JP2005352707A - Self-travelling cleaner - Google Patents

Self-travelling cleaner Download PDF

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JP2005352707A
JP2005352707A JP2004171985A JP2004171985A JP2005352707A JP 2005352707 A JP2005352707 A JP 2005352707A JP 2004171985 A JP2004171985 A JP 2004171985A JP 2004171985 A JP2004171985 A JP 2004171985A JP 2005352707 A JP2005352707 A JP 2005352707A
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travel
traveling
travelling
obstacle
random
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JP4163150B2 (en )
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Minoru Arai
Yasuhiro Asa
Saku Egawa
Takuya Kawabe
Atsushi Koseki
Yuko Okada
Taiji Tajima
Hirobumi Tanaka
Ritsu Teramoto
律 寺本
篤志 小関
祐子 岡田
拓也 川邊
康博 朝
索 柄川
博文 田中
泰治 田島
穣 荒井
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Hitachi Home & Life Solutions Inc
日立ホーム・アンド・ライフ・ソリューション株式会社
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PROBLEM TO BE SOLVED: To provide a self-travelling cleaner of which travelling is appropriately selected between a regular travelling mode and a random travelling mode depending on the situations of a room to be cleaned.
SOLUTION: The self-travelling cleaner that cleans a surface of a floor of the space to be cleaned while self-travelling comprises a regular travelling mode generating means 8 that generates a regular travelling mode for enabling travelling along a predetermined travelling course, a random travelling mode generating means 9 that generates a random travelling mode for enabling changing travelling directions randomly, a switching device 10 that provides respective outputs selectively from the regular travelling mode generating means and the random travelling mode generating means to a travelling mechanism, and a one round along a wall determination means 6 that determines success or failure of travelling one round along a wall, that is, travelling one round along a wall surface in the space to be cleaned. The cleaner is first made to make a trial of the travelling one round along a wall, of which success or failure is determined by the one round along a wall determination means 6. According to the result, the cleaner is made to selectively implement regular travelling and random travelling.
COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は、掃除対象空間の床面上を自走しながら掃除を行う自走式掃除機に関する。 The present invention relates to a self-propelled cleaner performs cleaning while self on a floor surface of the cleaning target space.

自走式掃除機の走行様式には規則走行とランダム走行がある。 The running style of the self-propelled vacuum cleaner there is a rule running and random traveling. 規則走行は、予め定められた走行経路に従って掃除対象空間(掃除対象の部屋)の床面上を満遍なく走行する走行様式であり、部屋の形状寸法に応じて定まる走行時間または走行距離だけ規則的な走行を行わせることで掃除の完了とする。 Rules traveling is a movement pattern for evenly traveling on the floor surface of the cleaning target space (clean target room) according to the travel route predetermined running time or running distance determined in accordance with the geometry of the room only regular and the completion of the cleaning by causing the traveling. 一方、ランダム走行は、掃除対象の部屋における壁面や障害物に接触しあるいは接触しそうになると、それらからランダムな角度方向に反射するように走行方向を変化させることを繰り返しながら部屋の床面上を走行する走行様式であり、規則走行の場合のような掃除完了の基準がないため、適宜に設定される走行時間または走行距離だけ走行を行わせることで掃除完了とする。 On the other hand, the random travel it comes to contact with or in contact likely to walls or obstacles in the cleaning target room, while repeating changing the direction of travel so as to reflect in a random angular direction from them on a floor surface of the room a movement pattern for traveling, because there is no standard of cleaning completion as in the case of rule running, the cleaning completion by causing the travel only travel time or travel distance is set appropriately.

上記のような規則走行を行わせるには、部屋の形状寸法に応じた掃除完了までの走行様式を設定する必要がある。 To carry out a rule running as described above, it is necessary to set the movement pattern to the cleaning completion in accordance with the geometry of the room. これについては、部屋の3次元形状データを予め取得し、そのデータに基づいて走行様式を生成する方法が考えられる。 For this, previously acquired three-dimensional shape data of the room, a method of generating a movement pattern based on the data are considered. しかし部屋の3次元形状データを作成するには手間がかかり、またデータ量が多いなどの問題もあり、あまり現実的ではない。 However, to create a three-dimensional shape data of the room is time-consuming, and there is also a problem of such a large amount of data, it is not very realistic. これに対して、部屋の壁面を基準とし、初めに部屋の壁面に沿って自走式掃除機を一周させることで部屋の形状寸法を取得し、それから壁沿い一周走行で得られた部屋の形状寸法に基づいて規則走行を行わせる方法(例えば特許文献1)は、より現実的である。 In contrast, the wall of a room as a reference, the shape of the initially along the wall surface of the room to get the geometry of the room by causing around the self-propelled cleaner, then obtained in the wall along around traveling room how to perform regular traveling based on the dimensions (for example, Patent Document 1) is a more realistic.

特開平5−46239号公報 JP 5-46239 discloses

規則走行とランダム走行を掃除の効率からみると、ランダム走行では重複して掃除する部分が発生する可能性が高いことから、規則走行のほうが優れているといえる。 Looking at the rules traveling and random traveling from the efficiency of cleaning, a random traveling from the fact there is a high possibility that the part to clean overlap occurs, it can be said that good is better of the rule running. ただ、規則走行には一つの問題がある。 However, there is one problem is to rule running. すなわち規則走行による場合、上記のように、まず掃除対象の部屋の壁面に沿って自走式掃除機を一周させることで部屋の形状寸法を取得し、それから規則的な走行を行わせる方法がより現実的である。 That is, when under Rule travel, as described above, first along the wall surface of the cleaning target room to get the geometry of the room by causing around the self-propelled cleaner, then more methods to perform regular travel it is realistic. しかしこの場合、部屋の壁面などを検知するために自走式掃除機に設けられているセンサの累積誤差などの要因あるいは部屋を仕切るドアが開いていてそこから自走式掃除機が部屋の外に逸走するなどすることで、壁沿い一周走行を完結しない事態が発生し得る。 However outside this case, self-propelled cleaner therefrom involves factors or door partitioning the room, such as the accumulated error of the sensor provided in the self-propelled cleaner opens to sense like walls of the room room by such as escape, not to complete the wall along the round traveling situation may occur in. また、掃除対象の部屋の内部構造が複雑であると壁面沿い一周を完結するのに多大な時間を要する事態もあり得る。 In addition, there may be a situation that requires a great deal of time to the internal structure of the cleaning target room to complete the wall along the round to be complex. そしてこのような事態となった場合、現実的には壁沿い一周走行後の規則走行を行うことができず、掃除を中断せざるを得なくなる。 And when it becomes such a situation, practically it can not be performed rule running after the wall along around traveling, be forced to interrupt the cleaning.

そこで、掃除対象の部屋の状況に応じて規則走行とランダム走行を適切に使い分けできるようにすることにより、できるだけ効率よく掃除できるようにすることが望まれる。 Therefore, by allowing distinguish appropriately rules travel and the random travel according to the condition of the cleaning target room, it is desirable to be able to clean as efficiently as possible. またランダム走行については上記のような掃除効率の問題があり、重複掃除部分をできるだけ発生させないようにして掃除効率を高めることが望まれる。 As for the random travel is problematic cleaning efficiency as described above, it is desirable to increase the cleaning efficiency so as not to generate as possible overlapping cleaning section. またランダム走行には掃除効率の問題の他に、掃除し残し部分を発生させ易いという問題もある。 Also in addition to the random running of the cleaning efficiency problem, there is also a problem that makes it easy to cause the cleaning and leaving part. すなわち、例えば掃除対象の部屋に設置されている家具などの障害物に凹部がある場合に、その凹部の角でランダムな角度方向に反射してしまって凹部の内側に入り込めなくなることにより凹部の内側が掃除し残しになる可能性があるという問題であり、こうした掃除し残しを有効に防止できるようにすることが望まれる。 That is, for example, cleaning target when the room has recesses on obstacles such as furniture installed in, the recess by not impenetrable to the inside of the recess accidentally reflected in random angular orientation at the corner of the recess inside a problem that may become leaving clean, to be able to effectively prevent such cleaning and leaving is desired.

