JP2004357768A - Robot vacuum cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent an abnormal stopped state caused by sticking of a suction port in automatic travel of a vacuum cleaner body. <P>SOLUTION: In this robot vacuum cleaner, when the stopped state in a movement of the vacuum cleaner body is detected during an automatic cleaning operation, a suction force of a suction blower 8 is reduced to eliminate the suction of the suction port 9, and when the movement is continued, the suction blower 9 is controlled to restore the suction force. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a self-propelled vacuum cleaner that performs self-propelled cleaning of a floor surface.
[0002]
[Prior art]
[Patent Document 1]
Japanese Patent Laid-Open Publication No. 2000-235416 discloses a self-propelled cleaner in which a main body of the cleaner is provided with driving means for moving the main body of the cleaner, suction means, various sensors, and control means, and travels independently based on detection information from the various sensors. Then, cleaning work to suck dust on the floor surface is performed. For example, a self-propelled cleaner described in Japanese Patent Application Laid-Open No. 2000-235416 is provided with a traveling means for allowing the cleaner body to travel independently, a suction motor for sucking dust, and a suction port for sucking dust. And performs a cleaning operation of sucking dust on the floor through a suction port while traveling independently.
[0003]
[Problems to be solved by the invention]
In the self-propelled vacuum cleaner having such a configuration, when the mouthpiece sucks the end of the carpet, the sheet, or the like, the self-propelled cleaner may not be able to move (self-run) due to frictional resistance due to the suction. In such a case, since the movement sensor detects this, the control means performs control for abnormally stopping the self-propelled cleaning operation. After that, an operation of restarting after the operator moves the cleaner body becomes necessary. Therefore, the self-propelled cleaning operation cannot be restarted until the operator notices the abnormal stop of the self-propelled cleaner, resulting in poor cleaning operation efficiency.
[0004]
An object of the present invention is to prevent the vacuum cleaner main body from being prevented from moving due to frictional resistance caused by suction of the suction opening and being abnormally stopped.
[0005]
[Means for Solving the Problems]
The present invention provides a self-propelled cleaner including a driving unit that moves a cleaner body, a suction unit that sucks dust on a floor, and a control unit that controls the driving unit and the suction unit. Drive detection means for detecting, and movement detection means for detecting whether the cleaner body has moved, provided
The control means refers to the detection results by the drive detection means and the movement detection means, and when the cleaner main body is not moving during drive control of the drive means, controls the suction means to reduce the suction force. It is characterized by controlling.
[0006]
Further, the control means controls the suction means so as to stop the suction when the cleaner body is not moving during the drive control of the driving means and to resume the suction when the movement is resumed. .
[0007]
Further, the control means is characterized in that when the movement is not resumed even if the suction force is reduced, and when the stop of the movement of the cleaner body is detected a predetermined number of times or more within a predetermined time, an abnormal stop is performed.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to FIGS.
[0009]
FIG. 1 is an external perspective view of a self-propelled cleaner showing one embodiment of the present invention, FIGS. 2 and 3 are perspective views showing the inside of the self-propelled cleaner with a cover removed, and FIG. FIG. 5 is a perspective view showing the driving wheel rotation detecting means, FIG. 6 is a block diagram of the control system, and FIG. 7 is a program executed by the microcomputer of the control unit. It is a control processing flowchart of abnormal stop suppression and metal suction notification in the automatic cleaning work to be performed.
[0010]
The self-propelled cleaner (vacuum cleaner body) in this embodiment includes a chassis 1 on which various mechanisms are mounted, and a cover 2 attached to the chassis 1 so as to cover the various mechanisms on the chassis 1.
