JP2005110911A - Self-propelled vacuum cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled vacuum cleaner which efficiently cleans a cleaning region without performing a complicated control. <P>SOLUTION: This self-propelled vacuum cleaner is equipped with a cleaning means for cleaning refuse on a floor surface which is provided on a main body, a traveling means which moves the main body, a moving direction changing means which changes the moving direction of the main body, and a movement controlling means which controls the movement of the main body by controlling the traveling means and the moving direction changing means. The movement controlling means performs a control in such a manner that when the main body performs cleaning by moving, the main body may travel between triangular sector lines which do not generate uncleaned areas in the cleaning region. Also, the movement controlling means performs a triangular moving control (A, B, and C) which realizes the total coverage of the cleaning region by continuing a triangle which shares two apices of the above mentioned triangle. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a self-propelled cleaner that has a cleaning function and a moving function and performs automatic cleaning.

  2. Description of the Related Art Conventionally, a so-called self-guided self-propelled cleaner has been developed in which a moving means, sensors, and movement control means are added to a cleaner to automatically move the cleaning area and perform cleaning. For example, a cleaning tool is equipped with a suction tool or a dust brush for cleaning up dust at the bottom of the main body, driving wheels as a traveling function to move freely, steering means for changing the direction of movement, and obstacles during movement An obstacle detection means for detecting an object and a position confirmation means are provided. The obstacle detection means bypasses the obstacle in the cleaning area, recognizes the cleaning area cleaned by the position recognition means, and has not yet cleaned. The entire cleaning area is cleaned by moving the cleaning area.

Furthermore, for example, as described in Patent Document 1, a device that moves the main body so as to fill the inside of the cleaning region by performing meandering traveling has been developed.
JP 2002-204768 A

  However, in the conventional self-propelled cleaner, cleaning is performed by deviating from a predetermined movement path due to an accumulated error of position recognition performed using a rotation sensor of a driving wheel or a gyro, and as a result, cleaning is performed. There was sometimes a residue. In addition, when there are many obstacles in the cleaning area, it is difficult to determine the movement path in advance so as to completely cover the entire cleaning area while avoiding the obstacles, and complicated control is required.

  Even when the travel pattern is switched by the signal of the dust amount sensor while moving along a predetermined movement route, the vehicle travels slowly in a place with a lot of dust or travels around it several times. I was just adding.

  This invention solves the said conventional subject, and it aims at providing the self-propelled cleaner which cleans a cleaning area efficiently, without performing complicated control.

  In order to solve the above-mentioned conventional problems, a self-propelled cleaner of the present invention comprises a traveling means for moving a main body, a moving direction changing means for changing the moving direction of the main body, the traveling means and the moving direction changing means. Movement control means for controlling movement of the main body by controlling the movement control means so as to travel between triangular area lines that do not leave a cleaning area in the cleaning area when the main body moves and cleans. An obstacle detecting means for controlling and filling the cleaning area with a series of triangles sharing the two vertices of the triangle and detecting an obstacle located in the advancing direction of the main body; When the obstacle detection means detects an obstacle, the cleaning area of the two-vertex shared triangle traveling is cut off by the obstacle detected by the obstacle detection means in the traveling direction of the main body. It is intended to implement the triangular movement control for realizing an obstacle detection movement control to switch the traveling direction of the body so as to form a.

  According to this configuration, when the cleaning area is considered as a polygon surrounded by vertical lines, left and right lines, and obstacles such as furniture, first, the interior of the cleaning area is defined as a collection of triangular cleaning areas in which the main body does not leave a cleaning residue. Moving. And if it continues moving, it will be obstructed by hitting an up-down line, left-right line, or obstacle. In this case, it moves within the cleaning area so as to form a polygon obtained by cutting out the colliding area from the triangular cleaning area. In this way, by moving the main body so that the interior of the cleaning area is filled with a triangular area sharing two vertices, a self-propelled cleaner that efficiently moves the cleaning area with a simple algorithm can be realized.

  According to the present invention, it is possible to clean the cleaning area without any complicated control without performing complicated control.