本発明は以上のような事情を背景になされたものであり、掃除対象の部屋の状況に応じて規則走行とランダム走行を適切に使い分ける走行制御を可能とする自走式掃除機の提供を目的とし、またランダム走行における掃除し残しを有効に防止できるようにした自走式掃除機の提供を目的としている。 The present invention has been made against the background of the above circumstances, it aims to provide a self-propelled cleaner that allows appropriately selectively travel control rules travel and the random travel according to the condition of the cleaning target room and then, also aims to provide a self-propelled cleaner that is to be effectively prevented leaving clean in the random travel.

上記目的のために本発明では、掃除対象空間の床面上を走行機構により自走しながら掃除を行う自走式掃除機において、予め定められた走行経路に従って走行を行わせる規則走行様式を生成する規則走行生成手段、走行方向をランダムに変化させる走行を行わせるランダム走行様式を生成するランダム走行生成手段、前記規則走行生成手段と前記ランダム走行生成手段それぞれからの出力を前記走行機構に選択的に出力する切替器、および前記掃除対象空間をその壁面に沿って一周する壁沿い一周走行の成否を判定する壁沿い一周判定手段を備え、そして前記壁沿い一周走行をまず試行させてその成否を前記壁沿い一周判定手段で判定させ、その結果に応じ、前記壁沿い一周走行が成功であった場合には前記切替器により前記規則走行生成手 In the present invention for this purpose, in the self-propelled cleaner performs cleaning while self by the traveling mechanism on the floor surface of the cleaning target space, generate rules movement pattern to perform the travel along the travel route to a predetermined rule traveling generation means for, random travel generating means for generating a random movement pattern for causing the travel of changing the direction of travel randomly selectively output from the random travel generating means respectively said regular traveling generating means to said driving mechanism switch to be output to, and the cleaning target space comprises a wall along circumference determining means for determining success or failure of the wall along the round travel to go around along the wall, and its success first it was attempted the wall along around the running is determined by the wall along one round judging means, depending on the result, the rule travel generated manually by the switch when the wall along around the running was successful からの出力を前記走行機構へ出力して前記規則走行様式で走行を行わせ、前記壁沿い一周走行が不成功であった場合には前記切替器により前記ランダム走行生成手段からの出力を前記走行機構へ出力して前記ランダム走行様式で走行を行わせるようにされていることを特徴としている。 The output from the output to the driving mechanism to perform a travel in said regular movement pattern, said output from said random travel generating means by said switch when said wall along around the running was unsuccessful travel It is characterized in that output to the mechanism is adapted to perform a travel in the random movement pattern.

また本発明では上記のような自走式掃除機について、前記壁沿い一周判定手段は、走行開始時点からの走行の経過時間に基づいて壁沿い一周走行の成否を判定する第1の判定方式、走行開始時点からの回転方向角を予め設定の基準回転角度αと比較してなす判定と走行開始時点からの走行距離を予め設定の基準走行距離と比較してなす判定とを組み合わせて壁沿い一周走行の成否を判定する第2の判定方式、および走行中の現在位置と走行開始位置との間の距離に基づく判定と走行開始時点からの回転方向角を前記基準回転角度αよりも大きく予め設定の基準回転角度βと比較してなす判定、それに走行開始時点からの走行距離を予め設定の基準走行距離と比較してなす判定とを組み合わせて壁沿い一周走行の成否を判定する第3の判定方式の As for the self-propelled cleaner as described above in the present invention, the wall along circumference determining means, first determination method determines the success or failure of the wall along the circumference running based on the elapsed time of the traveling from the travel start point, rotating direction angle preset reference rotation angle α travel distance from determined travel start time of forming as compared with a preset reference travel distance as compared to the form determined and the wall along the circumference in combination of the a from the traveling start time the second determination method determines whether the driving, and preset larger than the reference rotation angle α of the rotation direction angle from determined travel start point based on the distance between the current position and the traveling start position during travel determination forming as compared with the reference rotation angle beta, the third determination of determining the success or failure of the decision and a combination of the wall along around traveling the travel distance form as compared to the reference travel distance preset from the travel start point to it method of れか一つまたはこれら各判定方式の組み合わせを含むものとしている。 One or are intended to include combinations of each of these determination methods or Re.

また本発明では上記のような自走式掃除機について、前記ランダム走行に際してランダムな走行方向転換を生じさせる障害物に対して当該障害物の周面に倣うように走行を行わせるならい走行様式を生成するならい走行生成手段を備えるとともに、前記障害物に対する既通過と未通過を判定する既通過/未通過判定手段を備え、前記既通過/未通過判定手段で未通過と判定された障害物に対しては前記ならい走行生成手段からの出力を前記走行機構へ出力して前記ならい走行様式で走行を行わせるようにしている。 As for the self-propelled cleaner as described above in the present invention, the copying movement pattern for causing the travel so as to follow the peripheral surface of the obstacle relative to the obstacle causing random traveling direction change when the random travel provided with a Save have travel generating means generate, on the already passed and provided with a pre-pass / not pass determination means for determining non-passed, non-passed judged obstacle in the already pass / not pass judgment means for said obstacle It is for so that to perform a travel in the copying movement pattern by outputting an output from the copying traveling generating means to the driving mechanism.

また本発明では上記のような自走式掃除機について、前記既通過/未通過判定手段は、前記障害物に関して作成される地図情報を用いて前記障害物に関する既通過/未通過の判定を行う判定方式、および走行中に検出した前記障害物に関して当該障害物を中心にして撮像して得られる周囲画像の比較で前記障害物に関する既通過/未通過の判定を行う判定方式の何れか一つまたはこれら各判定方式の組み合わせを含むものとしている。 As for the self-propelled cleaner as described above in the present invention, the already-pass / not pass judgment means performs judgment already passed / not passed about the obstacle by using the map information that is created for the obstacle any one determination method, and with respect to the obstacle detected during traveling around the obstacle and determines already pass / not pass about the obstacle by comparing ambient image obtained by imaging determination method or it is intended to include combinations of each of these determination methods.

本発明では、まず壁沿い一周走行を試行させ、その成否を所定の判定方式で判定することで掃除対象の部屋が規則走行に適しているか否かを判定し、その結果に応じて規則走行とランダム走行を選択して掃除をさせるようにしている。 In the present invention, is first attempt to wall along around running, whether the success or failure of the cleaning object by determining a predetermined determination method a room is suitable for regular driving, and rules travel in accordance with the result so that to the cleaning by selecting a random traveling. このため本発明によれば、掃除対象の部屋の状況に応じて規則走行とランダム走行を適切に使い分ける走行制御が可能となり、より効率的に掃除を行えるようになる。 Therefore, according to the present invention, the travel control becomes possible to appropriately selectively rules travel and the random travel according to the condition of the cleaning target room, so enabling more efficient cleaning.

また本発明では、ランダム走行に際して障害物に関する既通過/未通過の判定を行い、未通過と判定された障害物に対してのみ障害物の凹部にまで確実に入り込んで掃除することのできるならい走行を行わせるようにしている。 In the present invention also makes a determination of the already passed / not passed about an obstacle during random travel, have if capable of cleaning penetrates only reliably until the recess of the obstacle with respect to the determined obstacle and non-passed traveling so that to perform. このため本発明によれば、ランダム走行における掃除し残しを有効に防止でき、しかも掃除の重複も有効に避けて掃除の効率を高めることができる。 Therefore, according to the present invention, leaving clean in the random travel can be effectively prevented, yet it is possible to enhance the efficiency of cleaning while avoiding the effective overlap of the cleaning.

以下、本発明を実施する上で好ましい形態について説明する。 The following describes a preferred embodiment for practicing the present invention. 図1に、第1の実施形態による自走式掃除機における走行制御系の構成をブロック図にして示す。 1, showing the structure of the travel control system in the self-propelled cleaner according to the first embodiment in a block diagram. なお自走式掃除機は、吸引により掃除を行う吸引掃除機構系や自走のための走行機構系などの機構要素を備えているが、それらには周知の構成を用いることができる。 Note the self-propelled cleaner is provided with the mechanical elements such as the traveling mechanism system for suction cleaning mechanism system and self-propelled to perform cleaning by suction, the they can be used a known structure. したがって以下ではそれらについての説明は省略している。 Therefore, in the following description thereof is omitted.

