JP2007286730A - Self-propelled type cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To achieve a self-propelled type cleaner for suitably traveling in a room where there is any obstacle for cleaning. <P>SOLUTION: When autonomously traveling on a floor surface F in a living room R for cleaning, this self-propelled type cleaner 100 recognizes a wall surface including an obstacle ahead of the moving direction of the self-propelled type cleaner 100 detected by an ultrasonic sensor 25 as a reference wall W, and turns to the right toward the reference wall W, and moves in one direction following the reference wall W as a new moving direction. Then, the self-propelled cleaner 100 turns to avoid the reference wall W associated with the detected obstacle, and performs zigzag traveling following the reference wall, and repeats traveling in a region following the reference wall W all over for cleaning the floor surface F. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a self-propelled cleaner that performs autonomous running and cleaning.

  Conventionally, a self-propelled cleaner that cleans a traveling surface (floor surface) while autonomously traveling on the floor surface is known.

  As a traveling mode of the self-propelled cleaner, a regular traveling that travels along a predetermined route in a predetermined room according to a traveling pattern (mapping information) stored in advance, and an obstacle, a wall, etc. There is known a self-propelled vacuum cleaner that can properly use random traveling that changes direction in a random angular direction when the traveling vacuum cleaner comes into contact or is about to come into contact (for example, a patent) Reference 1).

  Also, the self-propelled cleaner is equipped with a plurality of sensors such as ultrasonic sensors and optical sensors, and the detection information detected by each sensor of the traveling self-propelled cleaner and the detection information from each sensor are combined. A self-propelled cleaner that switches a travel pattern based on a travel command associated with the detected pattern is known (see, for example, Patent Document 2).

  In addition, based on the difference in distance to the wall detected by the sensors provided on the left and right of the self-propelled cleaner, the direction of movement with respect to the wall is obtained, and the self-propelled vacuum cleaner can move straight to the wall substantially vertically. A traveling vacuum cleaner is known (for example, refer to Patent Document 3).

In addition, a self-propelled cleaner that is controlled so as to travel between predetermined triangular areas so as not to leave cleaning of the traveling surface (floor surface) is known (see, for example, Patent Document 4).
JP-A-2005-352707 JP 2005-326941 A JP 2005-309700 A JP 2005-110911 A

  However, in the case of the above-mentioned Patent Document 1, depending on the floor quality of the traveling surface (floor surface), the drive wheel of the self-propelled cleaner may idle, so that the self-propelled cleaner itself rotates the drive wheel. A discrepancy occurs between the travel distance measured based on the pre-stored mapping information, and an error occurs between the current position of the self-propelled cleaner and the current position based on the mapping information. The regular running of the self-propelled cleaner was hindered, and good cleaning could not be performed. In addition, depending on the random traveling, there may be a region where the self-propelled cleaners overlap and a region where the self-propelled cleaner does not travel even once, resulting in uneven cleaning.

  Moreover, in the case of the said patent document 2, an unexpected combination generate | occur | produces in the detection information from each sensor depending on arrangement | positioning of the furniture, decorations, etc. which become the obstruction of driving | running | working of a self-propelled cleaner in a predetermined room. In some cases, there is no travel command corresponding to the detection pattern of the combination, and travel may become impossible.

  Moreover, in the case of the said patent document 3, depending on the position of furniture, decorations, etc. arrange | positioned in a predetermined room, the distance to the wall by a sensor cannot be detected, but the malfunction of the self-propelled cleaner occurs. There was a case.

  In the case of the above-mentioned Patent Document 4, when the traveling of the self-propelled cleaner is hindered by furniture or decorations arranged in a predetermined room, the self-propelled cleaner wraps around the obstacle. In some cases, the vehicle cannot travel on an efficient travel route.

  An object of the present invention is to provide a self-propelled cleaner that can suitably travel and clean a room with an obstacle.

  In order to solve the above problems, the invention according to claim 1 is directed to a cleaner body that sucks in dust on a floor surface in a predetermined room, a driving unit that moves the cleaner body, and a front side of the cleaner body. And an obstacle detection means for detecting an obstacle on the side, and a self-propelled cleaner that autonomously travels on the floor surface to clean the floor surface, the self-propelled cleaner Reference wall recognition means for recognizing a wall including the obstacle as a reference wall along a direction perpendicular to the movement direction when the obstacle detection means detects an obstacle ahead in the movement direction, and the reference wall recognition The self-propelled cleaner is moved to either the left or right toward the reference wall so that the self-propelled cleaner moves with the direction along the reference wall recognized by the means as a new movement direction. Direction changing means for changing direction, and direction by the direction changing means After the replacement, the self-propelled cleaner is traveling in the moving direction along the reference wall, traveling in a direction away from the reference wall, traveling in the moving direction along the reference wall, and A zigzag running control means for controlling the driving means and a self-propelled cleaner in a direction approaching the reference wall so as to perform a zigzag running in which the running in the direction approaching the reference wall is repeated in order. When traveling, if the obstacle detection means does not detect an obstacle at a position corresponding to the reference wall in front of the traveling direction, the traveling direction of the self-propelled cleaner is set along the reference wall. The first movement control means for controlling the driving means to change the direction to move the self-propelled cleaner in a new movement direction, and the self-propelled cleaner is arranged along the reference wall. When traveling in the direction of travel, When the obstacle detection means does not detect an obstacle at a position corresponding to the reference wall, the direction of travel of the self-propelled cleaner is changed to a direction close to the reference wall, and then the self-propelled A second movement control means for controlling the drive means to change the direction of travel of the vacuum cleaner to another direction along the reference wall and to move the self-propelled cleaner in a new movement direction; It is characterized by providing.

  According to a second aspect of the present invention, there is provided a cleaner main body that sucks in dust on a floor surface in a predetermined room, driving means for moving the cleaner main body, and obstacles in front and side of the cleaner main body. A self-propelled cleaner that autonomously travels on the floor surface and cleans the floor surface, wherein the obstacle in the moving direction of the self-propelled cleaner is Reference wall recognition means for recognizing a wall surface including the obstacle as a reference wall along a direction perpendicular to the moving direction when the obstacle detection means detects, and the reference wall recognized by the reference wall recognition means Direction changing means for changing the direction of the self-propelled cleaner to either the left or right toward the reference wall, so that the self-propelled cleaner moves as a new moving direction along the direction, After the direction change by the direction change means, the self-propelled cleaner Traveling in a moving direction along the reference wall, traveling in a direction away from the reference wall, traveling in a moving direction along the reference wall, and traveling in a direction close to the reference wall. And zigzag running control means for controlling the driving means so as to perform zigzag running in order.

  According to a third aspect of the present invention, in the self-propelled cleaner according to the second aspect, when the self-propelled cleaner travels in a direction close to the reference wall, the front of the traveling direction. If the obstacle detection means does not detect an obstacle at a position corresponding to the reference wall, the direction of movement of the self-propelled cleaner is changed to another direction along the reference wall, and a new moving direction is obtained. And a first movement control means for controlling the driving means so as to move the self-propelled cleaner.

  The invention according to claim 4 is the self-propelled cleaner according to claim 2 or 3, wherein the self-propelled cleaner travels in the moving direction along the reference wall. When the obstacle detection means does not detect an obstacle at a position corresponding to the reference wall on the side of the direction, the traveling direction of the self-propelled cleaner is changed to a direction close to the reference wall, and then The driving means is controlled to change the direction of travel of the self-propelled cleaner to another direction along the reference wall and to move the self-propelled cleaner in a new movement direction. A movement control means is provided.