[0011]
Various mechanisms mounted on the chassis 1 include two drive wheels 3 provided on the left and right portions of the chassis 1 for running the cleaner body, and a drive unit that is a drive source for rotating each of the two drive wheels 3. Two traveling motors 4 to be constituted, two reduction gears 5 for respectively reducing the rotation of the two traveling motors 4 and transmitting them to two driving wheels 3, respectively, and a chassis 1 for assisting the traveling of the cleaner body. , Four driven wheels 6 provided at the front and rear of the vehicle, two suspension portions 7 acting to keep the two drive wheels 3 in contact with the floor, and a source of a suction force for sucking dust on the floor. A suction blower 8 constituting a certain suction means, a suction port 9 for sucking dust on the floor surface, a dust collection chamber 10 for collecting dust sucked by the suction port 9, and dust contained in the suction port 9. Metal components A detecting means 11 for detecting the rotation of the two driving wheels 3, a detecting means 11 for detecting the rotation of the two driving wheels 3, a detecting means 13 for detecting a movement of the cleaner body, and a controlling means. The control unit 14 includes a control unit 14, a battery 15 for supplying power, and an operation unit 16 including an operation switch, a display, and an alarm.
[0012]
Since each driving wheel 3 is rotated by a driving force transmitted independently from each traveling motor 4 via each speed reducer 5, the cleaning is performed by changing the rotation speed and direction of the left and right (two) driving wheels 3. The traveling direction of the machine body can be changed or turned.
[0013]
Each reduction gear 5 connects the respective traveling motors 4 and the respective drive wheels 3 with a predetermined reduction ratio through a plurality of gears. Each of the speed reducers 5 is swingably attached to the chassis 1 by two hinge pins 17 so that the drive wheels 3, the traveling motor 4, and the speed reducer 5 swing vertically with the hinge pin 17 as a fulcrum. To be configured.
[0014]
Each travel motor 4 is installed at a position close to each hinge pin 17 in each speed reducer 5 to reduce the amount of movement of each travel motor 4 due to the swing of each speed reducer 5 to reduce the size of the cleaner body.
[0015]
The four driven wheels 6 are provided two each before and after the two drive wheels 3 to support the cleaner body (chassis 1) so as not to contact the floor surface.
[0016]
As shown in FIG. 4, each suspension unit 7 includes a support 20, a ball stopper 21, a coil spring 22, a spring stopper 23, a cushioning material 24, and a retaining ring (E-ring) 25. The ball stopper 21, the spring stopper 23, and the cushioning material 24 are provided with holes (not shown) at the center portions thereof for allowing the support columns 20 to pass therethrough.
[0017]
The lower end of the column 20 is fixed to the chassis 1 and raised. The strut 20 is positioned so as to penetrate through a slit portion 32 (see FIG. 5) provided in the speed reducer 5 and guides the horizontal direction when the speed reducer 5 swings up and down.
[0018]
The ball stopper 21 abuts on the upper surface of the speed reducer 5 and is fitted to the column 20 so as to be vertically movable along the column 20 in accordance with the movement of the speed reducer 5. The ball stopper 21 has a curved surface in contact with the speed reducer 5 so that the ball stopper 21 and the speed reducer 5 always maintain the same contact state even when the speed reducer 5 swings up and down. To
[0019]
The coil spring 22 is installed by fitting the spring stopper 23 to the column 20 with its upper end attached to the spring stopper 23, and the lower end thereof is brought into contact with the ball stopper 21 so as to push down the ball stopper 21. Press
[0020]
The spring stopper 23 includes a flange 23a that regulates the upper end position of the coil spring 22 and a leg 23b that extends inside the coil spring 22 and guides the expansion and contraction of the coil spring 22. The leg 23b has an outer diameter slightly smaller than the inner diameter of the coil spring 22 so that the coil spring 22 does not buckle even when the speed reducer 5 swings upward to compress the coil spring 22. It is guided smoothly and has a length shorter than that of the coil spring 22, and is formed so that the lower end thereof limits the upward movement of the ball stopper 21 to limit the upward swing of the speed reducer 5. The upper end surface of the flange 23a of the spring stopper 23 contacts the cushioning material 24.
[0021]
The cushioning member 24 is an elastic member such as urethane rubber which attenuates an impact generated when the speed reducer 5 swings upward and the ball stopper 21 collides with the leg 23 b of the spring stopper 23. 25 fits on the support column 20 so as to prevent it from falling off.