走行制御系は、位置/方向角計測手段1、現在位置/方向角演算手段2、時間計測手段3、壁沿い一周判定手段6、走行経路記憶手段7、規則走行生成手段8、ランダム走行生成手段9および切替器10を備えている。 Cruise control system, the position / direction angle measurement unit 1, the current position / direction angle calculating section 2, time measurement unit 3, the wall along one round judging unit 6, the traveling route storage unit 7, rule travel generating means 8, the random travel generator and a 9 and switch 10.

位置/方向角計測手段1は、例えば走行機構系の走行用モータに取り付けられるエンコーダが用いられる位置計測手段と、例えば自走式掃除機に取り付けられるジャイロセンサが用いられる方向角計測手段を組み合わせて構成されており、自走式掃除機の走行に従ってその位置と走行方向角の検出信号を発生する。 Position / direction angle measurement means 1, for example, a position measurement means to be an encoder attached is used to running mechanism based traction motor, for example, by combining the direction angle measurement means to be gyro-sensor mounted is used in the self-propelled cleaner It is configured to generate a detection signal of the travel direction angles and its location in accordance with the running of the self-propelled cleaner. 現在位置/方向角演算手段2は、位置/方向角計測手段1で検出した自走式掃除機の位置と方向角の検出データを受け取り、自走式掃除機の現在位置と方向角を演算する。 Current position / direction angle calculating means 2 receives the detection data of the position and orientation angle of the self-propelled cleaner detected by the position / direction angle measurement unit 1 calculates the current position and direction angle of the self-propelled cleaner . 時間計測手段3は、自走式掃除機が走行を開始した時点からの走行時間を累積的に計測する。 Time measuring means 3 cumulatively measuring the travel time from the self-propelled cleaner has started traveling. 壁沿い一周判定手段6は、現在位置/方向角演算手段2、時間計測手段3および走行経路記憶手段7それぞれからの出力を受け、後述するような掃除対象の部屋の壁面に沿う自走式掃除機の壁沿い一周走行の成否を判定する。 Wall along around determining means 6, the current position / direction angle calculating section 2, receives the outputs from the time measuring means 3 and the traveling route storage unit 7, the self-propelled cleaning along the wall surface of the cleaning target room, as described below determining the success or failure of the wall along the round running of the machine. 走行経路記憶手段7は、時間計測手段3の出力と現在位置/方向角演算手段2から出力される現在位置/方向角とから、自走式掃除機の位置/方向角の時系列の値を記憶する。 Travel route storage means 7, and a current position / direction angles which are outputted from the output and the current position / direction angle calculating means 2 of the time measuring means 3, the value of the time series of the position / direction angles of the self-propelled cleaner Remember. 規則走行生成手段8は、自走式掃除機を規則走行様式で走行させるためのサーボ指令値を生成する。 Rule traveling generation unit 8 generates a servo command value for moving the self-propelled cleaner in a regular movement pattern. ランダム走行生成手段9は、自走式掃除機をランダム走行様式で走行させるためのサーボ指令値を生成する。 Random traveling generating means 9 generates a servo command value for moving the self-propelled cleaner in a random movement pattern. 切替器10は、サーボ駆動系11に出力するサーボ指令値の切り替えを行う。 Switch 10 switches the servo command value to be output to the servo drive system 11. すなわち規則走行生成手段8が生成する規則走行のサーボ指令値またはランダム走行生成手段9が生成するランダム走行のサーボ指令値を壁沿い一周判定手段6による判定結果に応じて切り替えてサーボ駆動系11に出力し、これを受けたサーボ駆動系11による制御の下で走行機構系12が規則走行またはランダム走行を自走式掃除機になさせる。 That the servo drive system 11 is switched in accordance with the determination result of the servo command value of the random travel due to the wall along the circumference determining means 6 for servo command value or the random travel generator 9 rules travel is produced to generate the rule running generator 8 outputs, traveling mechanism system 12 under the control of the servo drive system 11 having received the causes made a rule running or randomly travel in the self-propelled cleaner.

図2に、四角形の部屋における規則走行とランダム走行それぞれの走行パターンの例を示す。 Figure 2 shows an example of each rule running random travel in a square room running pattern. 図2のaが規則走行の例で、この例の規則走行は、部屋の壁に平行する方向での直線走行と90度の方向転換の組み合わせによるジグザグ的な折り返しを規則的に繰り返すような走行パターンで予め定められた走行経路で走行するようになっている。 In the example of a rules travel in FIG. 2, rules run in this example, regularly repeating such traveling zigzag specific replication due to a combination of turning the straight running and 90 degrees in a direction parallel to the walls of the room It is adapted to run in a predetermined running route pattern. このような規則走行の場合では、部屋の形状寸法に応じて定まる走行時間または走行距離だけ規則的な走行を行わせることで自走式掃除機が掃除開始の始点に重なる位置ないし始点のすぐ近くの位置の終点に戻る状態となって掃除の完了となる。 In case of such a rule running, determined in accordance with the geometry of the room running time or running distance regular running self-propelled cleaner by causing the overlap to the start of the cleaning start position to start the immediate vicinity of the the completion of cleaning in a state to return to the end of the position of. 一方、図2のbは、ランダム走行の例である。 On the other hand, b in FIG. 2 is an example of a random travel. ランダム走行では、掃除対象の部屋における壁面や障害物に接触しあるいは接触しそうになると、それらからランダムな角度方向に反射するように走行方向を転換させることを繰り返しながら部屋の床面上を走行することになる。 The random travel, at the contact or contacts likely to walls or obstacles in the cleaning target room, while repeating be converted traveling direction so as to reflect in a random angular orientation from their travels on the floor surface of the room It will be. このようなランダム走行では、適宜に設定される走行時間または走行距離だけ走行し終えた位置が終点となって掃除完了となる。 Such a random travel, position finished running only travel time or travel distance is set appropriately is cleaning completion is the end point.

次に、壁沿い一周判定手段6による壁沿い一周走行の成否判定について説明する。 Next, a description will be given judging success or failure of the wall along the circumference running by the wall along one revolution determining means 6. 図3に壁沿い一周走行の成否判定における処理の流れを示す。 It shows the flow of processing in the judging success or failure of the wall along around the running Figure 3. 壁沿い一周走行とは、掃除対象の部屋をその壁に沿って一周するように走行させる走行様式である。 Along around traveling and the wall, it is a running style to run the room of cleaning the target to around along the wall. ただし、部屋の壁に沿って固定的に設置されている家具などがある場合には、この家具などの外周面も壁沿い一周走行における「部屋の壁」に含まれるものとする。 However, if there is furniture that is fixedly disposed along the walls of the room are to be included in the "wall of the room" in the outer peripheral surface is also the wall along around the running, such as the furniture. このような壁沿い一周走行の成否判定には第1〜第3の判定方式がある。 The success determination of such walls along around the travel is the first to third determination method. 第1〜第3の判定は、いずれもまず壁沿い一周走行の不成功を判定し、不成功でない場合には成功であると判定する論理をとっており、これらのいずれか一つまたは組み合わせで壁沿い一周走行の成否判定がなされる。 The first to third determination are all initially determined unsuccessful wall along around traveling, takes the logic determines that if not unsuccessful is successful, either one or a combination thereof judging success or failure of the wall along the round traveling is made.