  Invention of Claim 5 is a self-propelled cleaner as described in any one of Claims 2-4, The travel distance which judges the travel distance which the said self-propelled cleaner traveled on the said floor surface A self-propelled cleaner that travels in a direction away from the reference wall, and the travel distance determination means has a predetermined wall length stored in advance in the storage means. When it is determined that the vehicle has traveled a half distance, the direction changing means changes the direction from the traveling direction to either the left or right.

  Invention of Claim 6 is a self-propelled cleaner as described in any one of Claims 2-4, The travel distance which judges the travel distance which the said self-propelled cleaner traveled on the said floor surface A distance traveled by the travel distance determination means until the first reference wall is recognized by the reference wall recognition means when the self-propelled cleaner travels away from the reference wall. When it is determined that the vehicle has traveled half the distance, the direction changing means changes the direction from the traveling direction to either the left or right.

  According to a seventh aspect of the present invention, in the self-propelled cleaner according to the sixth aspect, when the distance traveled until the first reference wall is recognized by the reference wall recognition means is shorter than the reference length, the travel distance When the judging means judges that the vehicle has traveled a reference length stored in advance in the storage means, the direction changing means changes the direction from the traveling direction to either the left or right.

According to the first aspect of the present invention, the self-propelled cleaner is a self-propelled cleaner detected by the obstacle detecting means when autonomously running on the floor surface in a predetermined room and cleaning the floor surface. Recognize the wall including obstacles ahead of the direction of movement of the vacuum cleaner as the reference wall, change the direction to either the left or right toward the reference wall, and change the direction along the reference wall to the new movement direction. Move as. And after the direction change, the self-propelled vacuum cleaner travels in the moving direction along the reference wall, travels in the direction away from the reference wall, travels in the moving direction along the reference wall, and the reference wall. Zigzag traveling can be performed in which the traveling in the direction approaching the vehicle is sequentially repeated.
In other words, when the self-propelled cleaner detects an obstacle ahead of the moving direction, the self-propelled cleaner changes the direction so as to avoid the reference wall associated with the obstacle, and performs zigzag traveling along the reference wall. Thus, it is possible to run through the area along the reference wall and clean the area. In addition, when the self-propelled vacuum cleaner detects a new obstacle ahead while zigzag running, it recognizes the new reference wall associated with the obstacle and changes the direction to avoid the reference wall, By repeating the zigzag running along the reference wall, the self-propelled cleaner performs cleaning of the floor surface in a predetermined room by repeating the cleaning of the areas along the plurality of reference walls. Can do. Therefore, a self-propelled cleaner can run and clean suitably the room with an obstacle.

  Further, when the self-propelled cleaner travels in a direction close to the recognized reference wall, the obstacle detection unit can detect an obstacle at a position corresponding to the reference wall in front of the traveling direction. If this is not possible, the travel direction can be changed to another direction along the reference wall and moved to a new movement direction. A new reference wall extending in the direction intersecting the reference wall can be recognized. Therefore, the self-propelled cleaner can suitably repeat the cleaning of the area along the plurality of reference walls, and can satisfactorily clean the predetermined indoor floor.

  Further, when the self-propelled cleaner performs traveling in the moving direction along the recognized reference wall, the obstacle detecting unit detects an obstacle at a position corresponding to the reference wall on the side in the traveling direction. If this is not possible, change the direction of travel to a direction closer to the reference wall, and then change the direction of travel of the self-propelled cleaner to another direction along the reference wall to create a new direction of travel. Therefore, a new reference wall extending in a direction intersecting the previous reference wall can be recognized by detecting an obstacle in front of the new movement direction. Therefore, the self-propelled cleaner can suitably repeat the cleaning of the area along the plurality of reference walls, and can satisfactorily clean the predetermined indoor floor.

According to the invention described in claim 2, the self-propelled cleaner is a self-propelled cleaner detected by the obstacle detecting means when autonomously running on the floor surface in a predetermined room and cleaning the floor surface. Recognize the wall including obstacles ahead of the direction of movement of the vacuum cleaner as the reference wall, change the direction to either the left or right toward the reference wall, and change the direction along the reference wall to the new movement direction. Move as. And after the direction change, the self-propelled vacuum cleaner travels in the moving direction along the reference wall, travels in the direction away from the reference wall, travels in the moving direction along the reference wall, and the reference wall. Zigzag traveling can be performed in which the traveling in the direction approaching the vehicle is sequentially repeated.
In other words, when the self-propelled cleaner detects an obstacle ahead of the moving direction, the self-propelled cleaner changes the direction so as to avoid the reference wall associated with the obstacle, and performs zigzag traveling along the reference wall. Thus, it is possible to run through the area along the reference wall and clean the area.
In addition, when the self-propelled vacuum cleaner detects a new obstacle ahead while zigzag running, it recognizes the new reference wall associated with the obstacle and changes the direction to avoid the reference wall, By repeating the zigzag running along the reference wall, the self-propelled cleaner performs cleaning of the floor surface in a predetermined room by repeating the cleaning of the areas along the plurality of reference walls. Can do.
Therefore, a self-propelled cleaner can run and clean suitably the room with an obstacle.

According to the invention described in claim 3, it is needless to say that the same effect as that of the invention described in claim 2 can be obtained, and the self-propelled vacuum cleaner travels in a direction close to the recognized reference wall. When performing, when the obstacle at the position corresponding to the reference wall ahead of the traveling direction cannot be detected by the obstacle detection means, the direction of the traveling is changed to another direction along the reference wall, Since it can move in a new movement direction, an obstacle ahead of the new movement direction can be detected, and a new reference wall extending in a direction intersecting the previous reference wall can be recognized.
Therefore, the self-propelled cleaner can suitably repeat the cleaning of the region along the plurality of reference walls, and can satisfactorily clean the predetermined indoor floor.

According to the invention described in claim 4, it is needless to say that the same effect as that of the invention described in claim 2 or 3 can be obtained, and the self-propelled cleaner moves in the moving direction along the recognized reference wall. When the obstacle is not detected by the obstacle detection means at the position corresponding to the reference wall on the side of the running direction, the direction of the running is changed to the direction close to the reference wall. Then, the traveling direction of the self-propelled cleaner can be changed to the other direction along the reference wall and moved in a new moving direction, so the obstacle in front of the new moving direction can be removed. It is possible to detect and recognize a new reference wall extending in a direction intersecting the previous reference wall.
Therefore, the self-propelled cleaner can suitably repeat the cleaning of the region along the plurality of reference walls, and can satisfactorily clean the predetermined indoor floor.

  According to the fifth aspect of the invention, it is needless to say that the same effect as that of the second aspect of the invention can be obtained, and the self-propelled cleaner is separated from the reference wall. When traveling in a direction, half of the length of a predetermined wall (for example, the length of the long side wall or the length of the short side wall) that is stored and set in advance. When the vehicle travels the distance, the direction change is performed, so that it is possible to suitably perform the zigzag traveling without simply traveling in a straight line, so that the room can be traveled and cleaned without hesitation.

