JP2005218560A - Self-propelled vacuum cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled vacuum cleaner surely detecting traveling abnormality and notifying it to a user. <P>SOLUTION: This self-propelled vacuum cleaner detects an impressed voltage of a driving motor at a predetermined time interval (S2), detects the traveling speed and direction of the self-propelled vacuum cleaner based on the detection output of an accelerating sensor (S3) and determines whether there is a contradiction between the impressed voltage of the driving motor and the detection output of the accelerator sensor. When the self-propelled vacuum cleaner is not moved, despite of impressing the voltage to the driving motor, and there is no output of the acceleration sensor, the self-propelled vacuum cleaner determines to have the traveling abnormality (YES in S4), notifies the traveling abnormality of the self-propelled vacuum cleaner to the user (S5), promotes the user to perform a traveling recovery operation of the cleaner body and recovers from the inferior traveling state in an early stage. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a self-propelled cleaner, and more particularly to a self-propelled cleaner that cleans a room while traveling autonomously.

  In recent years, self-propelled vacuum cleaners that clean the floor in a house while autonomously running have been developed. Such an autonomous self-propelled cleaner includes a plurality of obstacle detection sensors so that the cleaning operation can be carried out reliably even in a situation where the user is not monitoring the cleaner. However, even a self-propelled cleaner equipped with a sensor for detecting obstacles cannot run due to a wheel-shaped step on the floor or a cloth that has fallen on the floor tangled with the drive wheel. There was a case. For this reason, a self-propelled cleaner is known in which the rotation state of the drive wheel is detected by an encoder so as to grasp the running state of the cleaner and to detect a running abnormality of the cleaner. However, in such a self-propelled cleaner, the rotation of the drive wheel is detected to detect a running abnormality of the cleaner, so that the drive wheel is derailed to a step on the floor surface and is idled. In such a case, the drive wheels are rotating in the same manner as when the vehicle is running normally, so that it is not possible to detect a running abnormality of the cleaner, and the running state may be erroneously determined.

  By the way, conventionally, a vacuum cleaner provided with an acceleration sensor is known. For example, when the contact between the main body of the vacuum cleaner and an obstacle is detected by the acceleration sensor and the main body of the vacuum cleaner comes into contact with the obstacle, the main body of the vacuum cleaner. A vacuum cleaner that moves the front part in a direction to avoid the obstacle is known (for example, see Patent Document 1). In addition, a vacuum cleaner is known in which the user can accurately grasp the replacement time of the dust bag of the vacuum cleaner by detecting the number of rotations of the dust suction motor with an acceleration sensor (for example, Patent Documents). 2).

  However, in the vacuum cleaner described in Patent Literature 1 or Patent Literature 2, the acceleration sensor is not used for grasping the running state such as the running speed of the vacuum cleaner, and it is possible to detect the running abnormality of the cleaner. There wasn't.

A robot apparatus that detects the posture state of a robot based on acceleration information from an acceleration sensor and controls the posture is known (see, for example, Patent Document 3).
JP-A-4-102422 JP-A-4-193146 JP 2001-212785 A

  However, although the invention described in Patent Document 3 can detect the posture state of the robot (vacuum cleaner), whether or not the cleaner can travel in a certain posture state can be accurately determined only by the acceleration information of the acceleration sensor. Since it cannot be determined, there is a possibility that the running abnormality of the cleaner cannot be reliably detected.

  The present invention has been made in order to solve the above-described problems. By preventing erroneous determination of running abnormality, the running abnormality of the self-propelled cleaner can be reliably detected and notified to the user. The purpose is to provide a traveling vacuum cleaner.

  In order to achieve the above object, the invention according to claim 1 includes an obstacle detection means for detecting an obstacle in the traveling direction for autonomous running and measuring a distance to the obstacle, and the obstacle detection means. Based on this, the self-propelled cleaner includes a traveling means that autonomously travels while avoiding an obstacle by controlling a drive motor that rotationally drives the drive wheels, and a cleaning means that cleans a region where the cleaner body travels. The applied voltage detecting means for detecting the applied voltage of the drive motor and the acceleration acting on the cleaner main body in three axes perpendicular to the traveling direction of the cleaner main body in the front-rear direction, the left-right direction, and the vertical direction The acceleration sensor for detecting the direction, the applied voltage of the driving motor detected by the applied voltage detecting means and the detection output of the acceleration sensor are compared at predetermined time intervals, and the voltage is applied to the driving motor. In spite of being added, when there is no detection output of the acceleration sensor due to the fact that the cleaner body has not moved, the running abnormality determining means for determining that the cleaner body is running abnormally, and A travel abnormality notifying means for notifying a user of a travel abnormality of the cleaner body by sound and / or light when the travel abnormality determining means determines that the cleaner body is in a travel abnormal state, and the travel abnormality An energization control means for stopping power supply to the travel means and the cleaning means of the cleaner body when the notification means does not recover from the travel abnormality even after a predetermined time has passed since the start of notifying the travel abnormality of the cleaner body. And detecting the running abnormality of the cleaner body using only the applied voltage of the drive motor and the detection output of the acceleration sensor without using the rotation detection output of the drive wheel. And by, characterized in that to prevent running abnormality misjudgment when the drive wheel is idle.