第1の判定は、判定ブロック(処理ステップ)101で行う。 The first determination is made at decision block (processing step) 101. 判定ブロック101では、走行開始時点からの走行の経過時間に基づいて判定処理を行う。 In decision block 101, a determination process is performed based on the elapsed time of the traveling from the travel start point. 具体的には時間計測手段3により走行開始時点からの経過時間をカウントし、その経過時間が一定値つまり予め部屋の大きさに応じて壁沿い一周走行に要するものとして設定してある基準時間以上である場合には、壁沿い一周走行に必要なだけ走行したはずなのに未だ走行しているということで、壁沿い一周走行に成功しなかたものとし、一周判定を否とする。 Counting the elapsed time from the travel start point by the time the particular measuring means 3, the elapsed time is a reference time or longer, which is set as required for the wall along around traveling in accordance with the magnitude of the constant value that is preliminarily room If it is, but it should have traveled only necessary wall along around the travel that the running yet, and those successfully wall along around the travel way, and whether the round determination. 壁沿い一周判定手段6が一周判定を否とした場合には、切替器10がランダム走行生成手段9からのサーボ指令値をサーボ駆動系11に出力させ、これによって自走式掃除機はランダム走行により部屋の掃除を行う。 If the wall along around judging means 6 and not a round determination, the switching device 10 to output a servo command value from the random travel generating means 9 to the servo drive system 11, whereby the self-propelled cleaner random travel carry out the cleaning of the room by. 一方、経過時間が基準時間を越えていなければ、壁沿い一周走行が不成功ではないので、一周判定を成とする。 On the other hand, the elapsed time if not exceed the reference time, since the wall along around the running is not unsuccessful, the round judged formed. そして第1の判定だけによる場合には、この一周判定成をもとに切替器10が規則走行生成手段8からのサーボ指令値をサーボ駆動系11に出力させ、これによって自走式掃除機は規則走行により部屋の掃除を行う。 And if by only the first judgment, the round judgment formed based on to the output switch 10 is a servo command value from rules travel generating means 8 to the servo drive system 11, is thereby self-propelled cleaner carry out the cleaning of the room by the rule running.

第2の判定は、判定ブロック102と判定ブロック103で行う。 The second determination is made at decision block 102 and decision block 103. 判定ブロック102では、走行開始時点からの自走式掃除機の方向角、つまり走行中に自走式掃除機が走行方向転換のためになす方向回転動作による走行開始時点から現在までの回転角度量の判定を行う。 In decision block 102, direction angles of the self-propelled cleaner from the traveling start time, i.e. rotation angle from the traveling start time by rotating operation self-propelled cleaner while traveling forms for travel direction change to date a determination is made of. 具体的には走行開始時点から現在までの積算回転角度(方向角)を予め部屋の形状に応じて壁沿い一周走行でなすはずとして設定してある基準回転角度(基準方向角)αと比較し、回転角度が基準回転角度α以上である場合には一周判定を成とする。 Specifically reference rotation angle (reference direction angle) as compared to α which is set as a supposed form on the wall along around traveling according to advance the room shape of the integrated rotation angle to the current (direction angle) from the travel start point , when the rotation angle is the reference angle of rotation α above and formed a round determination. そして第2の判定だけまたは第1の判定と第2の判定の組み合わせだけによる場合には、この一周判定成をもとに切替器10が規則走行生成手段8からのサーボ指令値をサーボ駆動系11に出力させる。 And only the second determination or the first judgment and the case of only the combination of the second determination, the servo drive system of the servo command value of the switch 10 the revolution determination underlying from rule running generator 8 to output to 11. なお基準回転角度αは、上記のように部屋の形状に応じて壁沿い一周走行でなすはずとして設定されるものであるが、コーナーが4箇所ある一般的な四角い部屋の場合であれば、360度未満の範囲で任意に設定すればよい。 Note the reference rotation angle alpha, but is intended to be set as should form the walls along the circumference running in accordance with the shape of the room, as described above, in the case of a general rectangular room corner there places 4, 360 it may be set arbitrarily in a range of less than degrees. また自走式掃除機の積算回転角度は、図4に示すように、進行方向に対して反時計回りを正、時計周りを負として走行中の方向転換における回転角度を積算する。 The accumulated rotation angle of the self-propelled cleaner, as shown in FIG. 4, the counter-clockwise direction with respect to the traveling direction positive, integrating the rotational angle in the turning traveling as negative clockwise. こうすることにより、図4の例のように部屋の壁面に凹凸がある場合でも、壁沿い一周走行をした後の積算回転角度が理想的には360度になる。 By doing so, even if there are irregularities in the wall of a room as in the example of FIG. 4, the integrated rotation angle after the wall along one round travel is 360 degrees ideally.

判定ブロック102において回転角度が基準回転角度αに達していないと判定された場合には、続いて判定ブロック103による判定を行う。 When the rotation angle at decision block 102 is determined not to reach the reference rotation angle α is subsequently performs determination by decision block 103. 判定ブロック103では、走行開始時点からの走行距離に基づいて判定する。 In decision block 103 determines, based on the travel distance from the traveling start time. 具体的には走行開始時点から積算した走行距離が一定値、つまり予め部屋の大きさに応じて壁沿い一周走行に要するものとして設定してある基準走行距離以上ある場合は、基準回転角度αの回転をなしていないのに壁沿い一周走行に必要な距離以上の走行をなしているということで、壁沿い一周走行に成功しなかたものとし、一周判定を否とする。 Specifically the travel distance is constant value obtained by integrating the travel start point, i.e. in advance of the room when there reference travel distance or more that is set as required for the wall along around the travel depending on the size, the reference rotation angle α though not without rotation that it forms a running over distance required wall along around traveling, and those successfully wall along around the travel way, and whether the round determination. 一周判定否とされた場合にランダム走行が選択されるのは上での説明と同様である。 Is the same as described in above the random travel is selected if it is a round determination not. 判定ブロック103での判定で走行距離が基準走行距離以下とされた場合には判定ブロック101に戻る。 When the running distance is determined in decision block 103 is equal to or less than the reference travel distance is returned to decision block 101.

第3の判定は判定ブロック104〜106で行う。 Third determination is performed by decision block 104 to 106. 判定ブロック104では、自走式掃除機の現在位置と走行開始位置との間の距離に基づいた判定を行う。 In decision block 104, a determination based on the distance between the traveling start position to the current position of the self-propelled cleaner. 具体的には現在位置/走行開始位置間距離が一定値以下つまり予め設定の基準距離以下ならば壁沿い一周走行を終えて走行開始位置に戻ったものとして一周判定を成とする。 Specifically distance between the current position / traveling start position is the formed one turn determination as returning to the traveling start position after the wall along around the running if the following criteria distance constant value or less that is set in advance. そして後述の判定ブロック107による判定を省略する場合には、この一周判定成をもとに切替器10が規則走行生成手段8からのサーボ指令値をサーボ駆動系11に出力させる。 And in the case of omitting the determination by later in decision block 107, the switch 10 the revolution determination underlying causes the output of the servo command value from the rule running generating means 8 to the servo drive system 11. 一方、現在位置/走行開始位置間距離が基準距離以上ならば、続いて判定ブロック105による判定を行う。 On the other hand, if the current location / traveling start position the distance between the reference distance or more, followed by a determination by the decision block 105.

判定ブロック105では、判定ブロック102と同様な判定を行う。 In decision block 105, it performs the same decision as the decision block 102. ただし判定ブロック105における基準回転角度は判定ブロック102における基準回転角度αとは異なる基準回転角度βが用いられ、走行開始時点からの回転角度が基準回転角度β以上であれば、走行開始位置から遠く離れているのに基準回転角度β以上の回転を既になしていることから壁沿い一周走行に成功しなかったものとし、一周判定を否とする。 However the reference rotation angle at decision block 105 is different from the reference rotation angle β is used as a reference rotational angle α in decision block 102, if the rotational angle from the travel start point reference rotation angle β or more, away from the traveling start position shall not successful on the wall along the circumference running from the fact that no already the reference rotation angle β or more rotating to apart, and whether the round determination. 一方、走行開始時点からの回転角度が基準回転角度βに達していない場合は、続いて判定ブロック106による判定を行う。 On the other hand, when the rotation angle from the traveling start time has not reached the reference rotation angle β is subsequently performs determination by decision block 106. なお、基準回転角度βは基準回転角度αよりも大きな角度として任意に設定すればよい。 It may be set arbitrarily as an angle greater than the reference rotation angle β reference rotation angle alpha.

判定ブロック106では、判定ブロック103と同様に、走行開始時点からの走行距離を判定する。 In decision block 106, as in decision block 103 to determine the travel distance from the traveling start time. 走行距離が基準走行距離以上ある場合は、基準回転角度βの回転をなしていないのに壁沿い一周走行に必要な距離以上の走行をなしているということで、壁沿い一周走行に成功しなかったものとし、一周判定を否とする。 If the travel distance is equal to or greater than the reference distance traveled, the fact that though not without a rotation of the reference rotation angle β forms a traveling more than distance required for the wall along the round traveling, did not succeed to the wall along the round traveling It shall have, and whether the round determination. 判定ブロック106での判定で走行距離が基準走行距離以下とされた場合には判定ブロック101に戻る。 When the running distance is determined in decision block 106 is equal to or less than the reference travel distance is returned to decision block 101.