  According to the invention described in claim 6, it is needless to say that the same effect as that of the invention described in any one of claims 2 to 4 can be obtained, and the self-propelled cleaner is separated from the reference wall. When traveling in the direction, the direction is changed when traveling half the distance traveled until the first reference wall is recognized, so it is preferable to perform zigzag traveling without simply traveling straight in a large room. Since it is possible to do so, it is possible to run and clean the room without hesitation.

  According to the invention described in claim 7, it is needless to say that the same effect as that of the invention described in claim 6 can be obtained, and when the self-propelled cleaner travels away from the reference wall, Since the direction is changed when traveling in a pre-stored reference length, it is possible to suitably perform zigzag traveling in a wide room without simply traveling in a straight line. can do.

  Below, the specific aspect is demonstrated using drawing about the self-propelled cleaner which concerns on this invention. However, the scope of the invention is not limited to the illustrated examples.

FIG. 1 is a perspective view illustrating a self-propelled cleaner 100 exemplified as an embodiment to which the present invention is applied, and FIG. 2 is a block diagram illustrating a main configuration of the self-propelled cleaner 100.
This self-propelled cleaner 100 is a cleaner that autonomously travels on a floor surface in a predetermined room to clean a traveling surface (floor surface).
In the following description, the direction along the traveling direction of the self-propelled cleaner 100 is defined as the front-rear direction X, the forward direction side is the front side, and the reverse direction side is the rear side. Furthermore, one direction orthogonal to the front-rear direction X is defined as a left-right direction Y, and a direction orthogonal to both the front-rear direction X and the left-right direction Y is defined as a vertical direction Z.

  As shown in FIGS. 1 and 2, the self-propelled cleaner 100 includes a housing 1 that is a main body of a vacuum cleaner formed in a substantially disc shape as a whole, and a bottom surface of the housing 1 that is not illustrated. A traveling unit 2 that rotates the left and right drive wheels to travel the self-propelled cleaner 100 in a predetermined direction along the traveling surface, and a suction port (not shown) provided on the bottom surface side of the housing unit 1 on the traveling surface. In order to charge the driving power of the self-propelled cleaner 100, the cleaning unit 3 that sucks and cleans dust on a certain floor, the operation unit 4 that instructs execution of various operations by the self-propelled cleaner 100, and the like. Charging section 5 and a control section (for example, ROM 6, RAM 7, CPU 8) for controlling each section of the self-propelled cleaner 100.

  The traveling unit 2 has, for example, a left wheel drive motor 21L and a right wheel drive motor 21R as drive means for rotating left and right drive wheels (not shown), and obstacle detection for detecting front and side obstacles. An ultrasonic sensor 25 as a means, a gyro sensor 26 for detecting the traveling direction of the self-propelled cleaner 100 (angular velocity and turning angle when the self-propelled cleaner 100 rotates) are provided. The traveling unit 2 may be provided with a driven wheel that is driven to rotate as the self-propelled cleaner 100 travels. The driven wheel is preferably disposed at a position that takes into account the weight balance of the self-propelled cleaner 100 and the like in order to improve running stability according to the rotational drive of the left and right drive wheels (not shown). .

The left wheel drive motor 21L and the right wheel drive motor 21R are driven under the control of the CPU 8, for example, so that the left and right drive wheels (not shown) are independently rotated. It functions as drive means for moving the machine 100 forward (straight) in a predetermined movement direction, or moving the self-propelled cleaner 100 by turning left or right to change direction.
The left and right drive wheels (not shown) are provided side by side in the left-right direction Y at the left and right ends of the substantially central side of the bottom of the housing 1.

For example, the ultrasonic sensors 25 are respectively provided at a plurality of predetermined positions such as a front surface and a side surface of the housing unit 1 and detect obstacles such as a wall surface positioned in front of or on the side of the self-propelled cleaner 100. Is for.
Specifically, the ultrasonic sensor 25 includes a transmitter that transmits (transmits) ultrasonic waves, a receiver that receives (receives) ultrasonic waves transmitted from the transmitter and reflected by obstacles, and the like. It has.
For example, the transmitting unit transmits a predetermined ultrasonic wave (for example, an ultrasonic wave having a frequency of 50 kHz) at a predetermined timing in accordance with a pulse signal output from an oscillation circuit unit (not shown) in the control unit. . For example, when the reception unit detects an ultrasonic wave (reflected wave) reflected by an obstacle, the reception unit converts the ultrasonic wave into an electric signal and outputs the electric signal to the CPU 8 (control unit). Then, in the CPU 8 (control unit), it is determined whether or not the input electric signal is equal to or greater than a predetermined threshold value. The ultrasonic sensor 25 determines that a reflected wave (ultrasonic wave) has been received. Then, the CPU 8 (control unit) can determine that there is an obstacle such as a wall in the direction in which the reflected wave (ultrasound) is directed.
That is, the ultrasonic sensor 25 transmits a predetermined ultrasonic wave and detects the ultrasonic wave that has returned as a reflected wave, thereby detecting the ultrasonic wave that has been reflected in the direction in which the ultrasonic wave has been transmitted. It is possible to detect that there is an obstacle such as a wall in the direction that the head is facing.

  The gyro sensor 26 is, for example, a gyro sensor such as a mechanical type, an optical type, or a fluid type, detects an angular velocity when the self-propelled cleaner 100 turns left and right, and outputs an angular velocity detection signal based on the detection to the CPU 8 (control unit). ).

  The cleaning unit 3 does not show, for example, a brush drive motor 31 that drives a rotating brush (not shown) that rubs the running surface so as to scrape up dust on the running surface, and dust that is scraped up by a rotating brush (not shown). A fan drive motor 33 that drives a suction fan (not shown) that sucks in through the suction port, and a dust collection case (not shown) that communicates with the suction port (not shown) and collects the dust sucked in through the suction port. And a left side brush drive motor 35L and a right side brush drive motor 35R for driving the left and right side brushes 34L, 34R.

  For example, the brush drive motor 31 is driven under the control of the CPU 8 to rotate a rotating brush (not shown) provided on the bottom surface of the self-propelled cleaner 100 around the Y axis in the left-right direction. ing.

  The fan drive motor 33 is driven, for example, under the control of the CPU 8 to rotate and drive a suction fan (not shown), and sucks in via a suction port (not shown) based on the drive of the suction fan. The collected dust is filtered by a filter and collected in a predetermined dust collection case in the suction cleaning unit.

  The left and right side brush drive motors 35L and 35R are driven, for example, under the control of the CPU 8, for example, on the left and right outside of the rotating brush (not shown) and in front of the left and right drive wheels (not shown). The left and right side rotating brushes 34L and 34R provided at the position are rotated about the axis in the vertical direction Z.

  The operation unit 4 includes, for example, a plurality of operation keys for instructing execution of various functions of the self-propelled cleaner 100, and the CPU 8 outputs a predetermined operation signal corresponding to the operation key operated by the user. Is output for.

The charging unit 5 includes a storage battery 51, and the driving power of the self-propelled cleaner 100 is charged to the storage battery 51 when the charging unit 5 is connected to a predetermined charger B.
The charger B is disposed at a predetermined standby position of the self-propelled cleaner 100, and the self-propelled cleaner 100 stands by at the standby position when the self-propelled cleaner 100 does not perform the cleaning operation. In this case, the charging unit 5 and the charger B are electrically connected.
In particular, the self-propelled cleaner 100 can operate autonomously in the room and clean the running surface after the operation unit 4 is operated, and then can autonomously run and return to a predetermined standby position. It has become.

