JP2005211360A - Self-propelled cleaner - Google Patents

Self-propelled cleaner Download PDF

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JP2005211360A
JP2005211360A JP2004022403A JP2004022403A JP2005211360A JP 2005211360 A JP2005211360 A JP 2005211360A JP 2004022403 A JP2004022403 A JP 2004022403A JP 2004022403 A JP2004022403 A JP 2004022403A JP 2005211360 A JP2005211360 A JP 2005211360A
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drive wheel
cleaner
self
detection means
lift
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Naoya Uehigashi
直也 上東
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Funai Electric Co Ltd
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Funai Electric Co Ltd
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<P>PROBLEM TO BE SOLVED: To provide a self-propelled cleaner capable of reducing traveling abnormalities at a low cost. <P>SOLUTION: The self-propelled cleaner 1 is provided with a lift switch for detecting the floating from a floor surface F of drive wheels 21 and a level difference sensor 13 for detecting the level difference S of the floor surface F present in front of the cleaner. When the floating of the drive wheels 21 is detected by the lift switch, on the basis of the output of the level difference sensor 13, it is judged that the drive wheels 21 run off to the level difference S on the floor surface F and escape from the level difference S is tried by driving the drive wheels 21 in the case of judging that the cleaner 1 is close within a prescribed range from the floor surface F ((a) in the figure), and it is judged that the cleaner 1 is lifted by a user and the drive wheels 21 are stopped in the case of judging that the cleaner 1 is far from the floor surface F exceeding the prescribed range ((b) in the figure). <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

本発明は、自走式掃除機に関し、特に、自律走行しながら部屋の掃除を行う自走式掃除機に関するものである。   The present invention relates to a self-propelled cleaner, and more particularly to a self-propelled cleaner that cleans a room while traveling autonomously.

近年、自律走行しながら家屋内の床面を掃除する自走式掃除機の開発が行われている。このような自律型の自走式掃除機においては、ユーザが掃除機を監視していない状態でも確実に掃除作業が進められるように、走行異常の発生をできるだけ少なくすることが求められる。このため、自律型の自走式掃除機は、床面にある段差を検知するための段差センサ等、複数の障害物検知用のセンサを備えている。しかしながら、段差センサを備えた自走式掃除機であっても、駆動輪が床面にある溝等の段差に脱輪して床面から浮き上がってしまい、走行不能に陥ることがあった。   In recent years, self-propelled vacuum cleaners that clean the floor in a house while autonomously running have been developed. In such an autonomous self-propelled cleaner, it is required to reduce the occurrence of running abnormality as much as possible so that the cleaning operation can be performed reliably even when the user is not monitoring the cleaner. For this reason, the autonomous self-propelled cleaner includes a plurality of obstacle detection sensors such as a step sensor for detecting a step on the floor. However, even with a self-propelled cleaner equipped with a step sensor, the drive wheel may come off at a step such as a groove on the floor surface and float from the floor surface, which may make it impossible to run.

ところで、床面に対向する掃除機の底面に圧力センサを配置して、この圧力センサにより掃除機が床面から浮き上がったか否かを検知し、その検知結果に基づいて走行モータへの通電を制御するようにした自走式掃除機が知られている（例えば、特許文献１参照）。また、床面に対向する掃除機の底面に、床面に当接する回動自在なローラ体を有し、このローラ体が床面に当接しているか否かで床面の段差を検知する段差検知スイッチを備えた自走式掃除機が知られている（例えば、特許文献２参照）。   By the way, a pressure sensor is placed on the bottom of the vacuum cleaner facing the floor, and it is detected whether or not the vacuum is lifted from the floor by this pressure sensor, and the energization to the traveling motor is controlled based on the detection result. A self-propelled cleaner is known (see, for example, Patent Document 1). In addition, there is a rotatable roller body that comes into contact with the floor surface on the bottom surface of the vacuum cleaner facing the floor surface, and a step that detects the level difference of the floor surface depending on whether or not this roller body is in contact with the floor surface. A self-propelled cleaner equipped with a detection switch is known (for example, see Patent Document 2).

しかしながら、このような従来の自走式掃除機においては、掃除機がユーザによって持ち上げられたことにより駆動輪が浮いた状態になったのか、或は、駆動輪が脱輪したことにより浮いた状態になったのかを判断することができず、各場合に合わせて駆動輪を適切に制御することができなかった。このため、従来の自走式掃除機においては、駆動輪が床面にある段差に脱輪した場合、駆動輪を適切に制御して段差から脱出させることができず、走行不能に陥って走行異常が発生する可能性が高かった。   However, in such a conventional self-propelled cleaner, the driving wheel is lifted by the vacuum cleaner being lifted by the user, or the driving wheel is lifted by being removed. It was not possible to determine whether or not the driving wheel was properly controlled in accordance with each case. For this reason, in the conventional self-propelled cleaner, when the driving wheel is deviated to a step on the floor, the driving wheel cannot be properly controlled to escape from the step, and the vehicle cannot run and travels. Abnormality was likely to occur.