  According to a second aspect of the present invention, there is an obstacle detection means for detecting an obstacle in the running direction for autonomous running and measuring a distance to the obstacle, and the drive wheel is rotated based on the obstacle detection means. In a self-propelled cleaner comprising a traveling means that autonomously travels while avoiding an obstacle by controlling a drive motor to be driven, and a cleaning means that cleans a region where the cleaner body travels, the application of the drive motor An applied voltage detecting means for detecting a voltage, an acceleration sensor for detecting acceleration acting on the cleaner body in three axial directions orthogonal to the front-rear direction, the left-right direction, and the up-down direction with respect to the traveling direction of the cleaner body; The travel abnormality determination means for determining the travel abnormality of the cleaner body by comparing the applied voltage of the drive motor detected by the applied voltage detection means with the detection output of the acceleration sensor. When, by the traveling abnormality determining means, when the cleaner main body is determined to be traveling abnormal state, characterized by comprising a traveling abnormality informing means for informing the traveling abnormality of the cleaner body to the user.

  According to a third aspect of the present invention, in the self-propelled cleaner according to the second aspect, when the traveling abnormality determining means determines that the cleaner body is in an abnormal traveling state, the traveling of the cleaner body is performed. The power supply control means for stopping the power supply to the means and the cleaning means is provided.

  According to the first aspect of the present invention, the applied voltage of the drive motor is compared with the detection output of the acceleration sensor, and if there is no detection output of the acceleration sensor even though the voltage is applied to the drive motor, cleaning is performed. Since the machine body is determined to be running abnormal, the drive wheel is idle due to wheel removal, etc. compared to the case where the rotational speed of the drive wheel is detected to determine the running abnormality of the cleaner body. Thus, it is possible to reliably detect a running abnormality without determining that the running state is correct. In addition, since it is possible to reliably detect and notify the user of a running abnormality of the cleaner body, even if a running abnormality occurs, the user is encouraged to perform a running recovery operation of the cleaner body, and travels early. Recovery from abnormal conditions can be achieved.

  In addition, when a running abnormality of the cleaner body is detected and the cleaner body has become unable to run, it is attempted to recover from the running abnormality state by operating the running means for at least a predetermined time. If the running abnormality state cannot be recovered even after a predetermined time has elapsed, the power supply to the running means and the cleaning means of the cleaner body is stopped, so that wasteful power consumption can be suppressed.

  According to the second aspect of the present invention, by comparing the applied voltage of the drive motor and the detection result of the acceleration sensor, the traveling abnormality of the cleaner body is reliably detected in order to determine the traveling abnormality of the cleaner body. Can be notified.

  According to the third aspect of the present invention, when a running abnormality of the cleaner body is detected, power supply to the running means and the cleaning means of the cleaner body is stopped, so that wasteful power consumption can be suppressed. .

  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.

  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.

  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.

  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 diagonally downward and measures the distance to the obstacle.

  Moreover, the self-propelled cleaner 1 includes an acceleration sensor 14 (see FIG. 3) and a geomagnetic sensor 15 in the control device box 30 of the upper portion 1a of the cleaner. The acceleration sensor 14 determines acceleration acting on the self-propelled cleaner 1 in the front-rear direction (x direction), the left-right direction (y direction), and the up-down direction (z direction) with respect to the traveling direction of the self-propelled cleaner 1. Are detected in three orthogonal directions. 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.

  The self-propelled cleaner 1 uses a drive wheel 21 composed of a right drive wheel 21R and a left drive wheel 21L and a drive motor 22 composed of a right drive motor 22R and a left drive motor 22L as traveling means. It is provided at the rear of the lower part 1 b, 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.

  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 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.

  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.

  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 unit (running abnormality notifying means) 62 is composed of, for example, an LCD, an LED, and the like, and notifies the operation status and various messages of the self-propelled cleaner 1 such as a running abnormality. The speaker 63 (running abnormality notifying means) notifies the operation status and various messages of the self-propelled cleaner 1 such as running abnormality. The battery 80 supplies power to the entire self-propelled cleaner 1 as indicated by a dotted line in FIG.