  A CPU (Central Processing Unit) 8 controls and controls each part of the self-propelled cleaner 100, reads predetermined programs and data stored in the ROM 6, and develops them in the work area of the RAM 7. Then, various processes are executed according to the program.

  A RAM (Random Access Memory) 7 is, for example, a volatile semiconductor memory, and constitutes a storage area, a work area, and the like for programs and data read from the ROM 6 under the control of the CPU 8.

A ROM (Read Only Memory) 6 is, for example, a read-only semiconductor memory, and stores various programs executed under the control of the CPU 8, data related to the processing of each program, and the like. Specifically, the ROM 6 stores, for example, a cleaning operation program 6a, a reference wall recognition program 6b, a direction change program 6c, a zigzag travel control program 6d, a movement control program 6e, and the like.
Further, the ROM 6 stores the length of the wall of the room to be cleaned (for example, the length of the wall on the long side of the room) and a predetermined reference length.

The cleaning operation program 6a is used for the self-propelled cleaner 100 such as the traveling unit 2 and the cleaning unit 3 in order for the self-propelled cleaner 100 to autonomously travel on the indoor floor and clean the traveling surface (floor surface). It is a program for operating each part.
Then, when the CPU 8 executes the cleaning operation program 6a, the CPU 8 performs self-propelled cleaning so that the self-propelled cleaner 100 autonomously travels indoors based on a predetermined traveling mode and cleans the traveling surface. It functions as a cleaning operation control means for operating each part of the machine 100.
In particular, when the CPU 8 executes the cleaning operation program 6a, the CPU 8 functions as a travel distance determination unit that determines the travel distance that the self-propelled cleaner 100 travels on the floor surface.

When the reference wall recognition program 6b detects an obstacle ahead of the moving direction of the self-propelled cleaner 100 with the ultrasonic sensor 25, the reference wall recognition program 6b uses the wall including the obstacle as the reference wall along the direction perpendicular to the moving direction. This is a program for recognizing as W.
Then, when the CPU 8 executes the reference wall recognition program 6b, the CPU 8 follows the obstacle in front of the moving direction by the ultrasonic sensor 25 and follows the obstacle in the direction perpendicular to the moving direction. It functions as a reference wall recognizing means for recognizing the included wall as the reference wall W.

The direction changing program 6c moves left and right toward the reference wall W so that the self-propelled cleaner 100 moves with the one direction along the reference wall W recognized by the CPU 8 as the reference wall recognition means as a new movement direction. It is a program for changing the direction of a self-propelled cleaner to any one of the above.
Then, the CPU 8 executes the direction changing program 6c, so that the self-propelled cleaner 100 moves with one direction along the reference wall W recognized by the CPU 8 as the reference wall recognition means as a new movement direction. In addition, in cooperation with the traveling unit 2 (the left wheel drive motor 21L and the right wheel drive motor 21R), it functions as a direction changing means for changing the direction of the self-propelled cleaner 100 toward the reference wall W to either the left or right. To do.
In the present embodiment, the CPU 8 as the direction changing means changes the direction by causing the self-propelled cleaner 100 that has hit the reference wall W that is an obstacle to turn 90 ° to the right toward the reference wall W. The control is performed to move the self-propelled cleaner 100 along the reference wall W, with one direction, which is the direction in which the reference wall W is the left side of the traveling direction of the self-propelled cleaner 100, as a new movement direction. .

The zigzag running control program 6d is configured such that after the direction of the self-propelled cleaner 100 is changed by the CPU 8 as the direction changing means, the self-propelled cleaner 100 travels in a predetermined moving direction along the reference wall W, and the reference wall The traveling unit 2 performs zigzag traveling that sequentially repeats traveling in a direction away from W, traveling in a predetermined movement direction along the reference wall W, and traveling in a direction approaching the reference wall W. And a program for controlling the left wheel drive motor 21L and the right wheel drive motor 21R.
Then, after the CPU 8 executes the zigzag running control program 6d, the self-propelled cleaner 100 changes the predetermined movement direction (one direction) along the reference wall W after the predetermined direction change of the self-propelled cleaner 100. ), Travel in a direction away from the reference wall W, travel in a predetermined movement direction (one direction) along the reference wall W, and travel in a direction close to the reference wall W. It functions as a zigzag running control means for controlling the running unit 2, the left wheel drive motor 21 </ b> L, and the right wheel drive motor 21 </ b> R so that the zigzag running is repeated in order.
In the present embodiment, the CPU 8 as the zigzag travel control means is configured such that the self-propelled cleaner 100 that has come into contact with the reference wall W changes direction 90 degrees to the right, and then the reference wall W is self-propelled. The self-propelled cleaner 100 travels a predetermined distance in a moving direction, which is a predetermined direction that is the left side of the traveling direction of the machine 100, and then changes the direction of 90 ° to the right, and then the self-propelled cleaner 100 Is moved a predetermined distance in a direction away from the reference wall W, then the direction is changed to the left 90 ° direction, and then the reference wall W is in a predetermined direction in which the reference wall W is on the left side of the traveling direction of the self-propelled cleaner 100. After the self-propelled cleaner 100 has traveled a predetermined distance in a certain moving direction, the direction of the left 90 ° direction is changed, and then the self-propelled cleaner 100 travels a predetermined distance in a direction close to the reference wall W and then the right Control to change direction in 90 ° direction Execute.
Note that the zigzag running by the zigzag running control means (CPU 8) does not have to repeat all four steps in order, for example, when the ultrasonic sensor 25 of the self-propelled cleaner 100 detects an obstacle ahead. When the obstacle at the position corresponding to the reference wall W is no longer detected, the zigzag travel is finished at an arbitrary timing, and the travel is shifted to another control.

  Further, when the CPU 8 executes the zigzag running control program 6d, when the self-propelled cleaner 100 travels in a direction away from the reference wall W, the CPU 8 as the travel distance determining means stores in the ROM 6 in advance. Turned 90 ° from the direction of travel to the left side when it is determined that the vehicle has traveled half the distance of the specified indoor wall length (for example, the length of the long side wall of the room). Perform the action to be performed.

Further, when the CPU 8 runs the zigzag running control program 6d, the CPU 8 as the running distance determination means sets the first reference wall when the self-propelled cleaner 100 runs in a direction away from the reference wall W. When it is determined that the vehicle has traveled half the distance traveled before recognition, an operation of turning 90 ° from the traveling direction to the left is executed.
If the distance traveled until the first reference wall is recognized is shorter than the reference length, the direction is changed 90 degrees from the traveling direction to the left in accordance with the determination that the reference length stored in the ROM 6 is set in advance. It is supposed to be.

In addition, the self-propelled cleaner 100 (CPU 8) is used when, for example, the self-propelled cleaner 100 moving along the reference wall W hits an obstacle (wall) orthogonal to the reference wall W, or When the self-propelled cleaner 100 moving along W determines that the reference wall W has disappeared, or when the self-propelled cleaner 100 does not hit an obstacle (wall) even if the self-propelled cleaner 100 goes straight for a predetermined time. The vehicle travels autonomously as the start timing of the zigzag travel by the zigzag travel control means (CPU 8).
In addition, the self-propelled cleaner 100 (CPU 8), for example, when the self-propelled cleaner 100 hits an obstacle (wall) orthogonal to the reference wall W while the zigzag travels, or when the reference wall W disappears. The zigzag running control means (CPU 8) performs the zigzag running control means (CPU8) when it is judged, when it does not hit an obstacle (wall) even after running for a predetermined time, or when the reference wall W does not disappear after running for a predetermined time Autonomous driving as the end timing.