一方、一般家庭用で使用されるパーソナルロボットとして、ロボットの前方の床面に赤外線を照射してロボット前方の床面の段差を検出する段差検出手段と、ロボットの真下の床面に赤外線を照射して、ロボットが持ち上げられているか、或は、着床しているかを検出する持ち上げ検出手段とを備えたロボットが知られている（例えば、特許文献３参照）。
特開平７−３０８２７５号公報 特開２００２−１５４０８１号公報 特開２００２−３６０４８０号公報 On the other hand, as a personal robot used in general homes, a step detection means for detecting a step on the floor surface in front of the robot by irradiating the floor surface in front of the robot with an infrared ray, and irradiating the floor surface directly below the robot with infrared light A robot having a lift detection means for detecting whether the robot is lifted or is landing is known (see, for example, Patent Document 3).
JP 7-308275 A JP 2002-154081 A JP 2002-360480 A

しかしながら、特許文献３に記載のロボットは、持ち上げ検出手段により、ロボットが持ち上げられているか否かを検出することはできるものの、段差検出手段は、ロボット前方の段差を検出するためだけにしか使用されておらず、持ち上げ検出手段によりロボットが着床していると判断された場合には、駆動輪が脱輪してロボットが走行不能状態に陥っていたとしても適切な判断をすることができず、駆動輪を適切に制御して走行不能状態からの回復を図ることができなかった。このため、駆動輪が脱輪した場合において、ロボットの走行異状の発生を低減することができなかった。   However, although the robot described in Patent Document 3 can detect whether or not the robot is lifted by the lift detection means, the step detection means is used only for detecting a step in front of the robot. If it is determined by the lift detection means that the robot is landing, an appropriate determination cannot be made even if the drive wheel is removed and the robot is in an inoperable state. It was impossible to recover from the inability to travel by appropriately controlling the drive wheels. For this reason, when the drive wheel is removed, the occurrence of abnormal running of the robot cannot be reduced.

本発明は、上記課題を解決するためになされたものであり、低コストで、かつ走行異常の発生を低減することができる自走式掃除機を提供することを目的とする。   The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a self-propelled cleaner that can reduce the occurrence of abnormal running at low cost.

上記目的を達成するために請求項１の発明は、自律走行のために走行方向にある障害物を検知し、その障害物までの距離を測定する障害物検知手段と、この障害物検知手段に基づいて複数の駆動輪を制御することにより障害物を回避しつつ自律走行する走行手段と、掃除機本体の走行する領域を掃除する掃除手段と、前記駆動輪の床面からの浮き上がりを検知する浮き上がり検知手段と、前記浮き上がり検知手段の検知結果に基づいて前記駆動輪を制御する駆動輪制御手段とを備えた自走式掃除機において、前記障害物検知手段は、前記掃除機本体の僅かに前方の右側方を斜め下向きに監視し、床面までの距離を測定して段差を検知する右段差センサと、掃除機本体の僅かに前方の左側方を斜め下向きに監視し、床面までの距離を測定して段差を検知する左段差センサとを有し、前記駆動輪制御手段は、前記浮き上がり検知手段により前記駆動輪の浮き上がりが検知されたとき、前記右段差センサ及び／又は左段差センサの出力に基づいて、掃除機本体が床面から所定範囲以内の近いところにあると判断された場合には、前記駆動輪が床面にある段差に脱輪したものと判断して、少なくとも一定時間だけ前記駆動輪の回転方向及び回転速度を制御して駆動輪を駆動させ、前記段差からの脱出を試み、前記右段差センサ及び／又は左段差センサの出力に基づいて、掃除機本体が床面から所定範囲より遠いところにあると判断された場合には、掃除機本体がユーザにより持ち上げられたものと判断して、前記駆動輪を停止させる。   In order to achieve the above object, the invention of claim 1 is directed to an obstacle detection means for detecting an obstacle in the traveling direction for autonomous running and measuring a distance to the obstacle, and to the obstacle detection means. A driving means for autonomously running while avoiding obstacles by controlling a plurality of driving wheels on the basis thereof, a cleaning means for cleaning a traveling area of the cleaner body, and a lift of the driving wheels from the floor surface are detected. In the self-propelled cleaner provided with the lift detection means and the drive wheel control means for controlling the drive wheel based on the detection result of the lift detection means, the obstacle detection means is slightly located on the main body of the cleaner. Monitor the right side of the front diagonally downward, measure the distance to the floor and detect the level difference, and the left side of the vacuum cleaner slightly on the left side of the vacuum cleaner is monitored diagonally downward. Measure the distance The drive wheel control means, when the lift of the drive wheel is detected by the lift detection means, based on the output of the right step sensor and / or the left step sensor, If it is determined that the main body of the vacuum cleaner is within a predetermined range from the floor surface, it is determined that the driving wheel has been removed from the step on the floor surface, and the driving wheel The drive wheel is driven by controlling the rotation direction and the rotation speed, and the escape from the step is attempted. Based on the output of the right step sensor and / or the left step sensor, the cleaner body is far from the predetermined range from the floor surface. If it is determined that the vacuum cleaner body is present, it is determined that the cleaner body has been lifted by the user, and the drive wheels are stopped.

請求項２の発明は、自律走行のために走行方向にある障害物を検知し、その障害物までの距離を測定する障害物検知手段と、この障害物検知手段に基づいて複数の駆動輪を制御することにより障害物を回避しつつ自律走行する走行手段と、掃除機本体の走行する領域を掃除する掃除手段と、前記駆動輪の床面からの浮き上がりを検知する浮き上がり検知手段と、前記浮き上がり検知手段の検知結果に基づいて前記駆動輪を制御する駆動輪制御手段とを備えた自走式掃除機において、前記障害物検知手段は、掃除機本体の僅かに前方を斜め下向きに監視し、床面までの距離を測定して段差を検知する段差センサを有し、前記駆動輪制御手段は、前記浮き上がり検知手段の検知結果に加えて、前記段差センサの出力に基づいて前記駆動輪を制御する。   According to a second aspect of the present invention, there is an obstacle detection means for detecting an obstacle in the traveling direction for autonomous running and measuring a distance to the obstacle, and a plurality of drive wheels based on the obstacle detection means. Traveling means that autonomously travels while avoiding obstacles by controlling, cleaning means that cleans a region in which the cleaner body travels, lift detection means that detects lift of the drive wheel from the floor, and the lift In the self-propelled cleaner provided with the drive wheel control means for controlling the drive wheel based on the detection result of the detection means, the obstacle detection means monitors the front of the cleaner body slightly diagonally downward, A step sensor for detecting a step by measuring a distance to the floor surface, and the driving wheel control means controls the driving wheel based on the output of the step sensor in addition to the detection result of the lifting detection means; You .