  The control unit 70 controls each means 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 70b, and a cleaning operation control. A portion 70c is provided. The control unit 70 constitutes an energization control unit, and power supply to the traveling unit and the cleaning unit is controlled by the control unit 70.

  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 position / direction determination unit 70 a calculates the x, y, and z directions of the self-propelled cleaner 1 from the detected acceleration values in the x, y, and z directions from the acceleration sensor 14.

  The travel control unit 70b 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, and applying the drive motor 22 as an applied voltage detection unit Detect voltage. 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.

  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.

  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.

  Next, the traveling abnormality determination operation of the self-propelled cleaner 1 will be described with reference to the flowchart of FIG. The control unit 70 counts the time from the previous travel abnormality determination operation and executes the travel abnormality determination operation at predetermined time intervals (YES in S1). During the running abnormality determination operation, the control unit 70 detects the applied voltage of the drive motor 22 (S2), and detects the running speed and direction of the self-propelled cleaner 1 based on the detection output of the acceleration sensor 14 (S3). ). Then, the control unit 70 determines whether or not there is a contradiction between the applied voltage of the drive motor 22 and the detection output of the acceleration sensor 14 (S4). In the case where there is no detection output of the acceleration sensor 14 because the self-propelled cleaner 1 is not moving despite the voltage being applied to the drive motor 22, the self-propelled cleaner 1 is in an abnormal running state. It is determined that there is (YES in S4). On the other hand, when the detection output of the acceleration sensor 14 corresponding to the applied voltage of the drive motor 22 is obtained (NO in S4), the process returns to S1 and repeats the processes after S2 at predetermined time intervals.

  When it is determined that there is a discrepancy between the applied voltage of the drive motor 22 and the detection output of the acceleration sensor 14 (YES in S4), the running abnormality of the self-propelled cleaner 1 is notified using the speaker 63. At the same time, the display unit 62 displays a running abnormality message (S5). And when self-propelled cleaner 1 recovers from a driving abnormal state by being operated by a user who knew driving abnormality, or when self-propelled cleaner 1 escapes from a driving abnormal state by oneself (YES in S6), the process returns to S1, and the processes after S2 are repeated at predetermined time intervals. On the other hand, when the self-propelled cleaner 1 cannot recover from the abnormal running state (NO in S6), the notification operation is continued, and when the predetermined time has elapsed from the start of the notification operation, the abnormal traveling state cannot be recovered (in S7). (YES), the power supply to the traveling means and the cleaning means is stopped (S8). If the user cannot recover from the abnormal running state even after the predetermined time has elapsed, the user is considered not to be near the self-propelled cleaner 1, and the notification operation by the speaker 63 is stopped. Even in this case, the LED indicates that the self-propelled cleaner 1 has stopped due to a running abnormality so that the user can easily understand the reason that the self-propelled cleaner 1 has stopped during the cleaning operation. It is better to keep it.

  FIG. 5A shows an example of a running abnormality of the self-propelled cleaner 1. The cloth C that has fallen on the floor F is entangled with the drive wheels 21, and the self-propelled cleaner 1 has become unable to run. Indicates the state. In such a case, since the self-propelled cleaner 1 can be grasped from the detection output of the acceleration sensor 14 despite the voltage being applied to the drive motor 22, the self-propelled cleaner 1 It is possible to detect a running abnormality. In such a case, since the rotation of the drive wheel 21 is obstructed by the cloth, the running abnormality of the self-propelled cleaner 1 can also be detected by detecting that the drive wheel 21 is not rotating by the encoder. It is possible to detect. On the other hand, as shown in FIG. 5B, when the drive wheel 21 is idle, such as when the drive wheel 22L is derailed to the groove-shaped step S on the floor F, the encoder is connected to the drive wheel. Since the rotation of 21 is detected, the running abnormality of the self-propelled cleaner 1 cannot be detected only by the encoder. On the other hand, in the self-propelled cleaner 1 of the present embodiment, the detection output of the acceleration sensor 14 indicates that the self-propelled cleaner 1 is not moving even though a voltage is applied to the drive motor 22. Therefore, the running abnormality can be detected.

  As described above, according to the self-propelled cleaner 1 of the present embodiment, the applied voltage of the drive motor 22 and the detection output of the acceleration sensor 14 are compared, and the voltage is applied to the drive motor 22. When there is no detection output from the acceleration sensor 14, the self-propelled cleaner 1 is determined to have a running abnormality. Therefore, the rotational speed of the drive wheel 21 is detected by an encoder or the like, and the self-propelled cleaner 1 travels. Compared with the case where abnormality is determined, the state where the driving wheel 21 is idle due to wheel removal or the like is not determined as a normal traveling state, and the traveling abnormality of the self-propelled cleaner 1 is reliably detected. Can do.