[0022]
In addition, downward swing of the speed reducer 5 is configured to be limited by a lower surface of the speed reducer 5 coming into contact with a stopper (not shown) provided on the chassis 1.
[0023]
In each suspension unit 7 having such a configuration, the reduction gear 5 is pushed down by the coil spring 22 via the bow stopper 21 while the cleaner body is placed on a flat floor and supported by the driven wheel 6, and the driving wheel 3 Swings so as to come into contact with the floor surface at a predetermined surface pressure, and the spring force of the coil spring 22 and the spring force of the coil spring 22 so that a predetermined gap is formed between the ball stopper 21 and the lower end of the leg 23b of the spring stopper 23. The spring stopper 23 is set.
[0024]
When each of the suspension units 7 is set in this manner, the gap between the chassis 1 and the floor surface changes when the cleaner body climbs over a step on the floor surface, but the reduction gear 5 is pushed down by the coil spring 22 to drive. Since the wheel 3 is always swung so as to be in contact with the floor, the driving wheel 3 is always in contact with the ground and the driving force can be applied to the floor even if the floor has irregularities. Stable running performance can be secured.
[0025]
The suction port 9 for sucking dust on the floor is installed at a position behind the drive wheel 3, and the opening is installed at the bottom of the chassis 1 so as to face the floor with a small gap. A rotary brush (not shown) is provided in the suction port (opening) 9 so as to be able to rub the floor surface, and by rotating the rotary brush, dust on the floor surface can be scraped and sucked in reliably. The configuration is as follows.
[0026]
A dust collection chamber 10 that collects and accumulates dust sucked by the suction port 9 is provided between the suction blower 8 and the suction port 9. The dust collection chamber 10 includes an opening / closing door (not shown) for discharging accumulated dust to the outside of the machine. In addition, a filter (not shown) is provided between the dust collection chamber 10 and the suction blower 8 to prevent dust leaking from the dust collection chamber 10 from being sucked into the suction blower 8.
[0027]
The metal detection means 11 is installed facing the flow path between the suction port 9 and the dust collection chamber 10 and detects whether dust sucked from the suction port 9 contains a metal component. The metal detecting means 11 is configured to have a detection range (detection ability) covering the entire flow path to prevent detection leakage. Further, in order to avoid erroneous detection of the metal detecting means 11, it is naturally configured such that no other metal member is installed in the detection range of the metal detecting means 11.
[0028]
The drive wheel rotation detecting means 12 is installed in each of the traveling motors 4 for driving the left and right drive wheels 3. The drive wheel rotation detecting means 12 includes a rotating plate 30 and a detection sensor 31, as shown in FIG. The rotating plate 30 is formed such that a plurality of slits (notches) extending in the radial direction are provided in the rotating direction, and is fixed to a driving shaft of the traveling motor 4 so as to rotate with the rotation of the traveling motor 4. I do. The detection sensor 31 is, for example, a photo interrupter, and detects light reception (light) and light shielding (dark) based on the slit position caused by the rotation of the rotary plate 30. Therefore, when the traveling motor 4 (drive wheel 3) rotates, the detection sensor 31 repeats the detection of the light reception and the light shielding. It is not rotating. In this embodiment, the drive wheel rotation detecting means 12 is attached to the traveling motor 4 so as to detect the rotation of the traveling motor 4, but may be attached to the driving wheel 3 if the same effect is obtained. Another configuration, for example, a configuration that detects that power is supplied to the traveling motor 4 so as to rotate the driving wheel 3 may be used.
[0029]
The main body movement detection unit 13 uses, for example, an optical movement detection sensor that processes a video signal obtained by imaging a floor surface and determines whether or not there is movement. The driven wheel 6 may be provided with a detection unit having the same configuration as that of the drive wheel rotation detection unit 12, or may have another configuration as long as a similar effect is obtained.