請求項３の発明は、請求項２に記載の自走式掃除機において、前記駆動輪制御手段は、前記浮き上がり検知手段により前記駆動輪の浮き上がりが検知されたとき、前記段差センサの出力に基づいて、掃除機本体が床面から所定範囲以内の近いところにあると判断された場合には、前記駆動輪が床面にある段差に脱輪したものと判断して、前記駆動輪を駆動させて前記段差からの脱出を試み、前記段差センサの出力に基づいて、掃除機本体が床面から所定範囲より遠いところにある判断された場合には、掃除機本体がユーザにより持ち上げられたものと判断して、前記駆動輪を停止させることを特徴とする。   According to a third aspect of the present invention, in the self-propelled cleaner according to the second aspect, the drive wheel control means is based on an output of the step sensor when the lift of the drive wheel is detected by the lift detection means. If it is determined that the main body of the vacuum cleaner is within a predetermined range from the floor surface, it is determined that the driving wheel has been removed at a step on the floor surface, and the driving wheel is driven. If the vacuum cleaner body is determined to be far from the predetermined range from the floor surface based on the output of the level sensor, the vacuum cleaner body is lifted by the user. Judgment is made, and the driving wheel is stopped.

請求項１の発明によれば、浮き上がり検知手段により駆動輪の浮き上がりが検知されたときに、浮き上がり検知手段の検知結果に加えて左右の段差センサの出力に基づいて、駆動輪が床面にある段差に脱輪したのか、或は、掃除機がユーザにより持ち上げられたのかを判断し、脱輪したと判断される場合には、少なくとも一定時間だけ駆動輪の駆動を制御して段差からの脱出を試みるため、掃除機の走行異常の発生を少なくして走行性能を向上することができる。また、掃除機がユーザにより持ち上げられたと判断される場合には、駆動輪を停止するため、ユーザは、安全に掃除機を持ち上げることができる。また、駆動輪の脱輪時に、右段差センサ及び左段差センサのそれぞれの出力を利用することにより、掃除機の置かれている状況が、より詳細に把握できるため、より適切な駆動輪の制御が可能となる。   According to the invention of claim 1, when the lift of the drive wheel is detected by the lift detection means, the drive wheel is on the floor surface based on the output of the left and right step sensors in addition to the detection result of the lift detection means. If it is determined whether the wheel has been derailed or whether the vacuum cleaner has been lifted by the user, and it is determined that the wheel has been derailed, the drive wheel drive is controlled for at least a certain time to escape from the step. Therefore, the running performance of the cleaner can be reduced and the running performance can be improved. Moreover, when it is judged that the cleaner was lifted by the user, the driving wheel is stopped, so that the user can safely lift the cleaner. In addition, when driving wheels are removed, the output of each of the right and left step sensors can be used to grasp the situation where the cleaner is placed in more detail, so that more appropriate control of the driving wheels is possible. Is possible.

また、駆動輪の浮き上がりが検知された場合に、駆動輪が床面にある段差に脱輪したのか、或は、掃除機がユーザにより持ち上げられたのかの判断は、掃除機の通常の走行時にも使用される段差センサを用いて行われるため、余分なセンサやスイッチを必要とせず、低コストで走行異常の発生を低減することができる。   In addition, when the lift of the drive wheel is detected, it is determined whether the drive wheel has been removed from the step on the floor or whether the cleaner has been lifted by the user during normal travel of the cleaner. Since the step sensor is also used, no extra sensor or switch is required, and the occurrence of abnormal running can be reduced at low cost.

請求項２の発明によれば、浮き上がり検知手段の検知結果に加えて、段差センサの出力に基づいて駆動輪を制御するため、掃除機が置かれている状況に適した駆動輪の制御を行うことができる。   According to the invention of claim 2, in order to control the driving wheel based on the output of the step sensor in addition to the detection result of the lifting detection means, the driving wheel suitable for the situation where the cleaner is placed is controlled. be able to.

請求項３の発明によれば、浮き上がり検知手段及び段差センサに基づいて、駆動輪が脱輪したと判断される場合には、段差センサの出力に基づいて駆動輪を駆動させて、段差からの脱出を試みるため、走行異常の発生を少なくして掃除機の走行性能を向上することができる。また、掃除機がユーザにより持ち上げられたと判断される場合には、駆動輪を停止するため、ユーザは、安全に掃除機を持ち上げることができる。   According to the third aspect of the present invention, when it is determined that the drive wheel has been removed based on the lift detection means and the step sensor, the drive wheel is driven based on the output of the step sensor to Since escape is attempted, it is possible to improve the running performance of the cleaner by reducing the occurrence of running abnormalities. Moreover, when it is judged that the cleaner was lifted by the user, the driving wheel is stopped, so that the user can safely lift the cleaner.

以下、本発明を具体化した実施形態について図面を参照して説明する。図１に示される自走式掃除機１は、複数のセンサ１１，１２,１３等からの信号を基に掃除場所を判断し、自律走行しながら床面を掃除する機器である。   DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, embodiments of the invention will be described with reference to the drawings. A self-propelled cleaner 1 shown in FIG. 1 is a device that determines a cleaning place based on signals from a plurality of sensors 11, 12, 13, etc., and cleans the floor surface while traveling autonomously.

まず、自走式掃除機１の障害物検知手段及び走行手段について、図１に加えて、図２のブロック構成図を参照して説明する。自走式掃除機１は、自律走行のために障害物等を検出する走行用センサ類１０（障害物検知手段）として、前方センサ１１及び天井センサ１２を掃除機上部１ａの上面突出部に備え、段差センサ１３及びセンサ用照明ランプ１７を、掃除機下部１ｂの前方に備えている。前方センサ１１、天井センサ１２及び段差センサ１３は、各々光学式の測距センサである。   First, the obstacle detection means and traveling means of the self-propelled cleaner 1 will be described with reference to the block diagram of FIG. 2 in addition to FIG. The self-propelled cleaner 1 includes a front sensor 11 and a ceiling sensor 12 on the upper surface protrusion of the cleaner upper portion 1a as traveling sensors 10 (obstacle detection means) for detecting obstacles and the like for autonomous traveling. The step sensor 13 and the sensor illumination lamp 17 are provided in front of the lower part 1b of the cleaner. The front sensor 11, the ceiling sensor 12, and the step sensor 13 are optical distance measuring sensors, respectively.

