if there is a lot of dust or a lot of dust on the surface 40 to be cleaned, the state thereof is stored as data in the dust position data storage means 34. By reading the data from the position by the data reference unit 35 and controlling the cleaning operation according to the amount of dust, proper cleaning can be efficiently performed. That is, by initially storing the data in the dust position data storage means 34, thereafter, regardless of the detection operation of the dust detection means 33, the suction force is automatically increased according to the current position during traveling, Appropriate cleaning according to the amount of dust is performed by slowing down the traveling speed, and a dusty place can be automatically cleaned carefully and properly.

The data stored in the data storage means 27 and the data stored in the dust position data storage means 34 corrected by the data correction means 32 are stored in the information terminal device 30 outside the main body 1.
Therefore, such data of each surface 40 to be cleaned can be stored in the external information terminal device 30, and usability is improved. In addition, if it is possible to rewrite by wireless, the usability is further improved.

In the above description of each embodiment, only the example of the self-propelled vacuum cleaner has been described, but the present invention can be applied to other self-propelled work equipment for self-propelled work, and the same. It is possible to exert the effect of.

(Fifth Embodiment) Next, a method of distributing traveling data of a self-propelled work device according to a fifth embodiment of the present invention will be described with reference to FIG.

In the description of the above embodiment, an example in which the traveling data is created by the control means 13 based on the data stored in the data storage means 27 has been shown, but in the present embodiment, it is shown in FIG. So that the self-propelled work equipment body 1
Alternatively, a server 38 for transmitting / receiving information to / from the user terminal 37 via a communication line 39 is provided, and the server 38 of the main body 1 of the self-propelled work equipment is based on the work area information of the self-propelled work equipment. The traveling driving procedure is determined, and the traveling driving procedure is distributed to the user terminal 37 or the main body 1 of the self-propelled work device. The traveling driving procedure distributed to the user terminal 37 is stored in the storage means, and the storage means is attached to the main body 1 of the self-propelled work equipment to control the travel of the main body 1. With this configuration, the server 38 can efficiently generate travel data and distribute the travel data to the main body 1 of each self-propelled work equipment and the user terminal 37 thereof, and the control means 13 of the main body 1 of the self-propelled work equipment. The configuration can be simplified and the cost can be reduced.

The acquisition of the work area information of the self-propelled work equipment in the server 38 is stored in the work area information obtained by the actual running of the main body 1 of the self-propelled work equipment and the data storage means 27 of the main body 1. The work area information and the work area information such as CAD data are preferably acquired from a separate database via the communication line 39. In addition, the work area information is preferably image information of the work area, and in this case, the amount of information is large, and accurate travel data can be created and distributed.

[0052]

According to the self-propelled work equipment and the self-propelled cleaner of the present invention, as is apparent from the above description, the data obtained from the actual traveling is compared with the reference information to recognize the current position. Since the running control is performed, the entire target floor surface can be worked even if it is started from an arbitrary position, and the detection of obstacles included in the reference information is the minimum necessary detection operation. Since it is possible to shift to the next traveling operation, the work can be efficiently performed, and the work time and the power consumption can be reduced.

Further, according to the traveling data distribution method of the self-propelled work equipment of the present invention, the server determines the traveling operation procedure of the self-propelled work equipment based on the work area information of the self-propelled work equipment,
Since the traveling driving procedure is transmitted to the user terminal or the self-propelled work device, the traveling data can be efficiently created by the server and distributed to each self-propelled work device or the user terminal.

[Brief description of drawings]

FIG. 1 shows a main body configuration of a self-propelled vacuum cleaner according to a first embodiment of the present invention, (a) is a perspective view in which the inside is seen through,
(B) is a vertical side view.

FIG. 2 is a block diagram showing a control configuration of the self-propelled vacuum cleaner of the embodiment.

FIG. 3 is an explanatory diagram of a traveling control algorithm in the self-propelled cleaner according to the same embodiment.

FIG. 4 is an explanatory diagram of reference information in the self-propelled vacuum cleaner of the same embodiment.

FIG. 5 is an explanatory diagram of a current position detection method in the self-propelled vacuum cleaner of the embodiment.

FIG. 6 is a block diagram showing a control configuration in a self-propelled cleaner according to a second embodiment of the present invention.

FIG. 7 is a block diagram showing a control configuration in a self-propelled cleaner according to a third embodiment of the present invention.

FIG. 8 is an explanatory diagram of a data correction method in the self-propelled vacuum cleaner of the embodiment.

FIG. 9 is a block diagram showing a control configuration in a self-propelled cleaner according to a fourth embodiment of the present invention.

FIG. 10 is an explanatory diagram of dust position data in the self-propelled vacuum cleaner of the same embodiment.

FIG. 11 is a block diagram of a traveling data distribution method for a self-propelled work device according to a fifth embodiment of the present invention.