[0030]
The control unit 14 constituting the control unit includes a microcomputer and a drive circuit having a built-in automatic cleaning operation control program, and according to an instruction input from an operation switch of the operation unit 16, the metal detection unit 11 and the drive wheel rotation detection unit 12 The cleaner receives the detection signal from the main body movement detection means 13 and further refers to data output from a position recognition means using a gyro or the like and an obstacle detection device (both not shown) to move the cleaner body forward, backward, The traveling motor 4 is controlled so as to change direction and stop, the suction blower 8 is controlled so as to change the suction force from the suction port 9, and the display and the alarm device of the operation unit 16 are controlled for status notification.
[0031]
The operation unit 16 is installed inside the cover 2 so that the operation switch and the display are exposed outside the cover 2. As the operation switch, a push-button switch for inputting an instruction to set or start / stop the operation mode is provided. As the display, a display element such as an LED for displaying a setting state, an abnormality display, and a metal detection display is provided. A buzzer is provided as a vessel.
[0032]
As shown in FIG. 6, a control system of the self-propelled cleaner uses an instruction signal from an operation switch of an operation unit 16 by a microcomputer in which a control unit 14 uses a battery 15 as a power source and executes an automatic cleaning work control program. And detection signals from the metal detection means 11, the drive wheel rotation detection means 12, and the main body movement detection means 13, and outputs data output from a position recognition means using a gyro or the like and an obstacle detection device (both not shown). With reference to the drawing, the traveling motor 4 is controlled so as to move the cleaner body forward, backward, change direction, and stop, and the suction blower 8 is controlled so as to change the suction force from the suction port 9, and is operated for state notification. The display and the alarm of the unit 16 are configured to be controlled.
[0033]
Basically, the control unit 14 of the self-propelled vacuum cleaner configured as described above operates the operation unit 16 to set the automatic operation mode and then presses the start push button switch. The traveling motor 4 is driven so as to travel around the wall of the room to be cleaned while making reference to the data output from the detection device and make an outline of the room, and recognize the inside of the detected outline of the room as a cleaning surface. The automatic cleaning travel route for sucking in dust on the cleaning surface (floor surface) is set by automatically traveling the entire cleaning surface, and the automatic cleaning is performed by traveling through all the set automatic cleaning travel routes. The drive of the traveling motor 4 and the suction blower 8 is controlled so as to execute the work.
[0034]
By the way, when the suction port 9 is attracted to the end of the carpet or the like and the frictional resistance (running resistance) becomes excessive, the driving wheel 3 runs idle and the running of the cleaner body stops.
[0035]
However, the control unit 14 in the self-propelled cleaner according to the present embodiment receives the detection signals from the drive wheel rotation detecting means 12 and the main body movement detecting means 13, and the driving of the traveling motor 4 is controlled so that the driving wheels 3 are driven. When it is detected that the movement of the main body of the cleaner is stopped in spite of the rotation, the suction force of the suction port 9 is reduced while the traveling motor 4 is in the drive control state, and the suction is eliminated. The suction blower 8 was stopped so that the movement could be resumed, and when the cleaner body resumed the movement, the suction blower 8 was started to recover the suction force, so that the cleaner body stopped. A control process for preventing the state from being left as it is is executed.
[0036]
Further, when precious metals are sucked in during such an automatic cleaning operation, the metal detection means 11 detects the precious metals, so that the control unit 14 notifies the detection information by a display or an alarm of the operation unit 16. To control these.
[0037]
Control processing of abnormal stop suppression and metal suction notification in the automatic cleaning operation performed by the microcomputer of the control unit 14 of the self-propelled cleaner according to this embodiment will be described.
[0038]
The control in this automatic cleaning operation is basically performed by driving the cleaner motor along the set automatic cleaning travel route and instructing the travel motor 4 and the suction blower 8 to drive the suction blower 8 so as to suck dust on the floor. The driving command for the traveling motor 4 and the suction blower 8 is generated by completing the traveling along the set automatic cleaning traveling route, and the generation of the driving command is completed (the automatic operation is terminated).
[0039]
Step 101
The control process is branched after confirming the presence or absence of a drive command for the traveling motor 4 and the suction blower 8.