前方センサ１１は、自走式掃除機１の前方の斜め下向きを監視し、段差、壁、柱、家具、テーブルやベッドの脚等の障害物までの距離を測定する。天井センサ１２は、自走式掃除機１の前方を斜め上向きに監視し、自走式掃除機１の前上方にある障害物（テーブルやベッドの下を通り抜けできるか否か）を検出し、その障害物の高さと障害物までの距離を測定する。   The front sensor 11 monitors an oblique downward direction in front of the self-propelled cleaner 1, and measures a distance to an obstacle such as a step, a wall, a pillar, furniture, a table or a bed leg. The ceiling sensor 12 monitors the front of the self-propelled cleaner 1 obliquely upward and detects an obstacle (whether it can pass under a table or a bed) located in front of the self-propelled cleaner 1. Measure the height of the obstacle and the distance to the obstacle.

段差センサ１３は、右段差センサ１３Ｒ及び左段差センサ１３Ｌにより構成されている。右段差センサ１３Ｒは、自走式掃除機１の僅かに前方の右側方を斜め下向きに監視し、障害物までの距離を測定する。左段差センサ１３Ｌは、掃除機の僅かに前方の左側方を斜め下向きに監視し、、障害物までの距離を測定する。   The step sensor 13 includes a right step sensor 13R and a left step sensor 13L. The right step sensor 13R monitors the right side slightly forward of the self-propelled cleaner 1 obliquely downward and measures the distance to the obstacle. The left step sensor 13L monitors the left side slightly forward of the vacuum cleaner obliquely downward, and measures the distance to the obstacle.

また、自律走行のための他のセンサとして、加速度センサ１４及び地磁気センサ１５が掃除機状上部１ａの内部に備えられている。加速度センサ１４は、自走式掃除機１に作用する加速度を上下方向、前後方向、左右方向について各々独立して検出する。地磁気センサ１５は、地磁気の方向に応じた出力値を出力して自走式掃除機１が向いている方向を決定する。   Further, as other sensors for autonomous running, an acceleration sensor 14 and a geomagnetic sensor 15 are provided inside the cleaner-like upper portion 1a. The acceleration sensor 14 detects acceleration acting on the self-propelled cleaner 1 independently in the up-down direction, the front-rear direction, and the left-right direction. The geomagnetic sensor 15 outputs an output value corresponding to the direction of geomagnetism and determines the direction in which the self-propelled cleaner 1 is facing.

自走式掃除機１は、走行手段として右駆動輪２１Ｒと左駆動輪２１Ｌからなる駆動輪２１と、右駆動モータ２２Ｒと左駆動モータ２２Ｌからなる駆動モータ２２を、進行方向ａに対して掃除機下部１ｂの後方に備えており、駆動輪２１の他に、前方の従動輪２３を備えている。駆動輪２１は、バッテリ８０を動力源として、駆動モータ２２により左右各々独立して正転・逆転駆動される駆動輪であり、回転数制御により操舵が行われる。また、自走式掃除機１は、各駆動輪２１Ｒ，２１Ｌの浮き上がりを検知する持ち上げスイッチ３０（浮き上がり検知手段）を備えている。持ち上げスイッチ３０としては、例えば、自走式掃除機１の自重により上下方向に浮き沈みする駆動輪２１の動きを利用して駆動輪２１の浮き上がりを機械的に検知し、オン／オフするスイッチが用いられる。   The self-propelled cleaner 1 cleans the driving wheel 21 composed of the right driving wheel 21R and the left driving wheel 21L and the driving motor 22 composed of the right driving motor 22R and the left driving motor 22L as traveling means in the traveling direction a. It is provided at the rear of the machine lower portion 1b, and includes a driven wheel 23 in front of the driving wheel 21. The drive wheel 21 is a drive wheel that is driven forward and backward independently by the drive motor 22 using the battery 80 as a power source, and is steered by rotational speed control. The self-propelled cleaner 1 includes a lifting switch 30 (lifting detection means) that detects the lifting of the drive wheels 21R and 21L. As the lifting switch 30, for example, a switch that mechanically detects the lifting of the driving wheel 21 using the movement of the driving wheel 21 that floats and sinks in the vertical direction due to the weight of the self-propelled cleaner 1, and is turned on / off is used. It is done.

次に、自走式掃除機１の掃除手段について、図２及び図３を参照して説明する。なお、図３においては、自走式掃除機1を、掃除機上部１ａ及び掃除機下部１ｂに分断して示している。自走式掃除機１は、掃除手段として、メインブラシ４１、従動ローラ４２、吸引ノズル４３、ゴミ吸引ファン４４、ゴミを集めておくダストボックス４５とを備えている。メインブラシ４１はメインブラシモータ５１により、ゴミ吸引ファン４４はゴミ吸引用モータ５２により駆動される。吸引ノズル４３は、メインブラシ４１により掻き上げられたゴミ、及び従動ローラ４２により搬送されたゴミを吸引口から吸引してダストボックス４５に集塵するものである。吸引ノズル４３の吸引口は、自走式掃除機１の床面に対向する底面に進行方向ａに直交する車体幅方向に細長く開口している。また、自走式掃除機１は、吸引ノズル４３から吸引されるゴミを検出するゴミセンサ１６を備えている。このゴミセンサ１６は、発光部と受光部とを有する透過型の光学式センサである。   Next, the cleaning means of the self-propelled cleaner 1 will be described with reference to FIGS. In addition, in FIG. 3, the self-propelled cleaner 1 is divided into a cleaner upper portion 1a and a cleaner lower portion 1b. The self-propelled cleaner 1 includes a main brush 41, a driven roller 42, a suction nozzle 43, a dust suction fan 44, and a dust box 45 that collects dust as cleaning means. The main brush 41 is driven by a main brush motor 51, and the dust suction fan 44 is driven by a dust suction motor 52. The suction nozzle 43 sucks dust collected by the main brush 41 and dust conveyed by the driven roller 42 from the suction port and collects the dust in the dust box 45. The suction port of the suction nozzle 43 is elongated in the vehicle body width direction orthogonal to the traveling direction a on the bottom surface facing the floor surface of the self-propelled cleaner 1. In addition, the self-propelled cleaner 1 includes a dust sensor 16 that detects dust sucked from the suction nozzle 43. The dust sensor 16 is a transmissive optical sensor having a light emitting part and a light receiving part.

