JP2004049594A - Self-propelled vacuum cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve a problem wherein dust is left in the neighborhood of a wall due to a gap between a floor cleaner and the wall when a self-propelled vacuum cleaner measures distances to the circumferential walls, and performs cleaning while moving based on the measurement. <P>SOLUTION: The vacuum cleaner includes: a propelling means for moving a main body 1; a steering means for changing a movement direction; a cleaning means for performing cleaning; distance measuring means 10, 11 for detecting a distance to the wall; and a movement control means 9 to control the movement of the main body 1. The movement control means 9 includes a wallside movement means for moving the main body 1 apart prescribed distance from the wall. The cleaning means includes a cleaning nozzle 12, and a motor-driven blower 14. The cleaning nozzle 12 is protruded sideward at the both left and right sides or one side from the main body 1. Openings are arranged, to communicate with the motor-driven blower 14, at the whole part or a part of the protruded side surfaces. Thus, the cleaning nozzle 12 approaches the wall, sucks dust form the side surfaces, and collects dust in the neighborhood of the wall. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a self-propelled cleaner having a traveling function and performing a cleaning operation while moving.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, self-propelled cleaners have been developed that automatically add a moving function including a traveling steering unit, sensors, a movement control unit, and the like to a cleaning function to automatically clean a floor surface. For example, as a cleaning function, a floor cleaning tool such as a suction nozzle or a side brush is provided at the bottom of the main body, and as a moving function, traveling and steering means, an obstacle detecting means for detecting an obstacle when moving, and a position recognizing means for recognizing a position. The obstacle detection means measures the distance to the surrounding wall of the cleaning place, recognizes the cleaning area by the position recognition means while moving along this, and avoids obstacles by autonomous movement, and covers the entire area. It is to clean.
[0003]
[Problems to be solved by the invention]
However, in such a conventional self-propelled cleaner, when measuring the distance to the surrounding wall and moving along the same, the outermost part and the wall are as close as possible to the forward direction of the main body. Even so, there is a problem that a gap is formed between the floor cleaning tool and the wall, and the dust near the wall is left behind.
[0004]
Therefore, the present invention provides a self-propelled cleaner capable of reducing the distance between the side of the floor cleaning tool and the wall, providing a suction port on the side of the floor cleaning tool, and suctioning and collecting dust near the wall. The purpose is.
[0005]
[Means for Solving the Problems]
In order to solve the above-mentioned conventional problems, a self-propelled cleaner according to the present invention includes a traveling unit for moving a main body, a steering unit for changing a moving direction of the main body, a cleaning unit for performing cleaning, a wall or an obstacle. Distance measuring means for detecting a distance to an object, and movement control means for controlling movement of the main body by controlling the traveling means and the steering means, wherein the movement control means is based on an output of the distance measuring means. The apparatus has moving means along a wall for moving the main body at a predetermined distance from a wall or an obstacle, and the cleaning means has an electric blower and a floor cleaning tool for generating a suction force, and a part of the floor cleaning tool is more than the main body. It protrudes to both left and right sides or one side, and all or a part of the protruding side face is provided with an opening communicating with the electric blower.
[0006]
With the above configuration, in cleaning when moving along the wall, dust near the wall can be collected by bringing the floor cleaning tool as close to the wall as possible and sucking it from the side opening.
[0007]
BEST MODE FOR CARRYING OUT THE INVENTION
The invention according to claim 1 includes a traveling unit that moves the main body, a steering unit that changes the moving direction of the main body, a cleaning unit that performs cleaning, and a distance measuring unit that detects a distance to a wall or an obstacle. Moving control means for controlling movement of the main body by controlling the traveling means and the steering means, and the moving control means moves the main body at a predetermined distance from a wall or an obstacle based on an output of the distance measuring means. The cleaning means has an electric blower generating a suction force and a floor cleaning tool, and a part of the floor cleaning tool projects left and right or one side from the main body. By providing an opening communicating with the electric blower on all or a part of the side surface, the floor cleaning tool is brought close to the wall and sucked from the opening on the side surface during cleaning along the wall, thereby removing dust near the wall. Can be collected.