  Further, since the traveling abnormality of the self-propelled cleaner 1 can be reliably detected and notified to the user, the traveling recovery operation of the self-propelled cleaner 1 can be performed to the user even when the traveling abnormality occurs. It is possible to promptly recover from the abnormal running state.

  In addition, when a running abnormality of the self-propelled cleaner 1 is detected and the self-propelled cleaner 1 becomes unable to run, the running means is disabled by operating the running means at least for a predetermined time. On the other hand, after the predetermined time has elapsed, the power supply to the traveling means and the cleaning means of the self-propelled cleaner 1 is stopped, so that it is possible to suppress wasteful power consumption.

  The present invention is not limited to the configuration of the above embodiment, and various modifications can be made. For example, in the present embodiment, only the case where the cloth is entangled with the driving wheel 21 and the case where the driving wheel 21 is removed as the running abnormality state has been described, but it goes without saying that the present invention is applicable to other running abnormality states. It is possible to detect.

The perspective view of the self-propelled cleaner by one embodiment of the present invention. The block block diagram of the vacuum cleaner. The exploded perspective view of the vacuum cleaner. The flowchart which shows the driving | running | working abnormality determination operation | movement of the same vacuum cleaner. (A) is a figure which shows the state in which the driving wheel of the cleaner was carrying cloth, (b) is the figure which shows the state where the driving wheel of the cleaner was removed.

Explanation of symbols

1 Self-propelled vacuum cleaner 10 Traveling sensors (obstacle detection means)
14 Acceleration sensor 21 Drive wheel (traveling means)
22 Drive motor (traveling means)
41 Main brush (cleaning means)
44 Garbage suction fan (cleaning means)
70 control unit (running abnormality determination means, energization control means)
70c Travel control unit (applied voltage detection means)

Claims (3)

An obstacle detection means for detecting an obstacle in the running direction for autonomous running and measuring the distance to the obstacle, and a drive motor for rotating the drive wheel based on the obstacle detection means is controlled. In a self-propelled cleaner comprising a traveling means that autonomously travels while avoiding obstacles, and a cleaning means that cleans a region where the cleaner body travels,
Applied voltage detection means for detecting the applied voltage of the drive motor;
An acceleration sensor that detects acceleration acting on the cleaner body in three axial directions orthogonal to the front-rear direction, the left-right direction, and the up-down direction with respect to the traveling direction of the cleaner body;
The applied voltage of the drive motor detected by the applied voltage detection means is compared with the detection output of the acceleration sensor at predetermined time intervals, and the vacuum cleaner main body has a voltage applied to the drive motor even though the voltage is applied to the drive motor. When there is no detection output of the acceleration sensor because it is not moving, a running abnormality determining means that determines that the cleaner body is running abnormally;
When the travel abnormality determining means determines that the cleaner body is in a travel abnormality state, the travel abnormality notifying means for notifying the user of the travel abnormality of the cleaner body by sound and / or light, and
If the running abnormality notifying means does not recover from the running abnormality even after a predetermined time has elapsed since the running abnormality notifying means starts to notify the running abnormality of the cleaner body, the power supply to the running means and the cleaning means of the cleaner body is stopped. An energization control means,
When the driving wheel is idle by detecting the running abnormality of the cleaner body using only the applied voltage of the driving motor and the detection output of the acceleration sensor without using the rotation detection output of the driving wheel. Self-propelled vacuum cleaner characterized by preventing erroneous determination of abnormal running. An obstacle detection means for detecting an obstacle in the running direction for autonomous running and measuring the distance to the obstacle, and a drive motor for rotating the drive wheel based on the obstacle detection means is controlled. In a self-propelled cleaner comprising a traveling means that autonomously travels while avoiding obstacles, and a cleaning means that cleans a region where the cleaner body travels,
Applied voltage detection means for detecting the applied voltage of the drive motor;
An acceleration sensor that detects acceleration acting on the cleaner body in three axial directions orthogonal to the front-rear direction, the left-right direction, and the up-down direction with respect to the traveling direction of the cleaner body;
A running abnormality determining means for judging a running abnormality of the main body of the cleaner by comparing the applied voltage of the drive motor detected by the applied voltage detecting means with a detection output of the acceleration sensor;
A self-propelled type comprising a travel abnormality notifying means for notifying the user of a travel abnormality of the cleaner body when the travel abnormality determining means determines that the cleaner body is in a travel abnormal state. Vacuum cleaner.   When the travel abnormality determining unit determines that the cleaner body is in a travel abnormal state, the travel abnormality determining unit includes an energization control unit that stops power supply to the travel unit and the cleaning unit of the cleaner body. The self-propelled cleaner according to claim 2.

Images