以上のような第3の判定については、さらに判定ブロック107による判定を付加することで判定精度を高めることができる。 The third determination described above, it is possible to improve the determination accuracy by further adding the determination by the decision block 107. 判定ブロック107は、自走式掃除機の現在における方向角と走行開始時の初期方向角との偏差に基づいて判定を行い、判定ブロック104で一周判定を成とされた条件の下でさらに壁沿い一周走行の成否を判定する。 Decision block 107, a determination based on a deviation between the direction angle and the travel start time of the initial heading angle of the current self-propelled cleaner, further wall under conditions which are the round judged formed at decision block 104 determining the success or failure along the round traveling. 具体的には自走式掃除機の現在における方向角と走行開始時の初期方向角との方向角偏差が予め設定の基準偏差以下であることを壁沿い一周走行の成功の条件とし、これを満たしていれば一周判定を成とし、満たしていなければ一周判定を否とする。 Specifically a condition for success of the wall along around traveling the direction angle deviation is less than the reference deviation preset the current initial direction angle at the start of travel and the direction angle of the self-propelled cleaner, this filled and formed a round determination if, and whether the round decision does not satisfy.

図5と図6に、壁沿い一周走行が成功する場合と失敗する場合それぞれの走行状態の例を示す。 5 and 6 show examples of the respective running state fail and if the wall along around the running to succeed. 図5のaは成功の例である。 a in FIG. 5 is an example of success. この図の例のように壁沿い一周走行が成功する場合には、壁沿いに一周して戻ってきた自走式掃除機の終点位置は走行開始点と重なり、またその時点での方向角は360度+微小角Δであって、初期方向角0度との差は微小角Δであるので、上述の判定処理により壁沿い一周走行が成功であると判定される。 If the wall along around the running as in the example of this figure to succeed, the end position of the self-propelled cleaner that has returned after circling along the wall overlaps the travel start point, also the direction angle at that time a 360 ° + small angle delta, the difference between the initial direction angle of 0 degree is very small angle delta, the wall along around the traveling is determined to be successful by the above-described determination process.

図5のbは、上述の判定処理において壁沿い一周走行不成功と判定される場合の例である。 b in FIG. 5 is an example of a case where it is determined that the wall along around traveling unsuccessful in the determination processing described above. 図5のbの例では、方向角は355度であり第2の判定における判定ブロック102で例えば基準回転角度αが350度と設定されていれば、これを超えていることから一周判定を成とされるものの、方向角が355度となった時点での現在位置/走行開始位置間距離がdとなっており、この現在位置/走行開始位置間距離dが基準距離を超えていることから一周判定を否と判定される。 In the example of FIG b 5, if the direction angle of 355 degrees at and second a decision block 102 in the determination example reference rotation angle α is set to 350 degrees, the round decision because it is beyond this although are, the current position / traveling start position distance at the time the directional angle becomes 355 degrees has a d, since the inter current location / traveling start position distance d exceeds the reference distance it is determined that whether the round determination. このような壁沿い一周走行の不成功は、位置や方向角を検出するセンサの累積誤差が大きかったり、自走式掃除機本体と床面との間で大きな滑りが発生したような場合に起こり得る。 Unsuccessful such walls along around traveling, occur when large or the cumulative error of the sensor for detecting the position and direction angle, such as large slip between the self-propelled cleaner body and the floor surface has occurred obtain.

図5のcは、上述の判定処理において壁沿い一周走行不成功と判定される場合の他の例である。 c in FIG. 5 is another example of when it is determined that the wall along around traveling unsuccessful in the determination processing described above. 図3のcは、掃除対象の部屋が複雑な配置の仕切りで部分的に仕切られており、この仕切りも部屋の壁とし、壁沿い一周走行に際してその仕切りに沿う走行もなす場合である。 c in FIG. 3 are cleaning target room is divided into partial a partition of complex arrangement, the partition also the walls of the room, the case where also form running along its partition during wall along around traveling. この例の場合には、位置X1ですでに方向角は370度になった後も走行を続け走行開始点からの走行距離が位置X2でLとなった時点でもまだ走行を続けている状態となっている。 In this example, a state in which the travel distance from the already direction angle running start point continues traveling even after it is 370 degrees in the position X1 is continued still running when it becomes an L at position X2 going on. したがって、判定ブロック102における基準回転角度αを350度、判定ブロック104における現在位置/走行開始位置間距離についての基準距離を位置X2での現在位置/走行開始位置間距離Dより小さい値、判定ブロック105における基準回転角度βを400度、判定ブロック106における基準走行距離を走行距離Lより小さい値にそれぞれ設定してあれば、上述の判定処理において一周判定否と判定される。 Accordingly, the determination 350 degrees reference rotation angle α in block 102, the current location / traveling start position distance D value smaller than the reference distance for between the current position / traveling start position distance in the decision block 104 at the position X2, decision block 400 ° reference rotation angle β in 105, if set, respectively the reference travel distance in decision block 106 to the travel distance L smaller value, it is determined that the round determines whether the determination processing described above.

図6は、上述の判定処理において壁沿い一周走行不成功と判定される場合のさらなる他の例である。 Figure 6 is a further another example of when it is determined that the wall along around traveling unsuccessful in the determination processing described above. 図6の例では、本来ドアを閉めた状態で四角形の部屋Aを掃除させるつもりの場合に、ドアが開いて、自走式掃除機が壁沿い一周走行中に部屋Aの外に出てしまった場合である。 In the example of FIG. 6, in the case of going to clean the square of the room A in the original state closing the door, the door is open, self-propelled vacuum cleaner is shifted out of the room A in the wall along the round traveling the case was. この場合、現在の方向角は判定ブロック102における基準回転角度αよりも小さい180度であるが、走行開始からの経過時間が判定ブロック101における基準時間を超過し、また走行開始からの走行距離が判定ブロック103における基準走行距離を超過する状況となる。 In this case, the reference rotation angle α less 180 degrees than in the current direction angle decision block 102, the elapsed time from the start of running is exceeded the reference time at decision block 101, also the travel distance from the start of running a situation that exceeds the reference travel distance in the decision block 103. したがって上述の判定処理での第1の判定または第2の判定で一周判定否と判定される。 Therefore it is determined that the round judging whether the first determination or the second determination in the above-described determination process.

以上のように本発明では、まず壁沿い一周走行を試行させ、その成否を所定の判定方式で判定することで掃除対象の部屋が規則走行に適している否かを判定し、その結果に応じて規則走行とランダム走行を選択して掃除をさせるようにしている。 In the present invention, as described above, first be attempted wall along around traveling, it is determined whether the cleaning target room by determining the success or failure in a predetermined determination method is suitable for regular driving, according to the result and so as to clean by selecting a rule running and random travel Te. このため本発明によれば、掃除対象の部屋の状況に応じて規則走行とランダム走行を適切に使い分ける走行制御が可能となり、より効率的に掃除を行えるようになる。 Therefore, according to the present invention, the travel control becomes possible to appropriately selectively rules travel and the random travel according to the condition of the cleaning target room, so enabling more efficient cleaning.

以下では第2の実施形態について説明する。 The following describes a second embodiment. 図7に、第2の実施形態による自走式掃除機における走行制御系の構成をブロック図にして示す。 Figure 7 shows in the structure of the travel control system in the self-propelled cleaner according to the second embodiment in a block diagram. 本実施形態の自走式掃除機における走行制御系は、第1の実施形態での自走式掃除機における走行制御系に障害物に関する要素を付加した構成となっており、図7ではその付加部分だけを示してあり、第1の実施形態と共通する構成については図示を省略してある。 Running control system in the self-propelled cleaner of the present embodiment has a configuration obtained by adding the elements for obstacles to the travel control system in the self-propelled cleaner in the first embodiment, the additional the 7 It is shown only the parts, components common to the first embodiment is omitted.