[0008]
According to the second aspect of the present invention, the height of the opening of the floor cleaning tool according to the first aspect can be changed. In order to increase the suction flow rate and to lower the suction flow rate on the carpet to increase the suction flow rate, a person judges the type of floor surface, such as carpet or bare floor, and increases the opening height of the floor cleaning tool. Adjustment is performed, and dust can be collected in a suction state that matches the floor surface.
[0009]
According to the third aspect of the present invention, the height of the opening can be changed without the need for a person by automatically changing the height of the opening according to the second aspect.
[0010]
According to a fourth aspect of the present invention, in the self-propelled cleaner according to the second or third aspect, the self-propelled cleaner has a floor surface discriminating unit for discriminating a floor type, and the opening height is determined based on the discrimination result of the floor surface discriminating unit. By determining the height, the determination of the floor surface and the determination of the opening height are automatically performed, and the need for human determination can be eliminated.
[0011]
According to a fifth aspect of the present invention, the opening position of the floor cleaning tool according to any one of the first to fourth aspects can be changed, so that a person appropriately changes the opening position according to a cleaning situation. Thus, dust can be collected efficiently by limiting suction to a desired direction.
[0012]
According to the invention described in claim 6, by automatically changing the opening position according to claim 5, it is possible to change the opening position without labor of a person.
[0013]
According to a seventh aspect of the present invention, the floor cleaning tool according to the fifth or sixth aspect has an opening on the front surface or the front and rear surface, and the opening position is changed between the side surface and the front surface or the front and rear surface, so that the opening position is changed. Can be changed as appropriate according to the cleaning situation, and only the sides can be opened to concentrate suction of side dust, or only the front or front and rear sides can be opened to focus suction of front and rear dust. it can.
[0014]
According to an eighth aspect of the present invention, the movement control means according to any one of the fifth to seventh aspects has an internal moving means for moving the inside of the cleaning area, and is used for switching between the wall moving means and the internal moving means. By correspondingly changing the opening position, for example, the side surface is opened when moving along the wall, the front or front and rear surfaces are opened when moving inside, the wall is emphasized when moving along the wall, and the floor when moving along the wall. The cleaning tool is wide and can collect dust by suction.
[0015]
【Example】
Hereinafter, embodiments of the present invention will be described with reference to FIGS.
[0016]
FIG. 1 is a perspective view of the overall configuration of a self-propelled cleaner according to an embodiment of the present invention. In FIG. 1, reference numeral 1 denotes a main body of a self-propelled cleaner that performs cleaning while moving in a cleaning area, and moves forward on a floor in a direction of an arrow 2. Reference numerals 3 and 4 denote left and right drive motors disposed on the left and right sides of the main body 1, and output shafts of the left and right driving wheels 7 and 8 disposed on both rear sides of the main body 1 via left and right reduction gears 5 and 6. Drive rotationally. Reference numeral 19 (see FIGS. 7 and 8) comprises a free caster or the like that is rotatable with a driven wheel, supports the load on the front portion of the main body, and follows the movement of the main body 1 driven by the driving of the running wheels 7 and 8. By independently controlling the rotation of the left drive motor 3 and the right drive motor 4, the main body 1 can be moved in the direction of the arrow 2, and the rotation speeds of the left drive motor 3 and the right drive motor 4 can be varied. The main body can be turned clockwise or counterclockwise, and has functions of a traveling means and a steering means. Reference numeral 9 denotes movement control means for controlling the rotation of the left and right drive motors 3 and 4 in accordance with various inputs and for controlling the movement of the main body 1, and comprises a microcomputer and other control circuits.
[0017]
Reference numerals 10 and 11 denote distance measuring means provided on the left and right of the upper portion of the main body 1, and are constituted by an optical sensor or an ultrasonic sensor for measuring the distance to the front and side walls of the main body 1 and obstacles. Reference numeral 21 denotes position recognition means for measuring the direction and position of the main body 1, which is composed of trajectory measurement means for calculating a traveling trajectory from the rotational speeds of the running wheels 7 and 8. However, a direction measuring means such as a gyro for measuring the direction of the main body is used. They may be combined. Reference numeral 12 denotes a cleaning nozzle which is disposed at a lower front part of the main body 1 and cleans a floor surface. The lower surface of the cleaning nozzle 12 is in an open state, and an opening for sucking dust, that is, a suction port (front surface 31F / right side surface 31R) is provided on the front and rear surfaces and both side surfaces. An agitator 13 composed of a rotating brush or the like is provided in the cleaning nozzle 12 so as to face the lower surface, and a fan motor 14 constituting an electric blower is driven to generate a vacuum pressure, and the vacuum pressure is applied to the cleaning nozzle 12. To suck dust from the suction port. The agitator 13 is rotationally driven by a nozzle motor 15 via a transmission belt 16.