  The movement control program 6e is updated when the ultrasonic sensor 25 of the self-propelled cleaner 100 stops detecting an obstacle at a position corresponding to the reference wall W recognized by the CPU 8 (reference wall recognition means). This is a program for changing the direction of the self-propelled cleaner 100 and moving it in order to detect an obstacle as a reference and recognize a new reference wall W. In particular, the movement control program 6e includes a first movement control program and a second movement control program.

When the self-propelled cleaner 100 travels in the direction approaching the reference wall W, the first movement control program of the movement control program 6e is an obstacle at a position corresponding to the reference wall W in front of the traveling direction. Is not detected by the ultrasonic sensor 25, the traveling direction of the self-propelled cleaner 100 is changed to another direction along the reference wall W so that the self-propelled cleaner 100 is moved in a new movement direction. And a program for controlling the traveling unit 2, the left wheel drive motor 21L, and the right wheel drive motor 21R.
Then, when the CPU 8 executes the first movement control program of the movement control program 6e, when the self-propelled cleaner 100 travels in the direction close to the reference wall W, the reference in front of the traveling direction is performed. When the ultrasonic sensor 25 does not detect an obstacle at a position corresponding to the wall W, the traveling direction of the self-propelled cleaner 100 is changed to another direction along the reference wall W, and the new moving direction is automatically detected. It functions as first movement control means for controlling the traveling unit 2, the left wheel drive motor 21L, and the right wheel drive motor 21R so as to move the traveling cleaner 100.
In the present embodiment, the CPU 8 serving as the first movement control means moves forward in the traveling direction when the self-propelled cleaner 100 that is traveling zigzag travels in the direction close to the reference wall W. When the ultrasonic sensor 25 does not detect an obstacle at a position corresponding to the reference wall W, the self-propelled cleaner 100 is set so that the traveling direction of the self-propelled cleaner 100 is the other direction along the reference wall W. Is controlled to change the direction of the left 90 ° direction to move the self-propelled cleaner 100 in a new moving direction.

When the self-propelled cleaner 100 travels in the movement direction along the reference wall W, the second movement control program of the movement control program 6e has a position corresponding to the reference wall W on the side of the travel direction. When the ultrasonic sensor 25 does not detect an obstacle, the traveling direction of the self-propelled cleaner 100 is changed to a direction close to the reference wall W, and then the traveling direction of the self-propelled cleaner 100 is changed to the reference wall. A program for controlling the traveling unit 2, the left wheel drive motor 21 </ b> L, and the right wheel drive motor 21 </ b> R to change the direction in the other direction along W and move the self-propelled cleaner 100 in a new movement direction. is there.
Then, when the CPU 8 executes the second movement control program of the movement control program 6e, the self-propelled cleaner 100 travels in the movement direction along the reference wall W. When the ultrasonic sensor 25 does not detect an obstacle at a position corresponding to the reference wall W, the traveling direction of the self-propelled cleaner 100 is changed to a direction close to the reference wall W, and then the self-propelled type The traveling unit 2, the left wheel drive motor 21L, and the right wheel drive so that the traveling direction of the cleaner 100 is changed to another direction along the reference wall W and the self-propelled cleaner 100 is moved in a new movement direction. It functions as a second movement control means for controlling the motor 21R.
In the present embodiment, the CPU 8 serving as the second movement control unit performs the traveling in the moving direction, which is a predetermined direction along the reference wall W, by the self-propelled cleaner 100 that is moving in a zigzag manner. When the ultrasonic sensor 25 does not detect an obstacle at a position corresponding to the reference wall W on the left side in the traveling direction, the traveling direction of the self-propelled cleaner 100 is changed to a direction close to the reference wall W. The self-propelled cleaner 100 is changed in the direction of 90 ° to the left, and the self-propelled cleaner 100 is further moved so that the traveling direction of the self-propelled cleaner 100 is the other direction along the reference wall W. Control is performed to change the direction of the machine 100 to the left 90 ° direction and move the self-propelled cleaner 100 in a new movement direction.

  Next, the operation when the self-propelled cleaner 100 according to the present invention cleans the floor surface in a predetermined room will be described based on the plan views (top views) of the rooms shown in FIGS.

As shown in FIG. 3 to FIG. 19, various furniture and the like are arranged in the predetermined living room R, and the self-propelled cleaner 100 avoids obstacles such as the furniture and walls. It autonomously travels on the floor surface F and cleans the floor surface F.
In the following description, although self-propelled cleaner 100 sucks and cleans dust on floor surface F is not described each time, self-propelled cleaner 100 autonomously travels on floor surface F. The cleaning unit 3 operates to perform cleaning.
Moreover, in the following description, when showing the direction in the room R (traveling direction of the self-propelled cleaner 100), the direction toward the upper side in the figure is north (N), and the direction toward the lower side in the figure is south ( S), the direction toward the left in the figure is westward (W), and the direction toward the right in the figure is eastward (E).

First, when the operation unit 4 of the self-propelled cleaner 100 is operated and the self-propelled cleaner 100 starts a cleaning operation, as shown in FIG. From the predetermined standby position where B (see FIG. 2) is arranged, the vehicle travels in the moving direction toward the north side.
As the ultrasonic sensor 25 of the self-propelled cleaner 100 detects the front wall in the moving direction as an obstacle, the self-propelled cleaner 100 recognizes the wall surface including the wall as the reference wall W1. Turn 90 ° to the right and drive in the direction of travel toward the east.
The self-propelled cleaner 100 measures the distance traveled until the first reference wall W1 is recognized, and stores and stores the measured basic distance in the RAM 7.
In addition, the direction in which the self-propelled cleaner 100 first travels is not the direction toward an obstacle such as furniture (furniture not brought to the wall of the living room R) located in the center of the living room R, It is preferable that the direction is toward the wall of the living room R and the furniture arranged near the wall of the living room R. First, the reference wall W corresponding to the wall of the living room R and the furniture brought up against the wall is selected. It is preferable that the floor surface F of the living room R be cleaned well.

Next, as shown in FIG. 4, the self-propelled cleaner 100 has a wall surface including the furniture surface when the ultrasonic sensor 25 of the self-propelled cleaner 100 detects the furniture in front of the moving direction as an obstacle. As a reference wall W2 and turn in the 90 ° direction to the right to travel in the direction of travel toward the south.
The self-propelled cleaner 100 performs zigzag traveling so as to move in the moving direction (south side) which is one direction along the reference wall W2. Specifically, the self-propelled cleaner 100 changes the direction of 90 ° to the right after traveling a predetermined distance in the moving direction (south side) in which the reference wall W2 is on the left side of the traveling direction of the self-propelled cleaner 100. Next, after traveling a predetermined distance in the direction away from the reference wall W2 (west side), the direction is changed to 90 ° to the left, and then the reference wall W2 is on the left side of the traveling direction of the self-propelled cleaner 100. Turn 90 ° to the left after traveling a predetermined distance in the direction of movement (south side), then turn 90 ° to the right after traveling a predetermined distance in the direction close to the reference wall W2 (east side) The zigzag traveling is repeated to move in a predetermined movement direction (direction toward the south side).