  A first aspect of the present invention is a cleaning means for cleaning dust on a floor surface provided in a main body, a traveling means for moving the main body, a moving direction changing means for changing the moving direction of the main body, the traveling means and the moving direction. The movement control means includes a movement control means for controlling the movement of the main body by controlling the conversion means, and the movement control means travels between triangular area lines that do not leave a cleaning area in the cleaning area when the main body moves and cleans. The triangular movement control is performed to realize the filling of the cleaning area with the continuous triangles sharing the two vertices of the triangle.

  Accordingly, when the cleaning area is considered as a polygon surrounded by vertical lines, left and right lines, and obstacles such as furniture, the main body first moves in the cleaning area as a collection of triangular cleaning areas that do not leave any cleaning. In this way, the cleaning area can be efficiently moved with a simple algorithm by moving the main body so as to fill the inside of the cleaning area with a triangular area sharing two vertices.

  According to a second aspect of the present invention, there is provided an obstacle detection means for detecting an obstacle located in the traveling direction of the main body, and the movement control means is configured to detect an obstacle during the triangular movement control when the obstacle detection means detects the obstacle. Obstacle detection movement control for changing the traveling direction of the main body so as to form a polygon in which the cleaning region of the two-vertex shared triangle traveling is cut by the obstacle detected by the obstacle detecting means. It is what has.

  Thereby, even when there is an obstacle in the cleaning area, the obstacle can be avoided and the surroundings of the obstacle can be cleaned.

  A third invention has dust detection means for detecting the amount of dust to be cleaned by the cleaning means, and the movement control means detects the dust more than a predetermined amount during the triangular movement control. Has pattern movement control for moving the main body in accordance with a preset movement pattern.

  As a result, when the dust detection means detects a certain amount or more of dust, the main body is moved according to a preset movement pattern, that is, a movement pattern that can focus on collecting dust is implemented. By doing so, the dust in the cleaning area can be efficiently cleaned.

  In a fourth aspect of the invention, the triangular movement control of the movement control means is such that the distance between the forward path and the backward path by triangular traveling is set to a predetermined width.

  Thereby, it is possible to minimize the overlap between the cleaning areas of the forward path and the return path, and to eliminate the remaining cleaning.

  In the fifth aspect of the invention, the pattern movement control of the movement control means moves the main body while repeating forward or backward movement.

  Thereby, the movement distance at the time of direction change can be minimized.

  In the sixth invention, the obstacle detection movement control of the movement control means has a plurality of movement patterns.

  Thereby, it can respond to the cleaning area | region of a more complicated shape.

  In the seventh invention, the movement speed of the main body is switched between the triangular movement control of the movement control means and the obstacle detection movement control.

  Thereby, the moving speed of the main body corresponding to the complexity of the shape of the cleaning area can be realized.

  In an eighth aspect of the invention, the movement speed of the main body is switched by the triangular movement control, the obstacle detection movement control, and the pattern movement control of the movement control means.

  Thereby, the moving speed of the main body corresponding to the complexity of the shape of the cleaning area can be realized.

  In the ninth invention, the cleaning means collects dust by suction, and the suction force of the cleaning means is switched between the triangular movement control and the obstacle detection movement control of the movement control means.

  Thereby, the suction force corresponding to the complexity of the shape of the cleaning area can be realized.

  According to a tenth aspect of the invention, the cleaning means collects dust by suction, and the suction force of the cleaning means is switched by the triangular movement control, the obstacle detection movement control, and the pattern movement control of the movement control means.

  Thereby, the suction force corresponding to the complexity of the shape of the cleaning area can be realized.

  An eleventh invention is a program for causing a computer to function as at least part of the means of the self-propelled cleaner according to any one of the first to tenth aspects.

  Thereby, since it is a program, at least a part of the self-propelled cleaner of the present invention can be easily realized using a general-purpose computer or a microcomputer. Also, program distribution and installation can be simplified by recording on a recording medium or distributing a program using a communication line.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments.

(Embodiment 1)
FIG. 1 shows a block diagram of a self-propelled cleaner in the first embodiment of the present invention. In the figure, 1 is a main body of a self-propelled cleaner that performs cleaning while moving, and moves in a cleaning area. Reference numerals 2 and 3 denote left and right drive wheels disposed on the left and right side surfaces of the main body 1. The left driving wheel 2 and the right driving wheel 3 are independently controlled to rotate, thereby moving the main body 1 and changing the moving direction, which also serves as a traveling means and a moving direction changing means.