[0018]
In this embodiment, the cleaning means is constituted by the cleaning nozzle 12, the fan motor 14 and the agitator 13, and the cleaning nozzle 12 corresponds to a floor cleaning tool. The agitator 13 may be provided as needed. Reference numeral 22 denotes a floor surface discriminating means provided in the cleaning nozzle 12 (which may be outside the cleaning nozzle 12), which is of an optical type or an ultrasonic type. Light is received, and the type of floor surface, such as carpet or bare floor, is determined based on the scattering state or intensity of the reflected light. By analyzing a large number of light receiving patterns and accumulating a database, there is a possibility that a large number of types of floor surfaces can be determined regardless of a carpet / bear floor. The cleaning nozzle 12 protrudes to the rightmost side of the running wheel 8 with respect to the forward direction of the main body 1, that is, in this embodiment, the running wheel 8.
[0019]
Reference numeral 20 denotes a power supply composed of a battery or the like, which controls the drive motors 3 and 4, the fan motor 14, and the nozzle motor 15 in the main body 1, the movement control means 9 as a circuit unit, the position recognition means 21 as sensors, and the distance measurement means. Supply power to 10 and 11.
[0020]
Next, the configuration of the opening 31 of the cleaning nozzle 12 and the opening and closing device will be described with reference to FIGS. The subscripts F, B, R, and L represent front, rear, right, and left, respectively. FIG. 2 is a view of the cleaning nozzle 12 as viewed from below, FIG. 3 is a view showing how the front opening is opened and closed, and FIG. 4 is a view showing how the right side opening is opened and closed. Reference numeral 32 denotes a shutter, which is provided in close contact with the opening 31 so as to close the opening 31, and a rack 33 is fixed to an upper side thereof. Numeral 34 denotes an opening / closing drive, which is composed of a small DC motor or the like which can be arranged in the cleaning nozzle 12, has a pinion at the tip of the output shaft, and the teeth provided on the pinion are the teeth provided on the rack 33. The output is transmitted to the rack 33. Reference numeral 35 denotes a guide for suppressing the displacement of the rack 33 in the horizontal direction, and also serves as a stopper for the upper limit position of the shutter 32. The shutter 32, the rack 33, the opening / closing drive device 34, and the guide 35 constitute an opening / closing device. The opening 31 on each of the front, rear, left and right surfaces of the cleaning nozzle 12 can be automatically opened and closed independently, and the opening height can be freely adjusted. it can.
[0021]
The rear opening has the same structure as the front surface in FIG. 3, and the left opening has the same configuration as the right surface in FIG. The above-described configuration for automatically opening and closing the opening 31 is an example, and the present invention is not limited to this. In the above-described configuration, the number of motors constituting the opening / closing drive device 34 is six in total in the front / rear and left / right directions. Further, the parts before and after the opening and closing device are integrated to reduce the number of parts, and further simplification is possible. Further, the opening and closing device may be configured manually instead of automatically. In addition, the position, number, and shape of the openings are not limited to those shown in the drawings, but may be design factors in accordance with actual specifications.
[0022]
FIG. 5 is a control block diagram showing the system configuration of the present embodiment. Reference numeral 9 denotes a movement control unit, which receives a left drive motor 3 and a right drive motor 4, a fan motor 14 and a nozzle motor 15 in accordance with inputs from the distance measurement units 10 and 11, the position recognition unit 21 and the floor surface determination unit 22, The output to the opening / closing drive device 34 (front F, rear B, right R, left L) is controlled. The movement control means 9 includes a wall-side moving means 23 for moving the main body 1 at a fixed distance from the wall based on an input from the distance measuring means 10 and 11, and an internal moving means 24 for moving an inner part of the cleaning area. have.