[Explanation of symbols]

1 body 5 electric blower 10 Inhaler 11 batteries 13 Control means 17 motor 21 means of travel 24 mileage measuring means 25 Running direction measuring means 26 Distance measuring means 27 data storage means 28 Detaching means 29 Data rewriting means 30 Information terminal device 31 Comparison judgment means 33 Dust detection means 34 Dust position data storage means 35 Data reference means 36 Data transmission means 37 User terminal 38 servers 39 communication line 40 Surface to be cleaned

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Tadashi Matsushiro             1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric             Sangyo Co., Ltd. F-term (reference) 3B057 DA00                 5H301 AA02 AA10 BB11 CC03 CC06                       DD01 DD07 DD15 GG08 GG12                       GG17 HH10

Claims (15)

[Claims] 1. A travel means for traveling the main body, a travel control means for controlling the travel means, a travel distance measuring means for measuring a travel distance of the main body, and a travel direction from a rotation angle of the main body with respect to a predetermined reference direction. Driving direction measuring means for measuring, distance measuring means for measuring the distance between the main body and surrounding obstacles, reference information for recognizing the floor shape including the shape / size of the target floor surface and the arrangement of obstacles The traveling control means compares the reference information from the data storage means with the traveling distance information obtained by actual traveling, the traveling direction information, and the distance information to the obstacle. A self-propelled working device characterized by being configured to perform traveling control while recognizing the current position of the main body on the target floor surface. 2. A main body having an electric blower that generates a suction force using a rechargeable battery as a power source, a suction tool that acts on the suction force to suck dust on a surface to be cleaned, and a traveling unit that causes the main body to move. A traveling control means for controlling the traveling means, a traveling distance measuring means for measuring the traveling distance of the main body, a traveling direction measuring means for measuring the traveling direction from a rotation angle of the main body with respect to a predetermined reference direction, and obstacles for the main body and surroundings. The distance control means for measuring the distance to the object, and the data storage means for storing the reference information for recognizing the shape / size of the surface to be cleaned and the shape of the surface to be cleaned including the arrangement of obstacles, the traveling control means The reference information and the traveling distance information obtained by actually traveling, the traveling direction information, and the distance information to the obstacle are compared and judged to recognize the current position in the surface to be cleaned of the main body while All over A self-propelled vacuum cleaner characterized by being configured to automatically drive and clean. 3. An electric blower that generates a suction force using a rechargeable battery as a power source, and a suction tool that applies a suction force to suck dust on a surface to be cleaned and a rotation that is built in the suction tool and rotated by a motor. A main body having a brush,
A traveling means for traveling the main body, a control means for controlling the electric blower, the motor and the traveling means, a traveling distance measuring means for measuring a traveling distance of the main body, and a traveling direction measured from a rotation angle of the main body with respect to a predetermined reference direction. Traveling direction measuring means, distance measuring means for measuring the distance between the main body and surrounding obstacles, and reference information for recognizing the shape of the surface to be cleaned and the shape of the surface to be cleaned including the arrangement of obstacles. The control means is provided with data relating to the properties of each portion of the surface to be cleaned and data storage means for storing the information on the electric power supplied to the electric blower and the motor, and the control means and the traveling distance information and traveling direction information obtained by actual traveling. And the distance information to the obstacle are compared to determine the current position in the surface to be cleaned of the main body, while automatically controlling the traveling means, the electric blower and the motor while automatically controlling the entire surface to be cleaned. Self-propelled cleaner characterized by being configured to clean on the line. 4. The self-propelled cleaner according to claim 2, wherein the data storage means is rewritable and detachable from the main body. 5. The self-propelled vacuum cleaner according to claim 2, wherein the main body is provided with data rewriting means for rewriting the data in the data storage means with information from an information terminal device outside the main body. . 6. The self-propelled vacuum cleaner according to claim 5, wherein the data rewriting means comprises a wireless communication means. 7. A data rewriting means for rewriting data in the data storage means with information from an information terminal device external to the main body, and traveling distance information, traveling direction information and obstacles obtained by actual traveling of the main body. The main body is provided with a comparison judging means for comparing and judging the distance information and the reference information, and a data correcting means for rewriting the data in the data storing means so as to match the information at the time of actual traveling based on the information of the comparison judging means. The self-propelled vacuum cleaner according to any one of claims 2 to 4 and 6. 8. A dust detection means for detecting the presence / absence of dust passage in a suction passage through which dust on a surface to be cleaned is suction-passed, and information from the dust detection means and current location information are associated and stored as dust position information. The self-propelled cleaner according to any one of claims 2 to 7, further comprising: a dust position data storage unit provided in the main body. 9. A data reference means for referencing the data of the dust position data storage means based on the current location information is provided, and the control means controls at least one of the electric blower and the traveling means according to the information from the data reference means. The self-propelled vacuum cleaner according to claim 8, wherein the self-propelled vacuum cleaner is configured as follows. 10. The control means increases the suction force of the electric blower regardless of the presence / absence of information from the dust detection means when the current position coincides with a position having a large amount of dust from the information from the data reference means, 10. The self-propelled cleaner according to claim 9, wherein the traveling speed of the traveling means is slowed down, or both of them are performed. 11. A main body is provided with a data transmission means for transmitting the data in the data storage means, the data in the dust position data storage means, or both data corrected by the data correction means to an information terminal device outside the main body. The self-propelled cleaner according to any one of claims 7 to 10, characterized in that. 12. The self-propelled vacuum cleaner according to claim 11, wherein the data transmission means is a wireless communication means. 13. A self-propelled work device or a user terminal thereof is provided with a server for transmitting information via a communication line, and the server runs the self-propelled work device based on work area information of the self-propelled work device. A travel data distribution method for a self-propelled work device, comprising: a step of determining a drive procedure and a step of transmitting the travel drive procedure to a user terminal or a self-propelled work device. 14. A server that acquires work area information of a self-propelled work device via a communication line and transmits the information to the self-propelled work device or its user terminal via the communication line, wherein the server comprises: Determining the traveling operation procedure of the self-propelled work equipment based on the work area information of the self-propelled work equipment,
And a step of transmitting a driving operation procedure to a user terminal or a self-propelled work device. 15. The travel data distribution method for a self-propelled work device according to claim 13, wherein the work area information is image information of the work area.