[0040]
Step 102
If there is no drive command in the confirmation at step 101, the traveling motor 4 and the suction blower 8 are stopped. When the traveling motor 4 and the suction blower 8 are stopped, the stopped state is maintained. Then, the metal detection acquisition information by the metal detection means 11 is confirmed, and if there is a history of detecting the suction of the metal, the information is notified by the display or the alarm of the operation unit 16.
[0041]
Step 103
If there is a driving command in the confirmation in step 101, the traveling motor 4 and the suction blower 8 are started in accordance with the driving command. If the traveling motor 4 and the suction blower 8 have already been activated, that state is maintained.
[0042]
Step 104
It is detected whether or not the main body of the vacuum cleaner is moving normally, and the control process branches. This detection is performed based on the presence or absence of slip of the driving wheel 3. Determining the presence or absence of a slip is determined by the main body movement detection means 13 for a predetermined time period, even though one of the left and right drive wheel rotation detection means 12 detects that the traveling motor 4 is rotating. When it is not possible to detect the movement of the main body of the vacuum cleaner, it is determined that there is a slip (the main body of the vacuum cleaner has not normally moved).
[0043]
Step 105
When the drive wheel 3 is not slipping, it is determined that the cleaner body has moved and the normal automatic cleaning operation is being performed, and the metal detection information by the metal detection unit 11 is obtained, and the process returns to step 101.
[0044]
Step 106
When the slip of the drive wheel 3 is detected in the detection of the drive wheel slip in step 104, the suction blower 8 is stopped assuming that the cleaner body is not normally moving. At this time, the drive of the traveling motor 4 is continued.
[0045]
Step 107
The number of times of slip detection (movement stop) detected within a predetermined time is counted.
[0046]
Step 108
By comparing the number of movement stops within the predetermined time with the predetermined number, it is determined whether or not the suction port 9 is easily adsorbed and the floor surface is inconvenient for the automatic traveling cleaning operation, and the control process is branched.
[0047]
Step 109
When the count value is less than the predetermined number of times, it is determined that the floor is not inconvenient for the automatic traveling cleaning work, and when a predetermined time has elapsed since the suction blower 8 was stopped, the presence or absence of slip of the drive wheel 3 is detected. To branch control processing. The slip detection at this time is also performed in the same manner as in step 104.
[0048]
Step 110
When it is detected in step 109 that the drive wheel 3 is not slipping, the suction blower 8 is restarted to recover the suction force, and the process returns to step 101.
[0049]
Step 111
When the count value is equal to or more than the predetermined number in step 109, it is determined that the floor surface is inconvenient for the automatic traveling cleaning operation, and the traveling motor 4 is also stopped (abnormal stop).
[0050]
Step 112
The fact that the operation has stopped abnormally is notified by a display or an alarm of the operation unit 16. It is desirable to generate a warning sound to call the operator.
[0051]
As described above, when the movement of the cleaner main body is stopped during the automatic traveling cleaning work, the suction blower 8 is stopped while the traveling motor 4 is in the driving state to reduce the suction force. When it becomes impossible to move due to the suction on the floor surface, the suction is canceled, the movement of the vacuum cleaner body is restarted, and the suction cleaning work can be restarted. It is possible to prevent the movement of the cleaner body from being stopped by the frictional resistance due to the suction, thereby preventing an abnormal stop state.
[0052]
However, when the movement is not resumed even if the suction force is reduced, the movement is inhibited due to a cause other than the suction of the suction port 9, and the movement can be resumed by reducing the suction force. When the number of stops is large, the floor is determined to be unsuitable for the automatic traveling cleaning work and is stopped abnormally, and this is reported, so that the floor is not left in the abnormally stopped state.
[0053]
If the control unit 14 is configured to store the position (position on the automatic cleaning traveling route) at which the movement of the cleaner main body is stopped by the suction of the suction port 9 during the automatic traveling cleaning work, the control unit 14 then stores the information again. When the automatic cleaning travel route is automatically cleaned, the suction blower 8 is controlled to stop when approaching the place, so that the movement of the cleaner main body due to the suction of the suction port 9 can be prevented beforehand. Can be prevented.