Next, as shown in FIG. 5, when the self-propelled cleaner 100 that is traveling in a zigzag manner travels in a direction close to the reference wall W2, a position corresponding to the reference wall W2 in front of the traveling direction When the ultrasonic sensor 25 does not detect an obstacle (furniture), the traveling toward the east side is continued.
When the self-propelled cleaner 100 travels in a direction away from the predetermined reference wall, it travels a distance of half the length of the wall on the long side of the room stored in the ROM 6 and then left 90 °. Change direction and move to a new movement direction (direction toward the north).
The self-propelled cleaner 100 recognizes the reference wall W3 during traveling toward the east side.

Next, as shown in FIG. 6, the self-propelled cleaner 100 continues traveling toward the north side, and is stored in the ROM 6 while the self-propelled cleaner 100 travels in a direction away from a predetermined reference wall. Drive half the length of the wall on the long side of the room.
The self-propelled cleaner 100 recognizes the reference wall W4 while traveling toward the north side.

Next, as shown in FIG. 7, the self-propelled cleaner 100 includes a wall surface including the furniture surface when the ultrasonic sensor 25 of the self-propelled cleaner 100 detects the furniture in front of the moving direction as an obstacle. Is recognized as the reference wall W5, the direction is changed 90 ° to the right, and the vehicle travels in the moving direction toward the east.
Then, the self-propelled cleaner 100 performs zigzag traveling so as to move in the moving direction (east side) which is one direction along the reference wall W5. Specifically, the self-propelled cleaner 100 changes the direction of 90 ° to the right after traveling a predetermined distance in the moving direction (east side) in which the reference wall W5 is on the left side of the traveling direction of the self-propelled cleaner 100. Next, after traveling a distance half the length of the wall on the long side of the room in the direction away from the reference wall W5 (south side), turn left 90 ° direction, and then the reference wall W5 After traveling a predetermined distance in the moving direction (east side) in the direction of the left side of the traveling direction of the self-propelled cleaner 100, the direction is changed to 90 ° to the left, and then the direction close to the reference wall W5 (north side) is predetermined. After traveling for a distance, zigzag traveling that changes direction 90 ° to the right is repeated to move in a predetermined movement direction (direction toward the east side).
Then, when the self-propelled cleaner 100 that is running in a zigzag manner travels in a direction close to the reference wall W5, an ultrasonic wave is used to detect an obstacle (furniture) at a position corresponding to the reference wall W5 in front of the traveling direction. When the sensor 25 does not detect, the self-propelled cleaner 100 changes the direction of 90 ° to the left so that the traveling direction of the self-propelled cleaner 100 is the other direction (west side) along the reference wall W5. Move in a new movement direction (direction toward the west).

  Next, as shown in FIG. 8, the self-propelled cleaner 100 has a wall surface including the furniture surface when the ultrasonic sensor 25 of the self-propelled cleaner 100 detects furniture in front of the moving direction as an obstacle. As a reference wall W6, change direction in the direction of 90 ° to the right, and travel in the moving direction toward the north side along the reference wall W6.

  Next, as shown in FIG. 9, the self-propelled cleaner 100 detects the wall including the wall as the ultrasonic sensor 25 of the self-propelled cleaner 100 detects the front wall in the moving direction as an obstacle. While recognizing it as the reference wall W7, it changes direction 90 ° to the right and travels in the moving direction toward the east side along the reference wall W7.

Next, as shown in FIG. 10, the self-propelled cleaner 100 detects that the ultrasonic sensor 25 of the self-propelled cleaner 100 has detected furniture (houseplants, ornaments) ahead in the moving direction as an obstacle. In addition to recognizing the wall surface including the furniture surface as the reference wall W8, the vehicle turns in the right 90 ° direction and travels in the moving direction toward the south side.
The self-propelled cleaner 100 performs zigzag traveling so as to move in the moving direction (south side) which is one direction along the reference wall W8. Specifically, the self-propelled cleaner 100 changes the direction 90 degrees to the right after traveling a predetermined distance in the moving direction (south side) in which the reference wall W8 is on the left side of the traveling direction of the self-propelled cleaner 100. Next, after traveling a predetermined distance in the direction away from the reference wall W8 (west side), the direction is changed to the left 90 ° direction, and then the reference wall W8 is on the left side of the traveling direction of the self-propelled cleaner 100. After traveling a predetermined distance in the direction of travel (south side), turn left 90 ° direction, and then travel a predetermined distance in the direction close to the reference wall W8 (east side) and then turn right 90 ° direction The zigzag traveling is repeated to move in a predetermined movement direction (direction toward the south side).
When the self-propelled cleaner 100 that is traveling in a zigzag travels along the reference wall W8 in a predetermined direction of movement (south side), it corresponds to the reference wall W8 on the left side of the travel direction. When the ultrasonic sensor 25 does not detect an obstacle (furniture) at the position to be moved, the self-propelled cleaner 100 is arranged such that the traveling direction of the self-propelled cleaner 100 is a direction (east side) close to the reference wall W8. Change the direction of 90 ° to the left, and then the self-propelled cleaner 100 further moves to the left 90 so that the traveling direction of the self-propelled cleaner 100 becomes the other direction (north side) along the reference wall W8. Change direction and move to a new movement direction (direction toward the north).

  Next, as shown in FIG. 11, the self-propelled cleaner 100 has a wall surface including the furniture surface when the ultrasonic sensor 25 of the self-propelled cleaner 100 detects the furniture in front of the moving direction as an obstacle. As a reference wall W9, change direction in the direction of 90 ° to the right, and travel in the moving direction toward the east side along the reference wall W9.

  Next, as shown in FIG. 12, the self-propelled cleaner 100 detects the wall including the wall as the ultrasonic sensor 25 of the self-propelled cleaner 100 detects the front wall in the moving direction as an obstacle. While recognizing as the reference wall W10, the direction is changed 90 ° to the right, and the vehicle travels in the moving direction toward the south side along the reference wall W10.

  Next, as shown in FIG. 13, the self-propelled cleaner 100 detects the wall including the wall as the ultrasonic sensor 25 of the self-propelled cleaner 100 detects the front wall in the moving direction as an obstacle. While recognizing as the reference wall W11, the direction is changed 90 ° to the right, and the vehicle travels in the moving direction toward the west along the reference wall W11.

Next, as shown in FIG. 14, the self-propelled cleaner 100 includes a wall surface including the furniture surface when the ultrasonic sensor 25 of the self-propelled cleaner 100 detects furniture in front of the moving direction as an obstacle. As a reference wall W12, change direction in the direction of 90 ° to the right, and travel in the moving direction toward the north side along the reference wall W12.
When the self-propelled cleaner 100 traveling in the moving direction toward the north side travels in the moving direction (north side) that is one direction along the reference wall W12, the reference wall W12 on the left side of the traveling direction. When the ultrasonic sensor 25 does not detect an obstacle (furniture) at a position corresponding to, the self-propelled cleaner 100 changes the direction of travel of the self-propelled cleaner 100 to the direction close to the reference wall W12 (west side). The vacuum cleaner 100 turns 90 ° to the left, and then the self-propelled cleaner 100 further moves so that the traveling direction of the self-propelled cleaner 100 is the other direction (south side) along the reference wall W12. Changes direction 90 ° to the left and moves in a new direction of movement (direction toward the south).