さらに、自走式掃除機１は、ユーザにより操作される操作部６１と、表示部６２と、スピーカ６３と、自走式掃除機１の各手段を制御する制御部７０と、地図情報メモリ７１と、掃除機１の全体に電力を供給するバッテリ８０とを備えている。   Furthermore, the self-propelled cleaner 1 includes an operation unit 61 operated by a user, a display unit 62, a speaker 63, a control unit 70 that controls each means of the self-propelled cleaner 1, and a map information memory 71. And a battery 80 for supplying electric power to the entire vacuum cleaner 1.

操作部６１は、自走式掃除機１による掃除動作を開始・停止させ、また、その他の各種設定を行うために操作される。表示部６２は、例えば、ＬＣＤやＬＥＤ等で構成されており、自走式掃除機１の動作状況や各種メッセージを報知する。スピーカ６３は、掃除機１の動作状況や各種メッセージを報知する。   The operation unit 61 is operated to start / stop the cleaning operation by the self-propelled cleaner 1 and to perform other various settings. The display part 62 is comprised by LCD, LED, etc., for example, and alert | reports the operating condition of the self-propelled cleaner 1, and various messages. The speaker 63 notifies the operation status of the cleaner 1 and various messages.

制御部７０は、各種センサ１１〜１６等から入力される信号を基に自走式掃除機１の各手段を制御するもので、位置・方向判定部７０ａ、走行制御部（駆動輪制御手段）７０ｂ、及び掃除動作制御部７０ｃを備える。   The control unit 70 controls each unit of the self-propelled cleaner 1 based on signals input from various sensors 11 to 16 and the like, and includes a position / direction determination unit 70a, a travel control unit (drive wheel control unit). 70b and a cleaning operation control unit 70c.

位置・方向判定部７０ａは、前方センサ１１、天井センサ１２及び段差センサ１３からの出力を基に、障害物の存在する領域及び掃除済みの領域についての地図情報を作成し、その地図情報を地図情報メモリ７１に記憶させる。また、加速度センサ１４からの前後方向の加速度検出値を時間積分することにより自走式掃除機１の走行速度を算出し、その走行速度と走行時間を基に走行距離を算出する。また、地磁気センサ１５からの地磁気の方向に応じた出力値を基に自走式掃除機１が向いている方向を判定する。   The position / direction determination unit 70a creates map information about the area where the obstacle exists and the cleaned area based on the outputs from the front sensor 11, the ceiling sensor 12, and the step sensor 13, and maps the map information to the map. The information is stored in the information memory 71. Further, the travel speed of the self-propelled cleaner 1 is calculated by time integration of the acceleration detection values in the front-rear direction from the acceleration sensor 14, and the travel distance is calculated based on the travel speed and the travel time. The direction in which the self-propelled cleaner 1 faces is determined based on the output value corresponding to the direction of geomagnetism from the geomagnetic sensor 15.

走行制御部７０ｂは、駆動モータ２２を駆動して駆動輪２１の回転方向と回転速度を制御することにより自走式掃除機１の走行を制御する。また、走行制御部７０ｂは、持ち上げスイッチ３０により駆動輪２１の浮き上がりが検知されたときに、段差センサ１３の出力に基づいて、駆動輪２１の回転方向及び回転速度を制御する。地図情報メモリ７１の地図情報は、掃除動作中に随時更新され、自走式掃除機１はこれを参照して掃除動作を進めてゆく。   The travel control unit 70 b controls the travel of the self-propelled cleaner 1 by driving the drive motor 22 to control the rotation direction and the rotation speed of the drive wheels 21. In addition, the traveling control unit 70 b controls the rotation direction and the rotation speed of the driving wheel 21 based on the output of the step sensor 13 when the lifting switch 30 detects the lifting of the driving wheel 21. The map information in the map information memory 71 is updated at any time during the cleaning operation, and the self-propelled cleaner 1 proceeds with the cleaning operation with reference to this.

掃除動作制御部７０ｃは、メインブラシモータ５１、及びゴミ吸引ファン４４を回転駆動させるゴミ吸引用モータ５２の駆動を制御してゴミを掻き集めて吸引する力を調節する。   The cleaning operation control unit 70c controls the driving of the main brush motor 51 and the dust suction motor 52 that rotationally drives the dust suction fan 44 to adjust the force for collecting and sucking dust.