障害物に関する走行制御系は、掃除対象の部屋の壁や部屋に置かれている家具など自走式掃除機の走行に対して障害となるものを障害物として扱い、特に凹部を有しており、ランダム走行を行わせる場合にその凹部の角でランダムな角度方向に反射してしまうことにより凹部の内側を掃除し残してしまう可能性のある障害物に関して、凹部の内側も確実に掃除し、しかもそこを重複して掃除することも有効に避けて掃除効率を高めるようにする走行制御を行う。 Cruise control systems for obstacle treats what the obstacle to travel of the self-propelled cleaner and furniture that are located in the walls and the room cleaning target room as an obstacle, in particular a recess with respect to its angular in random angular direction reflected by possible thereby leaving clean the inside of the recess by thus resistant there obstacles recess when to perform random travel, also reliably clean the inside of the recess, Moreover, performing the cruise control to enhance the cleaning efficiency can be avoided effective to clean duplicate it.

以上のような走行制御機能を負う障害物用走行制御系は、障害物検出手段21、障害物位置演算手段22、障害物位置記憶手段23、地図生成手段24、地図記憶手段25、位置比較手段26、撮像手段27、画像処理手段28、画像データベース作成手段29、画像データベース30、画像比較手段31、同一障害物通過判定手段32、切替器33およびならい走行生成手段34を備えており、第1の実施形態での走行制御系における位置/方向角演算手段2からデータを取り込むとともに、第1の実施形態での走行制御系におけるランダム走行生成手段9が生成するランダム走行用のサーボ指令値も取り込むようにされている。 As described above running control functions take obstacle traveling control system, the obstacle detecting means 21, obstacle position calculating means 22, the obstacle position storage unit 23, a map generating means 24, a map storage unit 25, position comparing means 26, the imaging unit 27, the image processing unit 28, an image database creation unit 29, an image database 30, image comparing unit 31, the same obstacle passage determination unit 32 comprises a switch 33 and copying the running generator 34, first capture of fetches data from the position / direction angle calculating section 2 in the running control system in the embodiment, even servo command value for the random travel the random travel generating means 9 in the running control system in the first embodiment is produced It is way.

障害物検出手段21は、例えば超音波センサや赤外線センサなどの非接触型の位置検出センサ、あるいは障害物と接触すると信号を発する接触型のタッチセンサなどを適宜に組み合わせて構成され、障害物を検出すると信号を発生する。 Obstacle detecting means 21, for example, a combination in the non-contact type position detecting sensor such as an ultrasonic sensor or an infrared sensor, or upon contact with an obstacle such as a contact type touch sensor which emits a signal as appropriate, the obstacle to generate a signal when it detects. 障害物位置演算手段22は、障害物検出手段21で検出したデータから障害物の位置を求め、これで求められた障害物の位置は障害物位置記憶手段23に記憶する。 Obstacle position calculating means 22 calculates the position of the obstacle from detected by the obstacle detection unit 21 data, the position of which in the obtained obstacle is stored in the obstacle position storage unit 23.

地図生成手段24は、位置/方向角演算手段2で求められる自走式掃除機の現在位置/方向角と障害物位置記憶手段から得られる障害物の位置とから、走行経路上にある障害物に関する地図情報を生成する。 Map generating means 24, obstacle from the position of the obstacle obtained from the current position / direction angle and an obstacle position storage means of the self-propelled cleaner obtained by the position / direction angle calculating section 2, on the travel path on to generate the map information. この障害物地図情報は、例えば、走行経路つまり掃除対象の部屋の床面を一定サイズの区画に区切り、その各区画内に障害物が存在しているかどうか、また障害物がある場合に、その障害物が部屋の壁や壁沿いに置かれている障害物であるのか、あるいは壁から離して置かれている障害物(内部障害物)であるのかなどの情報を記述して構成される。 If the obstacle map information, for example, separate the floor of the travel path, that of the cleaning target room into sections fixed size, whether in its respective partition obstacle is present, also there is an obstacle, the obstacle constituted descriptions of information such as whether it is whether a obstacle is placed along the walls or wall of a room, or an obstacle which is located away from the wall (internal obstructions). そのような障害物地図情報の構成例を図8に示す。 A configuration example of such obstacle map information shown in FIG. この例では、区画名として各区画にM1、M2、M3…Mnを与え、そして各区画にそれぞれの区画中心位置を座標値(X1,Y1)、(X2,Y2)、(X3,Y3)…(Xn,Yn)で記録するとともに各区画について障害物がある場合にはその属性(部屋壁、内部障害物など)を、障害物が無い場合には「なし」をそれぞれ記録したテーブルの形態で障害物地図情報を構成している。 In this example, given the M1, M2, M3 ... Mn each partition as partition name and coordinates the compartment center positions of the respective sections (X1, Y1), (X2, Y2), (X3, Y3) ... (Xn, Yn) that attribute (room wall, internal obstructions, etc.) when there is an obstacle for each compartment and records at, if the obstacle is not in the form of a table which records each "None" constitute an obstacle map information. 地図生成手段24で生成されたこのような障害物地図情報は地図記憶手段25に記憶される。 Such obstacles map information generated by the map generating means 24 is stored in the map storage means 25.

位置比較手段26は、障害物の既通過/未通過を判定する手段の一つであり、地図記憶手段25からの障害物地図情報を用いて障害物に関する既通過/未通過の判定を行う。 Position comparing means 26 is a means for determining already passing / not passing the obstacle, it is determined already passed / not passed about obstacles with obstacle map information from the map storage means 25. その判定は以下のようにしてなされる。 The determination is made as follows. 今、自走式掃除機が走行中に障害物を検出し、その障害物について位置座標(xi,yi)が得られたとする。 Now, the self-propelled cleaner detects an obstacle during travel, the position coordinates for the obstacle (xi, yi) are obtained. そしたら障害物地図情報で参照し、位置座標(xi,yi)にもっとも近い中心位置座標(Xi,Yi)を持つ区画Miについて障害物の記録を調べる。 And then referenced obstacle map information, the position coordinates (xi, yi) nearest the center position coordinates (Xi, Yi) in the compartment Mi with examining the record of the obstacle. そしてその結果が障害物なしであれば、検出障害物が未通過の障害物であるとして走行条件フラグに「ならい走行」を設定する。 And the result if no obstacle, detected obstacle is set to "copying running" in the running condition flag as a obstacle non-passed. 一方、障害物が記録されていた場合には、検出障害物が既通過の障害物であるとして走行条件フラグに「ランダム走行」を設定する。 On the other hand, when the obstacle has been recorded, the detected obstacle is set to "random driving" the travel condition flag as a obstacle already passed. なお障害物地図情報は、位置/方向角計測手段1による位置/方向角の計測に累積誤差があると精度が低下する。 Note obstacle map information, the accumulated error accuracy decreases to be in the measurement position / orientation angles according to the position / direction angle measurement means 1. そこで、適切な時間間隔で障害物地図情報を常に更新して判定のための対象範囲を限定することにより、判定の正確性を高めるようにするのが好ましい。 Therefore, by limiting the scope for determining constantly update the obstacle map information at appropriate time intervals, preferably to enhance the accuracy of the determination. このことは後述の画像比較手段31による判定についても同様である。 The same applies to the determination by the image comparison means 31 will be described later.

撮像手段27は、例えばCCDカメラなどにより構成され、走行中の自走式掃除機の周囲について画像を取得する。 Imaging means 27 is configured of, for example, CCD cameras, to acquire images for the periphery of the self-propelled cleaner running. 撮像手段27で取得された周囲画像は、画像処理手段28で2値化などの処理をなされた後、画像データベース作成手段29において位置/方向角演算手段2からの撮像地点に関する位置/方向角データと組み合わせて画像データベース化されて画像データベース30に保存される。 Ambient image acquired by the imaging unit 27, after being made to process such binarized by the image processing unit 28, the position / direction angle data related to the imaging point from the position / direction angle calculating section 2 in the image database creation unit 29 is an image database stored in the image database 30 in conjunction with. 画像データベース30に保存される画像データの例を図9に示す。 An example of the image data stored in the image database 30 shown in FIG. この例では、画像名として各画像にPict1、Pict2、…などを与え、そして各画像にそれぞれの撮像地点に関する位置/方向角データ(Rx1,Ry1,Rθ1)、(Rx2,Ry2,Rθ2)、…などを記録したテーブルの形態で画像データを構成している。 In this example, PICT1 as image name to each image, PICT2, giving like ..., and the position / direction angle data for each of the imaging point in the image (Rx1, Ry1, Rθ1), (Rx2, Ry2, Rθ2), ... It constitutes the image data in the form of recorded table like.