Next, as shown in FIG. 15, the self-propelled cleaner 100 has a wall surface including the furniture surface when the ultrasonic sensor 25 of the self-propelled cleaner 100 detects furniture in front of the moving direction as an obstacle. Is recognized as the reference wall W13, the direction is changed 90 ° to the right, and the vehicle travels in the moving direction toward the west.
Then, the self-propelled cleaner 100 performs zigzag traveling so as to move in the moving direction (west side) which is one direction along the reference wall W13. Specifically, the self-propelled cleaner 100 changes the direction of 90 ° to the right after traveling a predetermined distance in the moving direction (west side) in which the reference wall W13 is on the left side of the traveling direction of the self-propelled cleaner 100. Next, after traveling a predetermined distance in a direction (north side) away from the reference wall W13, the direction is changed to the left 90 ° direction, and then the reference wall W13 is on the left side of the traveling direction of the self-propelled cleaner 100. Turn 90 ° to the left after traveling a predetermined distance in the direction of movement (west side), then turn 90 ° to the right after traveling a predetermined distance in the direction close to the reference wall W13 (south side). The zigzag traveling is repeated to move in a predetermined movement direction (direction toward the west side).
When the self-propelled cleaner 100 that is traveling in a zigzag manner travels in a direction close to the reference wall W13, an ultrasonic wave is detected from an obstacle (furniture) at a position corresponding to the reference wall W13 in front of the traveling direction. When the sensor 25 does not detect, the self-propelled cleaner 100 changes the direction in the left 90 ° direction so that the traveling direction of the self-propelled cleaner 100 becomes the other direction (east side) along the reference wall W13. Move in a new direction of movement (direction toward the east).

  Next, as shown in FIG. 16, the self-propelled cleaner 100 has a wall surface including the furniture surface when the ultrasonic sensor 25 of the self-propelled cleaner 100 detects furniture in front of the moving direction as an obstacle. As the reference wall W14, and the direction is changed 90 ° to the right, and the vehicle travels in the moving direction toward the south side along the reference wall W14.

  Next, as shown in FIG. 17, the self-propelled cleaner 100 detects the wall including the wall as the ultrasonic sensor 25 of the self-propelled cleaner 100 detects the front wall in the moving direction as an obstacle. While recognizing as the reference wall W15, the direction is changed 90 ° to the right, and the vehicle travels in the moving direction toward the west side along the reference wall W15.

  Next, as shown in FIG. 18, the self-propelled cleaner 100 detects the wall including the wall as the ultrasonic sensor 25 of the self-propelled cleaner 100 detects the front wall in the moving direction as an obstacle. While recognizing as the reference wall W16, the direction is changed 90 ° to the right, and the vehicle travels in the moving direction toward the north side along the reference wall W16.

Next, as shown in FIG. 19, the self-propelled cleaner 100 has a wall surface including the furniture surface when the ultrasonic sensor 25 of the self-propelled cleaner 100 detects the furniture in front of the moving direction as an obstacle. As a reference wall W17, change direction in the direction of 90 ° to the right, and travel in the moving direction toward the east side along the reference wall W17.
When the self-propelled cleaner 100 traveling in the moving direction toward the east side travels in the moving direction (east side) that is one direction along the reference wall W17, the reference wall W17 on the left side of the traveling direction. When the ultrasonic sensor 25 does not detect an obstacle (furniture) at a position corresponding to, the self-propelled cleaner 100 changes the traveling direction of the self-propelled cleaner 100 to a direction (north side) close to the reference wall W17. The vacuum cleaner 100 changes direction 90 degrees to the left.
The self-propelled cleaner 100 travels in the moving direction toward the north side, returns to a predetermined standby position, and ends the cleaning operation.

As described above, the self-propelled cleaner 100 according to the present invention can perform furniture without performing regular traveling that travels along the predetermined route on the floor surface F of the living room R according to a preset traveling pattern (mapping information). It can be cleaned by running in the room R where there are obstacles such as.
In particular, the self-propelled cleaner 100 does not require complicated logic, complicated components and control processing, and moves along the reference wall W recognized based on the detection of an obstacle by the ultrasonic sensor 25, The floor of the living room R where there is an obstacle such as furniture by changing the direction according to the presence or absence of an obstacle associated with the reference wall W (whether or not the ultrasonic sensor 25 detects an obstacle corresponding to the reference wall W) The surface F can be suitably traveled and the floor F can be cleaned well.

  In the above embodiment, the self-propelled cleaner 100 is turned 90 degrees to the right with respect to the reference wall W, and the reference wall W is on the left side of the traveling direction of the self-propelled cleaner 100. In the direction, the self-propelled cleaner 100 moves along the reference wall W, but the present invention is not limited to this. The self-propelled cleaner 100 may be moved along the reference wall W so that the reference wall W is turned to the right direction and the reference wall W is on the right side of the traveling direction of the self-propelled cleaner 100. In this case, the self-propelled cleaner 100 recognizes a new reference wall W when the ultrasonic sensor 25 does not detect an obstacle at a position corresponding to the reference wall W on the right side in the traveling direction. Change direction.

  In addition, when the self-propelled cleaner 100 enters a narrow place (bag path) where a wall or an obstacle is in close proximity due to a predetermined traveling mode such as zigzag traveling or a direction changing method, the self-propelled cleaner 100 backs a predetermined distance. An emergency travel pattern such as a direction change may be performed later.

  The timing at which the self-propelled cleaner 100 finishes the cleaning operation is not limited to the case where the self-propelled cleaner 100 finishes cleaning the floor surface F of the living room R and returns to a predetermined standby position. For example, when cleaning by traveling is performed for a predetermined time, when traveling in an area or area corresponding to a designated area (for example, twice the area of the living room R), or when the remaining battery level becomes less than a predetermined amount. It's okay. In this case, the self-propelled cleaner 100 stops the fan drive motor 33 and the brush drive motor 31 and travels so as to return to a predetermined standby position. In particular, even if the remaining battery level is less than or equal to a predetermined amount, the self-propelled cleaner 100 stops the fan drive motor 33, the brush drive motor 31, and the like so that the remaining battery level can be returned to a predetermined standby position. Have quantity.

  In addition, it is needless to say that other specific detailed structures can be appropriately changed.