さらにまた、自走式掃除機１は、不法侵入者等の監視を行うセキュリティ機能を有しており、不法侵入者を検出する人体センサ９１と、不法侵入者等を撮影するカメラ９２と、カメラ用照明ランプ９３とを備えている。人体センサ９１は、人体から放射される赤外線を受光することにより自走式掃除機１の周辺の人体の有無を検出する。カメラ９２は、立っている人の顔を撮影できるように、自走式掃除機１の前方の斜め上方向に向けて配置されている。また、自走式掃除機１は、通信モジュール９４を備えており、カメラ９２で撮影した画像や、自走式掃除機１の動作状況をアンテナ９４ａを介して図示しない主制御装置へ無線で送信する。自走式掃除機１は、掃除動作を行わないときには、これら人体センサ９１、カメラ９２、カメラ用照明ランプ９３、及び通信モジュール９４を動作させて、不法侵入者等の監視を行う。   Furthermore, the self-propelled cleaner 1 has a security function for monitoring illegal intruders, a human body sensor 91 for detecting illegal intruders, a camera 92 for photographing illegal intruders, and a camera. And an illumination lamp 93. The human body sensor 91 detects the presence or absence of a human body around the self-propelled cleaner 1 by receiving infrared rays emitted from the human body. The camera 92 is arranged in a diagonally upward direction in front of the self-propelled cleaner 1 so that the face of a standing person can be photographed. Further, the self-propelled cleaner 1 includes a communication module 94, and wirelessly transmits an image taken by the camera 92 and the operation status of the self-propelled cleaner 1 to the main controller (not shown) via the antenna 94a. To do. When the self-propelled cleaner 1 does not perform the cleaning operation, the human body sensor 91, the camera 92, the camera illumination lamp 93, and the communication module 94 are operated to monitor illegal intruders and the like.

次に、自走式掃除機１の持ち上げスイッチ３０がオンになった場合の制御手順について、図４のフローチャート及び図５を参照して説明する。制御部７０は、自走式掃除機１の走行開始と共に、持ち上げスイッチ３０の状態を監視して、各駆動輪２１Ｒ，２１Ｌの浮き上がりの検知動作を行う（Ｓ１）。そして、各駆動輪２１Ｒ，２１Ｌの少なくとも一方の持ち上げスイッチ３０がオンになり、駆動輪２１の浮き上がりが検知されると（Ｓ１でＹＥＳ）、右段差センサ１３Ｒ及び左段差センサ１３Ｌの出力に基づいて、自走式掃除機１から床面までの距離が所定範囲内かどうか判断し（Ｓ２）、図５（ａ)に示されるように、自走式掃除機１が床面Ｆから所定範囲以内の近いところにあると判断された場合（Ｓ２でＹＥＳ）には、駆動輪２１が床面Ｆにある溝等の段差Ｓに脱輪したものと判断して、段差Ｓからの駆動輪２１の脱出を試みる（Ｓ３〜Ｓ７）。一方、図５（ｂ)に示されるように、自走式掃除機１が床面Ｆから所定範囲より遠いところにあると判断された場合（Ｓ２でＮＯ）には、自走式掃除機１がユーザにより持ち上げられたものと判断して、駆動モータ２２をオフにして駆動輪２１を停止させる（Ｓ８）。   Next, the control procedure when the lifting switch 30 of the self-propelled cleaner 1 is turned on will be described with reference to the flowchart of FIG. 4 and FIG. The control unit 70 monitors the state of the lifting switch 30 as the self-propelled cleaner 1 starts running, and performs a detection operation for lifting the drive wheels 21R and 21L (S1). Then, when at least one lifting switch 30 of each driving wheel 21R, 21L is turned on and the driving wheel 21 is lifted (YES in S1), based on the outputs of the right step sensor 13R and the left step sensor 13L. Then, it is determined whether or not the distance from the self-propelled cleaner 1 to the floor surface is within a predetermined range (S2), and the self-propelled cleaner 1 is within a predetermined range from the floor surface F as shown in FIG. If it is determined that the drive wheel 21 is near (YES in S2), it is determined that the drive wheel 21 has been removed from the step S such as a groove on the floor surface F, and the drive wheel 21 from the step S Try to escape (S3 to S7). On the other hand, as shown in FIG. 5 (b), when it is determined that the self-propelled cleaner 1 is far from the floor F from the predetermined range (NO in S2), the self-propelled cleaner 1 Is lifted by the user, the drive motor 22 is turned off and the drive wheel 21 is stopped (S8).

自走式掃除機１が床面Ｆから所定範囲以内の近いところにあると判断された場合（Ｓ２でＹＥＳ）には、タイムカウントを開始し（Ｓ３）、右段差センサ１３Ｒ及び左段差センサ１３Ｌのそれぞれの出力に基づいて、駆動輪２１の回転方向及び回転速度を制御する（Ｓ４）。このように、駆動輪２１の脱輪時に、右段差センサ１３Ｒ及び左段差センサ１３Ｌのそれぞれの出力を利用することにより、自走式掃除機１の置かれている状況が、より詳細に把握できるため、より適切な駆動輪２１の制御が可能となる。駆動輪２１が脱輪状態を脱し、持ち上げスイッチ３０がオフになれば（Ｓ５でＹＥＳ）、Ｓ１に戻って駆動輪２１の浮き上がりの検知動作を行う。一方、持ち上げスイッチ３０がオン状態のままであれば（Ｓ５でＮＯ）、自走式掃除機１から床面Ｆまでの距離が所定範囲内かどうか判断し（Ｓ６）、自走式掃除機１が床面Ｆから所定範囲より遠いところにあると判断された場合（Ｓ６でＮＯ）には、駆動モータ２２をオフにして駆動輪２１を停止させる（Ｓ８）。自走式掃除機１が床面Ｆから所定範囲以内の近いところにあると判断された場合（Ｓ６でＹＥＳ）には、タイムカウント開始（Ｓ３）から所定時間経過したかどうか判断し（Ｓ７）、所定時間内であれば（Ｓ７でＮＯ）、Ｓ４に戻って、再度、駆動輪２１の回転方向等を調整して駆動輪２１を駆動させる。一方、タイムカウント開始（Ｓ３）から所定時間経過しても脱輪状態から脱出できない場合には（Ｓ７でＹＥＳ）、駆動輪２１を停止させる（Ｓ８）。なお、このように所定時間経過しても自走式掃除機１が脱輪状態から脱出できない場合に駆動輪２１を停止させることにより、バッテリ８０の電力の無駄な消費を抑制することができる。   When it is determined that the self-propelled cleaner 1 is within a predetermined range from the floor F (YES in S2), time counting is started (S3), and the right step sensor 13R and the left step sensor 13L Based on the respective outputs, the rotational direction and rotational speed of the drive wheel 21 are controlled (S4). Thus, when the drive wheels 21 are removed, the situation where the self-propelled cleaner 1 is placed can be grasped in more detail by using the outputs of the right step sensor 13R and the left step sensor 13L. Therefore, more appropriate control of the drive wheel 21 is possible. If the drive wheel 21 is released from the derailed state and the lifting switch 30 is turned off (YES in S5), the process returns to S1 and the operation of detecting the lift of the drive wheel 21 is performed. On the other hand, if the lifting switch 30 remains on (NO in S5), it is determined whether the distance from the self-propelled cleaner 1 to the floor F is within a predetermined range (S6), and the self-propelled cleaner 1 Is determined to be far from the predetermined range from the floor surface F (NO in S6), the drive motor 22 is turned off and the drive wheels 21 are stopped (S8). When it is determined that the self-propelled cleaner 1 is close to the floor F within a predetermined range (YES in S6), it is determined whether a predetermined time has elapsed from the start of time counting (S3) (S7). If within the predetermined time (NO in S7), the process returns to S4, and the driving wheel 21 is driven again by adjusting the rotation direction of the driving wheel 21 and the like. On the other hand, if it is not possible to escape from the derailed state even after a predetermined time has elapsed from the time count start (S3) (YES in S7), the drive wheels 21 are stopped (S8). In addition, when the self-propelled cleaner 1 cannot escape from the derailed state even after the predetermined time has elapsed in this way, the wasteful consumption of the power of the battery 80 can be suppressed by stopping the drive wheels 21.