  Reference numeral 4 denotes a movement control means which is arranged in the main body 1 and controls the left and right drive wheels 2 and 3 in accordance with various inputs to control the movement of the main body 1 and includes a microcomputer and other control circuits. Reference numeral 5 denotes a cleaning nozzle for cleaning the floor surface provided at the front of the main body 1, and a suction port is opened on the lower surface of the cleaning nozzle 5. Further, a fan motor 6 constituting an electric blower is disposed in the main body 1, and dust on the floor surface is sucked through the suction port of the cleaning nozzle 5 by the vacuum pressure generated by the fan motor 6.

  The traveling operation of the main body 1 with the above configuration will be described. First, the left and right drive wheels 2 and 3 are driven to move the main body 1 so as to perform predetermined triangular movement control. As shown in FIG. 2, the triangular movement control in this embodiment is an example of moving in a cleaning area surrounded by a rectangular vertical line and a horizontal line, and starts from the starting point A in the direction of the arrow a. Shall start. The main body 1 changes direction when it reaches the starting point A via the point B by a predetermined triangular movement control, and reaches the point B via the point C. In this way, the triangular movement is repeated so that the triangular areas sharing the two vertices are continuous, and the two-vertex shared triangular traveling is performed.

  At this time, when it reaches a point where it cannot move forward even if the moving direction is changed as in point D, that is, when it reaches the right line that is the area line that prevents the two-vertex shared triangular traveling, it is from the already cleaned area After changing the direction of departure, that is, the direction of the arrow d so as to be away from the right line, the two-vertex shared triangular movement is repeated while repeating the forward and turn. If it is determined that it is not possible to deviate from the already cleaned area even if the moving direction is changed again, the cleaning operation is terminated and the traveling operation of the main body 1 is stopped.

  When performing continuous two-vertex shared triangular traveling, there are cases in which the vehicle travels back and forth between two points, such as point P and point Q in FIG. In this case, triangular movement control is performed so that the distance between the forward path and the return path is a predetermined width (for example, the width of the cleaning nozzle 5 of the cleaner) so that the overlap between the cleaning areas of the forward path and the return path is minimized and no cleaning residue is generated. Do.

  Note that the triangles in the above-described triangular movement control indicate all triangles that do not leave any cleaning, and are not limited to right triangles or regular triangles.

(Embodiment 2)
Next, a second embodiment of the present invention will be described. A configuration similar to that of the first embodiment except that obstacle detection means 7, 8, 9, 10 constituted by an optical sensor or the like for measuring a distance to an obstacle on the front and side of the main body 1 are added to the main body 1. It is.

  When the cleaning area having the obstacle W in the center as shown in FIG. 3 is cleaned using the two-vertex shared triangle movement control described in the first embodiment, the movement of the triangle cannot be completed due to the obstacle W. There are cases where the cleaning area cannot be thoroughly cleaned depending on the location where the obstacle W comes into contact.

  The present embodiment solves this problem, and when the obstacle W is detected while traveling as shown in FIG. 4, the moving direction is changed to the direction of the arrow b 1 along the obstacle W. Obstacle movement detection control such as moving in the direction of the arrow b1 while detecting the obstacle is performed. If no obstacle is detected, the movement direction is changed to the direction of the arrow c1 and the triangular movement control is used again. Clean.

  Next, an example of the traveling control algorithm in the movement control means 4 will be shown using FIG.

  In step 1, the left and right drive wheels 2 and 3 are driven to advance the main body 1 to execute triangular movement control. In step 2, it is judged whether or not there is an obstacle by looking at the inputs of the obstacle detection means 7, 8, 9, and 10. If there is no obstacle, the process returns to step 1, and if there is an obstacle, the process proceeds to step 3. Perform obstacle detection movement control.

  In this embodiment, the obstacle detection movement control is performed as shown in FIG. That is, as shown in FIG. 4, when the obstacle W is detected at the point P1 while moving in the direction of the arrow a1, it immediately stops and the distance measurement data of the obstacle detection means 7, 8, 9, 10 are compared. The direction of moving inside the triangular movement area is determined so as to form an area where the obstacle W cuts out the target triangular movement area. In the case of this figure, the main body 1 moves along the obstacle W.