画像比較手段31は、障害物の既通過/未通過を判定する手段の他の一つであり、画像データベース30からのデータを用いて障害物に関する既通過/未通過の判定を行う。 Image comparison means 31 is another one of the means for determining the pre-pass / not pass the obstacle, it is determined already passed / not passed about obstacles using data from the image database 30. その判定は以下のようにしてなされる。 The determination is made as follows. 自走式掃除機は走行中に障害物を検出するとその障害物を中心にした周囲画像を撮像手段27で撮像するとともに、その撮像地点での自走式掃除機の位置/方向角を位置/方向角演算手段2から取得する。 With imaging by the imaging unit 27 around an image centered on the the the obstacle propelled cleaner detects an obstacle during travel, the position / direction angles of the self-propelled cleaner at the imaging point position / It acquires from the direction angle calculating section 2. それからこの障害物検出時取得周囲画像を画像データベース30に保存の周囲画像と比較する。 Then compared with the surrounding image store this obstacle detection time of acquisition ambient image in the image database 30. 具体的には、障害物検出時取得周囲画像における位置/方向角にもっとも近い位置/方向角の既保存周囲画像を画像データベース30から選出し、この既保存周囲画像と障害物検出時取得周囲画像を重ね合わせてパターンマッチングを行う。 Specifically, elected previously stored around the image of the closest position / direction angle position / direction angle in the obstacle detection time of acquisition ambient image from the image database 30, the previously stored ambient images and the obstacle detection time of acquisition ambient image the superimposed perform pattern matching. そして所定の誤差範囲で両画像のパターンが一致していれば、検出障害物が既通過の障害物であるとして走行条件フラグに「ランダム走行」を設定する。 And if the pattern of the two images in a predetermined error range match, detected obstacle is set to "random driving" the travel condition flag as a obstacle already passed. 一方、両画像のパターンが一致していなかった場合には、回転、縮小、拡大などの処理を画像に施した後に再度パターンマッチングを行う。 On the other hand, when the pattern of the two images do not match performs rotation, reduction, again pattern matching after performing processing such as expansion to the image. この再度のパターンマッチングで両画像のパターンが一致すれば、上の場合と同様に、検出障害物が既通過の障害物であるとして走行条件フラグに「ランダム走行」を設定し、再度のパターンマッチングでもパターンが一致しなかった場合には、検出障害物が未通過の障害物であるとして走行条件フラグに「ならい走行」を設定する。 If they match the pattern of the two images at this again pattern matching, as in the case above, detected obstacle is set to "random driving" the travel condition flag as a obstacle existing passage, again pattern matching But if the pattern does not match the detected obstacle is set to "copying running" in the running condition flag as a obstacle non-passed. また同時に、この未通過の障害物に関する障害物検出時取得周囲画像をそれの位置/方向角とともに画像データベース30に保存する。 At the same time, it stores the obstacle detection time of acquisition ambient image on the fault of this non-passed together with the position / direction angles of it in the image database 30.

同一障害物通過判定手段32は、自走式掃除機が走行中に検出した障害物が既通過であるか未通過であるかの判定を位置比較手段26と画像比較手段31それぞれから送られて来る走行条件フラグに基づいて判定し、その結果を切替器33に出力する。 Same obstacle passage determination means 32, obstacle self-propelled cleaner encounters during running is sent to determine whether the non-passed or is already passing from the position comparing means 26 and the image comparison section 31, respectively determined on the basis of the coming traveling condition flag, and outputs the result to the switch 33. これを受けた切替器10は、サーボ駆動系11に出力するサーボ指令値の切り替えを行う。 Switch 10 which receives the switches the servo command value to be output to the servo drive system 11. すなわちならい走行生成手段34が生成するならい走行のサーボ指令値またはランダム走行生成手段9が生成するランダム走行のサーボ指令値を同一障害物通過判定手段32による判定結果に応じて切り替えてサーボ駆動系11に出力し、これを受けたサーボ駆動系11による制御の下で走行機構系12(図1)がならい走行またはランダム走行を自走式掃除機になさせる。 That profiling running generating means 34 switches the servo command value of the random traveling if have travel of the servo command value or the random travel generator 9 generates produce according to the determination result by the same obstacle passage determination unit 32 servo drive system 11 and it outputs the traveling mechanism system under the control of the servo drive system 11 having received the 12 (FIG. 1) causes made the copying running or random travel to the self-propelled cleaner. なお同一障害物通過判定手段32において障害物を未通過と判定するには、位置比較手段26と画像比較手段31それぞれから送られて来る走行条件フラグがともに「ならい走行」となっていることを条件とするのが判定精度の上で好ましいが必ずしもそのようにする必要はない。 Note that determines that non-passed the obstacle in the same obstacle passage determination unit 32, that the traveling condition flag sent from the position comparator 26 and the image comparison means 31 respectively are both set to "copying running" preferable in terms of the determination accuracy for the condition, but not necessarily so.

ここで、ならい走行とは、図10のaに示す例のように、障害物Sにある凹部Srなどの周面の凹凸構造などに倣うようにする走行を所定距離または所定時間だけ行った後にランダム走行に戻る走行様式であり、この走行様式とすることで掃除し残し部分の発生を極力減らすことができる。 Here, the copying run, as in the example shown in a in FIG. 10, after performing the running to make follow like uneven structure of the peripheral surface, such as concave Sr in the obstacle S by a predetermined distance or predetermined time is a running style to return to the random traveling, the occurrence of partial leaving cleaned by this running style can be reduced as much as possible. すなわちランダム走行だけであると、障害物に凹部(これは障害物の側面における図10のaの例のような凹部Srだけでなく、例えばテーブルや椅子などのように下部空間を有する障害物におけるその下部空間も含むものとする)がある場合に、その凹部の角でランダムな角度方向に反射してしまうことにより凹部の内側を掃除し残しにする可能性が高くなるが、ならい走行とすることにより、確実に凹部の内部まで入り込んで掃除を行うことができるようになり、掃除し残し部分の発生を極力減らすことができる。 In other words, when only the random travel, recesses obstacles (which not only recess Sr such as the example of a in FIG. 10 in the side of the obstacle, for example an obstacle with a lower space, such as tables and chairs If that is also included lower space) is, at the corner of the recess is likely to leave clean the inside of the recess by thus reflected in random angular orientation is increased, by the profiling running certainly will be able to carry out the cleaning enters the inside of the recess, the generation of clean and leave parts can be reduced as much as possible. ただ、ランダム走行では同一の障害物が行き当たる可能性があり、その場合にならい走行を同一の障害物について繰り返すと掃除の重複となって掃除効率を低下させることになる。 However, a random travel may encounters the same obstacle, thereby deteriorating the cleaning efficiency becomes overlapped cleaning and repeated for the same obstacle tracing travel that case. これを防ぐのが上述の障害物に関する既通過/未通過の判定とこれに基づくならい走行とランダム走行の切替である。 That prevent this is already passing / not passing judgment and profiling running and switching of the random travel thereunder regarding obstacles described above. すなわちこの切替操作により、ならい走行は初めて行き当たる障害物についてのみ行わせるようにし、既に行き当たっている障害物については、図10のbに示す例のように、ランダム走行を行わせるようにすることで掃除の重複が発生するのを有効に防止することができる。 That is, by this switching operation, the copying run is to carry out only the first trip strikes obstacles, for obstacles is hitting already go, as in the example shown in b of FIG. 10, so as to perform random travel duplicate cleaning can be effectively prevented by.

本発明は、自走式掃除機について掃除対象の部屋の状況に応じて規則走行とランダム走行を適切に使い分けて掃除効率を高めることができる。 The present invention can improve the cleaning efficiency properly selectively used rules travel and the random travel according to the condition of cleaning the target room for self-propelled cleaner. このような本発明は、自走式掃除機の分野に有用なものとして広く適用することができる。 Such present invention can be widely applied as useful in the field of self-propelled cleaner.