このように本実施形態の自走式掃除機１によれば、持ち上げスイッチ３０及び段差センサ１３に基づいて、駆動輪２１が脱輪したと判断される場合には、段差センサ１３の出力に基づいて駆動輪２１を駆動させて、段差からの脱出を試みるため、走行異常の発生を少なくして掃除機の走行性能を向上することができる。また、自走式掃除機１がユーザにより持ち上げられたと判断された場合には、駆動輪２１を停止するため、ユーザは、安全に掃除機を持ち上げることができる。また、駆動輪２１の浮き上がりが検知された場合に、駆動輪２１が床面にある段差に脱輪したのか、或は、自走式掃除機１がユーザにより持ち上げられたのか判断は、掃除機の通常の走行時にも使用される段差センサ１３を用いて行われるため、余分なセンサやスイッチを必要せず、低コストで走行異常の発生を低減することができる。   As described above, according to the self-propelled cleaner 1 of the present embodiment, when it is determined that the drive wheel 21 has been removed based on the lifting switch 30 and the step sensor 13, based on the output of the step sensor 13. Thus, the drive wheels 21 are driven to try to escape from the steps, so that the occurrence of running abnormality can be reduced and the running performance of the cleaner can be improved. When it is determined that the self-propelled cleaner 1 has been lifted by the user, the driving wheel 21 is stopped, so that the user can safely lift the cleaner. In addition, when the lift of the drive wheel 21 is detected, it is determined whether the drive wheel 21 has been removed from the step on the floor or whether the self-propelled cleaner 1 has been lifted by the user. Since it is performed using the step sensor 13 that is also used during normal travel, no extra sensors or switches are required, and the occurrence of travel abnormality can be reduced at low cost.

なお、本発明は上記実施形態の構成に限られることなく種々の変形が可能であり、例えば、段差センサ１３は、光学式の測距センサでなくてもよく、掃除機前方にある床面の段差を検知できるものであればよい。また、上記実施形態においては、溝状の段差Ｓに駆動輪２１が脱輪した場合について説明したが、床面Ｆより高く形成された段差に駆動輪２１が乗り上げた場合についても、本発明は適応可能である。   The present invention is not limited to the configuration of the above-described embodiment, and various modifications are possible. For example, the step sensor 13 may not be an optical distance measuring sensor, but may be a floor surface in front of the cleaner. Any device that can detect a step is acceptable. In the above embodiment, the case where the drive wheel 21 is removed from the groove-shaped step S has been described. However, the present invention also applies to the case where the drive wheel 21 rides on a step formed higher than the floor surface F. Adaptable.

本発明の一実施形態による自走式掃除機の斜視図。The perspective view of the self-propelled cleaner by one embodiment of the present invention. 同掃除機のブロック構成図。The block block diagram of the vacuum cleaner. 同掃除機の分解斜視図。The exploded perspective view of the vacuum cleaner. 同掃除機の持ち上げスイッチがオンになった場合の制御手順を示すフローチャートFlowchart showing the control procedure when the lifting switch of the vacuum cleaner is turned on （ａ）は同掃除機の駆動輪が床面にある段差に脱輪した状態を示す図、（ｂ）は同掃除機がユーザにより持ち上げられた状態を示す図。The figure which shows the state from which the drive wheel of the cleaner was removed from the level difference in the floor surface, (b) the state where the cleaner was lifted by the user.