[0023]
In FIG. 6, the outline of the movement control by the movement control means 9 will be described with reference to the movement locus. The main body 1 starts operation from a start point S on a floor A (cleaning area) to be cleaned. First, as shown by a dashed arrow, the area along the wall travels around the outer periphery of the area in a counterclockwise direction at a predetermined distance (including the distance 0) from the wall and the obstacle 40 by the moving means 23 along the wall. During this time, the cleaning of the wall is performed by the cleaning means including the cleaning nozzle 12 protruding rightward. When returning to the start point S again, the inner moving means 24 moves the inner portion from the outer periphery while repeating the straight traveling and the turn as shown by the solid arrow. During this time, the cleaning unit performs cleaning while detecting and avoiding the central obstacle 41 with the distance measuring units 10 and 11. When the cleaning of the internal portion is completed, the process returns to the start point S along the outer peripheral wall.
[0024]
Although the operation of the wall-side moving means 23 has been described as being counterclockwise, the cleaning nozzle 12 may be made to protrude to the left and clockwise. Further, the operation of the internal moving means 24 is not limited to repetition of straight traveling and turning. Further, if the main body 1 is provided with a storage unit for storing the cleaning environment, the cleaning area (and the position of the sign) can be recognized and stored.
[0025]
The opening and closing operation of the opening 31 of the cleaning nozzle 12 based on the above configuration will be described again with reference to FIGS. 3 and 4, the upper stage shows the fully opened state of the opening 31, the middle stage shows the half open state, and the lower stage shows the fully closed state. Assume that the initial state is a fully opened state in the upper stage. The opening and closing drive devices 34F and 34R rotationally drive the pinion at the output shaft tip, and lower the rack 33 and the shutter 32. When the lower side of the shutter 32 reaches the floor, the opening 31 is fully closed and the rotation of the output shaft is locked at the same time, and the lock is detected, and the opening / closing drive devices 34F and 34R stop driving.
[0026]
Next, the opening and closing drive devices 34F and 34R rotate the pinion at the output shaft tip in the opposite direction to the above, and raise the rack 33 and the shutter 32. When the upper side of the shutter 32 reaches the lower end of the guide 35, the opening 31 is fully opened and the rotation of the output shaft is locked at the same time, and the lock is detected, and the opening / closing driving devices 34F and 34R stop driving. That is, the shutter 32 is moved up and down by opening / closing the opening / closing drive devices 34F and 34R to open and close the opening 31. In the middle part of the figure, to stop the shutter 32 when the opening 31 is half-open, the driving time of the opening / closing driving devices 34F and 34R is stopped in half of the time from full closing to full opening, or a separate micro switch ( (Not shown) may be installed so as to detect the shutter 32 when the opening 31 is half-open, and drive control of the opening / closing drive devices 34F and 34R may be performed based on this detection signal. In order to stop the shutter 32 at an intermediate position other than the half-open state, a detection switch may be provided at a position where the driving time is controlled or stopped as described above.
[0027]
Next, the interlocking operation between the movement of the main body 1 and the opening and closing of the opening 31 of the cleaning nozzle 12 will be described again with reference to FIGS. 7 is a diagram showing the main body when moving along a wall, and FIG. 8 is a diagram showing the main body when moving inside. The main body 1 is at a start point S on a floor A (cleaning area) to be cleaned. First, while stopped, the floor surface determining means 22 determines the type of the floor surface and determines the height of the opening 31 of the cleaning nozzle 12. The opening / closing drive device 34 adjusts only the opening right 31R to the above-described height, and closes the left L, front F, and rear B of the other openings 31.
[0028]
Next, operation is started at a distance X along the wall surface W by the wall-side moving means 23. During this time, the suction force is concentrated on the right side 31R of the opening by the cleaning means including the cleaning nozzle 12 projecting to the right side, and the wall is cleaned at the optimum opening height. When returning to the start point S again, the opening 31F and the opening 31B are opened to the same height as the opening right 31R, and the opening right 31R is closed.
[0029]
Then, the inner moving means 24 moves the inner portion from the outer periphery while repeating the straight traveling and the turn. In the meantime, the cleaning means performs cleaning with a wide width of the cleaning nozzle 12 and reciprocates while detecting and avoiding the central obstacle 41 by the distance measuring means 10 and 11 without leaving any dust. When the cleaning of the internal portion is completed, the cleaning means is stopped and the process returns to the start point S along the outer peripheral wall. At this time, the open / closed state of the opening 31 does not matter.