[0054]
In this embodiment, the suction blower 8 is stopped as a method of reducing the suction force of the suction blower 8 in order to eliminate the suction of the suction port 9, but the rotation speed of the suction blower 8 is reduced. A method can also be adopted.
[0055]
Such a self-propelled cleaner basically performs cleaning without an operator, so if valuables such as precious metals are placed on the floor or fall, Inhaled without being noticed by the person, it will be thrown away with the dust. However, the self-propelled cleaner according to the present embodiment detects that a metal component is mixed in the dust sucked by the metal detection unit 11 installed in the flow path between the suction port 9 and the dust collection chamber 10. Then, the control unit 14 captures and holds the metal detection signal and controls the operation unit 16 to notify that the metal component has been sucked into the dust collection chamber 10. This notification (display) is continued until dust in the dust collection chamber 10 is removed. By doing so, it is possible to prevent dust containing metal (noble metals) from being discarded as it is.
[0056]
As described above, the technique of detecting and reporting the suction of the metal component can be implemented separately from the prevention of the stop of the movement of the cleaner main body due to the suction of the suction port in the self-propelled cleaner.
[0057]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to this invention, the movement of a cleaner main body is prevented by the frictional resistance by suction of a suction opening during automatic cleaning work, and it can prevent that it becomes an abnormal stop state.
[Brief description of the drawings]
FIG. 1 is an external perspective view of a self-propelled cleaner according to an embodiment of the present invention.
FIG. 2 is a front perspective view showing the inside of the self-propelled cleaner with a cover removed.
FIG. 3 is a rear perspective view showing the inside of the self-propelled cleaner with a cover removed.
FIG. 4 is a side view showing a speed reducer and a suspension unit in the self-propelled cleaner.
FIG. 5 is a perspective view showing drive wheel rotation detecting means in the self-propelled cleaner.
FIG. 6 is a block diagram of a control system in the self-propelled cleaner.
FIG. 7 is a control processing flowchart of abnormal stop suppression and metal suction notification in an automatic cleaning operation performed by a microcomputer of a control unit in the self-propelled cleaner.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Chassis, 2 ... Cover, 3 ... Drive wheel, 4 ... Travel motor, 5 ... Reduction gear, 6 ... Driven wheel, 7 ... Suspension part, 8 ... Suction blower, 9 ... Suction port, 10 ... Dust collection chamber, DESCRIPTION OF SYMBOLS 11 ... Metal detection part, 12 ... Drive wheel rotation detection part, 13 ... Body movement detection part, 14 ... Control part, 15 ... Battery, 16 ... Operation part, 17 ... Hinge pin, 20 ... Prop, 21 ... Ball stopper, 22 ... Coil spring, 23: spring stopper, 23a: flange, 23b: leg, 24: cushioning material, 25: retaining ring, 30: rotating plate, 31: detection sensor, 32: slit.

Claims (3)

In a self-propelled cleaner including a driving unit that moves the cleaner body, a suction unit that sucks dust on the floor, and a control unit that controls the driving unit and the suction unit,
A drive detection unit that detects drive by the drive unit, and a movement detection unit that detects whether the cleaner body has moved,
The control means refers to the detection results by the drive detection means and the movement detection means, and when the cleaner main body is not moving during drive control of the drive means, controls the suction means to reduce the suction force. A self-propelled vacuum cleaner characterized by controlling. In claim 1, the control means controls the suction means to stop suction when the cleaner main body is not moving during driving control of the driving means, and to restart suction when the movement is resumed. Characteristic self-propelled vacuum cleaner. 3. The control device according to claim 1, wherein the control unit performs an abnormal stop when detecting the stop of the movement of the cleaner body a predetermined number of times or more within a predetermined time when the movement is not restarted even if the suction force is reduced. Self-propelled vacuum cleaner.

Images