  Here, when the main body 1 moves straight in the direction along the obstacle, when the obstacle W is no longer detected by the obstacle detection means on the side, the original trajectory of the two-vertex triangle shared movement is restored.

  Further, in this description, the case where there is an obstacle on the left side when viewed from the main body has been described, but the same can be executed when it is on the right side, and in this case, the direction of turning may be reversed.

(Embodiment 3)
Next, a third embodiment of the present invention will be described. Except for adding dust detection means 12 such as a photo sensor to the main body in the air passage 11 through which the sucked dust passes so that the amount of dust cleaned by the cleaning nozzle 5 can be detected, the same configuration as in the second embodiment It is.

  Hereinafter, an example of the traveling control algorithm in the movement control means 4 will be described with reference to FIG. In step 11, the left and right drive wheels 2 and 3 are driven to move the main body 1 forward, and triangular movement control is executed. In step 12, it is judged whether or not there is an obstacle by looking at the inputs of the obstacle detection means 7, 8, 9, and 10. If there is no obstacle, the process proceeds to step 13, and if there is an obstacle, the process proceeds to step 17. Perform obstacle detection movement control.

  In step 13, it is determined whether or not the amount of dust sucked from the input of the dust detection means 12 is a predetermined amount or more. If the amount is less than the predetermined amount, the process returns to step 11; Execute movement control. If it is determined in step 15 that there is an obstacle from the input of the obstacle detection means 7, 8, 9, 10 during execution of the pattern movement control, the process proceeds to step 17 and obstacle detection movement control is executed.

  In step 16, it is determined whether or not the pattern movement control has been completed. If the pattern movement control has been completed, the process returns to step 11 to execute the triangular movement control, and if not completed, the process returns to step 14 to execute the pattern movement control.

  In the present embodiment as pattern movement control, as shown in FIG. 7, when moving to the end point BB that is a predetermined distance L away from the start point AA, the area of the predetermined width W is moved while repeating forward and backward movements, When it is determined that the main body 1 has reached the end point BB, the pattern movement control is terminated, and the original triangular movement control is restored.

  In the above description, the moving distance at the time of retreating is constant, but it may be moved forward if the dust detection means 12 detects less than a predetermined amount within a predetermined distance. In this case, it is possible to clean the place where dust is concentrated more intensively, which is effective in terms of efficiency.

(Embodiment 4)
In the present embodiment, the outputs of the left and right drive wheels 2 and 3 are switched between the triangular movement control and the obstacle detection movement control, and the other operations can be performed in the same manner as in the second embodiment.

  The faster the main body 1 is moved by the triangular movement control, the shorter the cleaning time, but conversely, even if the cleaning nozzle 5 passes, the amount of dust remaining increases. On the other hand, when the main body 1 is moving by the obstacle detection movement control, it is only necessary to perform an operation for avoiding the obstacle, and the movement speed is low because it is moving in a place where the amount of dust is small. There is no problem even if it is fast.

  Accordingly, it is possible to efficiently clean in a short time by switching the moving speed of the main body 1 between the triangular movement control and the obstacle detection movement control.

  In the above description, it is the moving speed of the main body 1 that is switched between the triangular movement control and the obstacle detection movement control. However, the dust suction force may be switched by switching the output of the fan motor 6. In this case, It is possible to clean more concentrated areas where garbage is concentrated, which is effective in terms of efficiency.

  In addition, the moving speed of the main body 1 and the suction force of dust may be switched in combination, and in this case, cleaning can be performed more efficiently.

(Embodiment 5)
In this embodiment, the outputs of the left and right drive wheels 2 and 3 are switched by the triangular movement control, the obstacle detection movement control, and the pattern movement control, and the other operations can be performed in the same manner as in the third embodiment.

  As in the fourth embodiment, in the triangular movement control, the faster the moving speed of the main body 1 is, the shorter the cleaning time is, but conversely, even if the cleaning nozzle 5 passes, the amount of dust remaining increases. Further, when the main body 1 is moving by the obstacle detection movement control, it is only necessary to perform an operation for avoiding the obstacle, and the movement speed is high because it is moving in a place where the amount of dust is small. There is no problem even if it is fast. On the other hand, when the main body is moved by the pattern movement control, it is a case where the main body is moving in a place where there is a lot of dust. Therefore, if the movement speed is reduced, the dust can be collected efficiently.