It is a front view showing a self-propelled cleaner concerning the present invention. It is a block diagram which shows the principal part structure of the self-propelled cleaner which concerns on this invention. It is a top view (description figure) which shows the living room which a self-propelled cleaner cleans, and has shown the state where the self-propelled cleaner recognizes standard wall W1. It is a top view (description figure) which shows the living room which a self-propelled cleaner cleans, and has shown the state where the self-propelled cleaner recognizes standard wall W2. It is a top view (description figure) which shows the living room which a self-propelled cleaner cleans, and has shown the state where the self-propelled cleaner recognizes standard wall W3. It is a top view (description figure) which shows the living room which a self-propelled cleaner cleans, and has shown the state where the self-propelled cleaner recognizes standard wall W4. It is a top view (description figure) which shows the living room which a self-propelled cleaner cleans, and has shown the state where the self-propelled cleaner recognizes standard wall W5. It is a top view (description figure) which shows the living room which a self-propelled cleaner cleans, and has shown the state where the self-propelled cleaner recognizes standard wall W6. It is a top view (description figure) which shows the living room which a self-propelled cleaner cleans, and has shown the state where the self-propelled cleaner recognizes standard wall W7. It is a top view (description figure) which shows the living room which a self-propelled cleaner cleans, and has shown the state where the self-propelled cleaner recognizes standard wall W8. It is a top view (description figure) which shows the living room which a self-propelled cleaner cleans, and has shown the state where the self-propelled cleaner recognizes standard wall W9. It is a top view (description figure) which shows the living room which a self-propelled cleaner cleans, and has shown the state where the self-propelled cleaner recognizes standard wall W10. It is a top view (description figure) which shows the living room which a self-propelled cleaner cleans, and has shown the state where the self-propelled cleaner recognizes standard wall W11. It is a top view (description figure) which shows the living room which a self-propelled cleaner cleans, and has shown the state where the self-propelled cleaner recognizes standard wall W12. It is a top view (description figure) which shows the living room which a self-propelled cleaner cleans, and has shown the state where the self-propelled cleaner recognizes standard wall W13. It is a top view (description figure) which shows the living room which a self-propelled cleaner cleans, and the self-propelled cleaner has shown the state where the self-propelled cleaner recognizes standard wall W14. It is a top view (description figure) which shows the living room which a self-propelled cleaner cleans, and has shown the state where the self-propelled cleaner recognizes standard wall W15. It is a top view (description figure) which shows the living room which a self-propelled cleaner cleans, and has shown the state where the self-propelled cleaner recognizes standard wall W16. It is a top view (description figure) which shows the living room which a self-propelled cleaner cleans, and has shown the state where the self-propelled cleaner recognizes standard wall W17.

Explanation of symbols

1 Housing (Vacuum cleaner body)
2 Traveling part (drive means)
21L Left wheel drive motor (drive means)
21R Right wheel drive motor (drive means)
25 Ultrasonic sensor (obstacle detection means)
26 Gyro Sensor 3 Cleaning Unit 4 Operation Unit 5 Charging Unit 6 ROM (Storage Unit)
6a Cleaning operation program 6b Reference wall recognition program 6c Direction change program 6d Zigzag travel control program 6e Movement control program (first movement control program, second movement control program)
7 RAM
8 CPU (reference wall recognition means, direction changing means, zigzag travel control means, first movement control means, second movement control means, travel distance judgment means)
100 Self-propelled vacuum cleaner W (W1-W17) Reference wall R Living room (indoor)
F Floor

Claims (7)

A vacuum cleaner main body for sucking dust on a floor surface in a predetermined room, a driving means for moving the vacuum cleaner main body, and an obstacle detection means for detecting obstacles in front and side of the vacuum cleaner main body. A self-propelled cleaner that autonomously runs on the floor and cleans the floor,
When the obstacle detection means detects an obstacle ahead in the movement direction of the self-propelled cleaner, the reference wall recognition recognizes a wall surface including the obstacle as a reference wall along a direction perpendicular to the movement direction. Means,
The self-propelled vehicle is moved left or right toward the reference wall so that the self-propelled cleaner moves with a new direction as a direction along the reference wall recognized by the reference wall recognition means. Direction changing means for changing the direction of the vacuum cleaner,
After the direction change by the direction changing means, the self-propelled cleaner travels in a moving direction along the reference wall, travels in a direction away from the reference wall, and a moving direction along the reference wall. Zigzag running control means for controlling the drive means so as to perform zigzag running in which the running to and the direction approaching the reference wall are repeated in order,
When the self-propelled cleaner performs traveling in the direction approaching the reference wall, when the obstacle detection means does not detect an obstacle at a position corresponding to the reference wall in front of the traveling direction, A first movement for controlling the driving means to change the direction of travel of the self-propelled cleaner to another direction along the reference wall and to move the self-propelled cleaner in a new movement direction. Control means;
When the self-propelled cleaner travels in the moving direction along the reference wall, the obstacle detection means does not detect an obstacle at a position corresponding to the reference wall on the side in the traveling direction. The direction of travel of the self-propelled cleaner is changed to a direction close to the reference wall, and then the direction of travel of the self-propelled cleaner is changed to another direction along the reference wall. A second movement control means for controlling the driving means so as to move the self-propelled cleaner in a new movement direction;
A self-propelled vacuum cleaner characterized by comprising: A vacuum cleaner main body for sucking dust on a floor surface in a predetermined room, a driving means for moving the vacuum cleaner main body, and an obstacle detection means for detecting obstacles in front and side of the vacuum cleaner main body. A self-propelled cleaner that autonomously runs on the floor and cleans the floor,
When the obstacle detection means detects an obstacle ahead in the movement direction of the self-propelled cleaner, the reference wall recognition recognizes a wall surface including the obstacle as a reference wall along a direction perpendicular to the movement direction. Means,
The self-propelled vehicle is moved left or right toward the reference wall so that the self-propelled cleaner moves with a new direction as a direction along the reference wall recognized by the reference wall recognition means. Direction changing means for changing the direction of the vacuum cleaner,
After the direction change by the direction changing means, the self-propelled cleaner travels in a moving direction along the reference wall, travels in a direction away from the reference wall, and a moving direction along the reference wall. Zigzag running control means for controlling the drive means so as to perform zigzag running in which the running to and the direction approaching the reference wall are repeated in order,
A self-propelled vacuum cleaner characterized by comprising:   When the self-propelled cleaner performs traveling in the direction approaching the reference wall, when the obstacle detection means does not detect an obstacle at a position corresponding to the reference wall in front of the traveling direction, A first movement for controlling the driving means to change the direction of travel of the self-propelled cleaner to another direction along the reference wall and to move the self-propelled cleaner in a new movement direction. The self-propelled cleaner according to claim 2, further comprising control means.   When the self-propelled cleaner travels in the moving direction along the reference wall, the obstacle detection means does not detect an obstacle at a position corresponding to the reference wall on the side in the traveling direction. The direction of travel of the self-propelled cleaner is changed to a direction close to the reference wall, and then the direction of travel of the self-propelled cleaner is changed to another direction along the reference wall. The self-propelled cleaner according to claim 2 or 3, further comprising second movement control means for controlling the driving means so as to move the self-propelled cleaner in a new movement direction. The self-propelled cleaner comprises travel distance determination means for determining the travel distance traveled on the floor surface,
When the self-propelled cleaner travels in a direction away from the reference wall, the travel distance determination means travels a distance half the length of the predetermined wall in the room stored in advance in the storage means. The self-propelled cleaning according to any one of claims 2 to 4, wherein if it is determined that the direction has been changed, the direction changing means changes the direction from the traveling direction to either the left or right. Machine. The self-propelled cleaner comprises travel distance determination means for determining the travel distance traveled on the floor surface,
When the self-propelled cleaner travels in a direction away from the reference wall, the travel distance determination means determines a distance that is half of the distance traveled until the reference wall recognition means recognizes the first reference wall. The self-propelled type according to any one of claims 2 to 4, wherein, when it is determined that the vehicle has traveled, the direction changing unit changes the direction from the traveling direction to either the left or right. Vacuum cleaner.   When the distance traveled until the first reference wall is recognized by the reference wall recognition means is shorter than the reference length, when the travel distance determination means determines that the reference length previously stored in the storage means has been traveled The self-propelled cleaner according to claim 6, wherein the direction changing means changes the direction from the traveling direction to either the left or right.

Images