第1の実施形態による自走式掃除機における走行制御系の構成をブロック図にして示す図である。 The structure of the travel control system in the self-propelled cleaner according to the first embodiment shows in the block diagram. 四角形の部屋における規則走行とランダム走行それぞれの走行パターンの例を示す図である。 Is a diagram showing an example of a rule running and random travel each driving pattern in a square room. 壁沿い一周走行の成否判定における処理の流れを示す図である。 It is a diagram showing the flow of processing in the judging success or failure of the wall along the circumference travel. 壁沿い一周走行における回転角度の積算について説明する図である。 Is a diagram illustrating the integration of the rotation angle in the wall along the circumference travel. 壁沿い一周走行における走行状態の例を示す図である。 Is a diagram showing an example of a traveling state of the wall along the circumference travel. 壁沿い一周走行における走行状態の他の例を示す図である。 It is a diagram showing another example of the traveling state in the wall along the circumference travel. 第1の実施形態による自走式掃除機における走行制御系の構成をブロック図にして示す図である。 The structure of the travel control system in the self-propelled cleaner according to the first embodiment shows in the block diagram. 障害物地図情報の構成例を示す図である。 It is a diagram showing a configuration example of an obstacle map information. 画像データの例を示す図である。 Is a diagram illustrating an example of image data. ならい走行とランダム走行の切替について説明する図である。 Is a diagram for describing switching of profiling running and random travel.

符号の説明 DESCRIPTION OF SYMBOLS

1 位置/方向角計測手段 2 現在位置/方向角演算手段 3 時間計測手段 6 壁沿い一周判定手段 7 走行経路記憶手段 8 規則走行生成手段 9 ランダム走行生成手段 10 切替器 11 サーボ駆動系 12 走行機構系 21 障害物検出手段 22 障害物位置演算手段 23 障害物位置記憶手段 25 地図記憶手段 26 位置比較手段 27 撮像手段 28 画像処理手段 29 画像データベース作成手段 30 画像データベース 31 画像比較手段 32 同一障害物通過判定手段 33 切替器 34 ならい走行生成手段 1 position / direction angle measurement unit 2 the current position / direction angle calculating means 3 hours measuring means 6 walls along circumference determining means 7 travel route storage means 8 rule running generator 9 random travel generating means 10 switch 11 servo drive system 12 running mechanism system 21 obstacle detection unit 22 obstacle position calculating means 23 obstacle position storage means 25 map storage means 26 position comparing means 27 imaging means 28 image processing unit 29 image database creation unit 30 image database 31 the image comparing unit 32 the same obstacle passes determination means 33 switch 34 copying running generator

Claims (4)

  1. 掃除対象空間の床面上を走行機構により自走しながら掃除を行う自走式掃除機において、 In self-propelled cleaner performs cleaning while self on a floor surface of the cleaning target space by the traveling mechanism,
    予め定められた走行経路に従って走行を行わせる規則走行様式を生成する規則走行生成手段、走行方向をランダムに変化させる走行を行わせるランダム走行様式を生成するランダム走行生成手段、前記規則走行生成手段と前記ランダム走行生成手段それぞれからの出力を前記走行機構に選択的に出力する切替器、および前記掃除対象空間をその壁面に沿って一周する壁沿い一周走行の成否を判定する壁沿い一周判定手段を備え、そして前記壁沿い一周走行をまず試行させてその成否を前記壁沿い一周判定手段で判定させ、その結果に応じ、前記壁沿い一周走行が成功であった場合には前記切替器により前記規則走行生成手段からの出力を前記走行機構へ出力して前記規則走行様式で走行を行わせ、前記壁沿い一周走行が不成功であった場合に Rule traveling generation means for generating rules movement pattern for causing the travel according to a predetermined travel route, the random travel generating means for generating a random movement pattern for causing the traveling randomly changing the traveling direction, and said regular traveling generating means switch for selectively outputting the output from each of the random travel generating means to said driving mechanism, and the wall along the circumference determining means for determining success or failure of the wall along the round travel to around the cleaning target space along the wall surface provided, and the first were attempted wall along around traveling to determine their success in the wall along one round judging means, so that depending on the case the wall along around the running was successful the rules by the switch the output from the running generator outputs to the running mechanism to perform a travel in said regular movement pattern, when the wall along around the running was unsuccessful 前記切替器により前記ランダム走行生成手段からの出力を前記走行機構へ出力して前記ランダム走行様式で走行を行わせるようにされていることを特徴とする自走式掃除機。 Self-propelled cleaner, characterized in that the are output from the random travel generating means outputs to the driving mechanism so as to perform a travel in the random movement pattern by the switch.
  2. 前記壁沿い一周判定手段は、走行開始時点からの走行の経過時間に基づいて壁沿い一周走行の成否を判定する第1の判定方式、走行開始時点からの回転方向角を予め設定の基準回転角度αと比較してなす判定と走行開始時点からの走行距離を予め設定の基準走行距離と比較してなす判定とを組み合わせて壁沿い一周走行の成否を判定する第2の判定方式、および走行中の現在位置と走行開始位置との間の距離に基づく判定と走行開始時点からの回転方向角を前記基準回転角度αよりも大きく予め設定の基準回転角度βと比較してなす判定、それに走行開始時点からの走行距離を予め設定の基準走行距離と比較してなす判定とを組み合わせて壁沿い一周走行の成否を判定する第3の判定方式の何れか一つまたはこれら各判定方式の組み合わせを含 Said wall along circumference determining means, first determination method determines the success or failure of the wall along the circumference running based on the elapsed time of the traveling from the travel start point, the reference rotation angle of the preset direction of rotation angle from the travel start point the second determination method determines the success or failure of the decision and a combination of the wall along around traveling the travel distance form as compared to the reference travel distance preset from determined travel start time of forming as compared with alpha, and during travel determining the rotational direction angle from determining the travel start point based on the distance form as compared to the reference rotation angle β of the reference rotation angle α greater than the preset between the current position and the traveling start position of the start running it including any one or a combination of each of these decision method of the third determination method determines the success or failure of the wall along the circumference runs combining the travel distance and the reference travel distance of the preset and determined which forms compared from time ようにされている請求項1に記載の自走式掃除機。 Self-propelled cleaner according to claim 1 that is so.
  3. 前記ランダム走行に際してランダムな走行方向転換を生じさせる障害物に対して当該障害物の周面に倣うように走行を行わせるならい走行様式を生成するならい走行生成手段を備えるとともに、前記障害物に対する既通過と未通過を判定する既通過/未通過判定手段を備え、前記既通過/未通過判定手段で未通過と判定された障害物に対しては前記ならい走行生成手段からの出力を前記走行機構へ出力して前記ならい走行様式で走行を行わせるようにされている請求項1または請求項2に記載の自走式掃除機。 Provided with a traveling generation means have because to generate the copying movement pattern for causing the travel so as to follow the peripheral surface of the obstacle to the random obstacle causing random travel direction change during travel, already against the obstacle comprises a pre-pass / not pass determining means for determining the passage and non-passed, the already-pass / not pass is determined as non-passed by the determination means that said driving mechanism output from the copying traveling generating means for obstacle self-propelled cleaner according to claim 1 or claim 2 outputs to being adapted to perform a travel in the copying movement pattern to.
  4. 前記既通過/未通過判定手段は、前記障害物に関して作成される地図情報を用いて前記障害物に関する既通過/未通過の判定を行う判定方式、および走行中に検出した前記障害物に関して当該障害物を中心にして撮像して得られる周囲画像の比較で前記障害物に関する既通過/未通過の判定を行う判定方式の何れか一つまたはこれら各判定方式の組み合わせを含むようにされている請求項3に記載の自走式掃除機。 The already passed / not passed judging means judging method using map information that is created for the obstacle judging the already pass / not pass about the obstacle, and the obstacle with respect to the obstacle detected during travel claims things around the is to include a combination of any one or each of these determination method determination method for determining the pre-pass / not pass about the obstacle by comparing ambient image obtained by imaging self-propelled cleaner according to claim 3.
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