符号の説明Explanation of symbols

１ 自走式掃除機
１０ 走行用センサ類（障害物検知手段）
１３ 段差センサ
２１ 駆動輪（走行手段）
２２ 駆動モータ（走行手段）
３０ 持ち上げスイッチ（浮き上がり検知手段）
４１ メインブラシ（掃除手段）
４４ ゴミ吸引ファン（掃除手段）
７０ｃ 走行制御部（駆動輪制御手段） 1 Self-propelled vacuum cleaner 10 Traveling sensors (obstacle detection means)
13 Step sensor 21 Drive wheel (traveling means)
22 Drive motor (traveling means)
30 Lifting switch (lifting detection means)
41 Main brush (cleaning means)
44 Garbage suction fan (cleaning means)
70c Travel control unit (drive wheel control means)

Claims (3)

自律走行のために走行方向にある障害物を検知し、その障害物までの距離を測定する障害物検知手段と、この障害物検知手段に基づいて複数の駆動輪を制御することにより障害物を回避しつつ自律走行する走行手段と、掃除機本体の走行する領域を掃除する掃除手段と、前記駆動輪の床面からの浮き上がりを検知する浮き上がり検知手段と、前記浮き上がり検知手段の検知結果に基づいて前記駆動輪を制御する駆動輪制御手段とを備えた自走式掃除機において、
前記障害物検知手段は、前記掃除機本体の僅かに前方の右側方を斜め下向きに監視し、床面までの距離を測定して段差を検知する右段差センサと、掃除機本体の僅かに前方の左側方を斜め下向きに監視し、床面までの距離を測定して段差を検知する左段差センサとを有し、
前記駆動輪制御手段は、前記浮き上がり検知手段により前記駆動輪の浮き上がりが検知されたとき、
前記右段差センサ及び／又は左段差センサの出力に基づいて、掃除機本体が床面から所定範囲以内の近いところにあると判断された場合には、前記駆動輪が床面にある段差に脱輪したものと判断して、少なくとも一定時間だけ前記駆動輪の回転方向及び回転速度を制御して駆動輪を駆動させ、前記段差からの脱出を試み、
前記右段差センサ及び／又は左段差センサの出力に基づいて、掃除機本体が床面から所定範囲より遠いところにあると判断された場合には、掃除機本体がユーザにより持ち上げられたものと判断して、前記駆動輪を停止させることを特徴とする自走式掃除機。 Obstacle detection means for detecting an obstacle in the traveling direction for autonomous traveling and measuring the distance to the obstacle, and controlling the plurality of driving wheels based on the obstacle detection means Based on the detection results of the traveling means that autonomously travels while avoiding, the cleaning means that cleans the traveling region of the cleaner body, the lift detection means that detects the lift of the drive wheel from the floor, and the lift detection means In a self-propelled cleaner provided with a drive wheel control means for controlling the drive wheel
The obstacle detecting means monitors the right side slightly forward of the vacuum cleaner body obliquely downward, measures the distance to the floor and detects the level difference, and slightly forwards the vacuum cleaner body. A left step sensor that monitors the left side of the diagonally downward and measures the distance to the floor to detect the step,
The drive wheel control means is configured to detect when the drive wheel lift is detected by the lift detection means.
Based on the output of the right step sensor and / or the left step sensor, when it is determined that the main body of the vacuum cleaner is within a predetermined range from the floor surface, the drive wheel is removed from the step on the floor surface. Judging that the wheel is wheeled, drive the driving wheel by controlling the rotation direction and rotation speed of the driving wheel for at least a fixed time, try to escape from the step,
Based on the output of the right step sensor and / or the left step sensor, if it is determined that the cleaner body is far from the predetermined range from the floor surface, it is determined that the cleaner body has been lifted by the user. And the self-propelled cleaner characterized by stopping the drive wheel. 自律走行のために走行方向にある障害物を検知し、その障害物までの距離を測定する障害物検知手段と、この障害物検知手段に基づいて複数の駆動輪を制御することにより障害物を回避しつつ自律走行する走行手段と、掃除機本体の走行する領域を掃除する掃除手段と、前記駆動輪の床面からの浮き上がりを検知する浮き上がり検知手段と、前記浮き上がり検知手段の検知結果に基づいて前記駆動輪を制御する駆動輪制御手段とを備えた自走式掃除機において、
前記障害物検知手段は、掃除機本体の僅かに前方を斜め下向きに監視し、床面までの距離を測定して段差を検知する段差センサを有し、
前記駆動輪制御手段は、前記浮き上がり検知手段の検知結果に加えて、前記段差センサの出力に基づいて前記駆動輪を制御すること特徴とする自走式掃除機。 Obstacle detection means for detecting an obstacle in the traveling direction for autonomous traveling and measuring the distance to the obstacle, and controlling the plurality of driving wheels based on the obstacle detection means Based on the detection results of the traveling means that autonomously travels while avoiding, the cleaning means that cleans the traveling region of the cleaner body, the lift detection means that detects the lift of the drive wheel from the floor, and the lift detection means In a self-propelled cleaner provided with a drive wheel control means for controlling the drive wheel
The obstacle detection means has a step sensor that monitors the front of the vacuum cleaner slightly diagonally downward and measures the distance to the floor to detect a step,
The self-propelled cleaner, wherein the driving wheel control means controls the driving wheel based on an output of the step sensor in addition to a detection result of the lifting detection means. 前記駆動輪制御手段は、前記浮き上がり検知手段により前記駆動輪の浮き上がりが検知されたとき、
前記段差センサの出力に基づいて、掃除機本体が床面から所定範囲以内の近いところにあると判断された場合には、前記駆動輪が床面にある段差に脱輪したものと判断して、前記駆動輪を駆動させて前記段差からの脱出を試み、
前記段差センサの出力に基づいて、掃除機本体が床面から所定範囲より遠いところにある判断された場合には、掃除機本体がユーザにより持ち上げられたものと判断して、前記駆動輪を停止させることを特徴とする請求項２に記載の自走式掃除機。 The drive wheel control means is configured to detect when the drive wheel lift is detected by the lift detection means.
Based on the output of the step sensor, if it is determined that the main body of the vacuum cleaner is within a predetermined range from the floor surface, it is determined that the drive wheel has been removed from the step on the floor surface. , Try to escape from the step by driving the drive wheel,
Based on the output of the step sensor, if it is determined that the cleaner body is far from the predetermined range from the floor surface, it is determined that the cleaner body has been lifted by the user, and the drive wheels are stopped. The self-propelled cleaner according to claim 2, wherein
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