  Accordingly, it is possible to efficiently clean in a short time by switching the moving speed of the main body 1 by the triangular movement control, the obstacle detection movement control, and the pattern movement control.

  In the above description, the movement speed of the main body 1 is switched between the triangular movement control, the obstacle detection movement control, and the pattern movement control. However, even if the dust suction force is switched by switching the output of the fan motor 6. Well, in this case, it is possible to clean the place where garbage is concentrated more intensively, which is effective in terms of efficiency.

  In addition, the moving speed of the main body 1 and the suction force of dust may be switched in combination, and in this case, cleaning can be performed more efficiently.

  As described above, the self-propelled cleaner according to the present invention can clean the cleaning area without any complicated control with a simple algorithm, so it can be used for floor wax application and floor polishing. Applicable.

Block diagram of Embodiment 1 of the present invention Operation explanatory diagram of triangular movement control according to Embodiment 1 of the present invention Operation explanatory diagram of conventional triangular movement control when there is an obstacle according to the second embodiment of the present invention Operation explanatory diagram of triangular movement control when there is an obstacle according to the second embodiment of the present invention The flowchart which shows the processing content in the movement control means of Embodiment 2 of this invention The flowchart which shows the processing content in the movement control means of Embodiment 3 of this invention Operation explanatory diagram of triangular movement control of Embodiment 3 of the present invention

Explanation of symbols

1 body (self-propelled vacuum cleaner)
2, 3 Drive wheels (traveling means, moving direction changing means)
4 Movement control means 5 Cleaning nozzle (cleaning means)
6 Fan motor 7, 8, 9, 10 Obstacle sensor (obstacle detection means)
11 Air passage 12 Dust detection means

Claims (11)

A cleaning means for cleaning the dust on the floor provided in the main body, a traveling means for moving the main body, a moving direction changing means for changing the moving direction of the main body, and the traveling means and the moving direction changing means are controlled. It comprises a movement control means for controlling the movement of the main body, and the movement control means controls to travel between triangular area lines that do not leave a cleaning area in the cleaning area when the main body moves and cleans, A self-propelled cleaner that performs triangular movement control that achieves filling of a cleaning region with a continuous triangle sharing the two vertices of the triangle. An obstacle detection means for detecting an obstacle located in the traveling direction of the main body is provided, and the movement control means detects the obstacle when the obstacle detection means detects the obstacle during the triangular movement control. The obstacle detection movement control which changes the advancing direction of the main body so that the cleaning area of the two-vertex shared triangle traveling forms a polygon cut out by the obstacle detected by the obstacle detection means. The self-propelled vacuum cleaner described. And a dust detection means for detecting the amount of dust to be cleaned by the cleaning means. The movement control means is set in advance when the dust detection means detects a predetermined amount or more of dust during the triangular movement control. The self-propelled cleaner according to claim 2, further comprising a pattern movement control for moving the main body in accordance with the movement pattern. The self-propelled cleaner according to any one of claims 1 to 3, wherein the triangular movement control of the movement control means is configured such that a distance between an outward path and a return path by triangular traveling is a predetermined width. The self-propelled cleaner according to any one of claims 3 to 4, wherein the pattern movement control of the movement control means moves the main body while repeating forward or backward movement. The obstacle detection movement control of the movement control means is a self-propelled cleaner according to any one of claims 2 to 5, having a plurality of movement patterns. The self-propelled cleaner according to any one of claims 2 to 6, wherein the moving speed of the main body is switched between the triangular movement control of the movement control means and the obstacle detection movement control. The self-propelled cleaner according to any one of claims 3 to 6, wherein the moving speed of the main body is switched between triangular movement control, obstacle detection movement control, and pattern movement control of the movement control means. The self-propelled cleaning according to any one of claims 2 to 6, wherein dust is collected by suction of the cleaning means, and the suction force of the cleaning means is switched between the triangular movement control and the obstacle detection movement control of the movement control means. Machine. The dust is collected by suction of the cleaning means, and the suction force of the cleaning means is switched by the triangular movement control, the obstacle detection movement control, and the pattern movement control of the movement control means. Self-propelled vacuum cleaner. The program for functioning a computer as at least one part of the means of the self-propelled cleaner of any one of Claims 1-10.

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