[0030]
As a general tendency, it is considered that it is desirable to reduce the height of the opening 31 in the carpet to increase the suction flow rate, and to increase the opening 31 in the bare floor to increase the suction flow rate. Not something.
[0031]
As described above, the type of the floor surface is determined, and the opening height of the floor cleaning tool is automatically set to a height suitable for the floor surface. For dust collection and internal movement, suction dust collection can be performed efficiently with a wide cleaning width of the cleaning nozzle 12.
[0032]
【The invention's effect】
As described above, according to the present invention, in cleaning when moving along the wall, the floor cleaning tool can approach the wall and suck it from the opening on the side surface, thereby collecting dust near the wall.
[Brief description of the drawings]
FIG. 1 is a perspective view showing the inside of a self-propelled cleaner according to an embodiment of the present invention. FIG. 2 is a bottom view of the cleaning nozzle of the self-propelled cleaner viewed from below. (B) shows a state in which the front opening of the cleaning nozzle of the self-propelled cleaner is fully opened, and (c) shows a state in which the front opening of the cleaning nozzle of the self-propelled cleaner is half open. FIG. 4A is a view showing a state in which a front opening of a cleaning nozzle of a vacuum cleaner is fully closed. FIG. 4A is a view showing a state in which a right side opening of a cleaning nozzle of the self-propelled vacuum cleaner is fully opened. FIG. 5C shows a state in which the right side opening of the cleaning nozzle of the vacuum cleaner is half-opened. FIG. 5C shows a state in which the right side opening of the cleaning nozzle of the self-propelled vacuum cleaner is fully closed. FIG. 6 is a control block diagram showing a system configuration of the vacuum cleaner. FIG. 6 is a diagram showing a series of operation examples in a work area of the self-propelled vacuum cleaner. 7 the plan view showing the main body at the time of the wall along the movement of the self-propelled cleaner 8 same, plan view of the main body at the time of internal movement of self-propelled cleaner EXPLANATION OF REFERENCE NUMERALS
DESCRIPTION OF SYMBOLS 1 Main body 3, 4 Drive motor 5, 6 Reduction gear 7, 8 Traveling wheel 9 Movement control means 10, 11 Distance measuring means 12 Cleaning nozzle 14 Electric blower 19 Follower wheel 22 Floor discriminating means 23 Wall moving means 24 Internal moving means 31 Opening 32 Shutter 33 Rack 34 Opening opening / closing drive 35 Guide

Claims (8)

Traveling means for moving the main body, steering means for changing the moving direction of the main body, cleaning means for cleaning, distance measuring means for detecting the distance to a wall or an obstacle, the traveling means and the steering means Movement control means for controlling the movement of the main body by controlling, the movement control means has a wall moving means for moving the main body at a predetermined distance from a wall or an obstacle based on the output of the distance measuring means, The cleaning means has an electric blower that generates suction force and a floor cleaning tool, and a part of the floor cleaning tool protrudes from the main body to both left and right sides or one side, and the whole or a part of the protruding side faces is Self-propelled vacuum cleaner with an opening communicating with the electric blower. The self-propelled cleaner according to claim 1, wherein an opening height of the floor cleaning tool can be changed. The self-propelled cleaner according to claim 2, wherein the opening height is automatically changed. The self-propelled cleaner according to claim 2, further comprising a floor surface determining unit configured to determine a type of the floor surface, wherein the opening height is determined based on a determination result of the floor surface determining unit. The self-propelled cleaner according to any one of claims 1 to 4, wherein an opening position of the floor cleaning tool can be changed. The self-propelled cleaner according to claim 5, wherein the opening position is automatically changed. The self-propelled cleaner according to claim 5 or 6, wherein the floor cleaning tool has an opening on the front surface or the front and rear surfaces, and the opening position is changed between the side surface and the front or front and rear surfaces. The moving control means has an internal moving means for moving the inside of the cleaning area, and changes the opening position in accordance with the switching between the wall moving means and the internal moving means. Self-propelled vacuum cleaner.

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